110 changed files with 19650 additions and 2 deletions
@ -0,0 +1,15 @@ |
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*.iml |
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.gradle |
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/local.properties |
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/.idea/caches |
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/.idea/libraries |
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/.idea/modules.xml |
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/.idea/workspace.xml |
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/.idea/navEditor.xml |
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/.idea/assetWizardSettings.xml |
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.DS_Store |
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/build |
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/captures |
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.externalNativeBuild |
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.cxx |
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local.properties |
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@ -1,2 +1,2 @@ |
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#Mon Dec 22 02:40:22 CST 2025 |
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#Mon Dec 22 02:41:36 CST 2025 |
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java.home=F\:\\Program Files\\Android\\Android Studio\\jbr |
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|
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fivewheel |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="CompilerConfiguration"> |
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<bytecodeTargetLevel target="21" /> |
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</component> |
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</project> |
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@ -0,0 +1,10 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="deploymentTargetDropDown"> |
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<value> |
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<entry key="app"> |
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<State /> |
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</entry> |
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</value> |
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</component> |
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</project> |
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@ -0,0 +1,18 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="deploymentTargetSelector"> |
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<selectionStates> |
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<SelectionState runConfigName="app"> |
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<option name="selectionMode" value="DROPDOWN" /> |
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<DropdownSelection timestamp="2025-12-19T02:11:32.151250600Z"> |
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<Target type="DEFAULT_BOOT"> |
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<handle> |
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<DeviceId pluginId="LocalEmulator" identifier="path=C:\Users\asus\.android\avd\Medium_Phone.avd" /> |
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</handle> |
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</Target> |
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</DropdownSelection> |
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<DialogSelection /> |
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</SelectionState> |
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</selectionStates> |
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</component> |
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</project> |
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@ -1,6 +1,8 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="ExternalStorageConfigurationManager" enabled="true" /> |
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<component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK"> |
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<output url="file://$PROJECT_DIR$/build/classes" /> |
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</component> |
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<component name="ProjectType"> |
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<option name="id" value="Android" /> |
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</component> |
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|
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@ -0,0 +1 @@ |
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项目初始化 |
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@ -0,0 +1 @@ |
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/build |
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@ -0,0 +1,3 @@ |
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# Default ignored files |
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/shelf/ |
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/workspace.xml |
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@ -0,0 +1,12 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="GradleSettings"> |
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<option name="linkedExternalProjectsSettings"> |
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<GradleProjectSettings> |
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<option name="externalProjectPath" value="$PROJECT_DIR$" /> |
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<option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" /> |
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<option name="resolveExternalAnnotations" value="false" /> |
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</GradleProjectSettings> |
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</option> |
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</component> |
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</project> |
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@ -0,0 +1,10 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="ProjectMigrations"> |
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<option name="MigrateToGradleLocalJavaHome"> |
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<set> |
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<option value="$PROJECT_DIR$" /> |
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</set> |
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</option> |
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</component> |
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</project> |
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@ -0,0 +1,10 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="ExternalStorageConfigurationManager" enabled="true" /> |
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<component name="ProjectRootManager"> |
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<output url="file://$PROJECT_DIR$/build/classes" /> |
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</component> |
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<component name="ProjectType"> |
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<option name="id" value="Android" /> |
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</component> |
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</project> |
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@ -0,0 +1,73 @@ |
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plugins { |
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id 'com.android.application' |
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} |
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|
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android { |
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namespace 'com.example.fivewheel' |
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compileSdk 34 |
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viewBinding |
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{ |
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enabled true |
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} |
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// //add this feature |
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dataBinding |
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{ |
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enabled true |
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} |
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defaultConfig { |
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applicationId "com.example.fivewheel" |
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minSdk 24 |
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targetSdk 34 |
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versionCode 1 |
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versionName "1.0" |
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|
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testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" |
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} |
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|
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buildTypes { |
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release { |
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minifyEnabled false |
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proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' |
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} |
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} |
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|
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// ✅ 这里统一配置 binding 功能 |
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buildFeatures { |
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viewBinding true |
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dataBinding true |
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buildConfig true |
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} |
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|
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compileOptions { |
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sourceCompatibility JavaVersion.VERSION_1_8 |
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targetCompatibility JavaVersion.VERSION_1_8 |
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} |
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} |
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|
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dependencies { |
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// AndroidX 基础 |
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implementation 'androidx.appcompat:appcompat:1.6.1' |
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implementation 'com.google.android.material:material:1.9.0' |
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implementation 'androidx.constraintlayout:constraintlayout:2.1.4' |
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//implementation project(':app') |
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|
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// 测试 |
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testImplementation 'junit:junit:4.13.2' |
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androidTestImplementation 'androidx.test.ext:junit:1.1.5' |
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androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1' |
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|
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// 第三方依赖 |
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implementation 'com.github.mik3y:usb-serial-for-android:3.7.0' |
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implementation 'com.google.protobuf:protobuf-java:4.27.2' |
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implementation("org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.8.20") |
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implementation 'com.github.nodemedia:nodemediaclient-android:2.9.20' |
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implementation 'io.github.xmaihh:serialport:2.1.1' |
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// implementation 'com.arthenica:ffmpeg-kit-full:6.0-2' |
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|
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// ✅ Room 数据库 |
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def room_version = "2.6.1" |
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implementation "androidx.room:room-runtime:$room_version" |
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annotationProcessor "androidx.room:room-compiler:$room_version" |
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|
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implementation "androidx.room:room-ktx:$room_version" // 可选，支持协程/LiveData |
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} |
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@ -0,0 +1,21 @@ |
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# Add project specific ProGuard rules here. |
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# You can control the set of applied configuration files using the |
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# proguardFiles setting in build.gradle. |
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# |
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# For more details, see |
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# http://developer.android.com/guide/developing/tools/proguard.html |
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|
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# If your project uses WebView with JS, uncomment the following |
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# and specify the fully qualified class name to the JavaScript interface |
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# class: |
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#-keepclassmembers class fqcn.of.javascript.interface.for.webview { |
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# public *; |
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#} |
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|
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# Uncomment this to preserve the line number information for |
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# debugging stack traces. |
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#-keepattributes SourceFile,LineNumberTable |
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|
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# If you keep the line number information, uncomment this to |
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# hide the original source file name. |
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#-renamesourcefileattribute SourceFile |
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@ -0,0 +1,29 @@ |
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package com.example.fivewheel; |
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|
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import android.content.Context; |
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|
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import androidx.room.Database; |
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import androidx.room.Room; |
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import androidx.room.RoomDatabase; |
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|
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@Database(entities = {RobotLog.class}, version = 1) |
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public abstract class AppDatabase extends RoomDatabase { |
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public abstract RobotLogDao robotLogDao(); |
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|
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private static volatile AppDatabase INSTANCE; |
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|
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public static AppDatabase getInstance(Context context) { |
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if (INSTANCE == null) { |
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synchronized (AppDatabase.class) { |
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if (INSTANCE == null) { |
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INSTANCE = Room.databaseBuilder(context.getApplicationContext(), |
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AppDatabase.class, "robot_logs.db") |
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.fallbackToDestructiveMigration() // 数据库升级时清空数据，可根据需求改
|
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.build(); |
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} |
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} |
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} |
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return INSTANCE; |
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} |
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} |
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@ -0,0 +1,26 @@ |
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package com.example.fivewheel; |
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|
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import android.content.Context; |
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|
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import androidx.test.platform.app.InstrumentationRegistry; |
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import androidx.test.ext.junit.runners.AndroidJUnit4; |
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|
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import org.junit.Test; |
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import org.junit.runner.RunWith; |
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|
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import static org.junit.Assert.*; |
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|
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/** |
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* Instrumented test, which will execute on an Android device. |
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* |
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* @see <a href="http://d.android.com/tools/testing">Testing documentation</a> |
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*/ |
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@RunWith(AndroidJUnit4.class) |
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public class ExampleInstrumentedTest { |
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@Test |
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public void useAppContext() { |
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// Context of the app under test.
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Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext(); |
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assertEquals("com.example.removemarineanimals", appContext.getPackageName()); |
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} |
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} |
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@ -0,0 +1,20 @@ |
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package com.example.fivewheel; |
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|
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import androidx.room.ColumnInfo; |
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import androidx.room.Entity; |
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import androidx.room.PrimaryKey; |
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|
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@Entity(tableName = "robot_logs") |
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public class RobotLog { |
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@PrimaryKey(autoGenerate = true) |
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public int id; |
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@ColumnInfo(name = "type") // "error" 或 "param_change"
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public String type; |
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|
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@ColumnInfo(name = "message") // 具体信息：报错内容或修改了哪个参数
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public String message; |
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|
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@ColumnInfo(name = "time") // 时间戳
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public long time; |
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} |
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@ -0,0 +1,17 @@ |
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package com.example.fivewheel; |
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|
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import androidx.room.Dao; |
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import androidx.room.Insert; |
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import androidx.room.Query; |
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|
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import java.util.List; |
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|
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@Dao |
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public interface RobotLogDao { |
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|
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@Insert |
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void insert(RobotLog log); |
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|
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@Query("SELECT * FROM robot_logs ORDER BY time DESC") |
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List<RobotLog> getAllLogs(); |
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} |
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@ -0,0 +1,43 @@ |
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<?xml version="1.0" encoding="utf-8"?> |
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<manifest xmlns:android="http://schemas.android.com/apk/res/android" |
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xmlns:tools="http://schemas.android.com/tools"> |
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<uses-feature android:name="android.hardware.camera"/> |
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<uses-feature android:name="android.hardware.camera.autofocus"/> |
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<uses-permission android:name="android.permission.INTERNET"/> |
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<uses-permission android:name="android.permission.CAMERA"/> |
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<uses-permission android:name="android.permission.RECORD_AUDIO"/> |
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<uses-permission android:name="android.permission.FLASHLIGHT"/> |
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<uses-permission android:name="android.permission.USB_PERMISSION" /> |
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<uses-feature android:name="android.hardware.usb.accessory" android:required="false" /> |
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<uses-feature android:name="android.hardware.usb.host" /> |
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<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/> |
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<uses-permission android:name="android.permission.VIBRATE"/> |
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|
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<application |
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android:allowBackup="true" |
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android:dataExtractionRules="@xml/data_extraction_rules" |
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android:fullBackupContent="@xml/backup_rules" |
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android:icon="@drawable/squrelogo" |
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android:label="@string/app_name" |
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android:roundIcon= "@drawable/squrelogo" |
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android:supportsRtl="true" |
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android:theme="@style/Theme.RemoveMarineAnimals" |
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tools:targetApi="31"> |
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<activity |
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android:name=".MainActivity" |
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android:exported="true"> |
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<intent-filter> |
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<action android:name="android.intent.action.MAIN" /> |
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|
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<category android:name="android.intent.category.LAUNCHER" /> |
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<action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" /> |
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|
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</intent-filter> |
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|
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<meta-data |
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android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" |
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android:resource="@xml/device_filter" /> |
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</activity> |
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</application> |
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|
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</manifest> |
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@ -0,0 +1,539 @@ |
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/* Logo 字体 */ |
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@font-face { |
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font-family: "iconfont logo"; |
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src: url('https://at.alicdn.com/t/font_985780_km7mi63cihi.eot?t=1545807318834'); |
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src: url('https://at.alicdn.com/t/font_985780_km7mi63cihi.eot?t=1545807318834#iefix') format('embedded-opentype'), |
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url('https://at.alicdn.com/t/font_985780_km7mi63cihi.woff?t=1545807318834') format('woff'), |
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url('https://at.alicdn.com/t/font_985780_km7mi63cihi.ttf?t=1545807318834') format('truetype'), |
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url('https://at.alicdn.com/t/font_985780_km7mi63cihi.svg?t=1545807318834#iconfont') format('svg'); |
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} |
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|
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.logo { |
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font-family: "iconfont logo"; |
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font-size: 160px; |
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font-style: normal; |
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-webkit-font-smoothing: antialiased; |
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-moz-osx-font-smoothing: grayscale; |
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} |
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|
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/* tabs */ |
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.nav-tabs { |
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position: relative; |
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} |
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|
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.nav-tabs .nav-more { |
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position: absolute; |
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right: 0; |
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bottom: 0; |
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height: 42px; |
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line-height: 42px; |
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color: #666; |
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} |
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|
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#tabs { |
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border-bottom: 1px solid #eee; |
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} |
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|
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#tabs li { |
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cursor: pointer; |
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width: 100px; |
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height: 40px; |
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line-height: 40px; |
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text-align: center; |
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font-size: 16px; |
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border-bottom: 2px solid transparent; |
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position: relative; |
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z-index: 1; |
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margin-bottom: -1px; |
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color: #666; |
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} |
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|
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#tabs .active { |
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border-bottom-color: #f00; |
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color: #222; |
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} |
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|
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.tab-container .content { |
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display: none; |
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} |
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|
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/* 页面布局 */ |
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.main { |
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padding: 30px 100px; |
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width: 960px; |
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margin: 0 auto; |
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} |
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|
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.main .logo { |
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color: #333; |
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text-align: left; |
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margin-bottom: 30px; |
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line-height: 1; |
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height: 110px; |
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margin-top: -50px; |
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overflow: hidden; |
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*zoom: 1; |
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} |
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|
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.main .logo a { |
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font-size: 160px; |
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color: #333; |
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} |
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|
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.helps { |
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margin-top: 40px; |
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} |
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|
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.helps pre { |
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padding: 20px; |
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margin: 10px 0; |
