getParserForType() {
+ return PARSER;
+ }
- private ComError(int value) {
- this.value = value;
+ @java.lang.Override
+ public com.example.fivewheel.models.BspError.ErrorDataInfo getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
}
- // @@protoc_insertion_point(enum_scope:ComError)
}
public interface ErrorDataOrBuilder extends
@@ -202,22 +735,52 @@ public final class BspError {
com.google.protobuf.MessageOrBuilder {
/**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
+ * int32 ErrorCode = 1;
+ * @return The errorCode.
+ */
+ int getErrorCode();
+
+ /**
+ * int32 Motor_1_Error = 21;
+ * @return The motor1Error.
+ */
+ int getMotor1Error();
+
+ /**
+ * int32 Motor_2_Error = 22;
+ * @return The motor2Error.
*/
- int getComErrorCode();
+ int getMotor2Error();
/**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
+ * int32 Motor_3_Error = 23;
+ * @return The motor3Error.
*/
- int getLeftMotorErrorCode();
+ int getMotor3Error();
/**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
+ * int32 Motor_4_Error = 24;
+ * @return The motor4Error.
*/
- int getRightMotorErrorCode();
+ int getMotor4Error();
+
+ /**
+ * int32 Motor_5_Error = 25;
+ * @return The motor5Error.
+ */
+ int getMotor5Error();
+
+ /**
+ * int32 Motor_6_Error = 26;
+ * @return The motor6Error.
+ */
+ int getMotor6Error();
+
+ /**
+ * int32 Motor_7_Error = 27;
+ * @return The motor7Error.
+ */
+ int getMotor7Error();
}
/**
* Protobuf type {@code ErrorData}
@@ -256,37 +819,92 @@ public final class BspError {
com.example.fivewheel.models.BspError.ErrorData.class, com.example.fivewheel.models.BspError.ErrorData.Builder.class);
}
- public static final int COM_ERROR_CODE_FIELD_NUMBER = 1;
- private int comErrorCode_ = 0;
+ public static final int ERRORCODE_FIELD_NUMBER = 1;
+ private int errorCode_ = 0;
+ /**
+ * int32 ErrorCode = 1;
+ * @return The errorCode.
+ */
+ @java.lang.Override
+ public int getErrorCode() {
+ return errorCode_;
+ }
+
+ public static final int MOTOR_1_ERROR_FIELD_NUMBER = 21;
+ private int motor1Error_ = 0;
+ /**
+ * int32 Motor_1_Error = 21;
+ * @return The motor1Error.
+ */
+ @java.lang.Override
+ public int getMotor1Error() {
+ return motor1Error_;
+ }
+
+ public static final int MOTOR_2_ERROR_FIELD_NUMBER = 22;
+ private int motor2Error_ = 0;
+ /**
+ * int32 Motor_2_Error = 22;
+ * @return The motor2Error.
+ */
+ @java.lang.Override
+ public int getMotor2Error() {
+ return motor2Error_;
+ }
+
+ public static final int MOTOR_3_ERROR_FIELD_NUMBER = 23;
+ private int motor3Error_ = 0;
+ /**
+ * int32 Motor_3_Error = 23;
+ * @return The motor3Error.
+ */
+ @java.lang.Override
+ public int getMotor3Error() {
+ return motor3Error_;
+ }
+
+ public static final int MOTOR_4_ERROR_FIELD_NUMBER = 24;
+ private int motor4Error_ = 0;
+ /**
+ * int32 Motor_4_Error = 24;
+ * @return The motor4Error.
+ */
+ @java.lang.Override
+ public int getMotor4Error() {
+ return motor4Error_;
+ }
+
+ public static final int MOTOR_5_ERROR_FIELD_NUMBER = 25;
+ private int motor5Error_ = 0;
/**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
+ * int32 Motor_5_Error = 25;
+ * @return The motor5Error.
*/
@java.lang.Override
- public int getComErrorCode() {
- return comErrorCode_;
+ public int getMotor5Error() {
+ return motor5Error_;
}
- public static final int LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER = 2;
- private int leftMotorErrorCode_ = 0;
+ public static final int MOTOR_6_ERROR_FIELD_NUMBER = 26;
+ private int motor6Error_ = 0;
/**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
+ * int32 Motor_6_Error = 26;
+ * @return The motor6Error.