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border: solid 1px #e7e1cd; |
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background-color: #fffdef; |
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overflow: auto; |
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} |
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|
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.icon_lists { |
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width: 100% !important; |
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overflow: hidden; |
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*zoom: 1; |
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} |
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|
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.icon_lists li { |
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width: 100px; |
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margin-bottom: 10px; |
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margin-right: 20px; |
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text-align: center; |
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list-style: none !important; |
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cursor: default; |
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} |
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|
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.icon_lists li .code-name { |
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line-height: 1.2; |
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} |
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|
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.icon_lists .icon { |
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display: block; |
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height: 100px; |
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line-height: 100px; |
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font-size: 42px; |
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margin: 10px auto; |
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color: #333; |
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-webkit-transition: font-size 0.25s linear, width 0.25s linear; |
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-moz-transition: font-size 0.25s linear, width 0.25s linear; |
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transition: font-size 0.25s linear, width 0.25s linear; |
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} |
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|
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.icon_lists .icon:hover { |
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font-size: 100px; |
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} |
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|
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.icon_lists .svg-icon { |
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/* 通过设置 font-size 来改变图标大小 */ |
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width: 1em; |
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/* 图标和文字相邻时，垂直对齐 */ |
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vertical-align: -0.15em; |
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/* 通过设置 color 来改变 SVG 的颜色/fill */ |
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fill: currentColor; |
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/* path 和 stroke 溢出 viewBox 部分在 IE 下会显示 |
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normalize.css 中也包含这行 */ |
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overflow: hidden; |
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} |
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|
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.icon_lists li .name, |
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.icon_lists li .code-name { |
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color: #666; |
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} |
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|
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/* markdown 样式 */ |
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.markdown { |
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color: #666; |
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font-size: 14px; |
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line-height: 1.8; |
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} |
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|
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.highlight { |
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line-height: 1.5; |
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} |
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|
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.markdown img { |
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vertical-align: middle; |
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max-width: 100%; |
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} |
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|
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.markdown h1 { |
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color: #404040; |
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font-weight: 500; |
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line-height: 40px; |
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margin-bottom: 24px; |
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} |
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|
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.markdown h2, |
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.markdown h3, |
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.markdown h4, |
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.markdown h5, |
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.markdown h6 { |
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color: #404040; |
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margin: 1.6em 0 0.6em 0; |
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font-weight: 500; |
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clear: both; |
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} |
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|
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.markdown h1 { |
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font-size: 28px; |
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} |
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|
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.markdown h2 { |
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font-size: 22px; |
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} |
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|
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.markdown h3 { |
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font-size: 16px; |
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} |
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|
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.markdown h4 { |
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font-size: 14px; |
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} |
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|
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.markdown h5 { |
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font-size: 12px; |
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} |
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|
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.markdown h6 { |
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font-size: 12px; |
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} |
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|
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.markdown hr { |
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height: 1px; |
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border: 0; |
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background: #e9e9e9; |
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margin: 16px 0; |
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clear: both; |
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} |
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|
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.markdown p { |
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margin: 1em 0; |
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} |
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|
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.markdown>p, |
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.markdown>blockquote, |
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.markdown>.highlight, |
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.markdown>ol, |
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.markdown>ul { |
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width: 80%; |
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} |
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|
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.markdown ul>li { |
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list-style: circle; |
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} |
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|
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.markdown>ul li, |
|||
.markdown blockquote ul>li { |
|||
margin-left: 20px; |
|||
padding-left: 4px; |
|||
} |
|||
|
|||
.markdown>ul li p, |
|||
.markdown>ol li p { |
|||
margin: 0.6em 0; |
|||
} |
|||
|
|||
.markdown ol>li { |
|||
list-style: decimal; |
|||
} |
|||
|
|||
.markdown>ol li, |
|||
.markdown blockquote ol>li { |
|||
margin-left: 20px; |
|||
padding-left: 4px; |
|||
} |
|||
|
|||
.markdown code { |
|||
margin: 0 3px; |
|||
padding: 0 5px; |
|||
background: #eee; |
|||
border-radius: 3px; |
|||
} |
|||
|
|||
.markdown strong, |
|||
.markdown b { |
|||
font-weight: 600; |
|||
} |
|||
|
|||
.markdown>table { |
|||
border-collapse: collapse; |
|||
border-spacing: 0px; |
|||
empty-cells: show; |
|||
border: 1px solid #e9e9e9; |
|||
width: 95%; |
|||
margin-bottom: 24px; |
|||
} |
|||
|
|||
.markdown>table th { |
|||
white-space: nowrap; |
|||
color: #333; |
|||
font-weight: 600; |
|||
} |
|||
|
|||
.markdown>table th, |
|||
.markdown>table td { |
|||
border: 1px solid #e9e9e9; |
|||
padding: 8px 16px; |
|||
text-align: left; |
|||
} |
|||
|
|||
.markdown>table th { |
|||
background: #F7F7F7; |
|||
} |
|||
|
|||
.markdown blockquote { |
|||
font-size: 90%; |
|||
color: #999; |
|||
border-left: 4px solid #e9e9e9; |
|||
padding-left: 0.8em; |
|||
margin: 1em 0; |
|||
} |
|||
|
|||
.markdown blockquote p { |
|||
margin: 0; |
|||
} |
|||
|
|||
.markdown .anchor { |
|||
opacity: 0; |
|||
transition: opacity 0.3s ease; |
|||
margin-left: 8px; |
|||
} |
|||
|
|||
.markdown .waiting { |
|||
color: #ccc; |
|||
} |
|||
|
|||
.markdown h1:hover .anchor, |
|||
.markdown h2:hover .anchor, |
|||
.markdown h3:hover .anchor, |
|||
.markdown h4:hover .anchor, |
|||
.markdown h5:hover .anchor, |
|||
.markdown h6:hover .anchor { |
|||
opacity: 1; |
|||
display: inline-block; |
|||
} |
|||
|
|||
.markdown>br, |
|||
.markdown>p>br { |
|||
clear: both; |
|||
} |
|||
|
|||
|
|||
.hljs { |
|||
display: block; |
|||
background: white; |
|||
padding: 0.5em; |
|||
color: #333333; |
|||
overflow-x: auto; |
|||
} |
|||
|
|||
.hljs-comment, |
|||
.hljs-meta { |
|||
color: #969896; |
|||
} |
|||
|
|||
.hljs-string, |
|||
.hljs-variable, |
|||
.hljs-template-variable, |
|||
.hljs-strong, |
|||
.hljs-emphasis, |
|||
.hljs-quote { |
|||
color: #df5000; |
|||
} |
|||
|
|||
.hljs-keyword, |
|||
.hljs-selector-tag, |
|||
.hljs-type { |
|||
color: #a71d5d; |
|||
} |
|||
|
|||
.hljs-literal, |
|||
.hljs-symbol, |
|||
.hljs-bullet, |
|||
.hljs-attribute { |
|||
color: #0086b3; |
|||
} |
|||
|
|||
.hljs-section, |
|||
.hljs-name { |
|||
color: #63a35c; |
|||
} |
|||
|
|||
.hljs-tag { |
|||
color: #333333; |
|||
} |
|||
|
|||
.hljs-title, |
|||
.hljs-attr, |
|||
.hljs-selector-id, |
|||
.hljs-selector-class, |
|||
.hljs-selector-attr, |
|||
.hljs-selector-pseudo { |
|||
color: #795da3; |
|||
} |
|||
|
|||
.hljs-addition { |
|||
color: #55a532; |
|||
background-color: #eaffea; |
|||
} |
|||
|
|||
.hljs-deletion { |
|||
color: #bd2c00; |
|||
background-color: #ffecec; |
|||
} |
|||
|
|||
.hljs-link { |
|||
text-decoration: underline; |
|||
} |
|||
|
|||
/* 代码高亮 */ |
|||
/* PrismJS 1.15.0 |
|||
https://prismjs.com/download.html#themes=prism&languages=markup+css+clike+javascript */ |
|||
/** |
|||
* prism.js default theme for JavaScript, CSS and HTML |
|||
* Based on dabblet (http://dabblet.com) |
|||
* @author Lea Verou |
|||
*/ |
|||
code[class*="language-"], |
|||
pre[class*="language-"] { |
|||
color: black; |
|||
background: none; |
|||
text-shadow: 0 1px white; |
|||
font-family: Consolas, Monaco, 'Andale Mono', 'Ubuntu Mono', monospace; |
|||
text-align: left; |
|||
white-space: pre; |
|||
word-spacing: normal; |
|||
word-break: normal; |
|||
word-wrap: normal; |
|||
line-height: 1.5; |
|||
|
|||
-moz-tab-size: 4; |
|||
-o-tab-size: 4; |
|||
tab-size: 4; |
|||
|
|||
-webkit-hyphens: none; |
|||
-moz-hyphens: none; |
|||
-ms-hyphens: none; |
|||
hyphens: none; |
|||
} |
|||
|
|||
pre[class*="language-"]::-moz-selection, |
|||
pre[class*="language-"] ::-moz-selection, |
|||
code[class*="language-"]::-moz-selection, |
|||
code[class*="language-"] ::-moz-selection { |
|||
text-shadow: none; |
|||
background: #b3d4fc; |
|||
} |
|||
|
|||
pre[class*="language-"]::selection, |
|||
pre[class*="language-"] ::selection, |
|||
code[class*="language-"]::selection, |
|||
code[class*="language-"] ::selection { |
|||
text-shadow: none; |
|||
background: #b3d4fc; |
|||
} |
|||
|
|||
@media print { |
|||
|
|||
code[class*="language-"], |
|||
pre[class*="language-"] { |
|||
text-shadow: none; |
|||
} |
|||
} |
|||
|
|||
/* Code blocks */ |
|||
pre[class*="language-"] { |
|||
padding: 1em; |
|||
margin: .5em 0; |
|||
overflow: auto; |
|||
} |
|||
|
|||
:not(pre)>code[class*="language-"], |
|||
pre[class*="language-"] { |
|||
background: #f5f2f0; |
|||
} |
|||
|
|||
/* Inline code */ |
|||
:not(pre)>code[class*="language-"] { |
|||
padding: .1em; |
|||
border-radius: .3em; |
|||
white-space: normal; |
|||
} |
|||
|
|||
.token.comment, |
|||
.token.prolog, |
|||
.token.doctype, |
|||
.token.cdata { |
|||
color: slategray; |
|||
} |
|||
|
|||
.token.punctuation { |
|||
color: #999; |
|||
} |
|||
|
|||
.namespace { |
|||
opacity: .7; |
|||
} |
|||
|
|||
.token.property, |
|||
.token.tag, |
|||
.token.boolean, |
|||
.token.number, |
|||
.token.constant, |
|||
.token.symbol, |
|||
.token.deleted { |
|||
color: #905; |
|||
} |
|||
|
|||
.token.selector, |
|||
.token.attr-name, |
|||
.token.string, |
|||
.token.char, |
|||
.token.builtin, |
|||
.token.inserted { |
|||
color: #690; |
|||
} |
|||
|
|||
.token.operator, |
|||
.token.entity, |
|||
.token.url, |
|||
.language-css .token.string, |
|||
.style .token.string { |
|||
color: #9a6e3a; |
|||
background: hsla(0, 0%, 100%, .5); |
|||
} |
|||
|
|||
.token.atrule, |
|||
.token.attr-value, |
|||
.token.keyword { |
|||
color: #07a; |
|||
} |
|||
|
|||
.token.function, |
|||
.token.class-name { |
|||
color: #DD4A68; |
|||
} |
|||
|
|||
.token.regex, |
|||
.token.important, |
|||
.token.variable { |
|||
color: #e90; |
|||
} |
|||
|
|||
.token.important, |
|||
.token.bold { |
|||
font-weight: bold; |
|||
} |
|||
|
|||
.token.italic { |
|||
font-style: italic; |
|||
} |
|||
|
|||
.token.entity { |
|||
cursor: help; |
|||
} |
|||
File diff suppressed because it is too large
@ -0,0 +1,719 @@ |
|||
@font-face { |
|||
font-family: "iconfont"; /* Project id 3005536 */ |
|||
src: url('iconfont.woff2?t=1719904676087') format('woff2'), |
|||
url('iconfont.woff?t=1719904676087') format('woff'), |
|||
url('iconfont.ttf?t=1719904676087') format('truetype'); |
|||
} |
|||
|
|||
.iconfont { |
|||
font-family: "iconfont" !important; |
|||
font-size: 16px; |
|||
font-style: normal; |
|||
-webkit-font-smoothing: antialiased; |
|||
-moz-osx-font-smoothing: grayscale; |
|||
} |
|||
|
|||
.icon-answer:before { |
|||
content: "\e64a"; |
|||
} |
|||
|
|||
.icon-app:before { |
|||
content: "\e658"; |
|||
} |
|||
|
|||
.icon-browser:before { |
|||
content: "\e659"; |
|||
} |
|||
|
|||
.icon-camera:before { |
|||
content: "\e65a"; |
|||
} |
|||
|
|||
.icon-cart:before { |
|||
content: "\e65c"; |
|||
} |
|||
|
|||
.icon-check:before { |
|||
content: "\e65d"; |
|||
} |
|||
|
|||
.icon-code:before { |
|||
content: "\e65e"; |
|||
} |
|||
|
|||
.icon-computer:before { |
|||
content: "\e65f"; |
|||
} |
|||
|
|||
.icon-delete:before { |
|||
content: "\e661"; |
|||
} |
|||
|
|||
.icon-deliver:before { |
|||
content: "\e662"; |
|||
} |
|||
|
|||
.icon-display:before { |
|||
content: "\e663"; |
|||
} |
|||
|
|||
.icon-down:before { |
|||
content: "\e664"; |
|||
} |
|||
|
|||
.icon-download:before { |
|||
content: "\e669"; |
|||
} |
|||
|
|||
.icon-edit:before { |
|||
content: "\e66a"; |
|||
} |
|||
|
|||
.icon-favor:before { |
|||
content: "\e66b"; |
|||
} |
|||
|
|||
.icon-file:before { |
|||
content: "\e66c"; |
|||
} |
|||
|
|||
.icon-fill:before { |
|||
content: "\e66e"; |
|||
} |
|||
|
|||
.icon-fold:before { |
|||
content: "\e66f"; |
|||
} |
|||
|
|||
.icon-folder:before { |
|||
content: "\e670"; |
|||
} |
|||
|
|||
.icon-hide:before { |
|||
content: "\e671"; |
|||
} |
|||
|
|||
.icon-home:before { |
|||
content: "\e672"; |
|||
} |
|||
|
|||
.icon-information:before { |
|||
content: "\e673"; |
|||
} |
|||
|
|||
.icon-link:before { |
|||
content: "\e674"; |
|||
} |
|||
|
|||
.icon-baojing:before { |
|||
content: "\e675"; |
|||
} |
|||
|
|||
.icon-renwu:before { |
|||
content: "\e676"; |
|||
} |
|||
|
|||
.icon-yonghu2:before { |
|||
content: "\e678"; |
|||
} |
|||
|
|||
.icon-xiangqing:before { |
|||
content: "\e679"; |
|||
} |
|||
|
|||
.icon-zhuzhuangtu:before { |
|||
content: "\e67f"; |
|||
} |
|||
|
|||
.icon-shouxinguanli:before { |
|||
content: "\e680"; |
|||
} |
|||
|
|||
.icon-fuwuqi:before { |
|||
content: "\e681"; |
|||
} |
|||
|
|||
.icon-renwu1:before { |
|||
content: "\e682"; |
|||
} |
|||
|
|||
.icon-wupinxiang:before { |
|||
content: "\e683"; |
|||
} |
|||
|
|||
.icon-xiangqing1:before { |
|||
content: "\e684"; |
|||
} |
|||
|
|||
.icon-zhexiantu:before { |
|||
content: "\e685"; |
|||
} |
|||
|
|||
.icon-jiegou:before { |
|||
content: "\e686"; |
|||
} |
|||
|
|||
.icon-gongzuotai:before { |
|||
content: "\e687"; |
|||
} |
|||
|
|||
.icon-shezhi1:before { |
|||
content: "\e688"; |
|||
} |
|||
|
|||
.icon-chanpin:before { |
|||
content: "\e689"; |
|||
} |
|||
|
|||
.icon-liucheng:before { |
|||
content: "\e68a"; |
|||
} |
|||
|
|||
.icon-yonghu3:before { |
|||
content: "\e68b"; |
|||
} |
|||
|
|||
.icon-jiekuanshenqing:before { |
|||
content: "\e68c"; |
|||
} |
|||
|
|||
.icon-zuidahua:before { |
|||
content: "\e65b"; |
|||
} |
|||
|
|||
.icon-mima:before { |
|||
content: "\e634"; |
|||
} |
|||
|
|||
.icon-mima1:before { |
|||
content: "\e635"; |
|||
} |
|||
|
|||
.icon-zuidahua1:before { |
|||
content: "\e637"; |
|||
} |
|||
|
|||
.icon-mima2:before { |
|||
content: "\e665"; |
|||
} |
|||
|
|||
.icon-guanbi:before { |
|||
content: "\e63b"; |
|||
} |
|||
|
|||
.icon-mima3:before { |
|||
content: "\e660"; |
|||
} |
|||
|
|||
.icon-zuixiaohua:before { |
|||
content: "\e67e"; |
|||
} |
|||
|
|||
.icon-cuowuguanbiquxiao:before { |
|||
content: "\e8e7"; |
|||
} |
|||
|
|||
.icon-guanbi1:before { |
|||
content: "\e63d"; |
|||
} |
|||
|
|||
.icon-guanbi2:before { |
|||
content: "\e63f"; |
|||
} |
|||
|
|||
.icon-guanbi3:before { |
|||
content: "\eaf2"; |
|||
} |
|||
|
|||
.icon-mima4:before { |
|||
content: "\e642"; |
|||
} |
|||
|
|||
.icon-guanbi4:before { |
|||
content: "\e645"; |
|||
} |
|||
|
|||
.icon-guanbi5:before { |
|||
content: "\e6a5"; |
|||
} |
|||
|
|||
.icon-mima5:before { |
|||
content: "\e8b2"; |
|||
} |
|||
|
|||
.icon-zuixiaohua1:before { |
|||
content: "\e656"; |
|||
} |
|||
|
|||
.icon-guanbi6:before { |
|||
content: "\e646"; |
|||
} |
|||
|
|||
.icon-tuichu:before { |
|||
content: "\e655"; |
|||
} |
|||
|
|||
.icon-tuichu1:before { |
|||
content: "\e638"; |
|||
} |
|||
|
|||
.icon-tuichu2:before { |
|||
content: "\e7c8"; |
|||
} |
|||
|
|||
.icon-configuration-management:before { |
|||
content: "\e616"; |
|||
} |
|||
|
|||
.icon-ziyuan120:before { |
|||
content: "\e789"; |
|||
} |
|||
|
|||
.icon-renwuguanli3:before { |
|||
content: "\e781"; |
|||
} |
|||
|
|||
.icon-zhinengkeji-icon-8:before { |
|||
content: "\e617"; |
|||
} |
|||
|
|||
.icon-agora_mianxiangyonglidejiejuefangan:before { |
|||
content: "\e67c"; |
|||
} |
|||
|
|||
.icon-peizhi-yunweipeizhi:before { |
|||
content: "\e618"; |
|||
} |
|||
|
|||
.icon-renwuguanli4:before { |
|||
content: "\ec4c"; |
|||
} |
|||
|
|||
.icon-bianji5:before { |
|||
content: "\e816"; |
|||
} |
|||
|
|||
.icon-chexing:before { |
|||
content: "\e61b"; |
|||
} |
|||
|
|||
.icon-renwuguanli5:before { |
|||
content: "\e6e2"; |
|||
} |
|||
|
|||
.icon-chanpinyaliceshi:before { |
|||
content: "\e61f"; |
|||
} |
|||
|
|||
.icon-2-1peizhiguanli:before { |
|||
content: "\e632"; |
|||
} |
|||
|
|||
.icon-xiaopangchechachexing:before { |
|||
content: "\e621"; |
|||
} |
|||
|
|||
.icon-zidonghua:before { |
|||
content: "\e633"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli2:before { |
|||
content: "\e622"; |
|||
} |
|||
|
|||
.icon-renwuguanli6:before { |
|||
content: "\e625"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli3:before { |
|||
content: "\e67b"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli4:before { |
|||
content: "\e626"; |
|||
} |
|||
|
|||
.icon-renwuguanli7:before { |
|||
content: "\e627"; |
|||
} |
|||
|
|||
.icon-jiedianshijianceshi:before { |
|||
content: "\e63a"; |
|||
} |
|||
|
|||
.icon-rizhiguanli2:before { |
|||
content: "\e6a7"; |
|||
} |
|||
|
|||
.icon-xitongrizhi1:before { |
|||
content: "\e6a9"; |
|||
} |
|||
|
|||
.icon-wangluo1:before { |
|||
content: "\e628"; |
|||
} |
|||
|
|||
.icon-wangluozidonghuaguanli:before { |
|||
content: "\e6ab"; |
|||
} |
|||
|
|||
.icon-renwuguanli8:before { |
|||
content: "\e653"; |
|||
} |
|||
|
|||
.icon-chexing-xianxing3-0:before { |
|||
content: "\e694"; |
|||
} |
|||
|
|||
.icon-renwuguanli9:before { |
|||
content: "\e64f"; |
|||
} |
|||
|
|||
.icon-gongyezidonghua:before { |
|||
content: "\e654"; |
|||
} |
|||
|
|||
.icon-iServershujujieruceshi:before { |
|||
content: "\e629"; |
|||
} |
|||
|
|||
.icon-qingxierukuceshi:before { |
|||
content: "\e62a"; |
|||
} |
|||
|
|||
.icon-renwuguanli10:before { |
|||
content: "\e62b"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli5:before { |
|||
content: "\e62c"; |
|||
} |
|||
|
|||
.icon-peizhiguanli:before { |
|||
content: "\e67d"; |
|||
} |
|||
|
|||
.icon-chexingguanli:before { |
|||
content: "\e66d"; |
|||
} |
|||
|
|||
.icon-a-ziyuan114:before { |
|||
content: "\e62d"; |
|||
} |
|||
|
|||
.icon-bumenguanli2:before { |
|||
content: "\e636"; |
|||
} |
|||
|
|||
.icon-peizhiguanli1:before { |
|||
content: "\e641"; |
|||
} |
|||
|
|||
.icon-peizhiguanli2:before { |
|||
content: "\e643"; |
|||
} |
|||
|
|||
.icon-a-lianhe79:before { |
|||
content: "\e677"; |
|||
} |
|||
|
|||
.icon-a-wenjianjiawenjian:before { |
|||
content: "\e644"; |
|||
} |
|||
|
|||
.icon-wenben:before { |
|||
content: "\e600"; |
|||
} |
|||
|
|||
.icon-wenbenbianjitianchong:before { |
|||
content: "\e6d4"; |
|||
} |
|||
|
|||
.icon-rizhiguanli:before { |
|||
content: "\e639"; |
|||
} |
|||
|
|||
.icon-bianji:before { |
|||
content: "\e612"; |
|||
} |
|||
|
|||
.icon-ceshifuzhu:before { |
|||
content: "\e601"; |
|||
} |
|||
|
|||
.icon-huiguiceshi:before { |
|||
content: "\e608"; |
|||
} |
|||
|
|||
.icon-yonghu:before { |
|||
content: "\e788"; |
|||
} |
|||
|
|||
.icon-ceshi:before { |
|||
content: "\e6e1"; |
|||
} |
|||
|
|||
.icon-icon-supplier:before { |
|||
content: "\e63c"; |
|||
} |
|||
|
|||
.icon-suyaniconchanpinleibufenzuodaohangbufen87:before { |
|||
content: "\e730"; |
|||
} |
|||
|
|||
.icon-tijiaorizhi:before { |
|||
content: "\e650"; |
|||
} |
|||
|
|||
.icon-bianji1:before { |
|||
content: "\e62e"; |
|||
} |
|||
|
|||
.icon-bianji2:before { |
|||
content: "\e619"; |
|||
} |
|||
|
|||
.icon-wangluo:before { |
|||
content: "\e609"; |
|||
} |
|||
|
|||
.icon-peizhi:before { |
|||
content: "\e667"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli:before { |
|||
content: "\e611"; |
|||
} |
|||
|
|||
.icon-wenjian:before { |
|||
content: "\e67a"; |
|||
} |
|||
|
|||
.icon-renwuguanli:before { |
|||
content: "\e657"; |
|||
} |
|||
|
|||
.icon-sucai:before { |
|||
content: "\e602"; |
|||
} |
|||
|
|||
.icon-rizhiguanli1:before { |
|||
content: "\e62f"; |
|||
} |
|||
|
|||
.icon-test-case-group:before { |
|||
content: "\e606"; |
|||
} |
|||
|
|||
.icon-test-case-secondary:before { |
|||
content: "\e607"; |
|||
} |
|||
|
|||
.icon-test-case-group2:before { |
|||
content: "\e60a"; |
|||
} |
|||
|
|||
.icon-wenjian1:before { |
|||
content: "\e604"; |
|||
} |
|||
|
|||
.icon-xiaoshouzidonghua:before { |
|||
content: "\e6a0"; |
|||
} |
|||
|
|||
.icon-kujialeqiyezhan_shengchanzidonghua:before { |
|||
content: "\e64b"; |
|||
} |
|||
|
|||
.icon-bumenguanli:before { |
|||
content: "\e624"; |
|||
} |
|||
|
|||
.icon-noun__cc:before { |
|||
content: "\e610"; |
|||
} |
|||
|
|||
.icon-wenjian2:before { |
|||
content: "\e630"; |
|||
} |
|||
|
|||
.icon-bumen:before { |
|||
content: "\e758"; |
|||
} |
|||
|
|||
.icon-wenjianjia:before { |
|||
content: "\ec17"; |
|||
} |
|||
|
|||
.icon-oper-auto-1:before { |
|||
content: "\e7ca"; |
|||
} |
|||
|
|||
.icon-oper-auto:before { |
|||
content: "\e7cb"; |
|||
} |
|||
|
|||
.icon-pinzhijiance:before { |
|||
content: "\e620"; |
|||
} |
|||
|
|||
.icon-bumen1:before { |
|||
content: "\e64d"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli1:before { |
|||
content: "\e623"; |
|||
} |
|||
|
|||
.icon-bianji3:before { |
|||
content: "\e603"; |
|||
} |
|||
|
|||
.icon-bianji4:before { |
|||
content: "\e61c"; |
|||
} |
|||
|
|||
.icon-bumenguanli1:before { |
|||
content: "\e61d"; |
|||
} |
|||
|
|||
.icon-icon-:before { |
|||
content: "\e605"; |
|||
} |
|||
|
|||
.icon-wj-wjj:before { |
|||
content: "\e7b8"; |
|||
} |
|||
|
|||
.icon-bumen2:before { |
|||
content: "\e631"; |
|||
} |
|||
|
|||
.icon-rizhi:before { |
|||
content: "\e614"; |
|||
} |
|||
|
|||
.icon-peizhi1:before { |
|||
content: "\e60f"; |
|||
} |
|||
|
|||
.icon-caozuorizhi:before { |
|||
content: "\e60b"; |
|||
} |
|||
|
|||
.icon-ceshigongju:before { |
|||
content: "\e71a"; |
|||
} |
|||
|
|||
.icon-24gl-portraitMalePlus4:before { |
|||
content: "\eb25"; |
|||
} |
|||
|
|||
.icon-24gl-portraitMalePlus6:before { |
|||
content: "\eb27"; |
|||
} |
|||
|
|||
.icon-shezhi:before { |
|||
content: "\e61a"; |
|||
} |
|||
|
|||
.icon-peizhishezhi:before { |
|||
content: "\e64c"; |
|||
} |
|||
|
|||
.icon-peizhi2:before { |
|||
content: "\e6db"; |
|||
} |
|||
|
|||
.icon-yonghu1:before { |
|||
content: "\e668"; |
|||
} |
|||
|
|||
.icon-caiwuzidonghuapeizhi:before { |
|||
content: "\e60c"; |
|||
} |
|||
|
|||
.icon-wenjian3:before { |
|||
content: "\e64e"; |
|||
} |
|||
|
|||
.icon-xitongrizhi:before { |
|||
content: "\e60d"; |
|||
} |
|||
|
|||
.icon-wenjian4:before { |
|||
content: "\e695"; |
|||
} |
|||
|
|||
.icon-jurassic_user:before { |
|||
content: "\e6a4"; |
|||
} |
|||
|
|||
.icon-gongyingshangguanli_icox:before { |
|||
content: "\e6ce"; |
|||
} |
|||
|
|||
.icon-automated-processing_line:before { |
|||
content: "\e72f"; |
|||
} |
|||
|
|||
.icon-automated-processing_fill:before { |
|||
content: "\e731"; |
|||
} |
|||
|
|||
.icon-peizhixinxi:before { |
|||
content: "\e60e"; |
|||
} |
|||
|
|||
.icon-yingxiaozidonghua:before { |
|||
content: "\e666"; |
|||
} |
|||
|
|||
.icon-peizhi3:before { |
|||
content: "\e61e"; |
|||
} |
|||
|
|||
.icon-dianqizidonghua:before { |
|||
content: "\e613"; |
|||
} |
|||
|
|||
.icon-renwuguanli1:before { |
|||
content: "\e6de"; |
|||
} |
|||
|
|||
.icon-caiwuzidonghuapeizhi1:before { |
|||
content: "\e651"; |
|||
} |
|||
|
|||
.icon-xinicon_huabanfuben:before { |
|||
content: "\e647"; |
|||
} |
|||
|
|||
.icon-xinicon_huabanfuben1:before { |
|||
content: "\e648"; |
|||
} |
|||
|
|||
.icon-xinicon_huabanfuben2:before { |
|||
content: "\e649"; |
|||
} |
|||
|
|||
.icon-lishibanben:before { |
|||
content: "\e652"; |
|||
} |
|||
|
|||
.icon-jiedianpeizhi:before { |
|||
content: "\e63e"; |
|||
} |
|||
|
|||
.icon-louyuzidonghua:before { |
|||
content: "\e793"; |
|||
} |
|||
|
|||
.icon-renwuguanli2:before { |
|||
content: "\e615"; |
|||
} |
|||
|
|||
.icon-ceshi1:before { |
|||
content: "\e640"; |
|||
} |
|||
|
|||
File diff suppressed because one or more lines are too long
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@ -0,0 +1,42 @@ |
|||
syntax = "proto3"; |
|||
|
|||
option java_multiple_files = false; |
|||
option java_package = "com.example.fivewheel.models"; |
|||
|
|||
message ErrorDataInfo |
|||
{ |
|||
int32 Error_Value = 1; |
|||
bytes Error_Name=4; |
|||
} |
|||
|
|||
|
|||
message ErrorData |
|||
{ |
|||
int32 ErrorCode=1; |
|||
int32 Motor_1_Error=21; |
|||
int32 Motor_2_Error=22; |
|||
int32 Motor_3_Error=23; |
|||
int32 Motor_4_Error=24; |
|||
int32 Motor_5_Error=25; |
|||
int32 Motor_6_Error=26; |
|||
int32 Motor_7_Error=27; |
|||
} |
|||
enum ComError //枚举消息类型 Error Bit Define |
|||
{ |
|||
U7_SBus = 0; |
|||
Force_sensor = 1; |
|||
Ti5_LeftMotor = 2; |
|||
Ti5_RightMotor = 3; |
|||
Cmcu_Sensor =4; |
|||
Remote_Button_Reset_State = 5; |
|||
CMCU06_Force_sensor = 6; |
|||
Dynamometer_sensor= 7; |
|||
TL720D = 8; |
|||
Ultrasonic_sensor = 9; |
|||
Android_485 = 15; |
|||
} |
|||
|
|||
//protoc --nanopb_out=. *.proto |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,28 @@ |
|||
syntax = "proto3"; |
|||
option java_multiple_files = false; |
|||
option java_package = "com.example.fivewheel.models"; |
|||
|
|||
message IV_struct_define{ |
|||
|
|||
// 五轮项目 |
|||
// 五轮项目 |
|||
int32 Robot_Move_AutoSpeed= 1; |
|||
int32 Robot_Move_ManualSpeed= 2; |
|||
int32 Robot_CurrentPosition= 3; |
|||
int32 Robot_AngleRoll= 4; |
|||
int32 Robot_Error= 5; |
|||
int32 Robot_DynamometerValue= 6; |
|||
int32 Robot_ForceValue= 7; |
|||
int32 Robot_CurrentState= 8; |
|||
int32 Robot_Current_Left= 9; |
|||
int32 Robot_Current_Right= 10; |
|||
int32 Robot_Error_Left= 11; |
|||
int32 Robot_Error_Right= 12; |
|||
int32 Robot_Compensation_Left= 13; |
|||
int32 Robot_Compensation_Right= 14; |
|||
int32 Robot_RESET = 15; |
|||
int64 TimeStamp=16; |
|||
int32 RobotRestart=17; |
|||
int32 RobotAngle=18; |
|||
int32 SystemError=19; |
|||
}; |
|||
@ -0,0 +1,15 @@ |
|||
syntax = "proto3"; |
|||
|
|||
option java_multiple_files = false; |
|||
option java_package = "com.example.fivewheel.models"; |
|||
message PV_struct_define{ |
|||
|
|||
int32 Robot_ChgLength= 1; |
|||
double Robot_AutoSpeedBase=2; |
|||
double Robot_ManualSpeedBase=3; |
|||
int32 Robot_LaneChange_Direction = 4; |
|||
int32 Robot_Force = 5; |
|||
int64 TimeStamp=6;//上位机发送下来的时间戳 |
|||
int32 RobotRestartAccepted=7;//上位机接收到单片机发送的Restart信号 |
|||
int32 Robot_AutoWork = 8; |
|||
}; |
|||
@ -0,0 +1,57 @@ |
|||
package com.example.fivewheel; |
|||
|
|||
import static com.example.fivewheel.viewmodels.MainViewModel.mainBinding; |
|||
|
|||
import android.content.Context; |
|||
|
|||
import androidx.room.Database; |
|||
import androidx.room.Room; |
|||
import androidx.room.RoomDatabase; |
|||
|
|||
@Database(entities = {RobotLog.class}, version = 1, exportSchema = false) |
|||
public abstract class AppDatabase extends RoomDatabase { |
|||
|
|||
public abstract RobotLogDao robotLogDao(); |
|||
|
|||
private static volatile AppDatabase INSTANCE; |
|||
|
|||
public static AppDatabase getInstance(Context context) { |
|||
if (INSTANCE == null) { |
|||
synchronized (AppDatabase.class) { |
|||
if (INSTANCE == null) { |
|||
INSTANCE = Room.databaseBuilder(context.getApplicationContext(), |
|||
AppDatabase.class, "robot_logs.db") |
|||
.fallbackToDestructiveMigration() // 数据库升级时清空数据，可根据需求改
|
|||
.build(); |
|||
} |
|||
} |
|||
} |
|||
return INSTANCE; |
|||
} |
|||
|
|||
// 在 MainActivity 中添加两个成员变量缓存电机状态
|
|||
private String lastLeftError = "正常"; |
|||
private String lastRightError = "正常"; |
|||
|
|||
// 在 TimerTask 或接收串口数据后调用的方法
|
|||
private void checkMotorErrors() { |
|||
String currentLeftError = mainBinding.tvLeftError.getText().toString().trim(); |
|||
String currentRightError = mainBinding.tvRightError.getText().toString().trim(); |
|||
|
|||
// 左电机状态变化且不正常时保存日志
|
|||
if (!currentLeftError.equals("正常") && !currentLeftError.equals(lastLeftError)) { |
|||
saveMotorError("左电机", currentLeftError); |
|||
} |
|||
lastLeftError = currentLeftError; |
|||
|
|||
// 右电机状态变化且不正常时保存日志
|
|||
if (!currentRightError.equals("正常") && !currentRightError.equals(lastRightError)) { |
|||
saveMotorError("右电机", currentRightError); |
|||
} |
|||
lastRightError = currentRightError; |
|||
} |
|||
|
|||
private void saveMotorError(String 左电机, String currentLeftError) { |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,942 @@ |
|||
package com.example.fivewheel; |
|||
|
|||
import android.content.Context; |
|||
import android.content.SharedPreferences; |
|||
import android.os.Bundle; |
|||
import android.text.Editable; |
|||
import android.text.TextWatcher; |
|||
import android.view.View; |
|||
import android.view.ViewGroup; |
|||
import android.view.inputmethod.InputMethodManager; |
|||
import android.widget.EditText; |
|||
import android.widget.TextView; |
|||
|
|||
import androidx.annotation.NonNull; |
|||
import androidx.appcompat.app.AlertDialog; |
|||
import androidx.appcompat.app.AppCompatActivity; |
|||
import androidx.core.content.ContextCompat; |
|||
import androidx.databinding.DataBindingUtil; |
|||
import androidx.lifecycle.ViewModelProvider; |
|||
import androidx.lifecycle.ViewModelStoreOwner; |
|||
|
|||
import com.example.fivewheel.models.BspPV; |
|||
import com.example.fivewheel.models.RobotRMACM; |
|||
import com.example.fivewheel.services.CommunicationMethond; |
|||
import com.example.fivewheel.services.DataExchangeHelper; |
|||
import com.example.fivewheel.services.ModbusCRC; |
|||
import com.example.fivewheel.services.ModbusRtuSlaveService; |
|||
import com.example.fivewheel.services.USBSerialPortHelper; |
|||
import com.example.fivewheel.services.ttySerialPortHelper; |
|||
import com.example.fivewheel.viewmodels.MainViewModel; |
|||
import com.example.fivewheel.databinding.ActivityMainBinding; |
|||
|
|||
import java.util.List; |
|||
import java.util.Locale; |
|||
import java.util.Timer; |
|||
import java.util.TimerTask; |
|||
|
|||
import cn.nodemedia.NodePlayer; |
|||
|
|||
|
|||
public class MainActivity extends AppCompatActivity { |
|||
|
|||
public ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
|
|||
|
|||
|
|||
public static CommunicationMethond AndroidMCUCommunicationMethod = CommunicationMethond.Wired;//0 默认无线， 1 有线
|
|||
public RobotRMACM.RMACM robotRMACM; |
|||
public BspPV.PV_struct_define _toSendPV = BspPV.PV_struct_define.newBuilder().build(); |
|||
public USBSerialPortHelper serialPortHelper; |
|||
|
|||
|
|||
// 整数输入框
|
|||
private void setupIntegerEditText(EditText editText) { |
|||
editText.addTextChangedListener(new TextWatcher() { |
|||
@Override |
|||
public void beforeTextChanged(CharSequence s, int start, int count, int after) { |
|||
} |
|||
|
|||
@Override |
|||
public void onTextChanged(CharSequence s, int start, int before, int count) { |
|||
} |
|||
|
|||
@Override |
|||
public void afterTextChanged(Editable editable) { |
|||
String text = editable.toString(); |
|||
// 防止输入小数点
|
|||
if (text.contains(".")) { |
|||
text = text.replace(".", ""); |
|||
editText.setText(text); |
|||
editText.setSelection(editText.getText().length()); |
|||
} |
|||
} |
|||
}); |
|||
|
|||
editText.setOnFocusChangeListener((v, hasFocus) -> { |
|||
if (!hasFocus) { |
|||
String text = editText.getText().toString().trim(); |
|||
if (text.isEmpty()) { |
|||
editText.setText("0"); |
|||
} |
|||
|
|||
} else { |
|||
// 获得焦点时再显示光标
|
|||
editText.setCursorVisible(true); |
|||
} |
|||
|
|||
|
|||
}); |
|||
// 🔑 新增：编辑完成时自动隐藏光标
|
|||
editText.setOnEditorActionListener((v, actionId, event) -> { |
|||
editText.setCursorVisible(false); |
|||
editText.clearFocus(); |
|||
InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE); |
|||
if (imm != null) { |
|||
imm.hideSoftInputFromWindow(editText.getWindowToken(), 0); |
|||
} |
|||
return false; |
|||
}); |
|||
} |
|||
|
|||
// 换道标志位，默认左换道
|
|||
private int laneChangeDirection = 0; |
|||
|
|||
// 按钮高亮状态
|
|||
private boolean isLeftLaneChangeActive = true; |
|||
private boolean isRightLaneChangeActive = false; |
|||
|
|||
// 自动工作标志位（0=未启动，1=已启动）
|
|||
private int Robot_AutoWork = 0; |
|||
|
|||
// 当前发送的参数值（存储编辑完成后的值）
|
|||
private int currentChgLength = 100; |
|||
private double currentManualSpeed = 8; |
|||
private double currentAutoSpeed = 20; |
|||
private int currentForce = 300; |
|||
|
|||
// 编辑框是否正在编辑的标志
|
|||
private boolean isEditingChgLength = false; |
|||
private boolean isEditingManualSpeed = false; |
|||
private boolean isEditingAutoSpeed = false; |
|||
private boolean isEditingForce = false; |
|||
|
|||
private void setupDecimalEditText(EditText editText, String paramName) { |
|||
editText.addTextChangedListener(new TextWatcher() { |
|||
@Override public void beforeTextChanged(CharSequence s, int start, int count, int after) {} |
|||
@Override public void onTextChanged(CharSequence s, int start, int before, int count) {} |
|||
@Override |
|||
public void afterTextChanged(Editable editable) { |
|||
String text = editable.toString(); |
|||
if (text.equals(".")) { |
|||
editText.setText("0."); |
|||
editText.setSelection(editText.getText().length()); |
|||
} |
|||
} |
|||
}); |
|||
|
|||
editText.setOnFocusChangeListener((v, hasFocus) -> { |
|||
if (!hasFocus) { |
|||
// 编辑完成，更新对应的参数值
|
|||
String text = editText.getText().toString().trim(); |
|||
String originalText = text; |
|||
|
|||
if (text.isEmpty()) { |
|||
text = getDefaultValue(paramName); |
|||
editText.setText(text); |
|||
} else { |
|||
// 验证并限制参数值
|
|||
text = validateAndLimitValue(paramName, text); |
|||
|
|||
// 如果值被调整，更新编辑框并显示提示
|
|||
if (!text.equals(originalText)) { |
|||
editText.setText(text); |
|||
showRangeLimitDialog(paramName, originalText, text); |
|||
} |
|||
} |
|||
|
|||
// 更新对应的参数值
|
|||
updateParameterValue(paramName, text); |
|||
|
|||
// 标记编辑完成
|
|||
setEditingStatus(paramName, false); |
|||
|
|||
// 保存参数修改日志
|
|||
saveParamChange(paramName, text); |
|||
|
|||
editText.setCursorVisible(false); |
|||
} else { |
|||
// 开始编辑，标记为编辑中
|
|||
setEditingStatus(paramName, true); |
|||
editText.setCursorVisible(true); |
|||
|
|||
// 延迟一小段时间后全选文本，确保焦点稳定
|
|||
editText.postDelayed(() -> { |
|||
if (editText.hasFocus()) { |
|||
editText.selectAll(); |
|||
} |
|||
}, 100); |
|||
} |
|||
}); |
|||
|
|||
// 编辑完成时自动隐藏光标
|
|||
editText.setOnEditorActionListener((v, actionId, event) -> { |
|||
editText.setCursorVisible(false); |
|||
editText.clearFocus(); |
|||
InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE); |
|||
if (imm != null) { |
|||
imm.hideSoftInputFromWindow(editText.getWindowToken(), 0); |
|||
} |
|||
return false; |
|||
}); |
|||
|
|||
// 点击编辑框时也全选文本
|
|||
editText.setOnClickListener(v -> { |
|||
if (editText.hasFocus()) { |
|||
editText.postDelayed(() -> { |
|||
if (editText.hasFocus()) { |
|||
editText.selectAll(); |
|||
} |
|||
}, 100); |
|||
} |
|||
}); |
|||
} |
|||
|
|||
/** |
|||
* 更新参数值（只在编辑完成后调用） |
|||
*/ |
|||
private void updateParameterValue(String paramName, String value) { |
|||
try { |
|||
switch (paramName) { |
|||
case "RobotChgLength": |
|||
currentChgLength = Integer.parseInt(value); |
|||
break; |
|||
case "RobotManualSpeed": |
|||
currentManualSpeed = Double.parseDouble(value); |
|||
break; |
|||
case "RobotAutoSpeed": |
|||
currentAutoSpeed = Double.parseDouble(value); |
|||
break; |
|||
case "RobotForce": |
|||
currentForce = Integer.parseInt(value); |
|||
break; |
|||
} |
|||
} catch (NumberFormatException e) { |
|||
// 如果解析失败，使用默认值
|
|||
String defaultValue = getDefaultValue(paramName); |
|||
updateParameterValue(paramName, defaultValue); |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 设置编辑状态 |
|||
*/ |
|||
private void setEditingStatus(String paramName, boolean isEditing) { |
|||
switch (paramName) { |
|||
case "RobotChgLength": |
|||
isEditingChgLength = isEditing; |
|||
break; |
|||
case "RobotManualSpeed": |
|||
isEditingManualSpeed = isEditing; |
|||
break; |
|||
case "RobotAutoSpeed": |
|||
isEditingAutoSpeed = isEditing; |
|||
break; |
|||
case "RobotForce": |
|||
isEditingForce = isEditing; |
|||
break; |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 获取安全的发送值（如果正在编辑，返回旧值；否则返回当前值） |
|||
*/ |
|||
private int getSafeChgLengthForSending() { |
|||
if (isEditingChgLength) { |
|||
// 正在编辑，返回旧值
|
|||
return currentChgLength; |
|||
} else { |
|||
// 编辑完成，返回当前值
|
|||
try { |
|||
String text = mainBinding.tvRobotChgLength.getText().toString().trim(); |
|||
if (text.isEmpty()) return currentChgLength; |
|||
return Integer.parseInt(text); |
|||
} catch (NumberFormatException e) { |
|||
return currentChgLength; |
|||
} |
|||
} |
|||
} |
|||
|
|||
private double getSafeManualSpeedForSending() { |
|||
if (isEditingManualSpeed) { |
|||
return currentManualSpeed; |
|||
} else { |
|||
try { |
|||
String text = mainBinding.tvRobotManualSpeed.getText().toString().trim(); |
|||
if (text.isEmpty()) return currentManualSpeed; |
|||
return Double.parseDouble(text); |
|||
} catch (NumberFormatException e) { |
|||
return currentManualSpeed; |
|||
} |
|||
} |
|||
} |
|||
|
|||
private double getSafeAutoSpeedForSending() { |
|||
if (isEditingAutoSpeed) { |
|||
return currentAutoSpeed; |
|||
} else { |
|||
try { |
|||
String text = mainBinding.tvRobotAutoSpeed.getText().toString().trim(); |
|||
if (text.isEmpty()) return currentAutoSpeed; |
|||
return Double.parseDouble(text); |
|||
} catch (NumberFormatException e) { |
|||
return currentAutoSpeed; |
|||
} |
|||
} |
|||
} |
|||
|
|||
private int getSafeForceForSending() { |
|||
if (isEditingForce) { |
|||
return currentForce; |
|||
} else { |
|||
try { |
|||
String text = mainBinding.tvRobotForce.getText().toString().trim(); |
|||
if (text.isEmpty()) return currentForce; |
|||
return Integer.parseInt(text); |
|||
} catch (NumberFormatException e) { |
|||
return currentForce; |
|||
} |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 验证并限制参数值范围 |
|||
*/ |
|||
private String validateAndLimitValue(String paramName, String value) { |
|||
try { |
|||
double numValue = Double.parseDouble(value); |
|||
|
|||
switch (paramName) { |
|||
case "RobotChgLength": |
|||
int length = Math.max(0, Math.min(1000, (int) Math.round(numValue))); |
|||
return String.valueOf(length); |
|||
|
|||
case "RobotManualSpeed": |
|||
case "RobotAutoSpeed": |
|||
double speed = Math.max(0, Math.min(30, numValue)); |
|||
return (speed == (int)speed) ? String.valueOf((int)speed) : String.format(Locale.getDefault(),"%.1f", speed); |
|||
|
|||
case "RobotForce": |
|||
int force = Math.max(300, Math.min(3000, (int) Math.round(numValue))); |
|||
return String.valueOf(force); |
|||
|
|||
default: |
|||
return value; |
|||
} |
|||
} catch (NumberFormatException e) { |
|||
return getDefaultValue(paramName); |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 获取参数的默认值 |
|||
*/ |
|||
private String getDefaultValue(String paramName) { |
|||
switch (paramName) { |
|||
case "RobotChgLength": return "100"; |
|||
case "RobotManualSpeed": return "8"; |
|||
case "RobotAutoSpeed": return "20"; |
|||
case "RobotForce": return "300"; |
|||
default: return "0"; |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 显示范围限制提示对话框 |
|||
*/ |
|||
private void showRangeLimitDialog(String paramName, String originalValue, String adjustedValue) { |
|||
runOnUiThread(() -> { |
|||
String paramDisplayName = getParamDisplayName(paramName); |
|||
String rangeInfo = getRangeInfo(paramName); |
|||
|
|||
String message = String.format("输入值 %s 已调整为 %s\n%s", |
|||
originalValue, adjustedValue, rangeInfo); |
|||
|
|||
new AlertDialog.Builder(this) |
|||
.setTitle(paramDisplayName + " 调整提示") |
|||
.setMessage(message) |
|||
.setPositiveButton("确定", null) |
|||
.show(); |
|||
}); |
|||
} |
|||
|
|||
/** |
|||
* 获取参数显示名称 |
|||
*/ |
|||
private String getParamDisplayName(String paramName) { |
|||
switch (paramName) { |
|||
case "RobotChgLength": return "换道长度"; |
|||
case "RobotManualSpeed": return "手动速度"; |
|||
case "RobotAutoSpeed": return "自动速度"; |
|||
case "RobotForce": return "压力值"; |
|||
default: return paramName; |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 获取参数范围信息 |
|||
*/ |
|||
private String getRangeInfo(String paramName) { |
|||
switch (paramName) { |
|||
case "RobotChgLength": return "有效范围：0 — 1000"; |
|||
case "RobotManualSpeed": |
|||
case "RobotAutoSpeed": return "有效范围：0 - 30"; |
|||
case "RobotForce": return "有效范围：300 - 3000"; |
|||
default: return ""; |
|||
} |
|||
} |
|||
|
|||
// 安全取值，防止 Timer 崩溃
|
|||
private int getSafeInt(@NonNull EditText editText, int defaultValue) { |
|||
String text = editText.getText().toString().trim(); |
|||
if (text.isEmpty()) return defaultValue; |
|||
try { |
|||
return Integer.parseInt(text); |
|||
} catch (NumberFormatException e) { |
|||
return defaultValue; |
|||
} |
|||
} |
|||
|
|||
private double getSafeDouble(@NonNull EditText editText, double defaultValue) { |
|||
String text = editText.getText().toString().trim(); |
|||
if (text.isEmpty()) return defaultValue; |
|||
try { |
|||
return Double.parseDouble(text); |
|||
} catch (NumberFormatException e) { |
|||
return defaultValue; |
|||
} |
|||
} |
|||
|
|||
|
|||
Timer timer = new Timer(); |
|||
|
|||
|
|||
public MainActivity() { |
|||
robotRMACM = RobotRMACM.RMACM.newBuilder().setRobotSpeed(0).setLightBrightness(0).build(); |
|||
} |
|||
|
|||
|
|||
@Override |
|||
protected void onCreate(Bundle savedInstanceState) { |
|||
super.onCreate(savedInstanceState); |
|||
|
|||
|
|||
//MainViewModel binding region
|
|||
mainBinding = DataBindingUtil.setContentView(this, R.layout.activity_main); |
|||
MainViewModel vm = new ViewModelProvider((ViewModelStoreOwner) this).get(MainViewModel.class); |
|||
MainViewModel.mainBinding = mainBinding; |
|||
mainBinding.btnShowLogs.setOnClickListener(v -> showLogsDialog()); |
|||
mainBinding.setVm(vm); |
|||
|
|||
// 设置左右换道按钮的点击监听器
|
|||
mainBinding.btnLeftLaneChange.setOnClickListener(v -> { |
|||
setLaneChangeDirection(0); // 左换道
|
|||
updateButtonStyles(); |
|||
saveOperationLog("切换至左换道"); |
|||
}); |
|||
|
|||
mainBinding.btnRightLaneChange.setOnClickListener(v -> { |
|||
setLaneChangeDirection(1); // 右换道
|
|||
updateButtonStyles(); |
|||
saveOperationLog("切换至右换道"); |
|||
}); |
|||
|
|||
//设置自动工作按钮的点击监听器
|
|||
mainBinding.btnBindAutoWork.setOnClickListener(v -> { |
|||
Robot_AutoWork = 1; // 标志位置 1
|
|||
updateAutoWorkButtonStyle(); // 变色
|
|||
saveOperationLog("开启自动工作模式"); |
|||
}); |
|||
|
|||
|
|||
// 初始化按钮样式
|
|||
updateButtonStyles(); |
|||
updateAutoWorkButtonStyle(); |
|||
|
|||
setupDecimalEditText(mainBinding.tvRobotChgLength, "RobotChgLength"); |
|||
setupDecimalEditText(mainBinding.tvRobotManualSpeed, "RobotManualSpeed"); |
|||
setupDecimalEditText(mainBinding.tvRobotAutoSpeed, "RobotAutoSpeed"); |
|||
setupDecimalEditText(mainBinding.tvRobotForce, "RobotForce"); |
|||
|
|||
// 保存参数
|
|||
SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE); |
|||
String Str_RobotChgLength = sharedPreferences.getString("RobotChgLength", "100"); |
|||
String Str_RobotLeftCompensation = sharedPreferences.getString("RobotLeftCompensation", "0"); |
|||
String Str_RobotRightCompensation = sharedPreferences.getString("RobotRightCompensation", "0"); |
|||
String Str_RobotManualSpeed = sharedPreferences.getString("RobotManualSpeed", "8"); |
|||
String Str_RobotAutoSpeed = sharedPreferences.getString("RobotAutoSpeed", "20"); |
|||
String Str_RobotForce = sharedPreferences.getString("RobotForce", "300"); |
|||
|
|||
// 初始化当前参数值
|
|||
currentChgLength = Integer.parseInt(Str_RobotChgLength); |
|||
currentManualSpeed = Double.parseDouble(Str_RobotManualSpeed); |
|||
currentAutoSpeed = Double.parseDouble(Str_RobotAutoSpeed); |
|||
currentForce = Integer.parseInt(Str_RobotForce); |
|||
|
|||
mainBinding.rFAngleRoll.setText(String.valueOf(0)); |
|||
mainBinding.tvRobotError.setText(String.valueOf(0)); |
|||
mainBinding.tvRobotChgLength.setText(Str_RobotChgLength); |
|||
mainBinding.tvRobotLeftCompensation.setText(Str_RobotLeftCompensation); |
|||
mainBinding.tvRobotRightCompensation.setText(Str_RobotRightCompensation); |
|||
mainBinding.tvForce.setText(String.valueOf(0)); |
|||
mainBinding.tvRobotManualSpeed.setText(Str_RobotManualSpeed); |
|||
mainBinding.tvRobotAutoSpeed.setText(Str_RobotAutoSpeed); |
|||
mainBinding.tvRobotCurrent.setText(String.valueOf(0)); |
|||
mainBinding.tvDynamometer.setText(String.valueOf(0)); |
|||
mainBinding.tvRobotForce.setText(Str_RobotForce); |
|||
|
|||
/* 删除15天前旧日志*/ |
|||
deleteOldLogs(); |
|||
|
|||
/* NodePlayer 播放视频区域*/ |
|||
NodePlayer nodePlayer0 = new NodePlayer(this); |
|||
// NodePlayer nodePlayer1=new NodePlayer(this);
|
|||
|
|||
//String address0 = "rtsp://192.168.1.168:8554/0";
|
|||
// String address1 = "rtsp://192.168.1.169:8554/0";
|
|||
|
|||
//String addressTest = "rtsp://rtspstream:yEhp9qzAqveM9kHIE7GcL@zephyr.rtsp.stream/movie";
|
|||
String address0 = "rtsp://192.168.144.25:8554/main.264"; |
|||
/**/ |
|||
//VideoPlayerHelper.startVedio(+mainBinding.nodePlayerView0,nodePlayer0,address0);
|
|||
// VideoPlayerHelper.startVedio(mainBinding.nodePlayerView1,nodePlayer1,address1);
|
|||
//VideoPlayerHelper.startVedio(mainBinding.nodePlayerView1,nodePlayer1,addressTest);
|
|||
|
|||
|
|||
/* USB串口 控制区域*/ |
|||
serialPortHelper = new USBSerialPortHelper(this, 38400); |
|||
serialPortHelper.intialize(); |
|||
serialPortHelper.connect(); |
|||
|
|||
|
|||
ttySerialPortHelper.MainActivity = this; |
|||
ttySerialPortHelper.Open(); |
|||
|
|||
ModbusRtuSlaveService.ModbusRtuSlaveServiceIntialize(serialPortHelper); |
|||
} |
|||
|
|||
|
|||
int UARTSendCount = 0; |
|||
public int USBSerialPortReceivedTimeCounter = 0; |
|||
|
|||
@Override |
|||
protected void onStart() { |
|||
super.onStart(); |
|||
|
|||
serialPortHelper.onStart(); |
|||
UARTSendCount = 0; |
|||
timer.schedule(new TimerTask() { |
|||
@Override |
|||
public void run() { |
|||
// 使用 Handler 或 runOnUiThread 更新 UI
|
|||
runOnUiThread(new Runnable() { |
|||
@Override |
|||
public void run() { |
|||
|
|||
|
|||
ttySerialPortHelper.ReceivedCounter++; |
|||
if(ttySerialPortHelper.ReceivedCounter>=8)//250*4*2
|
|||
{ |
|||
ModbusRtuSlaveService.holdingRegisters[18]= 0;//不在线 sdk坏了
|
|||
}else |
|||
{ |
|||
ModbusRtuSlaveService.holdingRegisters[18]= 1;//在线
|
|||
} |
|||
|
|||
|
|||
// 使用安全的发送值获取方法（只在编辑完成后发送新值）
|
|||
_toSendPV = _toSendPV.toBuilder() |
|||
.setRobotChgLength(getSafeInt(mainBinding.tvRobotChgLength, 0)) |
|||
.setRobotAutoSpeedBase(getSafeDouble(mainBinding.tvRobotAutoSpeed, 0.0)) |
|||
.setRobotManualSpeedBase(getSafeDouble(mainBinding.tvRobotManualSpeed, 0.0)) |
|||
.setRobotForce(getSafeInt(mainBinding.tvRobotForce, 0)) |
|||
.setTimeStamp(System.currentTimeMillis()) |
|||
.build(); |
|||
|
|||
|
|||
|
|||
USBSerialPortReceivedTimeCounter++; |
|||
if(USBSerialPortReceivedTimeCounter>=10) |
|||
{ |
|||
USBSerialPortReceivedTimeCounter=10; |
|||
AndroidMCUCommunicationMethod = CommunicationMethond.Wireless; |
|||
}else |
|||
{ |
|||
AndroidMCUCommunicationMethod = CommunicationMethond.Wired; |
|||
} |
|||
|
|||
if (AndroidMCUCommunicationMethod == CommunicationMethond.Wireless) { |
|||
|
|||
//若sdk有数据返回，则停止发送
|
|||
if (ttySerialPortHelper.IsAllButtonSendBack == true) { |
|||
UARTSendCount = 0; |
|||
} |
|||
if (UARTSendCount <= 8) { |
|||
UARTSendCount++; |
|||
ttySerialPortHelper.SendData(ttySerialPortHelper.stopgetAllChData); |
|||
ttySerialPortHelper.IsAllButtonSendBack = false; |
|||
return; |
|||
} |
|||
|
|||
ttySerialPortHelper.SendData(DataExchangeHelper.getSendPVBytes(_toSendPV)); |
|||
return; |
|||
} |
|||
//有线
|
|||
if (AndroidMCUCommunicationMethod == CommunicationMethond.Wired) { |
|||
if (ttySerialPortHelper.IsAllButtonSendBack == false) { |
|||
ttySerialPortHelper.SendData(ttySerialPortHelper.getAllChData_50Hz); |
|||
} |
|||
} |
|||
|
|||
|
|||
// ttySerialPortHelper.SendData(DataExchangeHelper.getSendPVBytes(_toSendPV));
|
|||
} |
|||
}); |
|||
|
|||
|
|||
} |
|||
}, 0, 250); // 延迟 0 毫秒，每隔 1000 毫秒执行一次
|
|||
|
|||
} |
|||
|
|||
@Override |
|||
public void onStop() { |
|||
SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE); |
|||
SharedPreferences.Editor editor = sharedPreferences.edit(); |
|||
|
|||
editor.putString("RobotChgLength", String.valueOf(mainBinding.tvRobotChgLength.getText())); |
|||
editor.putString("RobotLeftCompensation", String.valueOf(mainBinding.tvRobotLeftCompensation.getText())); |
|||
editor.putString("RobotRightCompensation", String.valueOf(mainBinding.tvRobotRightCompensation.getText())); |
|||
editor.putString("RobotManualSpeed", String.valueOf(mainBinding.tvRobotManualSpeed.getText())); |
|||
editor.putString("RobotAutoSpeed", String.valueOf(mainBinding.tvRobotAutoSpeed.getText())); |
|||
editor.apply(); |
|||
// 保存数据
|
|||
serialPortHelper.onStop(); |
|||
super.onStop(); |
|||
|
|||
} |
|||
|
|||
@Override |
|||
public void onResume() { |
|||
super.onResume(); |
|||
serialPortHelper.onResume(); |
|||
|
|||
} |
|||
|
|||
@Override |
|||
public void onPause() { |
|||
super.onPause(); |
|||
serialPortHelper.onPause(); |
|||
stopSending(); |
|||
|
|||
SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE); |
|||
SharedPreferences.Editor editor = sharedPreferences.edit(); |
|||
|
|||
// 添加空值检查
|
|||
String chgLength = String.valueOf(mainBinding.tvRobotChgLength.getText()); |
|||
if (chgLength.isEmpty()) chgLength = "100"; |
|||
|
|||
String leftComp = String.valueOf(mainBinding.tvRobotLeftCompensation.getText()); |
|||
if (leftComp.isEmpty()) leftComp = "0"; |
|||
|
|||
String rightComp = String.valueOf(mainBinding.tvRobotRightCompensation.getText()); |
|||
if (rightComp.isEmpty()) rightComp = "0"; |
|||
|
|||
String manualSpeed = String.valueOf(mainBinding.tvRobotManualSpeed.getText()); |
|||
if (manualSpeed.isEmpty()) manualSpeed = "8"; |
|||
|
|||
String autoSpeed = String.valueOf(mainBinding.tvRobotAutoSpeed.getText()); |
|||
if (autoSpeed.isEmpty()) autoSpeed = "20"; |
|||
|
|||
String force = String.valueOf(mainBinding.tvRobotForce.getText()); |
|||
if (force.isEmpty()) force = "300"; |
|||
|
|||
editor.putString("RobotChgLength", chgLength); |
|||
editor.putString("RobotLeftCompensation", leftComp); |
|||
editor.putString("RobotRightCompensation", rightComp); |
|||
editor.putString("RobotManualSpeed", manualSpeed); |
|||
editor.putString("RobotAutoSpeed", autoSpeed); |
|||
editor.putString("RobotForce", force); |
|||
editor.apply(); |
|||
} |
|||
|
|||
@Override |
|||
protected void onDestroy() { |
|||
super.onDestroy(); |
|||
if (timer != null) { |
|||
timer.cancel(); |
|||
} |
|||
ttySerialPortHelper.onDestroy(); |
|||
} |
|||
|
|||
private TimerTask sendTask; |
|||
|
|||
private void startSending() { |
|||
stopSending(); |
|||
if (timer == null) { |
|||
timer = new Timer(); |
|||
sendTask = new TimerTask() { |
|||
@Override |
|||
public void run() { |
|||
try { |
|||
// 使用安全的发送值获取方法（只在编辑完成后发送新值）
|
|||
int chgLength = getSafeChgLengthForSending(); |
|||
double manualSpeed = getSafeManualSpeedForSending(); |
|||
double autoSpeed = getSafeAutoSpeedForSending(); |
|||
int force = getSafeForceForSending(); |
|||
|
|||
// 在发送前进行范围限制（二次保障）
|
|||
chgLength = Math.max(0, Math.min(1000, chgLength)); |
|||
manualSpeed = Math.max(0, Math.min(30, manualSpeed)); |
|||
autoSpeed = Math.max(0, Math.min(30, autoSpeed)); |
|||
force = Math.max(300, Math.min(3000, force)); |
|||
|
|||
_toSendPV = _toSendPV.toBuilder() |
|||
.setRobotChgLength(chgLength) |
|||
.setRobotAutoSpeedBase(autoSpeed) |
|||
.setRobotManualSpeedBase(manualSpeed) |
|||
.setRobotLaneChangeDirection(laneChangeDirection) |
|||
.setRobotForce(force) |
|||
.setRobotAutoWork(Robot_AutoWork) |
|||
.setTimeStamp(System.currentTimeMillis()) |
|||
.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(sendByteArray3); |
|||
|
|||
runOnUiThread(() -> checkMotorErrors()); |
|||
} catch (Exception e) { |
|||
android.util.Log.e("MainActivity", "Error in startSending timer task", e); |
|||
} |
|||
} |
|||
}; |
|||
timer.schedule(sendTask, 0, 1000); |
|||
} |
|||
} |
|||
|
|||
private void stopSending() { |
|||
try { |
|||
if (sendTask != null) { |
|||
sendTask.cancel(); |
|||
sendTask = null; |
|||
} |
|||
if (timer != null) { |
|||
timer.cancel(); |
|||
timer.purge(); |
|||
timer = null; |
|||
} |
|||
} catch (Exception ignored) {} |
|||
} |
|||
|
|||
// 设置换道方向
|
|||
private void setLaneChangeDirection(int direction) { |
|||
laneChangeDirection = direction; |
|||
isLeftLaneChangeActive = (direction == 0); |
|||
isRightLaneChangeActive = (direction == 1); |
|||
} |
|||
|
|||
// 更新按钮样式
|
|||
private void updateButtonStyles() { |
|||
// 左换道按钮样式
|
|||
if (isLeftLaneChangeActive) { |
|||
mainBinding.btnLeftLaneChange.setTextColor(ContextCompat.getColor(this, R.color.mediumvioletred)); |
|||
mainBinding.btnLeftLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
} else { |
|||
mainBinding.btnLeftLaneChange.setTextColor(ContextCompat.getColor(this, R.color.deepskyblue)); |
|||
mainBinding.btnLeftLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
} |
|||
|
|||
// 右换道按钮样式
|
|||
if (isRightLaneChangeActive) { |
|||
mainBinding.btnRightLaneChange.setTextColor(ContextCompat.getColor(this, R.color.mediumvioletred)); |
|||
mainBinding.btnRightLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
} else { |
|||
mainBinding.btnRightLaneChange.setTextColor(ContextCompat.getColor(this, R.color.deepskyblue)); |
|||
mainBinding.btnRightLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
} |
|||
} |
|||
|
|||
//
|
|||
private void updateAutoWorkButtonStyle() { |
|||
if (Robot_AutoWork == 1) { |
|||
mainBinding.btnBindAutoWork.setTextColor( |
|||
ContextCompat.getColor(this, R.color.mediumvioletred)); |
|||
mainBinding.btnBindAutoWork.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
|
|||
} else { |
|||
mainBinding.btnBindAutoWork.setTextColor( |
|||
ContextCompat.getColor(this, R.color.deepskyblue)); |
|||
mainBinding.btnBindAutoWork.setBackgroundResource(R.drawable.blue_rounded_rectangle); |
|||
} |
|||
} |
|||
|
|||
private void saveMotorError(String motorSide, String errorMsg) { |
|||
new Thread(() -> { |
|||
AppDatabase db = AppDatabase.getInstance(this); |
|||
RobotLog log = new RobotLog(); |
|||
log.type = "error"; |
|||
log.message = motorSide + " 电机报错: " + errorMsg; |
|||
log.time = System.currentTimeMillis(); |
|||
db.robotLogDao().insert(log); |
|||
}).start(); |
|||
} |
|||
|
|||
private String lastLeftError = "xxx"; |
|||
private String lastRightError = "xxx"; |
|||
|
|||
private void checkMotorErrors() { |
|||
String currentLeftError = mainBinding.tvLeftError.getText().toString().trim(); |
|||
String currentRightError = mainBinding.tvRightError.getText().toString().trim(); |
|||
|
|||
if (!currentLeftError.equals("正常") && !currentLeftError.equals(lastLeftError)) { |
|||
saveMotorError("左电机", currentLeftError); |
|||
} |
|||
lastLeftError = currentLeftError; |
|||
|
|||
if (!currentRightError.equals("正常") && !currentRightError.equals(lastRightError)) { |
|||
saveMotorError("右电机", currentRightError); |
|||
} |
|||
lastRightError = currentRightError; |
|||
} |
|||
|
|||
// 禁用所有输入和点击
|
|||
public void disableParameterArea() { |
|||
runOnUiThread(() -> disableViewRecursive(mainBinding.setLayout)); |
|||
} |
|||
|
|||
// 启用所有输入和点击
|
|||
public void enableParameterArea() { |
|||
runOnUiThread(() -> enableViewRecursive(mainBinding.setLayout)); |
|||
} |
|||
|
|||
// 递归禁用
|
|||
private void disableViewRecursive(View view) { |
|||
view.setEnabled(false); |
|||
view.setClickable(false); |
|||
view.setAlpha(0.8f); |
|||
|
|||
if (view instanceof EditText) { |
|||
EditText editText = (EditText) view; |
|||
editText.setFocusable(false); |
|||
editText.setFocusableInTouchMode(false); |
|||
editText.setKeyListener(null); |
|||
editText.clearFocus(); |
|||
editText.setCursorVisible(false); |
|||
} |
|||
|
|||
if (view instanceof ViewGroup) { |
|||
ViewGroup group = (ViewGroup) view; |
|||
for (int i = 0; i < group.getChildCount(); i++) { |
|||
disableViewRecursive(group.getChildAt(i)); |
|||
} |
|||
} |
|||
} |
|||
|
|||
// 递归启用
|
|||
private void enableViewRecursive(View view) { |
|||
view.setEnabled(true); |
|||
view.setClickable(true); |
|||
view.setAlpha(1.0f); |
|||
|
|||
if (view instanceof EditText) { |
|||
EditText editText = (EditText) view; |
|||
editText.setFocusable(true); |
|||
editText.setFocusableInTouchMode(true); |
|||
editText.setCursorVisible(true); |
|||
// 重新设置 KeyListener 以恢复输入功能
|
|||
editText.setKeyListener(new EditText(this).getKeyListener()); |
|||
} |
|||
|
|||
if (view instanceof ViewGroup) { |
|||
ViewGroup group = (ViewGroup) view; |
|||
for (int i = 0; i < group.getChildCount(); i++) { |
|||
enableViewRecursive(group.getChildAt(i)); |
|||
} |
|||
} |
|||
} |
|||
|
|||
private void saveParamChange(String paramName, String newValue) { |
|||
new Thread(() -> { |
|||
AppDatabase db = AppDatabase.getInstance(this); |
|||
RobotLog log = new RobotLog(); |
|||
log.type = "param_change"; |
|||
log.message = paramName + " 修改为 " + newValue; |
|||
log.time = System.currentTimeMillis(); |
|||
db.robotLogDao().insert(log); |
|||
}).start(); |
|||
} |
|||
|
|||
private void saveOperationLog(String operation) { |
|||
new Thread(() -> { |
|||
AppDatabase db = AppDatabase.getInstance(this); |
|||
RobotLog log = new RobotLog(); |
|||
log.type = "operation"; |
|||
log.message = operation; |
|||
log.time = System.currentTimeMillis(); |
|||
db.robotLogDao().insert(log); |
|||
}).start(); |
|||
} |
|||
|
|||
private void showLogsDialog() { |
|||
new Thread(() -> { |
|||
AppDatabase db = AppDatabase.getInstance(this); |
|||
List<RobotLog> logs = db.robotLogDao().getAllLogs(); |
|||
|
|||
StringBuilder sb = new StringBuilder(); |
|||
for (RobotLog log : logs) { |
|||
sb.append("[").append(android.text.format.DateFormat.format("yyyy-MM-dd HH:mm:ss", log.time)).append("] "); |
|||
sb.append(log.type).append(": ").append(log.message).append("\n"); |
|||
} |
|||
|
|||
String logContent = sb.toString(); |
|||
|
|||
runOnUiThread(() -> { |
|||
AlertDialog.Builder builder = new AlertDialog.Builder(this); |
|||
builder.setTitle("日志信息"); |
|||
|
|||
View dialogView = getLayoutInflater().inflate(R.layout.dialog_logs, null); |
|||
TextView tvLogs = dialogView.findViewById(R.id.tv_logs_content); |
|||
tvLogs.setText(logContent.isEmpty() ? "暂无日志" : logContent); |
|||
|
|||
builder.setView(dialogView) |
|||
.setPositiveButton("关闭", null) |
|||
.show(); |
|||
}); |
|||
}).start(); |
|||
} |
|||
|
|||
private void deleteOldLogs() { |
|||
new Thread(() -> { |
|||
AppDatabase db = AppDatabase.getInstance(this); |
|||
long fifteenDaysAgo = System.currentTimeMillis() - 15L * 24 * 60 * 60 * 1000; |
|||
db.robotLogDao().deleteLogsBefore(fifteenDaysAgo); |
|||
}).start(); |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,20 @@ |
|||
package com.example.fivewheel; |
|||
|
|||
import androidx.room.ColumnInfo; |
|||
import androidx.room.Entity; |
|||
import androidx.room.PrimaryKey; |
|||
|
|||
@Entity(tableName = "robot_logs") |
|||
public class RobotLog { |
|||
@PrimaryKey(autoGenerate = true) |
|||
public int id; |
|||
|
|||
@ColumnInfo(name = "type") // "error" 或 "param_change"
|
|||
public String type; |
|||
|
|||
@ColumnInfo(name = "message") // 具体信息：报错内容或修改了哪个参数
|
|||
public String message; |
|||
|
|||
@ColumnInfo(name = "time") // 时间戳
|
|||
public long time; |
|||
} |
|||
@ -0,0 +1,22 @@ |
|||
package com.example.fivewheel; |
|||
|
|||
import androidx.room.Dao; |
|||
import androidx.room.Insert; |
|||
import androidx.room.Query; |
|||
|
|||
import java.util.List; |
|||
|
|||
@Dao |
|||
public interface RobotLogDao { |
|||
|
|||
@Insert |
|||
void insert(RobotLog log); |
|||
|
|||
|
|||
@Query("SELECT * FROM robot_logs ORDER BY time DESC") |
|||
List<RobotLog> getAllLogs(); |
|||
|
|||
@Query("DELETE FROM robot_logs WHERE time < :timeLimit") |
|||
void deleteLogsBefore(long timeLimit); |
|||
|
|||
} |
|||
File diff suppressed because it is too large
File diff suppressed because it is too large
File diff suppressed because it is too large
@ -0,0 +1,792 @@ |
|||
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
|||
// NO CHECKED-IN PROTOBUF GENCODE
|
|||
// source: robot_data.proto
|
|||
// Protobuf Java Version: 4.27.2
|
|||
|
|||
package com.example.fivewheel.models; |
|||
|
|||
public final class RobotData { |
|||
private RobotData() {} |
|||
static { |
|||
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
|||
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
|||
/* major= */ 4, |
|||
/* minor= */ 27, |
|||
/* patch= */ 2, |
|||
/* suffix= */ "", |
|||
RobotData.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 DataTransOrBuilder extends |
|||
// @@protoc_insertion_point(interface_extends:DataTrans)
|
|||
com.google.protobuf.MessageOrBuilder { |
|||
|
|||
/** |
|||
* <pre> |
|||
* 横滚角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Roll = 1;</code> |
|||
* @return The rFAngleRoll. |
|||
*/ |
|||
int getRFAngleRoll(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return The rFAnglePitch. |
|||
*/ |
|||
int getRFAnglePitch(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return The rFAngleYaw. |
|||
*/ |
|||
int getRFAngleYaw(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return The rFDepth. |
|||
*/ |
|||
int getRFDepth(); |
|||
} |
|||
/** |
|||
* Protobuf type {@code DataTrans} |
|||
*/ |
|||
public static final class DataTrans extends |
|||
com.google.protobuf.GeneratedMessage implements |
|||
// @@protoc_insertion_point(message_implements:DataTrans)
|
|||
DataTransOrBuilder { |
|||
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= */ "", |
|||
DataTrans.class.getName()); |
|||
} |
|||
// Use DataTrans.newBuilder() to construct.
|
|||
private DataTrans(com.google.protobuf.GeneratedMessage.Builder<?> builder) { |
|||
super(builder); |
|||
} |
|||
private DataTrans() { |
|||
} |
|||
|
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptor() { |
|||
return RobotData.internal_static_DataTrans_descriptor; |
|||
} |
|||
|
|||
@Override |
|||
protected FieldAccessorTable |
|||
internalGetFieldAccessorTable() { |
|||
return RobotData.internal_static_DataTrans_fieldAccessorTable |
|||
.ensureFieldAccessorsInitialized( |
|||
DataTrans.class, Builder.class); |
|||
} |
|||
|
|||
public static final int RF_ANGLE_ROLL_FIELD_NUMBER = 1; |
|||
private int rFAngleRoll_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 横滚角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Roll = 1;</code> |
|||
* @return The rFAngleRoll. |
|||
*/ |
|||
@Override |
|||
public int getRFAngleRoll() { |
|||
return rFAngleRoll_; |
|||
} |
|||
|
|||
public static final int RF_ANGLE_PITCH_FIELD_NUMBER = 2; |
|||
private int rFAnglePitch_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return The rFAnglePitch. |
|||
*/ |
|||
@Override |
|||
public int getRFAnglePitch() { |
|||
return rFAnglePitch_; |
|||
} |
|||
|
|||
public static final int RF_ANGLE_YAW_FIELD_NUMBER = 3; |
|||
private int rFAngleYaw_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return The rFAngleYaw. |
|||
*/ |
|||
@Override |
|||
public int getRFAngleYaw() { |
|||
return rFAngleYaw_; |
|||
} |
|||
|
|||
public static final int RF_DEPTH_FIELD_NUMBER = 4; |
|||
private int rFDepth_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return The rFDepth. |
|||
*/ |
|||
@Override |
|||
public int getRFDepth() { |
|||
return rFDepth_; |
|||
} |
|||
|
|||
private byte memoizedIsInitialized = -1; |
|||
@Override |
|||
public final boolean isInitialized() { |
|||
byte isInitialized = memoizedIsInitialized; |
|||
if (isInitialized == 1) return true; |
|||
if (isInitialized == 0) return false; |
|||
|
|||
memoizedIsInitialized = 1; |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public void writeTo(com.google.protobuf.CodedOutputStream output) |
|||
throws java.io.IOException { |
|||
if (rFAngleRoll_ != 0) { |
|||
output.writeInt32(1, rFAngleRoll_); |
|||
} |
|||
if (rFAnglePitch_ != 0) { |
|||
output.writeInt32(2, rFAnglePitch_); |
|||
} |
|||
if (rFAngleYaw_ != 0) { |
|||
output.writeInt32(3, rFAngleYaw_); |
|||
} |
|||
if (rFDepth_ != 0) { |
|||
output.writeInt32(4, rFDepth_); |
|||
} |
|||
getUnknownFields().writeTo(output); |
|||
} |
|||
|
|||
@Override |
|||
public int getSerializedSize() { |
|||
int size = memoizedSize; |
|||
if (size != -1) return size; |
|||
|
|||
size = 0; |
|||
if (rFAngleRoll_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(1, rFAngleRoll_); |
|||
} |
|||
if (rFAnglePitch_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(2, rFAnglePitch_); |
|||
} |
|||
if (rFAngleYaw_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(3, rFAngleYaw_); |
|||
} |
|||
if (rFDepth_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(4, rFDepth_); |
|||
} |
|||
size += getUnknownFields().getSerializedSize(); |
|||
memoizedSize = size; |
|||
return size; |
|||
} |
|||
|
|||
@Override |
|||
public boolean equals(final Object obj) { |
|||
if (obj == this) { |
|||
return true; |
|||
} |
|||
if (!(obj instanceof DataTrans)) { |
|||
return super.equals(obj); |
|||
} |
|||
DataTrans other = (DataTrans) obj; |
|||
|
|||
if (getRFAngleRoll() |
|||
!= other.getRFAngleRoll()) return false; |
|||
if (getRFAnglePitch() |
|||
!= other.getRFAnglePitch()) return false; |
|||
if (getRFAngleYaw() |
|||
!= other.getRFAngleYaw()) return false; |
|||
if (getRFDepth() |
|||
!= other.getRFDepth()) return false; |
|||
if (!getUnknownFields().equals(other.getUnknownFields())) return false; |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public int hashCode() { |
|||
if (memoizedHashCode != 0) { |
|||
return memoizedHashCode; |
|||
} |
|||
int hash = 41; |
|||
hash = (19 * hash) + getDescriptor().hashCode(); |
|||
hash = (37 * hash) + RF_ANGLE_ROLL_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRFAngleRoll(); |
|||
hash = (37 * hash) + RF_ANGLE_PITCH_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRFAnglePitch(); |
|||
hash = (37 * hash) + RF_ANGLE_YAW_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRFAngleYaw(); |
|||
hash = (37 * hash) + RF_DEPTH_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRFDepth(); |
|||
hash = (29 * hash) + getUnknownFields().hashCode(); |
|||
memoizedHashCode = hash; |
|||
return hash; |
|||
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|||
|
|||
public static DataTrans parseFrom( |
|||
java.nio.ByteBuffer data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static DataTrans parseFrom( |
|||
java.nio.ByteBuffer data, |
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com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static DataTrans parseFrom( |
|||
com.google.protobuf.ByteString data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static DataTrans parseFrom( |
|||
com.google.protobuf.ByteString data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static DataTrans parseFrom(byte[] data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static DataTrans parseFrom( |
|||
byte[] data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static DataTrans parseFrom(java.io.InputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseWithIOException(PARSER, input); |
|||
} |
|||
public static DataTrans parseFrom( |
|||
java.io.InputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
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|||
} |
|||
|
|||
public static DataTrans parseDelimitedFrom(java.io.InputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseDelimitedWithIOException(PARSER, input); |
|||
} |
|||
|
|||
public static DataTrans parseDelimitedFrom( |
|||
java.io.InputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
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|||
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|||
public static DataTrans parseFrom( |
|||
com.google.protobuf.CodedInputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
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|||
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|||
public static DataTrans parseFrom( |
|||
com.google.protobuf.CodedInputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseWithIOException(PARSER, input, extensionRegistry); |
|||
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|||
|
|||
@Override |
|||
public Builder newBuilderForType() { return newBuilder(); } |
|||
public static Builder newBuilder() { |
|||
return DEFAULT_INSTANCE.toBuilder(); |
|||
} |
|||
public static Builder newBuilder(DataTrans prototype) { |
|||
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype); |
|||
} |
|||
@Override |
|||
public Builder toBuilder() { |
|||
return this == DEFAULT_INSTANCE |
|||
? new Builder() : new Builder().mergeFrom(this); |
|||
} |
|||
|
|||
@Override |
|||
protected Builder newBuilderForType( |
|||
BuilderParent parent) { |
|||
Builder builder = new Builder(parent); |
|||
return builder; |
|||
} |
|||
/** |
|||
* Protobuf type {@code DataTrans} |
|||
*/ |
|||
public static final class Builder extends |
|||
com.google.protobuf.GeneratedMessage.Builder<Builder> implements |
|||
// @@protoc_insertion_point(builder_implements:DataTrans)
|
|||
DataTransOrBuilder { |
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptor() { |
|||
return RobotData.internal_static_DataTrans_descriptor; |
|||
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|||
|
|||
@Override |
|||
protected FieldAccessorTable |
|||
internalGetFieldAccessorTable() { |
|||
return RobotData.internal_static_DataTrans_fieldAccessorTable |
|||
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|||
DataTrans.class, Builder.class); |
|||
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|||
|
|||
// Construct using com.example.removemarineanimals.models.RobotData.DataTrans.newBuilder()
|
|||
private Builder() { |
|||
|
|||
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|||
|
|||
private Builder( |
|||
BuilderParent parent) { |
|||
super(parent); |
|||
|
|||
} |
|||
@Override |
|||
public Builder clear() { |
|||
super.clear(); |
|||
bitField0_ = 0; |
|||
rFAngleRoll_ = 0; |
|||
rFAnglePitch_ = 0; |
|||
rFAngleYaw_ = 0; |
|||
rFDepth_ = 0; |
|||
return this; |
|||
} |
|||
|
|||
@Override |
|||
public com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptorForType() { |
|||
return RobotData.internal_static_DataTrans_descriptor; |
|||
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|||
|
|||
@Override |
|||
public DataTrans getDefaultInstanceForType() { |
|||
return DataTrans.getDefaultInstance(); |
|||
} |
|||
|
|||
@Override |
|||
public DataTrans build() { |
|||
DataTrans result = buildPartial(); |
|||
if (!result.isInitialized()) { |
|||
throw newUninitializedMessageException(result); |
|||
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|||
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|||
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|||
|
|||
@Override |
|||
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|||
DataTrans result = new DataTrans(this); |
|||
if (bitField0_ != 0) { buildPartial0(result); } |
|||
onBuilt(); |
|||
return result; |
|||
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|||
|
|||
private void buildPartial0(DataTrans result) { |
|||
int from_bitField0_ = bitField0_; |
|||
if (((from_bitField0_ & 0x00000001) != 0)) { |
|||
result.rFAngleRoll_ = rFAngleRoll_; |
|||
} |
|||
if (((from_bitField0_ & 0x00000002) != 0)) { |
|||
result.rFAnglePitch_ = rFAnglePitch_; |
|||
} |
|||
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|||
result.rFAngleYaw_ = rFAngleYaw_; |
|||
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|||
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|||
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|||
} |
|||
} |
|||
|
|||
@Override |
|||
public Builder mergeFrom(com.google.protobuf.Message other) { |
|||
if (other instanceof DataTrans) { |
|||
return mergeFrom((DataTrans)other); |
|||
} else { |
|||
super.mergeFrom(other); |
|||
return this; |
|||
} |
|||
} |
|||
|
|||
public Builder mergeFrom(DataTrans other) { |
|||
if (other == DataTrans.getDefaultInstance()) return this; |
|||
if (other.getRFAngleRoll() != 0) { |
|||
setRFAngleRoll(other.getRFAngleRoll()); |
|||
} |
|||
if (other.getRFAnglePitch() != 0) { |
|||
setRFAnglePitch(other.getRFAnglePitch()); |
|||
} |
|||
if (other.getRFAngleYaw() != 0) { |
|||
setRFAngleYaw(other.getRFAngleYaw()); |
|||
} |
|||
if (other.getRFDepth() != 0) { |
|||
setRFDepth(other.getRFDepth()); |
|||
} |
|||
this.mergeUnknownFields(other.getUnknownFields()); |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
@Override |
|||
public final boolean isInitialized() { |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public Builder mergeFrom( |
|||
com.google.protobuf.CodedInputStream input, |
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com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
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throws java.io.IOException { |
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if (extensionRegistry == null) { |
|||
throw new NullPointerException(); |
|||
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|||
try { |
|||
boolean done = false; |
|||
while (!done) { |
|||
int tag = input.readTag(); |
|||
switch (tag) { |
|||
case 0: |
|||
done = true; |
|||
break; |
|||
case 8: { |
|||
rFAngleRoll_ = input.readInt32(); |
|||
bitField0_ |= 0x00000001; |
|||
break; |
|||
} // case 8
|
|||
case 16: { |
|||
rFAnglePitch_ = input.readInt32(); |
|||
bitField0_ |= 0x00000002; |
|||
break; |
|||
} // case 16
|
|||
case 24: { |
|||
rFAngleYaw_ = input.readInt32(); |
|||
bitField0_ |= 0x00000004; |
|||
break; |
|||
} // case 24
|
|||
case 32: { |
|||
rFDepth_ = input.readInt32(); |
|||
bitField0_ |= 0x00000008; |
|||
break; |
|||
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|
|||
default: { |
|||
if (!super.parseUnknownField(input, extensionRegistry, tag)) { |
|||
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|
|||
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|||
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|
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|
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|
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|||
throw e.unwrapIOException(); |
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|||
onChanged(); |
|||
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|
|||
return this; |
|||
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|||
private int bitField0_; |
|||
|
|||
private int rFAngleRoll_ ; |
|||
/** |
|||
* <pre> |
|||
* 横滚角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Roll = 1;</code> |
|||
* @return The rFAngleRoll. |
|||
*/ |
|||
@Override |
|||
public int getRFAngleRoll() { |
|||
return rFAngleRoll_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 横滚角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Roll = 1;</code> |
|||
* @param value The rFAngleRoll to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFAngleRoll(int value) { |
|||
|
|||
rFAngleRoll_ = value; |
|||
bitField0_ |= 0x00000001; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 横滚角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Roll = 1;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFAngleRoll() { |
|||
bitField0_ = (bitField0_ & ~0x00000001); |
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rFAngleRoll_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFAnglePitch_ ; |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return The rFAnglePitch. |
|||
*/ |
|||
@Override |
|||
public int getRFAnglePitch() { |
|||
return rFAnglePitch_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @param value The rFAnglePitch to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFAnglePitch(int value) { |
|||
|
|||
rFAnglePitch_ = value; |
|||
bitField0_ |= 0x00000002; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFAnglePitch() { |
|||
bitField0_ = (bitField0_ & ~0x00000002); |
|||
rFAnglePitch_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFAngleYaw_ ; |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return The rFAngleYaw. |
|||
*/ |
|||
@Override |
|||
public int getRFAngleYaw() { |
|||
return rFAngleYaw_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @param value The rFAngleYaw to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFAngleYaw(int value) { |
|||
|
|||
rFAngleYaw_ = value; |
|||
bitField0_ |= 0x00000004; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFAngleYaw() { |
|||
bitField0_ = (bitField0_ & ~0x00000004); |
|||
rFAngleYaw_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFDepth_ ; |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return The rFDepth. |
|||
*/ |
|||
@Override |
|||
public int getRFDepth() { |
|||
return rFDepth_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @param value The rFDepth to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFDepth(int value) { |
|||
|
|||
rFDepth_ = value; |
|||
bitField0_ |= 0x00000008; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFDepth() { |
|||
bitField0_ = (bitField0_ & ~0x00000008); |
|||
rFDepth_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
// @@protoc_insertion_point(builder_scope:DataTrans)
|
|||
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|||
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|||
// @@protoc_insertion_point(class_scope:DataTrans)
|
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|
|||
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|||
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|||
@Override |
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|
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|||
|
|||
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|||
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|||
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|||
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|||
internal_static_DataTrans_fieldAccessorTable; |
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|||
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|||
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|||
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|||
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static { |
|||
String[] descriptorData = { |
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"\n\020robot_data.proto\"b\n\tDataTrans\022\025\n\rRF_An" + |
|||
"gle_Roll\030\001 \001(\005\022\026\n\016RF_Angle_Pitch\030\002 \001(\005\022\024" + |
|||
"\n\014RF_Angle_Yaw\030\003 \001(\005\022\020\n\010RF_Depth\030\004 \001(\005B*" + |
|||
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|||
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|||
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|||
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|
|||
// @@protoc_insertion_point(outer_class_scope)
|
|||
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|||
@ -0,0 +1,615 @@ |
|||
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
|||
// NO CHECKED-IN PROTOBUF GENCODE
|
|||
// source: robot_RMACM.proto
|
|||
// Protobuf Java Version: 4.27.2
|
|||
|
|||
package com.example.fivewheel.models; |
|||
|
|||
public final class RobotRMACM { |
|||
private RobotRMACM() {} |
|||
static { |
|||
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
|||
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
|||
/* major= */ 4, |
|||
/* minor= */ 27, |
|||
/* patch= */ 2, |
|||
/* suffix= */ "", |
|||
RobotRMACM.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 RMACMOrBuilder extends |
|||
// @@protoc_insertion_point(interface_extends:RMACM)
|
|||
com.google.protobuf.MessageOrBuilder { |
|||
|
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
int getLightBrightness(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
int getRobotSpeed(); |
|||
} |
|||
/** |
|||
* <pre> |
|||
* Remove Marine Animal Command |
|||
* </pre> |
|||
* |
|||
* Protobuf type {@code RMACM} |
|||
*/ |
|||
public static final class RMACM extends |
|||
com.google.protobuf.GeneratedMessage implements |
|||
// @@protoc_insertion_point(message_implements:RMACM)
|
|||
RMACMOrBuilder { |
|||
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= */ "", |
|||
RMACM.class.getName()); |
|||
} |
|||
// Use RMACM.newBuilder() to construct.
|
|||
private RMACM(com.google.protobuf.GeneratedMessage.Builder<?> builder) { |
|||
super(builder); |
|||
} |
|||
private RMACM() { |
|||
} |
|||
|
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptor() { |
|||
return RobotRMACM.internal_static_RMACM_descriptor; |
|||
} |
|||
|
|||
@Override |
|||
protected FieldAccessorTable |
|||
internalGetFieldAccessorTable() { |
|||
return RobotRMACM.internal_static_RMACM_fieldAccessorTable |
|||
.ensureFieldAccessorsInitialized( |
|||
RMACM.class, Builder.class); |
|||
} |
|||
|
|||
public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1; |
|||
private int lightBrightness_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
@Override |
|||
public int getLightBrightness() { |
|||
return lightBrightness_; |
|||
} |
|||
|
|||
public static final int ROBOT_SPEED_FIELD_NUMBER = 2; |
|||
private int robotSpeed_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
@Override |
|||
public int getRobotSpeed() { |
|||
return robotSpeed_; |
|||
} |
|||
|
|||
private byte memoizedIsInitialized = -1; |
|||
@Override |
|||
public final boolean isInitialized() { |
|||
byte isInitialized = memoizedIsInitialized; |
|||
if (isInitialized == 1) return true; |
|||
if (isInitialized == 0) return false; |
|||
|
|||
memoizedIsInitialized = 1; |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public void writeTo(com.google.protobuf.CodedOutputStream output) |
|||
throws java.io.IOException { |
|||
if (lightBrightness_ != 0) { |
|||
output.writeInt32(1, lightBrightness_); |
|||
} |
|||
if (robotSpeed_ != 0) { |
|||
output.writeInt32(2, robotSpeed_); |
|||
} |
|||
getUnknownFields().writeTo(output); |
|||
} |
|||
|
|||
@Override |
|||
public int getSerializedSize() { |
|||
int size = memoizedSize; |
|||
if (size != -1) return size; |
|||
|
|||
size = 0; |
|||
if (lightBrightness_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(1, lightBrightness_); |
|||
} |
|||
if (robotSpeed_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(2, robotSpeed_); |
|||
} |
|||
size += getUnknownFields().getSerializedSize(); |
|||
memoizedSize = size; |
|||
return size; |
|||
} |
|||
|
|||
@Override |
|||
public boolean equals(final Object obj) { |
|||
if (obj == this) { |
|||
return true; |
|||
} |
|||
if (!(obj instanceof RMACM)) { |
|||
return super.equals(obj); |
|||
} |
|||
RMACM other = (RMACM) obj; |
|||
|
|||
if (getLightBrightness() |
|||
!= other.getLightBrightness()) return false; |
|||
if (getRobotSpeed() |
|||
!= other.getRobotSpeed()) return false; |
|||
if (!getUnknownFields().equals(other.getUnknownFields())) return false; |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public int hashCode() { |
|||
if (memoizedHashCode != 0) { |
|||
return memoizedHashCode; |
|||
} |
|||
int hash = 41; |
|||
hash = (19 * hash) + getDescriptor().hashCode(); |
|||
hash = (37 * hash) + LIGHTBRIGHTNESS_FIELD_NUMBER; |
|||
hash = (53 * hash) + getLightBrightness(); |
|||
hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRobotSpeed(); |
|||
hash = (29 * hash) + getUnknownFields().hashCode(); |
|||
memoizedHashCode = hash; |
|||
return hash; |
|||
} |
|||
|
|||
public static RMACM parseFrom( |
|||
java.nio.ByteBuffer data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static RMACM parseFrom( |
|||
java.nio.ByteBuffer data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static RMACM parseFrom( |
|||
com.google.protobuf.ByteString data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static RMACM parseFrom( |
|||
com.google.protobuf.ByteString data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static RMACM parseFrom(byte[] data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static RMACM parseFrom( |
|||
byte[] data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static RMACM parseFrom(java.io.InputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseWithIOException(PARSER, input); |
|||
} |
|||
public static RMACM 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 RMACM parseDelimitedFrom(java.io.InputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseDelimitedWithIOException(PARSER, input); |
|||
} |
|||
|
|||
public static RMACM 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 RMACM parseFrom( |
|||
com.google.protobuf.CodedInputStream input) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseWithIOException(PARSER, input); |
|||
} |
|||
public static RMACM parseFrom( |
|||
com.google.protobuf.CodedInputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws java.io.IOException { |
|||
return com.google.protobuf.GeneratedMessage |
|||
.parseWithIOException(PARSER, input, extensionRegistry); |
|||
} |
|||
|
|||
@Override |
|||
public Builder newBuilderForType() { return newBuilder(); } |
|||
public static Builder newBuilder() { |
|||
return DEFAULT_INSTANCE.toBuilder(); |
|||
} |
|||
public static Builder newBuilder(RMACM prototype) { |
|||
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype); |
|||
} |
|||
@Override |
|||
public Builder toBuilder() { |
|||
return this == DEFAULT_INSTANCE |
|||
? new Builder() : new Builder().mergeFrom(this); |
|||
} |
|||
|
|||
@Override |
|||
protected Builder newBuilderForType( |
|||
BuilderParent parent) { |
|||
Builder builder = new Builder(parent); |
|||
return builder; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* Remove Marine Animal Command |
|||
* </pre> |
|||
* |
|||
* Protobuf type {@code RMACM} |
|||
*/ |
|||
public static final class Builder extends |
|||
com.google.protobuf.GeneratedMessage.Builder<Builder> implements |
|||
// @@protoc_insertion_point(builder_implements:RMACM)
|
|||
RMACMOrBuilder { |
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptor() { |
|||
return RobotRMACM.internal_static_RMACM_descriptor; |
|||
} |
|||
|
|||
@Override |
|||
protected FieldAccessorTable |
|||
internalGetFieldAccessorTable() { |
|||
return RobotRMACM.internal_static_RMACM_fieldAccessorTable |
|||
.ensureFieldAccessorsInitialized( |
|||
RMACM.class, Builder.class); |
|||
} |
|||
|
|||
// Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
|
|||
private Builder() { |
|||
|
|||
} |
|||
|
|||
private Builder( |
|||
BuilderParent parent) { |
|||
super(parent); |
|||
|
|||
} |
|||
@Override |
|||
public Builder clear() { |
|||
super.clear(); |
|||
bitField0_ = 0; |
|||
lightBrightness_ = 0; |
|||
robotSpeed_ = 0; |
|||
return this; |
|||
} |
|||
|
|||
@Override |
|||
public com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptorForType() { |
|||
return RobotRMACM.internal_static_RMACM_descriptor; |
|||
} |
|||
|
|||
@Override |
|||
public RMACM getDefaultInstanceForType() { |
|||
return RMACM.getDefaultInstance(); |
|||
} |
|||
|
|||
@Override |
|||
public RMACM build() { |
|||
RMACM result = buildPartial(); |
|||
if (!result.isInitialized()) { |
|||
throw newUninitializedMessageException(result); |
|||
} |
|||
return result; |
|||
} |
|||
|
|||
@Override |
|||
public RMACM buildPartial() { |
|||
RMACM result = new RMACM(this); |
|||
if (bitField0_ != 0) { buildPartial0(result); } |
|||
onBuilt(); |
|||
return result; |
|||
} |
|||
|
|||
private void buildPartial0(RMACM result) { |
|||
int from_bitField0_ = bitField0_; |
|||
if (((from_bitField0_ & 0x00000001) != 0)) { |
|||
result.lightBrightness_ = lightBrightness_; |
|||
} |
|||
if (((from_bitField0_ & 0x00000002) != 0)) { |
|||
result.robotSpeed_ = robotSpeed_; |
|||
} |
|||
} |
|||
|
|||
@Override |
|||
public Builder mergeFrom(com.google.protobuf.Message other) { |
|||
if (other instanceof RMACM) { |
|||
return mergeFrom((RMACM)other); |
|||
} else { |
|||
super.mergeFrom(other); |
|||
return this; |
|||
} |
|||
} |
|||
|
|||
public Builder mergeFrom(RMACM other) { |
|||
if (other == RMACM.getDefaultInstance()) return this; |
|||
if (other.getLightBrightness() != 0) { |
|||
setLightBrightness(other.getLightBrightness()); |
|||
} |
|||
if (other.getRobotSpeed() != 0) { |
|||
setRobotSpeed(other.getRobotSpeed()); |
|||
} |
|||
this.mergeUnknownFields(other.getUnknownFields()); |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
@Override |
|||
public final boolean isInitialized() { |
|||
return true; |
|||
} |
|||
|
|||
@Override |
|||
public Builder mergeFrom( |
|||
com.google.protobuf.CodedInputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws java.io.IOException { |
|||
if (extensionRegistry == null) { |
|||
throw new NullPointerException(); |
|||
} |
|||
try { |
|||
boolean done = false; |
|||
while (!done) { |
|||
int tag = input.readTag(); |
|||
switch (tag) { |
|||
case 0: |
|||
done = true; |
|||
break; |
|||
case 8: { |
|||
lightBrightness_ = input.readInt32(); |
|||
bitField0_ |= 0x00000001; |
|||
break; |
|||
} // case 8
|
|||
case 16: { |
|||
robotSpeed_ = input.readInt32(); |
|||
bitField0_ |= 0x00000002; |
|||
break; |
|||
} // case 16
|
|||
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 lightBrightness_ ; |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
@Override |
|||
public int getLightBrightness() { |
|||
return lightBrightness_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @param value The lightBrightness to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setLightBrightness(int value) { |
|||
|
|||
lightBrightness_ = value; |
|||
bitField0_ |= 0x00000001; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearLightBrightness() { |
|||
bitField0_ = (bitField0_ & ~0x00000001); |
|||
lightBrightness_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int robotSpeed_ ; |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
@Override |
|||
public int getRobotSpeed() { |
|||
return robotSpeed_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @param value The robotSpeed to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRobotSpeed(int value) { |
|||
|
|||
robotSpeed_ = value; |
|||
bitField0_ |= 0x00000002; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRobotSpeed() { |
|||
bitField0_ = (bitField0_ & ~0x00000002); |
|||
robotSpeed_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
// @@protoc_insertion_point(builder_scope:RMACM)
|
|||
} |
|||
|
|||
// @@protoc_insertion_point(class_scope:RMACM)
|
|||
private static final RMACM DEFAULT_INSTANCE; |
|||
static { |
|||
DEFAULT_INSTANCE = new RMACM(); |
|||
} |
|||
|
|||
public static RMACM getDefaultInstance() { |
|||
return DEFAULT_INSTANCE; |
|||
} |
|||
|
|||
private static final com.google.protobuf.Parser<RMACM> |
|||
PARSER = new com.google.protobuf.AbstractParser<RMACM>() { |
|||
@Override |
|||
public RMACM 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<RMACM> parser() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@Override |
|||
public com.google.protobuf.Parser<RMACM> getParserForType() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@Override |
|||
public RMACM getDefaultInstanceForType() { |
|||
return DEFAULT_INSTANCE; |
|||
} |
|||
|
|||
} |
|||
|
|||
private static final com.google.protobuf.Descriptors.Descriptor |
|||
internal_static_RMACM_descriptor; |
|||
private static final |
|||
com.google.protobuf.GeneratedMessage.FieldAccessorTable |
|||
internal_static_RMACM_fieldAccessorTable; |
|||
|
|||
public static com.google.protobuf.Descriptors.FileDescriptor |
|||
getDescriptor() { |
|||
return descriptor; |
|||
} |
|||
private static com.google.protobuf.Descriptors.FileDescriptor |
|||
descriptor; |
|||
static { |
|||
String[] descriptorData = { |
|||
"\n\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" + |
|||
"ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" + |
|||
"m.example.removemarineanimals.modelsP\000b\006" + |
|||
"proto3" |
|||
}; |
|||
descriptor = com.google.protobuf.Descriptors.FileDescriptor |
|||
.internalBuildGeneratedFileFrom(descriptorData, |
|||
new com.google.protobuf.Descriptors.FileDescriptor[] { |
|||
}); |
|||
internal_static_RMACM_descriptor = |
|||
getDescriptor().getMessageTypes().get(0); |
|||
internal_static_RMACM_fieldAccessorTable = new |
|||
com.google.protobuf.GeneratedMessage.FieldAccessorTable( |
|||
internal_static_RMACM_descriptor, |
|||
new String[] { "LightBrightness", "RobotSpeed", }); |
|||
descriptor.resolveAllFeaturesImmutable(); |
|||
} |
|||
|
|||
// @@protoc_insertion_point(outer_class_scope)
|
|||
} |
|||
@ -0,0 +1,6 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
|
|||
public enum CommunicationMethond { |
|||
Wireless, Wired |
|||
} |
|||
@ -0,0 +1,23 @@ |
|||
package com.example.fivewheel.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); |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,154 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import com.example.fivewheel.models.BspPV; |
|||
import com.example.fivewheel.models.BspIV; |
|||
import com.google.protobuf.InvalidProtocolBufferException; |
|||
|
|||
public class DataExchangeHelper { |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
public static int[] decodedCH = new int[17]; |
|||
static double slope = 1000.0 / (1950 - 1500); |
|||
|
|||
public static int[] getdecodedCH(byte[] receivedData) { |
|||
for (int i = 0; i < 16; i++) { |
|||
decodedCH[i] = ((receivedData[8 + i * 2] & 0xFF) | (receivedData[9 + i * 2] & 0xFF) << 8); |
|||
} |
|||
|
|||
for (int i = 0; i < 16; i++) { |
|||
decodedCH[i] = (int) Math.round(slope * (decodedCH[i] - 1500)); |
|||
} |
|||
return decodedCH; |
|||
} |
|||
|
|||
|
|||
public static byte[] getSendPVBytes(BspPV.PV_struct_define _toSendPV) { |
|||
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); |
|||
return sendbyteArray3; |
|||
} |
|||
|
|||
public static BspIV.IV_struct_define getIVByBytes(byte[] data) { |
|||
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); |
|||
try { |
|||
BspIV.IV_struct_define _toReceiveIV = BspIV.IV_struct_define.parseFrom(bytes); |
|||
return _toReceiveIV; |
|||
} catch (InvalidProtocolBufferException ex) { |
|||
return null; |
|||
} |
|||
} |
|||
return null; |
|||
} |
|||
return null; |
|||
} |
|||
|
|||
public static BspIV.IV_struct_define getIVByModbus() { |
|||
|
|||
try { |
|||
//定义100 是IV的数据开头数组个数 建立多少个字节数组
|
|||
byte[] bytes = new byte[ModbusRtuSlaveService.holdingRegisters[100]]; |
|||
int modifyHoldingRegisterNum = (bytes.length + 1) / 2; |
|||
for (int i = 0; i < modifyHoldingRegisterNum; i++) { |
|||
bytes[2 * i] = (byte) (ModbusRtuSlaveService.holdingRegisters[101 + i] >> 8); |
|||
if (2 * i + 1 > bytes.length - 1) { |
|||
break; |
|||
} |
|||
|
|||
bytes[2 * i + 1] = (byte) (ModbusRtuSlaveService.holdingRegisters[101 + i] & 0xff); |
|||
} |
|||
|
|||
BspIV.IV_struct_define _toReceiveIV = BspIV.IV_struct_define.parseFrom(bytes); |
|||
return _toReceiveIV; |
|||
} catch (InvalidProtocolBufferException ex) { |
|||
return null; |
|||
} |
|||
} |
|||
|
|||
//_toSendPV 换算成bytes
|
|||
public static void setModbusPVValues(BspPV.PV_struct_define _toSendPV) { |
|||
|
|||
byte[] byteArray = _toSendPV.toByteArray(); |
|||
byte[] bytesToSend; |
|||
int modifyHoldingRegisterNum = (byteArray.length + 1) / 2; |
|||
|
|||
if (byteArray.length != 0) { |
|||
if (byteArray.length % 2 != 0) { |
|||
bytesToSend = new byte[byteArray.length + 1]; |
|||
bytesToSend[bytesToSend.length - 1] = 0; |
|||
|
|||
} else { |
|||
bytesToSend = new byte[byteArray.length]; |
|||
} |
|||
System.arraycopy(byteArray, 0, bytesToSend, 0, byteArray.length); |
|||
|
|||
ModbusRtuSlaveService.holdingRegisters[19] = (short) byteArray.length; |
|||
//将数据转为小端发送
|
|||
for (int i = 0; i < modifyHoldingRegisterNum; i++) { |
|||
|
|||
|
|||
ModbusRtuSlaveService.holdingRegisters[20 + i] = (short) ( |
|||
((bytesToSend[2 * i + 1] & 0xFF) << 8) | // 高位字节
|
|||
bytesToSend[2 * i] & 0xFF); // 低位字节
|
|||
|
|||
// (short) ((bytesToSend[2 * i + 1]) << 8 | ((short)bytesToSend[2 * i]));
|
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
|
|||
/** |
|||
* 判断字符串是否是数字 |
|||
*/ |
|||
public static boolean isNumber(String value) { |
|||
return isInteger(value) || isDouble(value); |
|||
} |
|||
|
|||
/** |
|||
* 判断字符串是否是整数 |
|||
*/ |
|||
public static boolean isInteger(String value) { |
|||
try { |
|||
Integer.parseInt(value); |
|||
return true; |
|||
} catch (NumberFormatException e) { |
|||
return false; |
|||
} |
|||
} |
|||
|
|||
/** |
|||
* 判断字符串是否是浮点数 |
|||
*/ |
|||
public static boolean isDouble(String value) { |
|||
try { |
|||
Double.parseDouble(value); |
|||
if (value.contains(".")) |
|||
return true; |
|||
return false; |
|||
} catch (NumberFormatException e) { |
|||
return false; |
|||
} |
|||
} |
|||
} |
|||
@ -0,0 +1,17 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import android.content.Context; |
|||
import android.content.res.Resources; |
|||
import android.util.TypedValue; |
|||
|
|||
public class DisplayUtils { |
|||
// 静态方法，无需实例化即可调用
|
|||
public static int dpToPx(Context context, int dp) { |
|||
Resources r = context.getResources(); |
|||
return (int) TypedValue.applyDimension( |
|||
TypedValue.COMPLEX_UNIT_DIP, |
|||
dp, |
|||
r.getDisplayMetrics() |
|||
); |
|||
} |
|||
} |
|||
@ -0,0 +1,66 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
|
|||
import com.example.fivewheel.models.BspError; |
|||
|
|||
public class ErrorDeocdeHelper { |
|||
|
|||
//private static Map<String, Integer> 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 (Map.Entry<String, Integer> entry : flagMap.entrySet()) {
|
|||
// String key = entry.getKey();
|
|||
// int bitPosiiton = entry.getValue();
|
|||
//
|
|||
// // 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+=key+":\t 错误！ ";
|
|||
// } else
|
|||
// {
|
|||
//
|
|||
// }
|
|||
// }
|
|||
|
|||
|
|||
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 = " "; |
|||
|
|||
// 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+=err.toString()+addErrorResult+"\t"; |
|||
} else |
|||
{ |
|||
|
|||
} |
|||
} |
|||
return ErrorResult; |
|||
} |
|||
|
|||
|
|||
|
|||
} |
|||
@ -0,0 +1,72 @@ |
|||
package com.example.fivewheel.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; |
|||
} |
|||
} |
|||
@ -0,0 +1,517 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import android.util.Log; |
|||
|
|||
import java.util.Arrays; |
|||
import java.util.concurrent.atomic.AtomicBoolean; |
|||
|
|||
public class ModbusRtuSlaveService { |
|||
public static void ModbusRtuSlaveServiceIntialize(USBSerialPortHelper serialPortHelper) { |
|||
_serialPortHelper = serialPortHelper; |
|||
initializeData(); |
|||
|
|||
} |
|||
|
|||
public static final String TAG = "ModbusRtuSlave"; |
|||
public static final int slaveId = 0x40; |
|||
public static Thread readThread; |
|||
public final AtomicBoolean shouldRead = new AtomicBoolean(false); |
|||
public static USBSerialPortHelper _serialPortHelper; |
|||
|
|||
// Modbus 数据存储
|
|||
public static final boolean[] coils = new boolean[65536]; |
|||
public static final boolean[] discreteInputs = new boolean[65536]; |
|||
public static final short[] holdingRegisters = new short[65536]; |
|||
public static final short[] inputRegisters = new short[65536]; |
|||
|
|||
// 数据更新监听器
|
|||
public DataUpdateListener dataUpdateListener; |
|||
|
|||
public interface DataUpdateListener { |
|||
void onCoilUpdated(int address, boolean value); |
|||
|
|||
void onRegisterUpdated(int address, short value); |
|||
|
|||
void onError(String errorMessage); |
|||
} |
|||
|
|||
public static void initializeData() { |
|||
// 初始化示例数据
|
|||
Arrays.fill(holdingRegisters, (short) 0); |
|||
Arrays.fill(inputRegisters, (short) 0); |
|||
Arrays.fill(coils, false); |
|||
Arrays.fill(discreteInputs, false); |
|||
|
|||
// 设置一些默认值 可以处理一些默认值 后面
|
|||
|
|||
|
|||
// 温度
|
|||
holdingRegisters[1] = 60; // 湿度
|
|||
holdingRegisters[2] = 1000; // 压力
|
|||
coils[0] = true; // 运行状态
|
|||
coils[1] = false; // 报警状态
|
|||
|
|||
for (short i = 0; i < 200; i++) { |
|||
holdingRegisters[i] = i; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
public final byte[] buffer = new byte[256]; |
|||
|
|||
//处理Modbus数据，这个可以在数据接收后调用 返回调用的功能码
|
|||
public static int processModbusRequest(byte[] request, int length) { |
|||
if (length < 4) { |
|||
Log.w(TAG, "Request too short: " + length + " bytes"); |
|||
return 0; |
|||
} |
|||
|
|||
// 提取从站地址
|
|||
byte receivedSlaveId = request[0]; |
|||
if (receivedSlaveId != slaveId && receivedSlaveId != 0) { |
|||
Log.d(TAG, "Request not for this slave. Target: " + receivedSlaveId + ", Our ID: " + slaveId); |
|||
return 0; |
|||
} |
|||
|
|||
Log.d(TAG, "Processing request for slave: " + receivedSlaveId); |
|||
|
|||
// 验证CRC
|
|||
if (!validateCrc(request, length)) { |
|||
Log.w(TAG, "CRC validation failed"); |
|||
return 0; |
|||
} |
|||
|
|||
// 处理Modbus请求
|
|||
byte[] response = handleModbusFrame(request, length); |
|||
if (response != null && response.length > 0) { |
|||
try { |
|||
sendResponse(response); |
|||
return request[1];//返回功能码
|
|||
} catch (Exception e) { |
|||
return 0; |
|||
} |
|||
} |
|||
return 0; |
|||
} |
|||
|
|||
public static byte[] handleModbusFrame(byte[] frame, int length) { |
|||
if (length < 4) return null; |
|||
|
|||
byte functionCode = frame[1]; |
|||
byte[] response;// null;
|
|||
|
|||
Log.d(TAG, "Handling function code: 0x" + String.format("%02X", functionCode)); |
|||
|
|||
try { |
|||
switch (functionCode) { |
|||
case 0x01: // Read Coils
|
|||
response = handleReadCoils(frame, length); |
|||
break; |
|||
case 0x02: // Read Discrete Inputs
|
|||
response = handleReadDiscreteInputs(frame, length); |
|||
break; |
|||
case 0x03: // Read Holding Registers
|
|||
response = handleReadHoldingRegisters(frame, length); |
|||
break; |
|||
case 0x04: // Read Input Registers
|
|||
response = handleReadInputRegisters(frame, length); |
|||
break; |
|||
case 0x05: // Write Single Coil
|
|||
response = handleWriteSingleCoil(frame, length); |
|||
break; |
|||
case 0x06: // Write Single Register
|
|||
response = handleWriteSingleRegister(frame, length); |
|||
break; |
|||
case 0x0F: // Write Multiple Coils
|
|||
response = handleWriteMultipleCoils(frame, length); |
|||
break; |
|||
case 0x10: // Write Multiple Registers
|
|||
response = handleWriteMultipleRegisters(frame, length); |
|||
break; |
|||
default: |
|||
Log.w(TAG, "Unsupported function code: 0x" + String.format("%02X", functionCode)); |
|||
response = createExceptionResponse(functionCode, (byte) 0x01); // Illegal function
|
|||
break; |
|||
} |
|||
} catch (Exception e) { |
|||
Log.e(TAG, "Error handling Modbus request: " + e.getMessage()); |
|||
response = createExceptionResponse(functionCode, (byte) 0x04); // Slave device failure
|
|||
} |
|||
|
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleWriteMultipleRegisters(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
int byteCount = request[6] & 0xFF; |
|||
|
|||
Log.d(TAG, "Write Multiple Registers - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
if (quantity < 1 || quantity > 123) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
if (startAddress + quantity > holdingRegisters.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
|
|||
if (byteCount != quantity * 2) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
// 解析并写入寄存器数据
|
|||
for (int i = 0; i < quantity; i++) { |
|||
int dataIndex = 7 + i * 2; |
|||
short value = (short) (((request[dataIndex] & 0xFF) << 8) | (request[dataIndex + 1] & 0xFF)); |
|||
|
|||
int registerAddress = startAddress + i; |
|||
holdingRegisters[registerAddress] = value; |
|||
|
|||
} |
|||
|
|||
byte[] response = createWriteMultipleResponse(request[1], startAddress, quantity); |
|||
Log.d(TAG, "Wrote " + quantity + " registers from address " + startAddress); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleWriteMultipleCoils(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
int byteCount = request[6] & 0xFF; |
|||
|
|||
Log.d(TAG, "Write Multiple Coils - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
if (quantity < 1 || quantity > 1968) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
if (startAddress + quantity > coils.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
|
|||
int expectedByteCount = (quantity + 7) / 8; |
|||
if (byteCount != expectedByteCount) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
// 解析并写入线圈数据
|
|||
for (int i = 0; i < quantity; i++) { |
|||
int byteIndex = 7 + (i / 8); |
|||
int bitIndex = i % 8; |
|||
boolean value = ((request[byteIndex] >> bitIndex) & 0x01) == 0x01; |
|||
|
|||
int coilAddress = startAddress + i; |
|||
coils[coilAddress] = value; |
|||
|
|||
} |
|||
|
|||
byte[] response = createWriteMultipleResponse(request[1], startAddress, quantity); |
|||
Log.d(TAG, "Wrote " + quantity + " coils from address " + startAddress); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] createWriteMultipleResponse(byte functionCode, int startAddress, int quantity) { |
|||
byte[] response = new byte[8]; |
|||
|
|||
response[0] = (byte) slaveId; |
|||
response[1] = functionCode; |
|||
response[2] = (byte) (startAddress >> 8); |
|||
response[3] = (byte) (startAddress & 0xFF); |
|||
response[4] = (byte) (quantity >> 8); |
|||
response[5] = (byte) (quantity & 0xFF); |
|||
|
|||
addCrc(response); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] createExceptionResponse(byte functionCode, byte exceptionCode) { |
|||
byte[] response = new byte[5]; |
|||
response[0] = (byte) slaveId; |
|||
response[1] = (byte) (functionCode | 0x80); |
|||
response[2] = exceptionCode; |
|||
addCrc(response); |
|||
|
|||
Log.w(TAG, "Exception response - Function: 0x" + String.format("%02X", functionCode) + |
|||
", Code: " + exceptionCode); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleReadDiscreteInputs(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
|
|||
Log.d(TAG, "Read Discrete Inputs - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
if (quantity < 1 || quantity > 2000) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
if (startAddress + quantity > discreteInputs.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
|
|||
// 读离散输入响应结构：
|
|||
// [slaveId] + [function] + [byteCount] + [data] + [CRC]
|
|||
// 1字节 + 1字节 + 1字节 + N字节 + 2字节
|
|||
|
|||
|
|||
int byteCount = (quantity + 7) / 8; |
|||
byte[] response = new byte[3 + byteCount + 2]; |
|||
response[0] = (byte) slaveId; |
|||
response[1] = request[1]; |
|||
response[2] = (byte) byteCount; |
|||
|
|||
for (int i = 0; i < quantity; i++) { |
|||
if (discreteInputs[startAddress + i]) { |
|||
response[3 + i / 8] |= (1 << (i % 8)); |
|||
} |
|||
} |
|||
|
|||
addCrc(response); |
|||
Log.d(TAG, "Read " + quantity + " discrete inputs from address " + startAddress); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleReadInputRegisters(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
|
|||
Log.d(TAG, "Read Input Registers - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
if (quantity < 1 || quantity > 125) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
if (startAddress + quantity > inputRegisters.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
// 读输入寄存器响应结构：
|
|||
// [slaveId] + [function] + [byteCount] + [data] + [CRC]
|
|||
// 1字节 + 1字节 + 1字节 + (quantity × 2) + 2字节
|
|||
|
|||
byte[] response = new byte[3 + quantity * 2 + 2]; |
|||
response[0] = (byte) slaveId; |
|||
response[1] = request[1]; |
|||
response[2] = (byte) (quantity * 2); |
|||
|
|||
for (int i = 0; i < quantity; i++) { |
|||
short value = inputRegisters[startAddress + i]; |
|||
response[3 + i * 2] = (byte) (value >> 8); |
|||
response[3 + i * 2 + 1] = (byte) value; |
|||
} |
|||
|
|||
addCrc(response); |
|||
Log.d(TAG, "Read " + quantity + " input registers from address " + startAddress); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleReadHoldingRegisters(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
|
|||
Log.d(TAG, "Read Holding Registers - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
// 验证参数
|
|||
if (quantity < 1 || quantity > 125) { |
|||
Log.w(TAG, "Invalid quantity: " + quantity); |
|||
return createExceptionResponse(request[1], (byte) 0x03); // Illegal data value
|
|||
} |
|||
|
|||
if (startAddress + quantity > holdingRegisters.length) { |
|||
Log.w(TAG, "Address out of range: " + startAddress); |
|||
return createExceptionResponse(request[1], (byte) 0x02); // Illegal data address
|
|||
} |
|||
|
|||
// 读保持寄存器响应数据结构：
|
|||
// [slaveId] + [function] + [byteCount] + [data] + [CRC]
|
|||
// 1字节 + 1字节 + 1字节 + (quantity × 2) + 2字节
|
|||
byte[] response = new byte[1 + 1 + 1 + quantity * 2 + 2]; // slaveId + function + byteCount + data + CRC
|
|||
response[0] = (byte) slaveId; |
|||
response[1] = request[1]; // Function code
|
|||
response[2] = (byte) (quantity * 2); // Byte count
|
|||
|
|||
// 填充寄存器数据
|
|||
for (int i = 0; i < quantity; i++) { |
|||
short value = holdingRegisters[startAddress + i]; |
|||
response[3 + i * 2] = (byte) (value >> 8); |
|||
response[3 + i * 2 + 1] = (byte) value; |
|||
} |
|||
|
|||
// 添加CRC
|
|||
addCrc(response); |
|||
|
|||
Log.d(TAG, "Read " + quantity + " holding registers from address " + startAddress); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleWriteSingleRegister(byte[] request, int length) { |
|||
int address = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
short value = (short) (((request[4] & 0xFF) << 8) | (request[5] & 0xFF)); |
|||
|
|||
Log.d(TAG, "Write Single Register - Address: " + address + ", Value: " + value); |
|||
|
|||
if (address >= holdingRegisters.length) { |
|||
Log.w(TAG, "Register address out of range: " + address); |
|||
return createExceptionResponse(request[1], (byte) 0x02); // Illegal data address
|
|||
} |
|||
|
|||
// 更新寄存器值
|
|||
holdingRegisters[address] = value; |
|||
|
|||
|
|||
// 写单个寄存器响应结构：
|
|||
// [slaveId] + [function] + [address] + [value] + [CRC]
|
|||
// 1字节 + 1字节 + 2字节 + 2字节 + 2字节
|
|||
byte[] response = new byte[8]; |
|||
System.arraycopy(request, 0, response, 0, 6); |
|||
response[0] = (byte) slaveId; |
|||
addCrc(response); |
|||
|
|||
|
|||
Log.d(TAG, "Register " + address + " updated to: " + value); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleReadCoils(byte[] request, int length) { |
|||
int startAddress = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
int quantity = ((request[4] & 0xFF) << 8) | (request[5] & 0xFF); |
|||
|
|||
Log.d(TAG, "Read Coils - Start: " + startAddress + ", Quantity: " + quantity); |
|||
|
|||
if (quantity < 1 || quantity > 2000) { |
|||
return createExceptionResponse(request[1], (byte) 0x03); |
|||
} |
|||
|
|||
if (startAddress + quantity > coils.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
|
|||
// 读线圈响应结构：
|
|||
// [slaveId] + [function] + [byteCount] + [data] + [CRC]
|
|||
// 1字节 + 1字节 + 1字节 + N字节 + 2字节
|
|||
|
|||
// 数据字节数计算：N = ceil(quantity / 8)
|
|||
// int byteCount = (quantity + 7) / 8; // 向上取整
|
|||
// int totalBytes = 1 + 1 + 1 + byteCount + 2; // 5 + byteCount
|
|||
|
|||
|
|||
int byteCount = (quantity + 7) / 8; |
|||
byte[] response = new byte[3 + byteCount + 2]; // slaveId + function + byteCount + data + CRC
|
|||
response[0] = (byte) slaveId; |
|||
response[1] = request[1]; |
|||
response[2] = (byte) byteCount; |
|||
|
|||
// 打包线圈状态到字节
|
|||
for (int i = 0; i < quantity; i++) { |
|||
if (coils[startAddress + i]) { |
|||
response[3 + i / 8] |= (1 << (i % 8)); |
|||
} |
|||
} |
|||
|
|||
addCrc(response); |
|||
return response; |
|||
} |
|||
|
|||
public static byte[] handleWriteSingleCoil(byte[] request, int length) { |
|||
int address = ((request[2] & 0xFF) << 8) | (request[3] & 0xFF); |
|||
boolean value = (request[4] & 0xFF) == 0xFF; |
|||
|
|||
Log.d(TAG, "Write Single Coil - Address: " + address + ", Value: " + value); |
|||
|
|||
if (address >= coils.length) { |
|||
return createExceptionResponse(request[1], (byte) 0x02); |
|||
} |
|||
|
|||
coils[address] = value; |
|||
|
|||
|
|||
// 写单个线圈响应结构：
|
|||
// [slaveId] + [function] + [address] + [value] + [CRC]
|
|||
// 1字节 + 1字节 + 2字节 + 2字节 + 2字节 固定 8 字节 byte[] response = new byte[1 + 1 + 2 + 2 + 2]; //
|
|||
|
|||
byte[] response = new byte[8]; |
|||
System.arraycopy(request, 0, response, 0, 6); |
|||
response[0] = (byte) slaveId; |
|||
addCrc(response); |
|||
|
|||
Log.d(TAG, "Coil " + address + " updated to: " + value); |
|||
return response; |
|||
} |
|||
|
|||
public static boolean validateCrc(byte[] data, int length) { |
|||
if (length < 2) return false; |
|||
|
|||
int calculatedCrc = calculateCrc(data, 0, length - 2); |
|||
int receivedCrc = (data[length - 1] & 0xFF) << 8 | (data[length - 2] & 0xFF); |
|||
|
|||
boolean valid = calculatedCrc == receivedCrc; |
|||
if (!valid) { |
|||
Log.w(TAG, "CRC mismatch - Calculated: " + calculatedCrc + ", Received: " + receivedCrc); |
|||
} |
|||
|
|||
return valid; |
|||
} |
|||
|
|||
public static void addCrc(byte[] data) { |
|||
int crc = calculateCrc(data, 0, data.length - 2); |
|||
data[data.length - 2] = (byte) (crc & 0xFF); |
|||
data[data.length - 1] = (byte) ((crc >> 8) & 0xFF); |
|||
} |
|||
|
|||
public static int calculateCrc(byte[] data, int start, int length) { |
|||
int crc = 0xFFFF; |
|||
for (int i = start; i < start + length; i++) { |
|||
crc ^= (data[i] & 0xFF); |
|||
for (int j = 0; j < 8; j++) { |
|||
if ((crc & 0x0001) != 0) { |
|||
crc >>= 1; |
|||
crc ^= 0xA001; |
|||
} else { |
|||
crc >>= 1; |
|||
} |
|||
} |
|||
} |
|||
return crc; |
|||
} |
|||
|
|||
public static void sendResponse(byte[] response) { |
|||
if (_serialPortHelper == null) { |
|||
return; |
|||
} |
|||
_serialPortHelper.SendData(response); |
|||
Log.d(TAG, "Sent response: " + response.length + " bytes"); |
|||
} |
|||
|
|||
// 公共API方法
|
|||
public static void updateHoldingRegister(int address, short value) { |
|||
if (address >= 0 && address < holdingRegisters.length) { |
|||
holdingRegisters[address] = value; |
|||
} |
|||
} |
|||
|
|||
public static short getHoldingRegister(int address) { |
|||
if (address >= 0 && address < holdingRegisters.length) { |
|||
return holdingRegisters[address]; |
|||
} |
|||
return 0; |
|||
} |
|||
|
|||
public static void updateCoil(int address, boolean state) { |
|||
if (address >= 0 && address < coils.length) { |
|||
coils[address] = state; |
|||
|
|||
} |
|||
} |
|||
|
|||
public static boolean getCoil(int address) { |
|||
if (address >= 0 && address < coils.length) { |
|||
return coils[address]; |
|||
} |
|||
return false; |
|||
} |
|||
|
|||
|
|||
} |
|||
@ -0,0 +1,200 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import android.graphics.Color; |
|||
import android.view.Gravity; |
|||
import android.widget.TextView; |
|||
import android.widget.Toast; |
|||
|
|||
import com.example.fivewheel.MainActivity; |
|||
import com.example.fivewheel.models.BspIV; |
|||
import com.google.protobuf.InvalidProtocolBufferException; |
|||
|
|||
public class ReceiivedIVHandler { |
|||
|
|||
private static final int Buttons_Not_Reset = 0; |
|||
private static final int Not_Intialized = 1; |
|||
private static final int Move_Halt = 2; |
|||
private static final int Move_Forward = 3; |
|||
private static final int Move_Backward = 4; |
|||
private static final int Move_TurnLeft = 5; |
|||
private static final int Move_TurnRight = 6; |
|||
private static final int Emergency_Stop = 7; |
|||
private static final int Upper_Computer_TakenOver = 8; |
|||
private static final int Sbus_Not_Online = 9; |
|||
private static final int Android_Down = 10; |
|||
|
|||
private static final int Cruise_Ahead = 11; |
|||
private static final int Cruise_Back = 12; |
|||
|
|||
public static void midToast(String str, int showTime, MainActivity MainActivity) { |
|||
Toast toast = Toast.makeText(MainActivity, str, showTime); |
|||
toast.setGravity(Gravity.CENTER_VERTICAL | Gravity.CENTER_HORIZONTAL, 0, 0); //设置显示位置
|
|||
TextView v = (TextView) toast.getView().findViewById(android.R.id.message); |
|||
v.setTextColor(Color.YELLOW); //设置字体颜色
|
|||
toast.show(); |
|||
} |
|||
|
|||
public static com.example.fivewheel.models.BspIV.IV_struct_define _toReceiveIV = BspIV.IV_struct_define.newBuilder().build(); |
|||
public static BspIV.IV_struct_define _toReceiveIV_Temp = BspIV.IV_struct_define.newBuilder().build(); |
|||
|
|||
public static void HandleIVData(MainActivity MainActivity, byte[] data) { |
|||
try { |
|||
|
|||
if(data.length<5) return; |
|||
if ((data[0] != 0x55) && (data[1] != 0x55)) return;//开头结尾为0x55 表示PV数据
|
|||
byte[] crcbytes = new byte[data.length - 2]; |
|||
System.arraycopy(data, 0, crcbytes, 0, data.length - 2); |
|||
byte[] crc = ModbusCRC.calculateCRC(crcbytes); |
|||
|
|||
|
|||
//这里的校验和C#的校验正好反了
|
|||
if (data[data.length - 2] != (byte) (crc[1] & 0xff)) return; |
|||
if (data[data.length - 1] != (byte) (crc[0] & 0xff)) return; //crc校验
|
|||
// if ((data[0] != 0x55) && (data[1] != 0x55)) return;//开头结尾为0x55 表示PV数据
|
|||
|
|||
byte[] bytes = new byte[data.length - 4]; |
|||
System.arraycopy(data, 2, bytes, 0, data.length - 4); |
|||
|
|||
try { |
|||
_toReceiveIV_Temp = BspIV.IV_struct_define.parseFrom(bytes); |
|||
|
|||
} catch (InvalidProtocolBufferException ex) { |
|||
return; |
|||
} |
|||
HandleIV(MainActivity, _toReceiveIV_Temp); |
|||
} catch ( |
|||
Exception e) { |
|||
|
|||
} |
|||
} |
|||
|
|||
private static int restoreOriginalError(int errorFlag) { |
|||
return Integer.reverseBytes(errorFlag); |
|||
} |
|||
|
|||
public static void HandleIV(MainActivity MainActivity, BspIV.IV_struct_define _toReceiveIV_Temp) { |
|||
if (_toReceiveIV_Temp == null) return; |
|||
|
|||
//若单片机重启，则变量时间戳重置
|
|||
if (_toReceiveIV_Temp.getRobotRestart() == 1) { |
|||
_toReceiveIV = _toReceiveIV.toBuilder().setTimeStamp(0).build(); |
|||
//告知单片机接收到
|
|||
MainActivity._toSendPV = MainActivity._toSendPV.toBuilder().setRobotRestartAccepted(1).build(); |
|||
return; |
|||
} |
|||
MainActivity._toSendPV = MainActivity._toSendPV.toBuilder().setRobotRestartAccepted(0).build(); |
|||
|
|||
|
|||
if (_toReceiveIV.getTimeStamp() > _toReceiveIV_Temp.getTimeStamp()) { |
|||
return; |
|||
|
|||
} |
|||
_toReceiveIV = _toReceiveIV_Temp; |
|||
MainActivity.runOnUiThread(() -> { |
|||
MainActivity.mainBinding.rFAngleRoll.setText(String.valueOf(_toReceiveIV.getRobotAngleRoll() / 100.0)); |
|||
MainActivity.mainBinding.tvRobotError.setText(String.valueOf(_toReceiveIV.getRobotError())); |
|||
MainActivity.mainBinding.tvDynamometer.setText(String.valueOf(_toReceiveIV.getRobotDynamometerValue() / 100.0)); |
|||
MainActivity.mainBinding.tvRobotRightCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationRight() / 100.0)); |
|||
MainActivity.mainBinding.tvRobotLeftCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationLeft() / 100.0)); |
|||
MainActivity.mainBinding.tvForce.setText(String.valueOf(_toReceiveIV.getRobotForceValue())); |
|||
MainActivity.mainBinding.tvRobotCurrent.setText("L" + String.valueOf(_toReceiveIV.getRobotCurrentLeft() / 1000) |
|||
+ "R" + String.valueOf(_toReceiveIV.getRobotCurrentRight() / 1000)); |
|||
|
|||
int leftError = _toReceiveIV.getRobotErrorLeft(); |
|||
int rightError = _toReceiveIV.getRobotErrorRight(); |
|||
|
|||
// 还原成原始 MCU 的错误值
|
|||
int leftOriginal = restoreOriginalError(leftError); |
|||
int rightOriginal = restoreOriginalError(rightError); |
|||
|
|||
// 左
|
|||
if (leftOriginal != 0) { |
|||
StringBuilder leftBits = new StringBuilder("错误: "); |
|||
for (int i = 0; i < 32; i++) { |
|||
if (((leftOriginal >> i) & 1) == 1) { |
|||
leftBits.append(32 - i).append(" "); |
|||
} |
|||
} |
|||
MainActivity.mainBinding.tvLeftError.setText(leftBits.toString().trim()); |
|||
} else { |
|||
MainActivity.mainBinding.tvLeftError.setText("正常"); |
|||
} |
|||
|
|||
//右
|
|||
if (rightOriginal != 0) { |
|||
StringBuilder rightBits = new StringBuilder("错误: "); |
|||
for (int i = 0; i < 32; i++) { |
|||
if (((rightOriginal >> i) & 1) == 1) { |
|||
rightBits.append(32 - i).append(" "); |
|||
} |
|||
} |
|||
MainActivity.mainBinding.tvRightError.setText(rightBits.toString().trim()); |
|||
} else { |
|||
MainActivity.mainBinding.tvRightError.setText("正常"); |
|||
} |
|||
|
|||
if (_toReceiveIV.getRobotError() != 0 && _toReceiveIV.getRobotCurrentState() != 12) { |
|||
|
|||
} else { |
|||
String m = ""; |
|||
switch (_toReceiveIV.getRobotCurrentState()) { |
|||
case 0: |
|||
m = "停止"; |
|||
break; |
|||
case 1: |
|||
m = "前进"; |
|||
break; |
|||
case 2: |
|||
m = "后退"; |
|||
break; |
|||
case 3: |
|||
m = "左转"; |
|||
break; |
|||
case 4: |
|||
m = "右转"; |
|||
break; |
|||
case 5: |
|||
m = "自动前进"; |
|||
break; |
|||
case 6: |
|||
m = "自动后退"; |
|||
break; |
|||
case 7: |
|||
m = "左换道"; |
|||
break; |
|||
case 8: |
|||
m = "右换道"; |
|||
break; |
|||
case 9: |
|||
m = "上换道"; |
|||
break; |
|||
case 10: |
|||
m = "下换道"; |
|||
break; |
|||
case 11: |
|||
m = "换道完成"; |
|||
break; |
|||
case 12: |
|||
m = "急停"; |
|||
break; |
|||
default: |
|||
throw new IllegalStateException("Unexpected value: " + _toReceiveIV.getRobotCurrentState()); |
|||
} |
|||
MainActivity.mainBinding.tvRobotError.setText(m); |
|||
} |
|||
int errorInt = _toReceiveIV.getSystemError(); |
|||
|
|||
String errorString = ErrorDeocdeHelper.ErrorDeocde(errorInt); |
|||
|
|||
String error_to_Display = "错误："; |
|||
if (_toReceiveIV.getRobotErrorLeft() != 0) { |
|||
errorString += " \t 电机1错误码：" + String.valueOf(_toReceiveIV.getRobotErrorLeft()); |
|||
} |
|||
if (_toReceiveIV.getRobotErrorRight() != 0) { |
|||
errorString += " \t 电机2错误码：" + String.valueOf(_toReceiveIV.getRobotErrorRight()); |
|||
} |
|||
}); |
|||
|
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,54 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import com.example.fivewheel.models.RobotData; |
|||
import com.google.protobuf.InvalidProtocolBufferException; |
|||
|
|||
public class RobotDataHanlder { |
|||
|
|||
|
|||
public static void test() |
|||
{ |
|||
//byte[] data=hexToByteArray("080110830118313A04B1CBBACF");
|
|||
byte[] data=hexToByteArray("100A180A28013A32B1CBBACF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"); |
|||
|
|||
} |
|||
public static RobotData.DataTrans DeoodeDataFromRobot(byte[] data) |
|||
{ |
|||
|
|||
RobotData.DataTrans dtrans3 = null; |
|||
try |
|||
{ |
|||
dtrans3 = RobotData.DataTrans.parseFrom(data); |
|||
|
|||
return dtrans3; |
|||
} catch (InvalidProtocolBufferException e) { |
|||
return null; |
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
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); |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,140 @@ |
|||
//package com.example.removemarineanimals.services;
|
|||
//
|
|||
//import android.content.Context;
|
|||
//import android.graphics.Bitmap;
|
|||
//import android.graphics.Canvas;
|
|||
//import android.view.View;
|
|||
//import android.widget.Toast;
|
|||
//
|
|||
//import com.arthenica.ffmpegkit.FFmpegKit;
|
|||
//import com.arthenica.ffmpegkit.FFmpegSession;
|
|||
//import com.arthenica.ffmpegkit.ReturnCode;
|
|||
//import com.example.removemarineanimals.MainActivity;
|
|||
//
|
|||
//import java.io.File;
|
|||
//import java.io.FileOutputStream;
|
|||
//import java.io.IOException;
|
|||
//import java.text.SimpleDateFormat;
|
|||
//import java.util.Date;
|
|||
//
|
|||
//public class RtspRecorder {
|
|||
// // 用于控制录制会话
|
|||
// private MainActivity MainActivity;
|
|||
// private static FFmpegSession recordingSession;
|
|||
//
|
|||
// // 开始分段录制
|
|||
// public static void startRecording(Context context, String rtspUrl)
|
|||
// {
|
|||
//
|
|||
// String outputPath ="storage/emulated/0/DCIM/" + "/record_%Y-%m-%d_%H-%M-%S.mp4";
|
|||
// //String outputPath = context.getExternalFilesDir(null) + "/record_%Y-%m-%d_%H-%M-%S.mp4";
|
|||
// String command = String.format(
|
|||
// "-rtsp_transport tcp -i \"%s\" -c:v copy -f segment -segment_time 30 -reset_timestamps 1 -strftime 1 \"%s\"",
|
|||
// rtspUrl, outputPath
|
|||
// );
|
|||
//
|
|||
// recordingSession = FFmpegKit.executeAsync(command, session -> {
|
|||
// if (ReturnCode.isSuccess(session.getReturnCode())) {
|
|||
// // 录制正常结束
|
|||
// } else {
|
|||
// // 录制异常终止
|
|||
// }
|
|||
// });
|
|||
// }
|
|||
//
|
|||
// // 停止录制
|
|||
// public static void stopRecording() {
|
|||
// if (recordingSession != null) {
|
|||
// FFmpegKit.cancel(recordingSession.getSessionId());
|
|||
// recordingSession = null;
|
|||
// }
|
|||
// }
|
|||
//
|
|||
// // 实时截图（需手动调用）
|
|||
// public static void takeSnapshot(Context context, String rtspUrl) {
|
|||
// //String outputPath = context.getExternalFilesDir(null) + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
|
|||
//
|
|||
// String outputPath = "storage/emulated/0/DCIM/" + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
|
|||
//
|
|||
// String command = String.format(
|
|||
// "-rtsp_transport tcp -i \"%s\" -frames:v 1 -strftime 1 \"%s\"",
|
|||
// rtspUrl, outputPath
|
|||
// );
|
|||
// FFmpegSession session2 = FFmpegKit.executeAsync(command,session -> {
|
|||
// if (ReturnCode.isSuccess(session.getReturnCode()))
|
|||
// {
|
|||
// // 截图成功
|
|||
// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
|
|||
//
|
|||
// } else
|
|||
// {
|
|||
// // 截图失败
|
|||
// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
|
|||
// }
|
|||
// });
|
|||
//
|
|||
////
|
|||
//// if (ReturnCode.isSuccess(session.getReturnCode())) {
|
|||
//// // 截图成功
|
|||
//// } else {
|
|||
//// // 截图失败
|
|||
//// }
|
|||
//
|
|||
//// recordingSession = FFmpegKit.executeAsync(command, session -> {
|
|||
//// if (ReturnCode.isSuccess(session.getReturnCode()))
|
|||
//// {
|
|||
//// // 截图成功
|
|||
//// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
|
|||
////
|
|||
//// } else
|
|||
//// {
|
|||
//// // 截图失败
|
|||
//// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
|
|||
//// }
|
|||
//// });
|
|||
//
|
|||
//
|
|||
// }
|
|||
//
|
|||
// // 方法1：通过DrawingCache（适用于可见的View）
|
|||
// public static Bitmap captureView(View view) {
|
|||
// view.setDrawingCacheEnabled(true);
|
|||
// view.buildDrawingCache();
|
|||
// Bitmap bitmap = Bitmap.createBitmap(view.getDrawingCache());
|
|||
// view.setDrawingCacheEnabled(false); // 释放缓存
|
|||
// return bitmap;
|
|||
// }
|
|||
//
|
|||
// // 方法2：直接绘制到Bitmap（更可靠，适用于未显示的View）
|
|||
// public static Bitmap captureViewManual(View view) {
|
|||
//
|
|||
//// view.measure(View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED), View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED));
|
|||
//// view.layout(0, 0, view.getMeasuredWidth(), view.getMeasuredHeight());
|
|||
//// view.buildDrawingCache();
|
|||
//// Bitmap bitmap = view.getDrawingCache();
|
|||
//
|
|||
//
|
|||
// Bitmap bitmap = Bitmap.createBitmap(view.getWidth(), view.getHeight(), Bitmap.Config.ARGB_8888);
|
|||
// Canvas canvas = new Canvas(bitmap);
|
|||
// view.draw(canvas);
|
|||
// return bitmap;
|
|||
// }
|
|||
//
|
|||
// public static void SnapPictureByView (View view)
|
|||
// {
|
|||
// // 保存到文件（需权限）
|
|||
// Date dNow=new Date();
|
|||
// SimpleDateFormat ft = new SimpleDateFormat ("yyyy-MM-dd hh-mm-ss");
|
|||
// String path = "storage/emulated/0/DCIM/" + ft.format(dNow)+ ".png";
|
|||
// File file = new File(path);
|
|||
// try (FileOutputStream out = new FileOutputStream(file))
|
|||
// {
|
|||
// // Bitmap screenshot = captureView(view);
|
|||
// Bitmap screenshot = captureViewManual(view);
|
|||
// screenshot.compress(Bitmap.CompressFormat.PNG, 100, out);
|
|||
// } catch (IOException e) {
|
|||
// e.printStackTrace();
|
|||
// }
|
|||
// }
|
|||
//
|
|||
//}
|
|||
@ -0,0 +1,324 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
|
|||
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.fivewheel.BuildConfig; |
|||
import com.example.fivewheel.models.BspIV; |
|||
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 com.example.fivewheel.MainActivity; |
|||
public class USBSerialPortHelper implements SerialInputOutputManager.Listener { |
|||
public USBSerialPortHelper(MainActivity mainActivity, int baudRate) { |
|||
this.MainActivity = mainActivity; |
|||
this.baudRate=baudRate; |
|||
} |
|||
private MainActivity MainActivity; |
|||
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 = 115200;
|
|||
private int baudRate = 38400; |
|||
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; |
|||
|
|||
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<Byte>(); |
|||
} |
|||
@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(); |
|||
}); |
|||
} |
|||
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.getVendorId() == 6790) { |
|||
device = v; |
|||
break; |
|||
} |
|||
// 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(); |
|||
} |
|||
connected = 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<Byte> _receiveBufferlist; |
|||
|
|||
private static byte[] listTobyte(List<Byte> list) { |
|||
if (list == null || list.size() < 0) return null; |
|||
byte[] bytes = new byte[list.size()]; |
|||
int i = 0; |
|||
Iterator<Byte> iterator = list.iterator(); |
|||
while (iterator.hasNext()) { |
|||
bytes[i] = iterator.next(); |
|||
i++; |
|||
} |
|||
return bytes; |
|||
} |
|||
boolean StartCountDown = false; |
|||
private void receive(byte[] data) { |
|||
|
|||
// status("read data");
|
|||
for (int i = 0; i < data.length; i++) { |
|||
_receiveBufferlist.add(data[i]); |
|||
} |
|||
|
|||
//decodeRceive(data);
|
|||
if (StartCountDown == false)//从收到第一个数据开始计时
|
|||
{ |
|||
StartCountDown = true; |
|||
new CountDownTimer(5, 5) { |
|||
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);
|
|||
} |
|||
|
|||
int Index = 0; |
|||
|
|||
|
|||
private void decodeRceive(byte[] data) { |
|||
try { |
|||
|
|||
MainActivity.USBSerialPortReceivedTimeCounter=0;//计算时间 归零
|
|||
|
|||
if (ModbusRtuSlaveService.processModbusRequest(data, data.length) == 0x03) { |
|||
Index++; |
|||
//Index=128;
|
|||
//由于 System.currentTimeMillis() 会随着时间累加，所以不存在
|
|||
|
|||
|
|||
DataExchangeHelper.setModbusPVValues( MainActivity._toSendPV); |
|||
} else if (ModbusRtuSlaveService.processModbusRequest(data, data.length) == 0x10) { |
|||
BspIV.IV_struct_define iv = DataExchangeHelper.getIVByModbus(); |
|||
|
|||
ReceiivedIVHandler.HandleIV(MainActivity,iv); |
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
} catch (Exception e) { |
|||
int a =100; |
|||
|
|||
} |
|||
} |
|||
|
|||
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"); |
|||
|
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,27 @@ |
|||
package com.example.fivewheel.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.setHWEnable(true); |
|||
nodePlayer.setMaxBufferTime(200);//设置最大缓冲时间
|
|||
nodePlayer.start(); |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,124 @@ |
|||
package com.example.fivewheel.services; |
|||
|
|||
import android.util.Log; |
|||
|
|||
import com.example.fivewheel.models.BspIV; |
|||
|
|||
import android_serialport_api.SerialPortFinder; |
|||
import tp.xmaihh.serialport.SerialHelper; |
|||
import tp.xmaihh.serialport.bean.ComBean; |
|||
|
|||
public class ttySerialPortHelper { |
|||
public static com.example.fivewheel.MainActivity MainActivity; |
|||
private static final String TAG = "ttySerialPortHelper"; |
|||
private static SerialHelper serialHelper; |
|||
private static SerialPortFinder serialPortFinder; |
|||
public static boolean IsAllButtonSendBack = false; |
|||
|
|||
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"}; |
|||
|
|||
public static int ReceivedCounter= 0; |
|||
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[] receivedData = comBean.bRec; |
|||
if (MainActivity.AndroidMCUCommunicationMethod == CommunicationMethond.Wireless) |
|||
{ |
|||
//解析单片机传来的数据
|
|||
ReceiivedIVHandler.HandleIVData(MainActivity, receivedData); |
|||
return; |
|||
} |
|||
//有按钮数据传输
|
|||
if (receivedData.length <= 2) { |
|||
return; |
|||
} |
|||
if (receivedData[0] != 0x55 || receivedData[1] != 0x66 || receivedData.length != 42) { |
|||
return; |
|||
} |
|||
IsAllButtonSendBack = true; |
|||
int[] decodedCH = DataExchangeHelper.getdecodedCH(receivedData); |
|||
//0 代表index，和sbus里面的数据其实不同，这里用作接收一次，添加一个
|
|||
ModbusRtuSlaveService.holdingRegisters[0] += 1; |
|||
for (int i = 0; i < decodedCH.length; i++) { |
|||
ModbusRtuSlaveService.holdingRegisters[i + 1] = (short) decodedCH[i]; |
|||
} |
|||
|
|||
ReceivedCounter=0; |
|||
|
|||
// MainActivity.mainBinding.sbusCH0.setText(String.valueOf(DataExchangeHelper.decodedCH[0]));
|
|||
// MainActivity.mainBinding.sbusCH1.setText(String.valueOf(DataExchangeHelper.decodedCH[1]));
|
|||
// MainActivity.mainBinding.sbusCH2.setText(String.valueOf(DataExchangeHelper.decodedCH[2]));
|
|||
// MainActivity.mainBinding.sbusCH3.setText(String.valueOf(DataExchangeHelper.decodedCH[3]));
|
|||
// MainActivity.mainBinding.sbusCH4.setText(String.valueOf(DataExchangeHelper.decodedCH[4]));
|
|||
// MainActivity.mainBinding.sbusCH5.setText(String.valueOf(DataExchangeHelper.decodedCH[5]));
|
|||
// MainActivity.mainBinding.sbusCH6.setText(String.valueOf(DataExchangeHelper.decodedCH[6]));
|
|||
// MainActivity.mainBinding.sbusCH7.setText(String.valueOf(DataExchangeHelper.decodedCH[7]));
|
|||
// MainActivity.mainBinding.sbusCH8.setText(String.valueOf(DataExchangeHelper.decodedCH[8]));
|
|||
// MainActivity.mainBinding.sbusCH9.setText(String.valueOf(DataExchangeHelper.decodedCH[9]));
|
|||
// MainActivity.mainBinding.sbusCH10.setText(String.valueOf(DataExchangeHelper.decodedCH[10]));
|
|||
// MainActivity.mainBinding.sbusCH11.setText(String.valueOf(DataExchangeHelper.decodedCH[11]));
|
|||
// MainActivity.mainBinding.sbusCH12.setText(String.valueOf(DataExchangeHelper.decodedCH[12]));
|
|||
// MainActivity.mainBinding.sbusCH13.setText(String.valueOf(DataExchangeHelper.decodedCH[13]));
|
|||
// MainActivity.mainBinding.sbusCH14.setText(String.valueOf(DataExchangeHelper.decodedCH[14]));
|
|||
// MainActivity.mainBinding.sbusCH15.setText(String.valueOf(DataExchangeHelper.decodedCH[15]));
|
|||
|
|||
|
|||
} |
|||
}); |
|||
} |
|||
}; |
|||
serialHelper.open(); |
|||
} catch (Exception exception) { |
|||
Log.d(TAG, "Data Received"); |
|||
} |
|||
|
|||
} |
|||
|
|||
private static int index = 0; |
|||
|
|||
|
|||
public static void SendData(byte[] data) { |
|||
|
|||
serialHelper.send(data); // 发送byte[]
|
|||
} |
|||
|
|||
public static byte[] getAllChData_4Hz = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x02, (byte) (0xB5 & 0xff), (byte) (0xC0 & 0xff)}; |
|||
public static byte[] getAllChData_5Hz = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x03, (byte) (0x94 & 0xff), (byte) (0xD0 & 0xff)}; |
|||
public static byte[] getAllChData_10Hz = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x04, (byte) (0x73 & 0xff), (byte) (0xA0 & 0xff)}; |
|||
public static byte[] getAllChData_20Hz = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x05, (byte) (0x52 & 0xff), (byte) (0xb0 & 0xff)}; |
|||
public static byte[] getAllChData_50Hz = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x06, (byte) (0x31 & 0xff), (byte) (0x80 & 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(); |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,67 @@ |
|||
package com.example.fivewheel.viewmodels; |
|||
|
|||
|
|||
|
|||
import android.widget.SeekBar; |
|||
|
|||
import androidx.lifecycle.ViewModel; |
|||
|
|||
import com.example.fivewheel.R; |
|||
import com.example.fivewheel.databinding.ActivityMainBinding; |
|||
//import com.example.removemarineanimals.models.user;
|
|||
//import com.example.removemarineanimals.services.RobotData;
|
|||
//import com.example.removemarineanimals.services.VideoHelper;
|
|||
|
|||
|
|||
public class MainViewModel extends ViewModel { |
|||
|
|||
|
|||
// public RobotData.DataTrans _dataTrans=new RobotData.DataTrans();
|
|||
public static ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
|
|||
// public final MutableLiveData<user> LiveUser;
|
|||
|
|||
public MainViewModel() |
|||
{ |
|||
// LiveUser = new MutableLiveData<user>();
|
|||
//
|
|||
// user u=LiveUser.getValue();
|
|||
// if(u==null)
|
|||
// {
|
|||
// u=new user();
|
|||
// u.setName("dddddd");
|
|||
// LiveUser.setValue(u);
|
|||
// }
|
|||
|
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
//# region Video操作区域
|
|||
int recordVideoState=0; |
|||
|
|||
public void SnapVideo() |
|||
{ |
|||
|
|||
|
|||
} |
|||
|
|||
//#end region Video操作区域
|
|||
|
|||
void SetPage() |
|||
{ |
|||
|
|||
|
|||
} |
|||
|
|||
public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) { |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
} |
|||
@ -0,0 +1,7 @@ |
|||
cd /d D:\Android_studio_workspace\fw_swj\app\src\main\java |
|||
protoc --proto_path=. --java_out=. bsp_IV.proto |
|||
protoc --proto_path=. --java_out=. bsp_PV.proto |
|||
protoc --proto_path=. --java_out=. bsp_Error.proto |
|||
pause |
|||
|
|||
|
|||
Binary file not shown.
Binary file not shown.
@ -0,0 +1,25 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
|
|||
<!-- 设置透明背景色 --> |
|||
<!-- <solid android:color="@color/gainsboro" />--> |
|||
<solid android:color="#f2f3f4" /> |
|||
<!-- 设置一个黑色边框 --> |
|||
<!-- <stroke--> |
|||
<!-- android:width="4px"--> |
|||
<!-- android:color="@color/deepskyblue" />--> |
|||
<!-- 设置四个圆角的半径 --> |
|||
<corners |
|||
android:bottomLeftRadius="8dp" |
|||
android:bottomRightRadius="8dp" |
|||
android:topLeftRadius="8dp" |
|||
android:topRightRadius="8dp" /> |
|||
<!-- 设置一下边距,让空间大一点 --> |
|||
<!-- <padding--> |
|||
<!-- android:bottom="5dp"--> |
|||
<!-- android:left="5dp"--> |
|||
<!-- android:right="5dp"--> |
|||
<!-- android:top="5dp" />--> |
|||
|
|||
</shape> |
|||
|
|||
@ -0,0 +1,25 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
|
|||
<!-- 设置透明背景色 --> |
|||
<!-- <solid android:color="@color/white" />--> |
|||
<solid android:color="#d6eaf8" /> |
|||
<!-- 设置一个黑色边框 --> |
|||
<!-- <stroke--> |
|||
<!-- android:width="4px"--> |
|||
<!-- android:color="@color/deepskyblue" />--> |
|||
<!-- 设置四个圆角的半径 --> |
|||
<corners |
|||
android:bottomLeftRadius="8dp" |
|||
android:bottomRightRadius="8dp" |
|||
android:topLeftRadius="8dp" |
|||
android:topRightRadius="8dp" /> |
|||
<!-- 设置一下边距,让空间大一点 --> |
|||
<!-- <padding--> |
|||
<!-- android:bottom="5dp"--> |
|||
<!-- android:left="5dp"--> |
|||
<!-- android:right="5dp"--> |
|||
<!-- android:top="5dp" />--> |
|||
|
|||
</shape> |
|||
|
|||
@ -0,0 +1,10 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android" > |
|||
|
|||
<!-- 设置一个黑色边框 --> |
|||
<stroke android:width="4px" android:color="#000000"/> |
|||
<!-- 渐变 --> |
|||
|
|||
<!-- 设置一下边距,让空间大一点 --> |
|||
|
|||
</shape> |
|||
@ -0,0 +1,24 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
|
|||
<!-- 设置透明背景色 --> |
|||
<solid android:color="#87CEEB" /> |
|||
|
|||
<!-- 设置一个黑色边框 --> |
|||
<stroke |
|||
android:width="4px" |
|||
android:color="#000000" /> |
|||
<!-- 设置四个圆角的半径 --> |
|||
<corners |
|||
android:bottomLeftRadius="10px" |
|||
android:bottomRightRadius="10px" |
|||
android:topLeftRadius="10px" |
|||
android:topRightRadius="10px" /> |
|||
<!-- 设置一下边距,让空间大一点 --> |
|||
<!-- <padding--> |
|||
<!-- android:bottom="5dp"--> |
|||
<!-- android:left="5dp"--> |
|||
<!-- android:right="5dp"--> |
|||
<!-- android:top="5dp" />--> |
|||
|
|||
</shape> |
|||
@ -0,0 +1,14 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="line"> |
|||
<stroke |
|||
android:color="#ffffff" |
|||
android:dashWidth="10dp" |
|||
/> |
|||
<!--width：线条的高度 |
|||
color：颜色 |
|||
android:dashGap="8dp" |
|||
dashWidth：破折线的宽度 |
|||
dashGap：破折线间空隙的宽度 |
|||
如果这里设置了width，xml中android:layout_height的值必须比它大。不设置就默认为0 |
|||
--> |
|||
</shape> |
|||
@ -0,0 +1,170 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<vector xmlns:android="http://schemas.android.com/apk/res/android" |
|||
android:width="108dp" |
|||
android:height="108dp" |
|||
android:viewportWidth="108" |
|||
android:viewportHeight="108"> |
|||
<path |
|||
android:fillColor="#3DDC84" |
|||
android:pathData="M0,0h108v108h-108z" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M9,0L9,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,0L19,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M29,0L29,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M39,0L39,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M49,0L49,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M59,0L59,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M69,0L69,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M79,0L79,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M89,0L89,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M99,0L99,108" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,9L108,9" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,19L108,19" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,29L108,29" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,39L108,39" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,49L108,49" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,59L108,59" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,69L108,69" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,79L108,79" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,89L108,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M0,99L108,99" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,29L89,29" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,39L89,39" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,49L89,49" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,59L89,59" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,69L89,69" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M19,79L89,79" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M29,19L29,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M39,19L39,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M49,19L49,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M59,19L59,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M69,19L69,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
<path |
|||
android:fillColor="#00000000" |
|||
android:pathData="M79,19L79,89" |
|||
android:strokeWidth="0.8" |
|||
android:strokeColor="#33FFFFFF" /> |
|||
</vector> |
|||
@ -0,0 +1,30 @@ |
|||
<vector xmlns:android="http://schemas.android.com/apk/res/android" |
|||
xmlns:aapt="http://schemas.android.com/aapt" |
|||
android:width="108dp" |
|||
android:height="108dp" |
|||
android:viewportWidth="108" |
|||
android:viewportHeight="108"> |
|||
<path android:pathData="M31,63.928c0,0 6.4,-11 12.1,-13.1c7.2,-2.6 26,-1.4 26,-1.4l38.1,38.1L107,108.928l-32,-1L31,63.928z"> |
|||
<aapt:attr name="android:fillColor"> |
|||
<gradient |
|||
android:endX="85.84757" |
|||
android:endY="92.4963" |
|||
android:startX="42.9492" |
|||
android:startY="49.59793" |
|||
android:type="linear"> |
|||
<item |
|||
android:color="#44000000" |
|||
android:offset="0.0" /> |
|||
<item |
|||
android:color="#00000000" |
|||
android:offset="1.0" /> |
|||
</gradient> |
|||
</aapt:attr> |
|||
</path> |
|||
<path |
|||
android:fillColor="#FFFFFF" |
|||
android:fillType="nonZero" |
|||
android:pathData="M65.3,45.828l3.8,-6.6c0.2,-0.4 0.1,-0.9 -0.3,-1.1c-0.4,-0.2 -0.9,-0.1 -1.1,0.3l-3.9,6.7c-6.3,-2.8 -13.4,-2.8 -19.7,0l-3.9,-6.7c-0.2,-0.4 -0.7,-0.5 -1.1,-0.3C38.8,38.328 38.7,38.828 38.9,39.228l3.8,6.6C36.2,49.428 31.7,56.028 31,63.928h46C76.3,56.028 71.8,49.428 65.3,45.828zM43.4,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2c-0.3,-0.7 -0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C45.3,56.528 44.5,57.328 43.4,57.328L43.4,57.328zM64.6,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2s-0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C66.5,56.528 65.6,57.328 64.6,57.328L64.6,57.328z" |
|||
android:strokeWidth="1" |
|||
android:strokeColor="#00000000" /> |
|||
</vector> |
|||
@ -0,0 +1,24 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
|
|||
<!-- 设置透明背景色 --> |
|||
<solid android:color="#f6ddcc" /> |
|||
<!-- 设置一个黑色边框 --> |
|||
<!-- <stroke--> |
|||
<!-- android:width="4px"--> |
|||
<!-- android:color="@color/" />--> |
|||
<!-- 设置四个圆角的半径 --> |
|||
<corners |
|||
android:bottomLeftRadius="8dp" |
|||
android:bottomRightRadius="8dp" |
|||
android:topLeftRadius="8dp" |
|||
android:topRightRadius="8dp" /> |
|||
<!-- 设置一下边距,让空间大一点 --> |
|||
<!-- <padding--> |
|||
<!-- android:bottom="5dp"--> |
|||
<!-- android:left="5dp"--> |
|||
<!-- android:right="5dp"--> |
|||
<!-- android:top="5dp" />--> |
|||
|
|||
</shape> |
|||
|
|||
|
After Width: | Height: | Size: 75 KiB |
@ -0,0 +1,760 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<layout xmlns:android="http://schemas.android.com/apk/res/android" |
|||
xmlns:app="http://schemas.android.com/apk/res-auto" |
|||
xmlns:tools="http://schemas.android.com/tools" |
|||
tools:context=".MainActivity"> |
|||
|
|||
<data> |
|||
<variable |
|||
name="vm" |
|||
type="com.example.fivewheel.viewmodels.MainViewModel" /> |
|||
</data> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:background="@drawable/background" |
|||
android:orientation="vertical"> |
|||
|
|||
<!--medium view--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_weight="1" |
|||
android:orientation="horizontal" |
|||
tools:ignore="UselessParent"> |
|||
|
|||
<!--左侧信息区域--> |
|||
<LinearLayout |
|||
android:id="@+id/messageRounded" |
|||
android:layout_width="148dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginVertical="8dp" |
|||
android:layout_marginStart="8dp" |
|||
android:background="@drawable/message_rounded_rectangle" |
|||
android:orientation="horizontal"> |
|||
|
|||
<GridLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:columnCount="1" |
|||
android:orientation="vertical" |
|||
android:rowCount="9"> |
|||
|
|||
<!--机器人作业状态--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="状 态" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvRobotError" |
|||
android:layout_width="0dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="xxx" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
|
|||
<!--机器人当前角度--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="角 度" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/rF_Angle_Roll" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" |
|||
tools:ignore="RtlHardcoded" /> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="left|center_horizontal" |
|||
android:text="°" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="电 流" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvRobotCurrent" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="left|center_horizontal" |
|||
android:text="A" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
|
|||
|
|||
</LinearLayout> |
|||
|
|||
<!--机器人打磨压力常数--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="压 力" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvForce" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="left|center_horizontal" |
|||
android:text="N" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
|
|||
<!--机器人打磨压力常数--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="气 压" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvDynamometer" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="left|center_horizontal" |
|||
android:text="Pa" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
<!--机器人左补偿--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="左补偿" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvRobotLeftCompensation" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold"/> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="left|center_horizontal" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:text="°" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
|
|||
<!--机器人右补偿--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="右补偿" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvRobotRightCompensation" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="right" |
|||
android:text="0" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="10dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="start|center_horizontal" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:text="°" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
|
|||
<!--左电机错误信息--> |
|||
<FrameLayout |
|||
android:id="@+id/mainViewErrMessageFrameLayout" |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="左电机" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvLeftError" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="xxx" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
<!--右电机错误信息--> |
|||
<FrameLayout |
|||
android:id="@+id/main" |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_rowWeight="1"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="45dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginHorizontal="5dp" |
|||
android:text="右电机" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:id="@+id/tvRightError" |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_margin="1dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="xxx" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="14sp" |
|||
android:textStyle="bold" /> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
</GridLayout> |
|||
</LinearLayout> |
|||
|
|||
<!--参数设定区域--> |
|||
<LinearLayout |
|||
android:id="@+id/setLayout" |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_margin="4dp" |
|||
android:orientation="vertical" |
|||
tools:ignore="Suspicious0dp"> |
|||
<!-- 第一行：左右换道 --> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_weight="1" |
|||
android:orientation="horizontal" |
|||
android:gravity="center" |
|||
android:layout_margin="4dp"> |
|||
|
|||
<Button |
|||
android:id="@+id/btnLeftLaneChange" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginHorizontal="4dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="@string/change_left" |
|||
android:background="@drawable/blue_rounded_rectangle" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="30sp" |
|||
android:textStyle="bold"/> |
|||
|
|||
<Button |
|||
android:id="@+id/btnRightLaneChange" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_weight="1" |
|||
android:layout_marginHorizontal="4dp" |
|||
android:text="@string/change_right" |
|||
android:background="@drawable/blue_rounded_rectangle" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="30sp" |
|||
android:textStyle="bold"/> |
|||
</LinearLayout> |
|||
|
|||
<!--第二行：速度--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_weight="1"> |
|||
<!--移动速度--> |
|||
<FrameLayout |
|||
android:id="@+id/mainViewRobotSpeedFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="40dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:layout_marginHorizontal="8dp" |
|||
android:text="手动速度" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="18sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<EditText |
|||
android:id="@+id/tvRobotManualSpeed" |
|||
android:layout_width="120dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginStart="27dp" |
|||
android:background="@null" |
|||
android:gravity="center" |
|||
android:imeOptions="actionDone" |
|||
android:inputType="numberDecimal" |
|||
android:text="10" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="35sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginStart="-25dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="m/min" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="25sp" /> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
<!--自动速度--> |
|||
<FrameLayout |
|||
android:id="@+id/mainViewAutoSpeedFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="40dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:layout_marginHorizontal="8dp" |
|||
android:text="自动速度" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="18sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<EditText |
|||
android:id="@+id/tvRobotAutoSpeed" |
|||
android:layout_width="120dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginStart="27dp" |
|||
android:background="@null" |
|||
android:gravity="center" |
|||
android:imeOptions="actionDone" |
|||
android:inputType="numberDecimal" |
|||
android:text="10" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="35sp" |
|||
android:textStyle="bold" /> |
|||
<TextView |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="match_parent" |
|||
android:layout_weight="1" |
|||
android:layout_marginStart="-25dp" |
|||
android:gravity="center" |
|||
android:text="m/min" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="25sp" /> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
</LinearLayout> |
|||
<!--第三行--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_weight="1"> |
|||
<!--压力设定--> |
|||
<FrameLayout |
|||
android:id="@+id/mainViewEndPressureFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="40dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:layout_marginHorizontal="8dp" |
|||
android:text="压力设定" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="18sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<EditText |
|||
android:id="@+id/tvRobotForce" |
|||
android:layout_width="112dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginStart="40dp" |
|||
android:background="@null" |
|||
android:gravity="center" |
|||
android:imeOptions="actionDone" |
|||
android:inputType="number" |
|||
android:text="300" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="35sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginStart="-15dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="N" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="25sp" /> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
<!--换道幅宽--> |
|||
<FrameLayout |
|||
android:id="@+id/mainViewLaneChangeWidthFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<TextView |
|||
android:layout_width="40dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:layout_marginHorizontal="8dp" |
|||
android:text="换道幅宽" |
|||
android:textColor="@color/midnightblue" |
|||
android:textSize="18sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
<EditText |
|||
android:id="@+id/tvRobotChgLength" |
|||
android:layout_width="120dp" |
|||
android:layout_height="wrap_content" |
|||
android:layout_marginStart="40dp" |
|||
android:background="@null" |
|||
android:imeOptions="actionDone" |
|||
android:inputType="number" |
|||
android:gravity="center" |
|||
android:text="40" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="35sp" |
|||
android:textStyle="bold" /> |
|||
|
|||
<TextView |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="match_parent" |
|||
android:gravity="center" |
|||
android:layout_marginStart="-25dp" |
|||
android:text="mm" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="25sp" /> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
</LinearLayout> |
|||
<!--第四行--> |
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="0dp" |
|||
android:layout_weight="1"> |
|||
|
|||
<FrameLayout |
|||
android:id="@+id/mainViewCurrentFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<Button |
|||
android:id="@+id/btnBindAutoWork" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_marginHorizontal="4dp" |
|||
android:layout_weight="1" |
|||
android:gravity="center" |
|||
android:text="绑定自动作业" |
|||
android:background="@drawable/blue_rounded_rectangle" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="30sp" |
|||
android:textStyle="bold"/> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="wrap_content" |
|||
android:layout_height="wrap_content" |
|||
android:layout_gravity="center" |
|||
android:orientation="horizontal"> |
|||
|
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
|
|||
<FrameLayout |
|||
android:id="@+id/mainViewVerticalCalibrationFrameLayout" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="center" |
|||
android:layout_margin="4dp" |
|||
android:layout_weight="1" |
|||
android:background="@drawable/blue_rounded_rectangle"> |
|||
|
|||
<LinearLayout |
|||
android:layout_width="match_parent" |
|||
android:layout_height="match_parent" |
|||
android:layout_gravity="fill" |
|||
android:orientation="horizontal"> |
|||
|
|||
<Button |
|||
android:id="@+id/btnShowLogs" |
|||
android:layout_width="0dp" |
|||
android:layout_height="match_parent" |
|||
android:layout_weight="1" |
|||
android:layout_marginHorizontal="4dp" |
|||
android:background="@drawable/blue_rounded_rectangle" |
|||
android:text="@string/log" |
|||
android:gravity="center" |
|||
android:textColor="@color/deepskyblue" |
|||
android:textSize="30sp" |
|||
android:textStyle="bold"/> |
|||
|
|||
</LinearLayout> |
|||
</FrameLayout> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</LinearLayout> |
|||
</layout> |
|||
@ -0,0 +1,15 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<ScrollView xmlns:android="http://schemas.android.com/apk/res/android" |
|||
android:layout_width="match_parent" |
|||
android:layout_height="wrap_content" |
|||
android:padding="16dp"> |
|||
|
|||
<TextView |
|||
android:id="@+id/tv_logs_content" |
|||
android:layout_width="match_parent" |
|||
android:layout_height="wrap_content" |
|||
android:textSize="14sp" |
|||
android:textColor="#000000" |
|||
android:scrollbars="vertical" /> |
|||
|
|||
</ScrollView> |
|||
@ -0,0 +1,6 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
<background android:drawable="@drawable/ic_launcher_background" /> |
|||
<foreground android:drawable="@drawable/ic_launcher_foreground" /> |
|||
<monochrome android:drawable="@drawable/ic_launcher_foreground" /> |
|||
</adaptive-icon> |
|||
@ -0,0 +1,6 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android"> |
|||
<background android:drawable="@drawable/ic_launcher_background" /> |
|||
<foreground android:drawable="@drawable/ic_launcher_foreground" /> |
|||
<monochrome android:drawable="@drawable/ic_launcher_foreground" /> |
|||
</adaptive-icon> |
|||
|
After Width: | Height: | Size: 1.4 KiB |
|
After Width: | Height: | Size: 2.8 KiB |
|
After Width: | Height: | Size: 982 B |
|
After Width: | Height: | Size: 1.7 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 3.8 KiB |
|
After Width: | Height: | Size: 2.8 KiB |
|
After Width: | Height: | Size: 5.8 KiB |
|
After Width: | Height: | Size: 3.8 KiB |
|
After Width: | Height: | Size: 7.6 KiB |
@ -0,0 +1,16 @@ |
|||
<resources xmlns:tools="http://schemas.android.com/tools"> |
|||
<!-- Base application theme. --> |
|||
<style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.NoActionBar"> |
|||
<!-- Primary brand color. --> |
|||
<item name="colorPrimary">@color/blue</item> |
|||
<item name="colorPrimaryVariant">@color/purple_200</item> |
|||
<item name="colorOnPrimary">@color/black</item> |
|||
<!-- Secondary brand color. --> |
|||
<item name="colorSecondary">@color/blue</item> |
|||
<item name="colorSecondaryVariant">@color/blueviolet</item> |
|||
<item name="colorOnSecondary">@color/black</item> |
|||
<!-- Status bar color. --> |
|||
<item name="android:statusBarColor">?attr/colorPrimaryVariant</item> |
|||
<!-- Customize your theme here. --> |
|||
</style> |
|||
</resources> |
|||
@ -0,0 +1,157 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<resources> |
|||
<color name="black">#FF000000</color> |
|||
<color name="white">#FFFFFFFF</color> |
|||
<color name="purple_200">#FFFFFFFF</color> |
|||
|
|||
<color name="colorPrimary">#3F51B5</color><!--首要颜色--> |
|||
<color name="colorPrimaryDark">#303F9F</color><!--首要颜色暗色--> |
|||
<color name="colorAccent">#FF4081</color><!--色彩强调--> |
|||
|
|||
|
|||
<color name="snow">#fffafa</color><!--雪白色 --> |
|||
<color name="floralwhite">#fffaf0</color><!--花白色 --> |
|||
<color name="blanchedalmond">#ffebcd</color><!--杏白色 --> |
|||
<color name="ghostwhite">#f8f8ff</color><!--幽灵白 --> |
|||
<color name="whitesmoke">#f5f5f5</color><!--烟白色 --> |
|||
<color name="antiquewhite">#faebd7</color><!--古董白 --> |
|||
<color name="navajowhite">#ffdead</color><!--纳瓦白 --> |
|||
<color name="grey">#808080</color><!--灰色 --> |
|||
<color name="gainsboro">#dcdcdc</color><!--淡灰色 --> |
|||
<color name="lightgrey">#d3d3d3</color><!--亮灰色 --> |
|||
<color name="darkgrey">#a9a9a9</color><!--暗灰色 --> |
|||
<color name="dimgrey">#696969</color><!--暗灰色 --> |
|||
<color name="slategrey">#708090</color><!--灰石色 --> |
|||
<color name="lightslategrey">#778899</color><!--亮蓝灰 --> |
|||
<color name="darkslategrey">#2f4f4f</color><!--暗瓦灰色 --> |
|||
<color name="silver">#c0c0c0</color><!--银色 --> |
|||
|
|||
<color name="red">#ff0000</color><!--红色 --> |
|||
<color name="darkred">#8b0000</color><!--暗红色 --> |
|||
<color name="crimson">#dc143c</color><!--暗深红色 --> |
|||
<color name="darkmagenta">#8b008b</color><!--暗洋红 --> |
|||
<color name="fuchsia">#ff00ff</color><!--紫红色 --> |
|||
<color name="tomato">#ff6347</color><!--西红柿色 --> |
|||
<color name="lightcoral">#f08080</color><!--亮珊瑚色 --> |
|||
<color name="darksalmon">#e9967a</color><!--暗肉色 --> |
|||
<color name="peachpuff">#ffdab9</color><!--桃色 --> |
|||
<color name="plum">#dda0dd</color><!--洋李色 --> |
|||
<color name="pink">#ffc0cb</color><!--粉红色 --> |
|||
<color name="lightpink">#ffb6c1</color><!--亮粉红色 --> |
|||
<color name="deeppink">#ff1493</color><!--深粉红色 --> |
|||
<color name="hotpink">#ff69b4</color><!--热粉红色 --> |
|||
<color name="lavenderblush">#fff0f5</color><!--淡紫红 --> |
|||
<color name="indianred">#cd5c5c</color><!--印第安红 --> |
|||
<color name="rosybrown">#bc8f8f</color><!--褐玫瑰红 --> |
|||
<color name="firebrick">#b22222</color><!--红砖色 --> |
|||
<color name="maroon">#800000</color><!--粟色 --> |
|||
<color name="honeydew">#f0fff0</color><!--蜜色 --> |
|||
<color name="orangered">#ff4500</color><!--红橙色 --> |
|||
<color name="orange">#ffa500</color><!--橙色 --> |
|||
<color name="limegreen">#32cd32</color><!--橙绿色 --> |
|||
<color name="lime">#00ff00</color><!--酸橙色 --> |
|||
<color name="yellow">#ffff00</color><!--黄色 --> |
|||
<color name="wheat">#f5deb3</color><!--浅黄色 --> |
|||
<color name="khaki">#f0e68c</color><!--黄褐色 --> |
|||
<color name="burlywood">#deb887</color><!--实木色 --> |
|||
<color name="bisque">#ffe4c4</color><!--桔黄色 --> |
|||
<color name="lightyellow">#ffffe0</color><!--亮黄色 --> |
|||
<color name="darkgoldenrod">#b8860b</color><!--暗金黄色 --> |
|||
<color name="darkorange">#ff8c00</color><!--暗桔黄色 --> |
|||
<color name="lightgoldenrodyellow">#fafad2</color><!--亮金黄色 --> |
|||
<color name="lemonchiffon">#fffacd</color><!--柠檬绸色 --> |
|||
<color name="cornsilk">#fff8dc</color><!--米绸色 --> |
|||
<color name="seaShell">#fff5ee</color><!--海贝色 --> |
|||
<color name="papayawhip">#ffefd5</color><!--番木色 --> |
|||
<color name="mistyrose">#ffe4e1</color><!--浅玫瑰色 --> |
|||
<color name="moccasin">#ffe4b5</color><!--鹿皮色 --> |
|||
<color name="ivory">#fffff0</color><!--象牙色 --> |
|||
<color name="gold">#ffd700</color><!--金色 --> |
|||
<color name="goldenrod">#daa520</color><!--金麒麟色 --> |
|||
<color name="lightsalmon">#ffa07a</color><!--亮肉色 --> |
|||
<color name="coral">#ff7f50</color><!--珊瑚色 --> |
|||
<color name="mintcream">#f5fffa</color><!--薄荷色 --> |
|||
<color name="beige">#f5f5dc</color><!--米色 --> |
|||
<color name="sandybrown">#f4a460</color><!--沙褐色 --> |
|||
<color name="oldlace">#fdf5e6</color><!--老花色 --> |
|||
<color name="linen">#faf0e6</color><!--亚麻色 --> |
|||
<color name="salmon">#fa8072</color><!--鲜肉色 --> |
|||
<color name="thistle">#d8bfd8</color><!--蓟色 --> |
|||
<color name="tan">#d2b48c</color><!--茶色 --> |
|||
<color name="chocolate">#d2691e</color><!--巧可力色 --> |
|||
<color name="peru">#cd853f</color><!--秘鲁色 --> |
|||
<color name="darkkhaki">#bdb76b</color><!--暗黄褐色 --> |
|||
<color name="palegoldenrod">#eee8aa</color><!--苍麒麟色 --> |
|||
<color name="brown">#a52a2a</color><!--褐色 --> |
|||
<color name="saddlebrown">#8b4513</color><!--重褐色 --> |
|||
<color name="sienna">#a0522d</color><!--赭色 --> |
|||
<color name="olive">#808000</color><!--橄榄色 --> |
|||
<color name="chartreuse">#7fff00</color><!--黄绿色 --> |
|||
<color name="greenyellow">#adff2f</color><!--黄绿色 --> |
|||
<color name="green">#008000</color><!--绿色 --> |
|||
<color name="darkgreen">#006400</color><!--暗绿色 --> |
|||
<color name="darkolivegreen">#556b2f</color><!--暗橄榄绿 --> |
|||
<color name="olivedrab">#6b8e23</color><!--深绿褐色 --> |
|||
<color name="lawngreen">#7cfc00</color><!--草绿色 --> |
|||
<color name="forestgreen">#228b22</color><!--森林绿 --> |
|||
<color name="aquamarine">#7fffd4</color><!--碧绿色 --> |
|||
<color name="paleturquoise">#afeeee</color><!--苍宝石绿 --> |
|||
<color name="palegreen">#98fb98</color><!--苍绿色 --> |
|||
<color name="mediumturquoise">#48d1cc</color><!--中绿宝石 --> |
|||
<color name="mediumaquamarine">#66cdaa</color><!--中绿色 --> |
|||
<color name="aqua">#00ffff</color><!--浅绿色 --> |
|||
<color name="springgreen">#00ff7f</color><!--春绿色 --> |
|||
<color name="mediumspringgreen">#00fa9a</color><!--中春绿色 --> |
|||
<color name="darkturquoise">#00ced1</color><!--暗宝石绿 --> |
|||
<color name="seagreen">#2e8b57</color><!--海绿色 --> |
|||
<color name="lightgreen">#90ee90</color><!--亮绿色 --> |
|||
<color name="darkseagreen">#8fbc8f</color><!--暗海兰色 --> |
|||
<color name="turquoise">#40e0d0</color><!--青绿色 --> |
|||
<color name="cyan">#00ffff</color><!--青色 --> |
|||
<color name="darkcyan">#008b8b</color><!--暗青色 --> |
|||
<color name="lightcyan">#e0ffff</color><!--亮青色 --> |
|||
<color name="teal">#008080</color><!--水鸭色 --> |
|||
<color name="indigo">#4b0082</color><!--靛青色 --> |
|||
<color name="blue">#0000ff</color><!--蓝色 --> |
|||
<color name="darkblue">#00008b</color><!--暗蓝色 --> |
|||
<color name="mediumblue">#0000cd</color><!--中兰色 --> |
|||
<color name="midnightblue">#191970</color><!--中灰兰色 --> |
|||
<color name="navy">#000080</color><!--海军色 --> |
|||
<color name="royalblue">#4169e1</color><!--皇家蓝 --> |
|||
<color name="azure">#f0ffff</color><!--天蓝色 --> |
|||
<color name="skyblue">#87ceeb</color><!--天蓝色 --> |
|||
<color name="deepskyblue">#00bfff</color><!--深天蓝色 --> |
|||
<color name="lightskyblue">#87cefa</color><!--亮天蓝色 --> |
|||
<color name="lightseagreen">#20b2aa</color><!--亮海蓝色 --> |
|||
<color name="lightblue">#add8e6</color><!--亮蓝色 --> |
|||
<color name="powderblue">#b0e0e6</color><!--粉蓝色 --> |
|||
<color name="aliceblue">#f0f8ff</color><!--艾利斯兰 --> |
|||
<color name="mediumslateblue">#7b68ee</color><!--中暗蓝色 --> |
|||
<color name="slateblue">#6a5acd</color><!--石蓝色 --> |
|||
<color name="darkslateblue">#483d8b</color><!--暗灰蓝色 --> |
|||
<color name="mediumseagreen">#3cb371</color><!--中海蓝 --> |
|||
<color name="steelblue">#4682b4</color><!--钢兰色 --> |
|||
<color name="lightsteelblue">#b0c4de</color><!--亮钢兰色 --> |
|||
<color name="cornflowerblue">#6495ed</color><!--菊兰色 --> |
|||
<color name="dodgerblue">#1e90ff</color><!--闪兰色 --> |
|||
<color name="cadetblue">#5f9ea0</color><!--军兰色 --> |
|||
<color name="blueviolet">#8a2be2</color><!--紫罗兰蓝色 --> |
|||
<color name="purple">#800080</color><!--紫色 --> |
|||
<color name="lavender">#e6e6fa</color><!--淡紫色 --> |
|||
<color name="orchid">#da70d6</color><!--淡紫色 --> |
|||
<color name="mediumpurple">#9370db</color><!--中紫色 --> |
|||
<color name="darkorchid">#9932cc</color><!--暗紫色 --> |
|||
<color name="violet">#ee82ee</color><!--紫罗兰色 --> |
|||
<color name="mediumvioletred">#c71585</color><!--中紫罗兰色 --> |
|||
<color name="palevioletred">#db7093</color><!--苍紫罗兰色 --> |
|||
<color name="darkviolet">#9400d3</color><!--暗紫罗兰色 --> |
|||
<color name="mediumorchid">#ba55d3</color><!--中粉紫色 --> |
|||
<color name="trasnparent">#00000000</color><!--中粉紫色 --> |
|||
<color name="button_normal">#4A4A4A</color> |
|||
<color name="button_active">#1E88E5</color> |
|||
<color name="button_border">#666666</color> |
|||
<!-- <color name="button_active_border">#0D47A1</color>--> |
|||
<color name="gray">#CCCCCC</color> |
|||
<color name="deep_midnightblue">#0d0d5e</color> |
|||
<color name="light_gray">#cccccc</color> |
|||
</resources> |
|||
@ -0,0 +1,7 @@ |
|||
<resources> |
|||
<string name="app_name">五轮 251201</string> |
|||
<string name="icons"></string> |
|||
<string name="log">查看日志</string> |
|||
<string name="change_left">左换道</string> |
|||
<string name="change_right">右换道</string> |
|||
</resources> |
|||
@ -0,0 +1,25 @@ |
|||
<resources xmlns:tools="http://schemas.android.com/tools"> |
|||
<!-- Base application theme. --> |
|||
<!-- <style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.DarkActionBar">--> |
|||
<style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.NoActionBar"> |
|||
<!-- Primary brand color. --> |
|||
<item name="colorPrimary">@color/blue</item> |
|||
<item name="colorPrimaryVariant">@color/blue</item> |
|||
<item name="colorOnPrimary">@color/white</item> |
|||
<!-- Secondary brand color. --> |
|||
<item name="colorSecondary">@color/aliceblue</item> |
|||
<item name="colorSecondaryVariant">@color/blueviolet</item> |
|||
<item name="colorOnSecondary">@color/black</item> |
|||
<!-- Status bar color. --> |
|||
<item name="android:statusBarColor">?attr/colorPrimaryVariant</item> |
|||
<!-- Customize your theme here. --> |
|||
<item name="buttonStyle">@style/MyButtonStyle</item> |
|||
<item name="materialButtonStyle">@style/MyButtonStyle</item> |
|||
</style> |
|||
|
|||
<style name="MyButtonStyle" parent="Widget.MaterialComponents.Button"> |
|||
<item name="backgroundTint">@null</item> <!-- 禁用背景着色 --> |
|||
<item name="android:background">@drawable/blue_rounded_rectangle</item> <!-- 设置默认背景 --> |
|||
<item name="android:textColor">@color/white</item> <!-- 设置文本颜色 --> |
|||
</style> |
|||
</resources> |
|||
@ -0,0 +1,13 @@ |
|||
<?xml version="1.0" encoding="utf-8"?><!-- |
|||
Sample backup rules file; uncomment and customize as necessary. |
|||
See https://developer.android.com/guide/topics/data/autobackup |
|||
for details. |
|||
Note: This file is ignored for devices older that API 31 |
|||
See https://developer.android.com/about/versions/12/backup-restore |
|||
--> |
|||
<full-backup-content> |
|||
<!-- |
|||
<include domain="sharedpref" path="."/> |
|||
<exclude domain="sharedpref" path="device.xml"/> |
|||
--> |
|||
</full-backup-content> |
|||
@ -0,0 +1,19 @@ |
|||
<?xml version="1.0" encoding="utf-8"?><!-- |
|||
Sample data extraction rules file; uncomment and customize as necessary. |
|||
See https://developer.android.com/about/versions/12/backup-restore#xml-changes |
|||
for details. |
|||
--> |
|||
<data-extraction-rules> |
|||
<cloud-backup> |
|||
<!-- TODO: Use <include> and <exclude> to control what is backed up. |
|||
<include .../> |
|||
<exclude .../> |
|||
--> |
|||
</cloud-backup> |
|||
<!-- |
|||
<device-transfer> |
|||
<include .../> |
|||
<exclude .../> |
|||
</device-transfer> |
|||
--> |
|||
</data-extraction-rules> |
|||
@ -0,0 +1,38 @@ |
|||
<?xml version="1.0" encoding="utf-8"?> |
|||
<resources> |
|||
<!-- 0x0403 / 0x60??: FTDI --> |
|||
<usb-device vendor-id="1027" product-id="24577" /> <!-- 0x6001: FT232R --> |
|||
<usb-device vendor-id="1027" product-id="24592" /> <!-- 0x6010: FT2232H --> |
|||
<usb-device vendor-id="1027" product-id="24593" /> <!-- 0x6011: FT4232H --> |
|||
<usb-device vendor-id="1027" product-id="24596" /> <!-- 0x6014: FT232H --> |
|||
<usb-device vendor-id="1027" product-id="24597" /> <!-- 0x6015: FT230X, FT231X, FT234XD --> |
|||
|
|||
<!-- 0x10C4 / 0xEA??: Silabs CP210x --> |
|||
<usb-device vendor-id="4292" product-id="60000" /> <!-- 0xea60: CP2102 and other CP210x single port devices --> |
|||
<usb-device vendor-id="4292" product-id="60016" /> <!-- 0xea70: CP2105 --> |
|||
<usb-device vendor-id="4292" product-id="60017" /> <!-- 0xea71: CP2108 --> |
|||
|
|||
<!-- 0x067B / 0x23?3: Prolific PL2303x --> |
|||
<usb-device vendor-id="1659" product-id="8963" /> <!-- 0x2303: PL2303HX, HXD, TA, ... --> |
|||
<usb-device vendor-id="1659" product-id="9123" /> <!-- 0x23a3: PL2303GC --> |
|||
<usb-device vendor-id="1659" product-id="9139" /> <!-- 0x23b3: PL2303GB --> |
|||
<usb-device vendor-id="1659" product-id="9155" /> <!-- 0x23c3: PL2303GT --> |
|||
<usb-device vendor-id="1659" product-id="9171" /> <!-- 0x23d3: PL2303GL --> |
|||
<usb-device vendor-id="1659" product-id="9187" /> <!-- 0x23e3: PL2303GE --> |
|||
<usb-device vendor-id="1659" product-id="9203" /> <!-- 0x23f3: PL2303GS --> |
|||
|
|||
<!-- 0x1a86 / 0x?523: Qinheng CH34x --> |
|||
<usb-device vendor-id="6790" product-id="21795" /> <!-- 0x5523: CH341A --> |
|||
<usb-device vendor-id="6790" product-id="29987" /> <!-- 0x7523: CH340 --> |
|||
|
|||
<!-- CDC driver --> |
|||
<usb-device vendor-id="9025" /> <!-- 0x2341 / ......: Arduino --> |
|||
<usb-device vendor-id="5824" product-id="1155" /> <!-- 0x16C0 / 0x0483: Teensyduino --> |
|||
<usb-device vendor-id="1003" product-id="8260" /> <!-- 0x03EB / 0x2044: Atmel Lufa --> |
|||
<usb-device vendor-id="7855" product-id="4" /> <!-- 0x1eaf / 0x0004: Leaflabs Maple --> |
|||
<usb-device vendor-id="3368" product-id="516" /> <!-- 0x0d28 / 0x0204: ARM mbed --> |
|||
<usb-device vendor-id="1155" product-id="22336" /><!-- 0x0483 / 0x5740: ST CDC --> |
|||
<usb-device vendor-id="11914" product-id="5" /> <!-- 0x2E8A / 0x0005: Raspberry Pi Pico Micropython --> |
|||
<usb-device vendor-id="11914" product-id="10" /> <!-- 0x2E8A / 0x000A: Raspberry Pi Pico SDK --> |
|||
<usb-device vendor-id="6790" product-id="21972" /><!-- 0x1A86 / 0x55D4: Qinheng CH9102F --> |
|||
</resources> |
|||
@ -0,0 +1,17 @@ |
|||
package com.example.fivewheel; |
|||
|
|||
import org.junit.Test; |
|||
|
|||
import static org.junit.Assert.*; |
|||
|
|||
/** |
|||
* Example local unit test, which will execute on the development machine (host). |
|||
* |
|||
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a> |
|||
*/ |
|||
public class ExampleUnitTest { |
|||
@Test |
|||
public void addition_isCorrect() { |
|||
assertEquals(4, 2 + 2); |
|||
} |
|||
} |
|||
@ -0,0 +1,5 @@ |
|||
// Top-level build file where you can add configuration options common to all sub-projects/modules. |
|||
plugins { |
|||
id 'com.android.application' version '8.2.2' apply false |
|||
id 'com.android.library' version '8.2.2' apply false |
|||
} |
|||
@ -0,0 +1,21 @@ |
|||
# Project-wide Gradle settings. |
|||
# IDE (e.g. Android Studio) users: |
|||
# Gradle settings configured through the IDE *will override* |
|||
# any settings specified in this file. |
|||
# For more details on how to configure your build environment visit |
|||
# http://www.gradle.org/docs/current/userguide/build_environment.html |
|||
# Specifies the JVM arguments used for the daemon process. |
|||
# The setting is particularly useful for tweaking memory settings. |
|||
org.gradle.jvmargs=-Xmx2048m -Dfile.encoding=UTF-8 |
|||
# When configured, Gradle will run in incubating parallel mode. |
|||
# This option should only be used with decoupled projects. More details, visit |
|||
# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects |
|||
# org.gradle.parallel=true |
|||
# AndroidX package structure to make it clearer which packages are bundled with the |
|||
# Android operating system, and which are packaged with your app's APK |
|||
# https://developer.android.com/topic/libraries/support-library/androidx-rn |
|||
android.useAndroidX=true |
|||
# Enables namespacing of each library's R class so that its R class includes only the |
|||
# resources declared in the library itself and none from the library's dependencies, |
|||
# thereby reducing the size of the R class for that library |
|||
android.nonTransitiveRClass=true |
|||
Binary file not shown.
@ -0,0 +1,6 @@ |
|||
#Wed Feb 05 16:51:00 CST 2025 |
|||
distributionBase=GRADLE_USER_HOME |
|||
distributionPath=wrapper/dists |
|||
distributionUrl=https\://services.gradle.org/distributions/gradle-8.2-bin.zip |
|||
zipStoreBase=GRADLE_USER_HOME |
|||
zipStorePath=wrapper/dists |
|||
@ -0,0 +1,185 @@ |
|||
#!/usr/bin/env sh |
|||
|
|||
# |
|||
# Copyright 2015 the original author or authors. |
|||
# |
|||
# Licensed under the Apache License, Version 2.0 (the "License"); |
|||
# you may not use this file except in compliance with the License. |
|||
# You may obtain a copy of the License at |
|||
# |
|||
# https://www.apache.org/licenses/LICENSE-2.0 |
|||
# |
|||
# Unless required by applicable law or agreed to in writing, software |
|||
# distributed under the License is distributed on an "AS IS" BASIS, |
|||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
|||
# See the License for the specific language governing permissions and |
|||
# limitations under the License. |
|||
# |
|||
|
|||
############################################################################## |
|||
## |
|||
## Gradle start up script for UN*X |
|||
## |
|||
############################################################################## |
|||
|
|||
# Attempt to set APP_HOME |
|||
# Resolve links: $0 may be a link |
|||
PRG="$0" |
|||
# Need this for relative symlinks. |
|||
while [ -h "$PRG" ] ; do |
|||
ls=`ls -ld "$PRG"` |
|||
link=`expr "$ls" : '.*-> \(.*\)$'` |
|||
if expr "$link" : '/.*' > /dev/null; then |
|||
PRG="$link" |
|||
else |
|||
PRG=`dirname "$PRG"`"/$link" |
|||
fi |
|||
done |
|||
SAVED="`pwd`" |
|||
cd "`dirname \"$PRG\"`/" >/dev/null |
|||
APP_HOME="`pwd -P`" |
|||
cd "$SAVED" >/dev/null |
|||
|
|||
APP_NAME="Gradle" |
|||
APP_BASE_NAME=`basename "$0"` |
|||
|
|||
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. |
|||
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' |
|||
|
|||
# Use the maximum available, or set MAX_FD != -1 to use that value. |
|||
MAX_FD="maximum" |
|||
|
|||
warn () { |
|||
echo "$*" |
|||
} |
|||
|
|||
die () { |
|||
echo |
|||
echo "$*" |
|||
echo |
|||
exit 1 |
|||
} |
|||
|
|||
# OS specific support (must be 'true' or 'false'). |
|||
cygwin=false |
|||
msys=false |
|||
darwin=false |
|||
nonstop=false |
|||
case "`uname`" in |
|||
CYGWIN* ) |
|||
cygwin=true |
|||
;; |
|||
Darwin* ) |
|||
darwin=true |
|||
;; |
|||
MINGW* ) |
|||
msys=true |
|||
;; |
|||
NONSTOP* ) |
|||
nonstop=true |
|||
;; |
|||
esac |
|||
|
|||
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar |
|||
|
|||
|
|||
# Determine the Java command to use to start the JVM. |
|||
if [ -n "$JAVA_HOME" ] ; then |
|||
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then |
|||
# IBM's JDK on AIX uses strange locations for the executables |
|||
JAVACMD="$JAVA_HOME/jre/sh/java" |
|||
else |
|||
JAVACMD="$JAVA_HOME/bin/java" |
|||
fi |
|||
if [ ! -x "$JAVACMD" ] ; then |
|||
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME |
|||
|
|||
Please set the JAVA_HOME variable in your environment to match the |
|||
location of your Java installation." |
|||
fi |
|||
else |
|||
JAVACMD="java" |
|||
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. |
|||
|
|||
Please set the JAVA_HOME variable in your environment to match the |
|||
location of your Java installation." |
|||
fi |
|||
|
|||
# Increase the maximum file descriptors if we can. |
|||
if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then |
|||
MAX_FD_LIMIT=`ulimit -H -n` |
|||
if [ $? -eq 0 ] ; then |
|||
if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then |
|||
MAX_FD="$MAX_FD_LIMIT" |
|||
fi |
|||
ulimit -n $MAX_FD |
|||
if [ $? -ne 0 ] ; then |
|||
warn "Could not set maximum file descriptor limit: $MAX_FD" |
|||
fi |
|||
else |
|||
warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" |
|||
fi |
|||
fi |
|||
|
|||
# For Darwin, add options to specify how the application appears in the dock |
|||
if $darwin; then |
|||
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" |
|||
fi |
|||
|
|||
# For Cygwin or MSYS, switch paths to Windows format before running java |
|||
if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then |
|||
APP_HOME=`cygpath --path --mixed "$APP_HOME"` |
|||
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` |
|||
|
|||
JAVACMD=`cygpath --unix "$JAVACMD"` |
|||
|
|||
# We build the pattern for arguments to be converted via cygpath |
|||
ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` |
|||
SEP="" |
|||
for dir in $ROOTDIRSRAW ; do |
|||
ROOTDIRS="$ROOTDIRS$SEP$dir" |
|||
SEP="|" |
|||
done |
|||
OURCYGPATTERN="(^($ROOTDIRS))" |
|||
# Add a user-defined pattern to the cygpath arguments |
|||
if [ "$GRADLE_CYGPATTERN" != "" ] ; then |
|||
OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" |
|||
fi |
|||
# Now convert the arguments - kludge to limit ourselves to /bin/sh |
|||
i=0 |
|||
for arg in "$@" ; do |
|||
CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` |
|||
CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option |
|||
|
|||
if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition |
|||
eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` |
|||
else |
|||
eval `echo args$i`="\"$arg\"" |
|||
fi |
|||
i=`expr $i + 1` |
|||
done |
|||
case $i in |
|||
0) set -- ;; |
|||
1) set -- "$args0" ;; |
|||
2) set -- "$args0" "$args1" ;; |
|||
3) set -- "$args0" "$args1" "$args2" ;; |
|||
4) set -- "$args0" "$args1" "$args2" "$args3" ;; |
|||
5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; |
|||
6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; |
|||
7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; |
|||
8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; |
|||
9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; |
|||
esac |
|||
fi |
|||
|
|||
# Escape application args |
|||
save () { |
|||
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done |
|||
echo " " |
|||
} |
|||
APP_ARGS=`save "$@"` |
|||
|
|||
# Collect all arguments for the java command, following the shell quoting and substitution rules |
|||
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" |
|||
|
|||
exec "$JAVACMD" "$@" |
|||
@ -0,0 +1,89 @@ |
|||
@rem |
|||
@rem Copyright 2015 the original author or authors. |
|||
@rem |
|||
@rem Licensed under the Apache License, Version 2.0 (the "License"); |
|||
@rem you may not use this file except in compliance with the License. |
|||
@rem You may obtain a copy of the License at |
|||
@rem |
|||
@rem https://www.apache.org/licenses/LICENSE-2.0 |
|||
@rem |
|||
@rem Unless required by applicable law or agreed to in writing, software |
|||
@rem distributed under the License is distributed on an "AS IS" BASIS, |
|||
@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
|||
@rem See the License for the specific language governing permissions and |
|||
@rem limitations under the License. |
|||
@rem |
|||
|
|||
@if "%DEBUG%" == "" @echo off |
|||
@rem ########################################################################## |
|||
@rem |
|||
@rem Gradle startup script for Windows |
|||
@rem |
|||
@rem ########################################################################## |
|||
|
|||
@rem Set local scope for the variables with windows NT shell |
|||
if "%OS%"=="Windows_NT" setlocal |
|||
|
|||
set DIRNAME=%~dp0 |
|||
if "%DIRNAME%" == "" set DIRNAME=. |
|||
set APP_BASE_NAME=%~n0 |
|||
set APP_HOME=%DIRNAME% |
|||
|
|||
@rem Resolve any "." and ".." in APP_HOME to make it shorter. |
|||
for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi |
|||
|
|||
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. |
|||
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" |
|||
|
|||
@rem Find java.exe |
|||
if defined JAVA_HOME goto findJavaFromJavaHome |
|||
|
|||
set JAVA_EXE=java.exe |
|||
%JAVA_EXE% -version >NUL 2>&1 |
|||
if "%ERRORLEVEL%" == "0" goto execute |
|||
|
|||
echo. |
|||
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. |
|||
echo. |
|||
echo Please set the JAVA_HOME variable in your environment to match the |
|||
echo location of your Java installation. |
|||
|
|||
goto fail |
|||
|
|||
:findJavaFromJavaHome |
|||
set JAVA_HOME=%JAVA_HOME:"=% |
|||
set JAVA_EXE=%JAVA_HOME%/bin/java.exe |
|||
|
|||
if exist "%JAVA_EXE%" goto execute |
|||
|
|||
echo. |
|||
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% |
|||
echo. |
|||
echo Please set the JAVA_HOME variable in your environment to match the |
|||
echo location of your Java installation. |
|||
|
|||
goto fail |
|||
|
|||
:execute |
|||
@rem Setup the command line |
|||
|
|||
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar |
|||
|
|||
|
|||
@rem Execute Gradle |
|||
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* |
|||
|
|||
:end |
|||
@rem End local scope for the variables with windows NT shell |
|||
if "%ERRORLEVEL%"=="0" goto mainEnd |
|||
|
|||
:fail |
|||
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of |
|||
rem the _cmd.exe /c_ return code! |
|||
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 |
|||
exit /b 1 |
|||
|
|||
:mainEnd |
|||
if "%OS%"=="Windows_NT" endlocal |
|||
|
|||
:omega |
|||
@ -0,0 +1,363 @@ |
|||
// <auto-generated>
|
|||
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
|||
// source: robot_data.proto
|
|||
// </auto-generated>
|
|||
#pragma warning disable 1591, 0612, 3021, 8981
|
|||
#region Designer generated code
|
|||
|
|||
using pb = global::Google.Protobuf; |
|||
using pbc = global::Google.Protobuf.Collections; |
|||
using pbr = global::Google.Protobuf.Reflection; |
|||
using scg = global::System.Collections.Generic; |
|||
/// <summary>Holder for reflection information generated from robot_data.proto</summary>
|
|||
public static partial class RobotDataReflection { |
|||
|
|||
#region Descriptor
|
|||
/// <summary>File descriptor for robot_data.proto</summary>
|
|||
public static pbr::FileDescriptor Descriptor { |
|||
get { return descriptor; } |
|||
} |
|||
private static pbr::FileDescriptor descriptor; |
|||
|
|||
static RobotDataReflection() { |
|||
byte[] descriptorData = global::System.Convert.FromBase64String( |
|||
string.Concat( |
|||
"ChByb2JvdF9kYXRhLnByb3RvImIKCURhdGFUcmFucxIVCg1SRl9BbmdsZV9S", |
|||
"b2xsGAEgASgFEhYKDlJGX0FuZ2xlX1BpdGNoGAIgASgFEhQKDFJGX0FuZ2xl", |
|||
"X1lhdxgDIAEoBRIQCghSRl9EZXB0aBgEIAEoBUIqCiZjb20uZXhhbXBsZS5y", |
|||
"ZW1vdmVtYXJpbmVhbmltYWxzLm1vZGVsc1AAYgZwcm90bzM=")); |
|||
descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData, |
|||
new pbr::FileDescriptor[] { }, |
|||
new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] { |
|||
new pbr::GeneratedClrTypeInfo(typeof(global::DataTrans), global::DataTrans.Parser, new[]{ "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth" }, null, null, null, null) |
|||
})); |
|||
} |
|||
#endregion
|
|||
|
|||
} |
|||
#region Messages
|
|||
[global::System.Diagnostics.DebuggerDisplayAttribute("{ToString(),nq}")] |
|||
public sealed partial class DataTrans : pb::IMessage<DataTrans> |
|||
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
|
|||
, pb::IBufferMessage |
|||
#endif
|
|||
{ |
|||
private static readonly pb::MessageParser<DataTrans> _parser = new pb::MessageParser<DataTrans>(() => new DataTrans()); |
|||
private pb::UnknownFieldSet _unknownFields; |
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public static pb::MessageParser<DataTrans> Parser { get { return _parser; } } |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public static pbr::MessageDescriptor Descriptor { |
|||
get { return global::RobotDataReflection.Descriptor.MessageTypes[0]; } |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
pbr::MessageDescriptor pb::IMessage.Descriptor { |
|||
get { return Descriptor; } |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public DataTrans() { |
|||
OnConstruction(); |
|||
} |
|||
|
|||
partial void OnConstruction(); |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public DataTrans(DataTrans other) : this() { |
|||
rFAngleRoll_ = other.rFAngleRoll_; |
|||
rFAnglePitch_ = other.rFAnglePitch_; |
|||
rFAngleYaw_ = other.rFAngleYaw_; |
|||
rFDepth_ = other.rFDepth_; |
|||
_unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields); |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public DataTrans Clone() { |
|||
return new DataTrans(this); |
|||
} |
|||
|
|||
/// <summary>Field number for the "RF_Angle_Roll" field.</summary>
|
|||
public const int RFAngleRollFieldNumber = 1; |
|||
private int rFAngleRoll_; |
|||
/// <summary>
|
|||
///横滚角
|
|||
/// </summary>
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public int RFAngleRoll { |
|||
get { return rFAngleRoll_; } |
|||
set { |
|||
rFAngleRoll_ = value; |
|||
} |
|||
} |
|||
|
|||
/// <summary>Field number for the "RF_Angle_Pitch" field.</summary>
|
|||
public const int RFAnglePitchFieldNumber = 2; |
|||
private int rFAnglePitch_; |
|||
/// <summary>
|
|||
///俯仰角
|
|||
/// </summary>
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public int RFAnglePitch { |
|||
get { return rFAnglePitch_; } |
|||
set { |
|||
rFAnglePitch_ = value; |
|||
} |
|||
} |
|||
|
|||
/// <summary>Field number for the "RF_Angle_Yaw" field.</summary>
|
|||
public const int RFAngleYawFieldNumber = 3; |
|||
private int rFAngleYaw_; |
|||
/// <summary>
|
|||
///航向角
|
|||
/// </summary>
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public int RFAngleYaw { |
|||
get { return rFAngleYaw_; } |
|||
set { |
|||
rFAngleYaw_ = value; |
|||
} |
|||
} |
|||
|
|||
/// <summary>Field number for the "RF_Depth" field.</summary>
|
|||
public const int RFDepthFieldNumber = 4; |
|||
private int rFDepth_; |
|||
/// <summary>
|
|||
///海洋深度
|
|||
/// </summary>
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public int RFDepth { |
|||
get { return rFDepth_; } |
|||
set { |
|||
rFDepth_ = value; |
|||
} |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public override bool Equals(object other) { |
|||
return Equals(other as DataTrans); |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public bool Equals(DataTrans other) { |
|||
if (ReferenceEquals(other, null)) { |
|||
return false; |
|||
} |
|||
if (ReferenceEquals(other, this)) { |
|||
return true; |
|||
} |
|||
if (RFAngleRoll != other.RFAngleRoll) return false; |
|||
if (RFAnglePitch != other.RFAnglePitch) return false; |
|||
if (RFAngleYaw != other.RFAngleYaw) return false; |
|||
if (RFDepth != other.RFDepth) return false; |
|||
return Equals(_unknownFields, other._unknownFields); |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public override int GetHashCode() { |
|||
int hash = 1; |
|||
if (RFAngleRoll != 0) hash ^= RFAngleRoll.GetHashCode(); |
|||
if (RFAnglePitch != 0) hash ^= RFAnglePitch.GetHashCode(); |
|||
if (RFAngleYaw != 0) hash ^= RFAngleYaw.GetHashCode(); |
|||
if (RFDepth != 0) hash ^= RFDepth.GetHashCode(); |
|||
if (_unknownFields != null) { |
|||
hash ^= _unknownFields.GetHashCode(); |
|||
} |
|||
return hash; |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public override string ToString() { |
|||
return pb::JsonFormatter.ToDiagnosticString(this); |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public void WriteTo(pb::CodedOutputStream output) { |
|||
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
|
|||
output.WriteRawMessage(this); |
|||
#else
|
|||
if (RFAngleRoll != 0) { |
|||
output.WriteRawTag(8); |
|||
output.WriteInt32(RFAngleRoll); |
|||
} |
|||
if (RFAnglePitch != 0) { |
|||
output.WriteRawTag(16); |
|||
output.WriteInt32(RFAnglePitch); |
|||
} |
|||
if (RFAngleYaw != 0) { |
|||
output.WriteRawTag(24); |
|||
output.WriteInt32(RFAngleYaw); |
|||
} |
|||
if (RFDepth != 0) { |
|||
output.WriteRawTag(32); |
|||
output.WriteInt32(RFDepth); |
|||
} |
|||
if (_unknownFields != null) { |
|||
_unknownFields.WriteTo(output); |
|||
} |
|||
#endif
|
|||
} |
|||
|
|||
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) { |
|||
if (RFAngleRoll != 0) { |
|||
output.WriteRawTag(8); |
|||
output.WriteInt32(RFAngleRoll); |
|||
} |
|||
if (RFAnglePitch != 0) { |
|||
output.WriteRawTag(16); |
|||
output.WriteInt32(RFAnglePitch); |
|||
} |
|||
if (RFAngleYaw != 0) { |
|||
output.WriteRawTag(24); |
|||
output.WriteInt32(RFAngleYaw); |
|||
} |
|||
if (RFDepth != 0) { |
|||
output.WriteRawTag(32); |
|||
output.WriteInt32(RFDepth); |
|||
} |
|||
if (_unknownFields != null) { |
|||
_unknownFields.WriteTo(ref output); |
|||
} |
|||
} |
|||
#endif
|
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public int CalculateSize() { |
|||
int size = 0; |
|||
if (RFAngleRoll != 0) { |
|||
size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAngleRoll); |
|||
} |
|||
if (RFAnglePitch != 0) { |
|||
size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAnglePitch); |
|||
} |
|||
if (RFAngleYaw != 0) { |
|||
size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAngleYaw); |
|||
} |
|||
if (RFDepth != 0) { |
|||
size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFDepth); |
|||
} |
|||
if (_unknownFields != null) { |
|||
size += _unknownFields.CalculateSize(); |
|||
} |
|||
return size; |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public void MergeFrom(DataTrans other) { |
|||
if (other == null) { |
|||
return; |
|||
} |
|||
if (other.RFAngleRoll != 0) { |
|||
RFAngleRoll = other.RFAngleRoll; |
|||
} |
|||
if (other.RFAnglePitch != 0) { |
|||
RFAnglePitch = other.RFAnglePitch; |
|||
} |
|||
if (other.RFAngleYaw != 0) { |
|||
RFAngleYaw = other.RFAngleYaw; |
|||
} |
|||
if (other.RFDepth != 0) { |
|||
RFDepth = other.RFDepth; |
|||
} |
|||
_unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields); |
|||
} |
|||
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
public void MergeFrom(pb::CodedInputStream input) { |
|||
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
|
|||
input.ReadRawMessage(this); |
|||
#else
|
|||
uint tag; |
|||
while ((tag = input.ReadTag()) != 0) { |
|||
if ((tag & 7) == 4) { |
|||
// Abort on any end group tag.
|
|||
return; |
|||
} |
|||
switch(tag) { |
|||
default: |
|||
_unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input); |
|||
break; |
|||
case 8: { |
|||
RFAngleRoll = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 16: { |
|||
RFAnglePitch = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 24: { |
|||
RFAngleYaw = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 32: { |
|||
RFDepth = input.ReadInt32(); |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
#endif
|
|||
} |
|||
|
|||
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
|
|||
[global::System.Diagnostics.DebuggerNonUserCodeAttribute] |
|||
[global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] |
|||
void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) { |
|||
uint tag; |
|||
while ((tag = input.ReadTag()) != 0) { |
|||
if ((tag & 7) == 4) { |
|||
// Abort on any end group tag.
|
|||
return; |
|||
} |
|||
switch(tag) { |
|||
default: |
|||
_unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input); |
|||
break; |
|||
case 8: { |
|||
RFAngleRoll = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 16: { |
|||
RFAnglePitch = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 24: { |
|||
RFAngleYaw = input.ReadInt32(); |
|||
break; |
|||
} |
|||
case 32: { |
|||
RFDepth = input.ReadInt32(); |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
} |
|||
#endif
|
|||
|
|||
} |
|||
|
|||
#endregion
|
|||
|
|||
|
|||
#endregion Designer generated code
|
|||
@ -0,0 +1,792 @@ |
|||
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
|||
// NO CHECKED-IN PROTOBUF GENCODE
|
|||
// source: robot_data.proto
|
|||
// Protobuf Java Version: 4.27.2
|
|||
|
|||
package com.example.removemarineanimals.models; |
|||
|
|||
public final class RobotData { |
|||
private RobotData() {} |
|||
static { |
|||
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
|||
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
|||
/* major= */ 4, |
|||
/* minor= */ 27, |
|||
/* patch= */ 2, |
|||
/* suffix= */ "", |
|||
RobotData.class.getName()); |
|||
} |
|||
public static void registerAllExtensions( |
|||
com.google.protobuf.ExtensionRegistryLite registry) { |
|||
} |
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
int getRFAngleRoll(); |
|||
|
|||
/** |
|||
* <pre> |
|||
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|||
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|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return The rFAnglePitch. |
|||
*/ |
|||
int getRFAnglePitch(); |
|||
|
|||
/** |
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
int getRFAngleYaw(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
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|||
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|||
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|||
int getRFDepth(); |
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|
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|||
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int hash = 41; |
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hash = (37 * hash) + RF_ANGLE_PITCH_FIELD_NUMBER; |
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hash = (53 * hash) + getRFAnglePitch(); |
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hash = (37 * hash) + RF_ANGLE_YAW_FIELD_NUMBER; |
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hash = (53 * hash) + getRFAngleYaw(); |
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hash = (37 * hash) + RF_DEPTH_FIELD_NUMBER; |
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|
|||
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|||
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|||
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|||
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|||
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|
|||
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|||
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|||
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|||
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|||
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|
|||
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|||
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|||
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|||
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|||
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|
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFAnglePitch_ ; |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return The rFAnglePitch. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getRFAnglePitch() { |
|||
return rFAnglePitch_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @param value The rFAnglePitch to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFAnglePitch(int value) { |
|||
|
|||
rFAnglePitch_ = value; |
|||
bitField0_ |= 0x00000002; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 俯仰角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Pitch = 2;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFAnglePitch() { |
|||
bitField0_ = (bitField0_ & ~0x00000002); |
|||
rFAnglePitch_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFAngleYaw_ ; |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return The rFAngleYaw. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getRFAngleYaw() { |
|||
return rFAngleYaw_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @param value The rFAngleYaw to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFAngleYaw(int value) { |
|||
|
|||
rFAngleYaw_ = value; |
|||
bitField0_ |= 0x00000004; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 航向角 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Angle_Yaw = 3;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFAngleYaw() { |
|||
bitField0_ = (bitField0_ & ~0x00000004); |
|||
rFAngleYaw_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int rFDepth_ ; |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return The rFDepth. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getRFDepth() { |
|||
return rFDepth_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @param value The rFDepth to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRFDepth(int value) { |
|||
|
|||
rFDepth_ = value; |
|||
bitField0_ |= 0x00000008; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 海洋深度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 RF_Depth = 4;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRFDepth() { |
|||
bitField0_ = (bitField0_ & ~0x00000008); |
|||
rFDepth_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
// @@protoc_insertion_point(builder_scope:DataTrans)
|
|||
} |
|||
|
|||
// @@protoc_insertion_point(class_scope:DataTrans)
|
|||
private static final com.example.removemarineanimals.models.RobotData.DataTrans DEFAULT_INSTANCE; |
|||
static { |
|||
DEFAULT_INSTANCE = new com.example.removemarineanimals.models.RobotData.DataTrans(); |
|||
} |
|||
|
|||
public static com.example.removemarineanimals.models.RobotData.DataTrans getDefaultInstance() { |
|||
return DEFAULT_INSTANCE; |
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} |
|||
|
|||
private static final com.google.protobuf.Parser<DataTrans> |
|||
PARSER = new com.google.protobuf.AbstractParser<DataTrans>() { |
|||
@java.lang.Override |
|||
public DataTrans parsePartialFrom( |
|||
com.google.protobuf.CodedInputStream input, |
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com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
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|||
Builder builder = newBuilder(); |
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try { |
|||
builder.mergeFrom(input, extensionRegistry); |
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throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial()); |
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} catch (java.io.IOException e) { |
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throw new com.google.protobuf.InvalidProtocolBufferException(e) |
|||
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|||
} |
|||
return builder.buildPartial(); |
|||
} |
|||
}; |
|||
|
|||
public static com.google.protobuf.Parser<DataTrans> parser() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.google.protobuf.Parser<DataTrans> getParserForType() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.example.removemarineanimals.models.RobotData.DataTrans getDefaultInstanceForType() { |
|||
return DEFAULT_INSTANCE; |
|||
} |
|||
|
|||
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|||
|
|||
private static final com.google.protobuf.Descriptors.Descriptor |
|||
internal_static_DataTrans_descriptor; |
|||
private static final |
|||
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|||
internal_static_DataTrans_fieldAccessorTable; |
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|||
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|||
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|||
return descriptor; |
|||
} |
|||
private static com.google.protobuf.Descriptors.FileDescriptor |
|||
descriptor; |
|||
static { |
|||
java.lang.String[] descriptorData = { |
|||
"\n\020robot_data.proto\"b\n\tDataTrans\022\025\n\rRF_An" + |
|||
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|||
"\n\014RF_Angle_Yaw\030\003 \001(\005\022\020\n\010RF_Depth\030\004 \001(\005B*" + |
|||
"\n&com.example.removemarineanimals.models" + |
|||
"P\000b\006proto3" |
|||
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|||
descriptor = com.google.protobuf.Descriptors.FileDescriptor |
|||
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|||
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|||
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|||
internal_static_DataTrans_descriptor = |
|||
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|||
internal_static_DataTrans_fieldAccessorTable = new |
|||
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|||
internal_static_DataTrans_descriptor, |
|||
new java.lang.String[] { "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth", }); |
|||
descriptor.resolveAllFeaturesImmutable(); |
|||
} |
|||
|
|||
// @@protoc_insertion_point(outer_class_scope)
|
|||
} |
|||
@ -0,0 +1,615 @@ |
|||
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
|||
// NO CHECKED-IN PROTOBUF GENCODE
|
|||
// source: robot_RMACM.proto
|
|||
// Protobuf Java Version: 4.27.2
|
|||
|
|||
package com.example.removemarineanimals.models; |
|||
|
|||
public final class RobotRMACM { |
|||
private RobotRMACM() {} |
|||
static { |
|||
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
|||
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
|||
/* major= */ 4, |
|||
/* minor= */ 27, |
|||
/* patch= */ 2, |
|||
/* suffix= */ "", |
|||
RobotRMACM.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 RMACMOrBuilder extends |
|||
// @@protoc_insertion_point(interface_extends:RMACM)
|
|||
com.google.protobuf.MessageOrBuilder { |
|||
|
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
int getLightBrightness(); |
|||
|
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
int getRobotSpeed(); |
|||
} |
|||
/** |
|||
* <pre> |
|||
* Remove Marine Animal Command |
|||
* </pre> |
|||
* |
|||
* Protobuf type {@code RMACM} |
|||
*/ |
|||
public static final class RMACM extends |
|||
com.google.protobuf.GeneratedMessage implements |
|||
// @@protoc_insertion_point(message_implements:RMACM)
|
|||
RMACMOrBuilder { |
|||
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= */ "", |
|||
RMACM.class.getName()); |
|||
} |
|||
// Use RMACM.newBuilder() to construct.
|
|||
private RMACM(com.google.protobuf.GeneratedMessage.Builder<?> builder) { |
|||
super(builder); |
|||
} |
|||
private RMACM() { |
|||
} |
|||
|
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptor() { |
|||
return com.example.removemarineanimals.models.RobotRMACM.internal_static_RMACM_descriptor; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
protected com.google.protobuf.GeneratedMessage.FieldAccessorTable |
|||
internalGetFieldAccessorTable() { |
|||
return com.example.removemarineanimals.models.RobotRMACM.internal_static_RMACM_fieldAccessorTable |
|||
.ensureFieldAccessorsInitialized( |
|||
com.example.removemarineanimals.models.RobotRMACM.RMACM.class, com.example.removemarineanimals.models.RobotRMACM.RMACM.Builder.class); |
|||
} |
|||
|
|||
public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1; |
|||
private int lightBrightness_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getLightBrightness() { |
|||
return lightBrightness_; |
|||
} |
|||
|
|||
public static final int ROBOT_SPEED_FIELD_NUMBER = 2; |
|||
private int robotSpeed_ = 0; |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getRobotSpeed() { |
|||
return robotSpeed_; |
|||
} |
|||
|
|||
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 (lightBrightness_ != 0) { |
|||
output.writeInt32(1, lightBrightness_); |
|||
} |
|||
if (robotSpeed_ != 0) { |
|||
output.writeInt32(2, robotSpeed_); |
|||
} |
|||
getUnknownFields().writeTo(output); |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public int getSerializedSize() { |
|||
int size = memoizedSize; |
|||
if (size != -1) return size; |
|||
|
|||
size = 0; |
|||
if (lightBrightness_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(1, lightBrightness_); |
|||
} |
|||
if (robotSpeed_ != 0) { |
|||
size += com.google.protobuf.CodedOutputStream |
|||
.computeInt32Size(2, robotSpeed_); |
|||
} |
|||
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.removemarineanimals.models.RobotRMACM.RMACM)) { |
|||
return super.equals(obj); |
|||
} |
|||
com.example.removemarineanimals.models.RobotRMACM.RMACM other = (com.example.removemarineanimals.models.RobotRMACM.RMACM) obj; |
|||
|
|||
if (getLightBrightness() |
|||
!= other.getLightBrightness()) return false; |
|||
if (getRobotSpeed() |
|||
!= other.getRobotSpeed()) 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) + LIGHTBRIGHTNESS_FIELD_NUMBER; |
|||
hash = (53 * hash) + getLightBrightness(); |
|||
hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER; |
|||
hash = (53 * hash) + getRobotSpeed(); |
|||
hash = (29 * hash) + getUnknownFields().hashCode(); |
|||
memoizedHashCode = hash; |
|||
return hash; |
|||
} |
|||
|
|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
java.nio.ByteBuffer data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
java.nio.ByteBuffer data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data, extensionRegistry); |
|||
} |
|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
com.google.protobuf.ByteString data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
} |
|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
com.google.protobuf.ByteString data, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom(byte[] data) |
|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
return PARSER.parseFrom(data); |
|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
byte[] data, |
|||
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|||
throws com.google.protobuf.InvalidProtocolBufferException { |
|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom(java.io.InputStream input) |
|||
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|||
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|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
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|||
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|||
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|||
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|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseDelimitedFrom(java.io.InputStream input) |
|||
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|||
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|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseDelimitedFrom( |
|||
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|||
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|||
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|||
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|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
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|||
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|||
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|||
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|||
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|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM parseFrom( |
|||
com.google.protobuf.CodedInputStream input, |
|||
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
|||
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|||
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|||
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|||
|
|||
@java.lang.Override |
|||
public Builder newBuilderForType() { return newBuilder(); } |
|||
public static Builder newBuilder() { |
|||
return DEFAULT_INSTANCE.toBuilder(); |
|||
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|||
public static Builder newBuilder(com.example.removemarineanimals.models.RobotRMACM.RMACM prototype) { |
|||
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype); |
|||
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|||
@java.lang.Override |
|||
public Builder toBuilder() { |
|||
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|||
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|||
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|||
|
|||
@java.lang.Override |
|||
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|||
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|||
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|||
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|||
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|||
/** |
|||
* <pre> |
|||
* Remove Marine Animal Command |
|||
* </pre> |
|||
* |
|||
* Protobuf type {@code RMACM} |
|||
*/ |
|||
public static final class Builder extends |
|||
com.google.protobuf.GeneratedMessage.Builder<Builder> implements |
|||
// @@protoc_insertion_point(builder_implements:RMACM)
|
|||
com.example.removemarineanimals.models.RobotRMACM.RMACMOrBuilder { |
|||
public static final com.google.protobuf.Descriptors.Descriptor |
|||
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|||
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|||
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|||
|
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
|
|||
// Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
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|||
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|||
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|||
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|||
|
|||
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|||
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|||
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|||
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|||
super.clear(); |
|||
bitField0_ = 0; |
|||
lightBrightness_ = 0; |
|||
robotSpeed_ = 0; |
|||
return this; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.google.protobuf.Descriptors.Descriptor |
|||
getDescriptorForType() { |
|||
return com.example.removemarineanimals.models.RobotRMACM.internal_static_RMACM_descriptor; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.example.removemarineanimals.models.RobotRMACM.RMACM getDefaultInstanceForType() { |
|||
return com.example.removemarineanimals.models.RobotRMACM.RMACM.getDefaultInstance(); |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.example.removemarineanimals.models.RobotRMACM.RMACM build() { |
|||
com.example.removemarineanimals.models.RobotRMACM.RMACM result = buildPartial(); |
|||
if (!result.isInitialized()) { |
|||
throw newUninitializedMessageException(result); |
|||
} |
|||
return result; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.example.removemarineanimals.models.RobotRMACM.RMACM buildPartial() { |
|||
com.example.removemarineanimals.models.RobotRMACM.RMACM result = new com.example.removemarineanimals.models.RobotRMACM.RMACM(this); |
|||
if (bitField0_ != 0) { buildPartial0(result); } |
|||
onBuilt(); |
|||
return result; |
|||
} |
|||
|
|||
private void buildPartial0(com.example.removemarineanimals.models.RobotRMACM.RMACM result) { |
|||
int from_bitField0_ = bitField0_; |
|||
if (((from_bitField0_ & 0x00000001) != 0)) { |
|||
result.lightBrightness_ = lightBrightness_; |
|||
} |
|||
if (((from_bitField0_ & 0x00000002) != 0)) { |
|||
result.robotSpeed_ = robotSpeed_; |
|||
} |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public Builder mergeFrom(com.google.protobuf.Message other) { |
|||
if (other instanceof com.example.removemarineanimals.models.RobotRMACM.RMACM) { |
|||
return mergeFrom((com.example.removemarineanimals.models.RobotRMACM.RMACM)other); |
|||
} else { |
|||
super.mergeFrom(other); |
|||
return this; |
|||
} |
|||
} |
|||
|
|||
public Builder mergeFrom(com.example.removemarineanimals.models.RobotRMACM.RMACM other) { |
|||
if (other == com.example.removemarineanimals.models.RobotRMACM.RMACM.getDefaultInstance()) return this; |
|||
if (other.getLightBrightness() != 0) { |
|||
setLightBrightness(other.getLightBrightness()); |
|||
} |
|||
if (other.getRobotSpeed() != 0) { |
|||
setRobotSpeed(other.getRobotSpeed()); |
|||
} |
|||
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: { |
|||
lightBrightness_ = input.readInt32(); |
|||
bitField0_ |= 0x00000001; |
|||
break; |
|||
} // case 8
|
|||
case 16: { |
|||
robotSpeed_ = input.readInt32(); |
|||
bitField0_ |= 0x00000002; |
|||
break; |
|||
} // case 16
|
|||
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 lightBrightness_ ; |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return The lightBrightness. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getLightBrightness() { |
|||
return lightBrightness_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @param value The lightBrightness to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setLightBrightness(int value) { |
|||
|
|||
lightBrightness_ = value; |
|||
bitField0_ |= 0x00000001; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 灯光亮度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 LightBrightness = 1;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearLightBrightness() { |
|||
bitField0_ = (bitField0_ & ~0x00000001); |
|||
lightBrightness_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
private int robotSpeed_ ; |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return The robotSpeed. |
|||
*/ |
|||
@java.lang.Override |
|||
public int getRobotSpeed() { |
|||
return robotSpeed_; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @param value The robotSpeed to set. |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder setRobotSpeed(int value) { |
|||
|
|||
robotSpeed_ = value; |
|||
bitField0_ |= 0x00000002; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
/** |
|||
* <pre> |
|||
* 机器人速度 |
|||
* </pre> |
|||
* |
|||
* <code>int32 Robot_Speed = 2;</code> |
|||
* @return This builder for chaining. |
|||
*/ |
|||
public Builder clearRobotSpeed() { |
|||
bitField0_ = (bitField0_ & ~0x00000002); |
|||
robotSpeed_ = 0; |
|||
onChanged(); |
|||
return this; |
|||
} |
|||
|
|||
// @@protoc_insertion_point(builder_scope:RMACM)
|
|||
} |
|||
|
|||
// @@protoc_insertion_point(class_scope:RMACM)
|
|||
private static final com.example.removemarineanimals.models.RobotRMACM.RMACM DEFAULT_INSTANCE; |
|||
static { |
|||
DEFAULT_INSTANCE = new com.example.removemarineanimals.models.RobotRMACM.RMACM(); |
|||
} |
|||
|
|||
public static com.example.removemarineanimals.models.RobotRMACM.RMACM getDefaultInstance() { |
|||
return DEFAULT_INSTANCE; |
|||
} |
|||
|
|||
private static final com.google.protobuf.Parser<RMACM> |
|||
PARSER = new com.google.protobuf.AbstractParser<RMACM>() { |
|||
@java.lang.Override |
|||
public RMACM 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<RMACM> parser() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.google.protobuf.Parser<RMACM> getParserForType() { |
|||
return PARSER; |
|||
} |
|||
|
|||
@java.lang.Override |
|||
public com.example.removemarineanimals.models.RobotRMACM.RMACM getDefaultInstanceForType() { |
|||
return DEFAULT_INSTANCE; |
|||
} |
|||
|
|||
} |
|||
|
|||
private static final com.google.protobuf.Descriptors.Descriptor |
|||
internal_static_RMACM_descriptor; |
|||
private static final |
|||
com.google.protobuf.GeneratedMessage.FieldAccessorTable |
|||
internal_static_RMACM_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\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" + |
|||
"ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" + |
|||
"m.example.removemarineanimals.modelsP\000b\006" + |
|||
"proto3" |
|||
}; |
|||
descriptor = com.google.protobuf.Descriptors.FileDescriptor |
|||
.internalBuildGeneratedFileFrom(descriptorData, |
|||
new com.google.protobuf.Descriptors.FileDescriptor[] { |
|||
}); |
|||
internal_static_RMACM_descriptor = |
|||
getDescriptor().getMessageTypes().get(0); |
|||
internal_static_RMACM_fieldAccessorTable = new |
|||
com.google.protobuf.GeneratedMessage.FieldAccessorTable( |
|||
internal_static_RMACM_descriptor, |
|||
new java.lang.String[] { "LightBrightness", "RobotSpeed", }); |
|||
descriptor.resolveAllFeaturesImmutable(); |
|||
} |
|||
|
|||
// @@protoc_insertion_point(outer_class_scope)
|
|||
} |
|||
@ -0,0 +1 @@ |
|||
protoc --nanopb_out=. *.proto |
|||
@ -0,0 +1 @@ |
|||
protoc --nanopb_out=. *.proto |
|||
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Reference in new issue