*/
@java.lang.Override
- public int getLeftMotorErrorCode() {
- return leftMotorErrorCode_;
+ public int getMotor6Error() {
+ return motor6Error_;
}
- public static final int RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER = 3;
- private int rightMotorErrorCode_ = 0;
+ public static final int MOTOR_7_ERROR_FIELD_NUMBER = 27;
+ private int motor7Error_ = 0;
/**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
+ * int32 Motor_7_Error = 27;
+ * @return The motor7Error.
*/
@java.lang.Override
- public int getRightMotorErrorCode() {
- return rightMotorErrorCode_;
+ public int getMotor7Error() {
+ return motor7Error_;
}
private byte memoizedIsInitialized = -1;
@@ -303,14 +921,29 @@ public final class BspError {
@java.lang.Override
public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
- if (comErrorCode_ != 0) {
- output.writeInt32(1, comErrorCode_);
+ if (errorCode_ != 0) {
+ output.writeInt32(1, errorCode_);
+ }
+ if (motor1Error_ != 0) {
+ output.writeInt32(21, motor1Error_);
+ }
+ if (motor2Error_ != 0) {
+ output.writeInt32(22, motor2Error_);
}
- if (leftMotorErrorCode_ != 0) {
- output.writeInt32(2, leftMotorErrorCode_);
+ if (motor3Error_ != 0) {
+ output.writeInt32(23, motor3Error_);
}
- if (rightMotorErrorCode_ != 0) {
- output.writeInt32(3, rightMotorErrorCode_);
+ if (motor4Error_ != 0) {
+ output.writeInt32(24, motor4Error_);
+ }
+ if (motor5Error_ != 0) {
+ output.writeInt32(25, motor5Error_);
+ }
+ if (motor6Error_ != 0) {
+ output.writeInt32(26, motor6Error_);
+ }
+ if (motor7Error_ != 0) {
+ output.writeInt32(27, motor7Error_);
}
getUnknownFields().writeTo(output);
}
@@ -321,17 +954,37 @@ public final class BspError {
if (size != -1) return size;
size = 0;
- if (comErrorCode_ != 0) {
+ if (errorCode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, errorCode_);
+ }
+ if (motor1Error_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(21, motor1Error_);
+ }
+ if (motor2Error_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(22, motor2Error_);
+ }
+ if (motor3Error_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(23, motor3Error_);
+ }
+ if (motor4Error_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(24, motor4Error_);
+ }
+ if (motor5Error_ != 0) {
size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, comErrorCode_);
+ .computeInt32Size(25, motor5Error_);
}
- if (leftMotorErrorCode_ != 0) {
+ if (motor6Error_ != 0) {
size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(2, leftMotorErrorCode_);
+ .computeInt32Size(26, motor6Error_);
}
- if (rightMotorErrorCode_ != 0) {
+ if (motor7Error_ != 0) {
size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(3, rightMotorErrorCode_);
+ .computeInt32Size(27, motor7Error_);
}
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
@@ -348,12 +1001,22 @@ public final class BspError {
}
com.example.fivewheel.models.BspError.ErrorData other = (com.example.fivewheel.models.BspError.ErrorData) obj;
- if (getComErrorCode()
- != other.getComErrorCode()) return false;
- if (getLeftMotorErrorCode()
- != other.getLeftMotorErrorCode()) return false;
- if (getRightMotorErrorCode()
- != other.getRightMotorErrorCode()) return false;
+ if (getErrorCode()
+ != other.getErrorCode()) return false;
+ if (getMotor1Error()
+ != other.getMotor1Error()) return false;
+ if (getMotor2Error()
+ != other.getMotor2Error()) return false;
+ if (getMotor3Error()
+ != other.getMotor3Error()) return false;
+ if (getMotor4Error()
+ != other.getMotor4Error()) return false;
+ if (getMotor5Error()
+ != other.getMotor5Error()) return false;
+ if (getMotor6Error()
+ != other.getMotor6Error()) return false;
+ if (getMotor7Error()
+ != other.getMotor7Error()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@@ -365,12 +1028,22 @@ public final class BspError {
}
int hash = 41;
hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + COM_ERROR_CODE_FIELD_NUMBER;
- hash = (53 * hash) + getComErrorCode();
- hash = (37 * hash) + LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER;
- hash = (53 * hash) + getLeftMotorErrorCode();
- hash = (37 * hash) + RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER;
- hash = (53 * hash) + getRightMotorErrorCode();
+ hash = (37 * hash) + ERRORCODE_FIELD_NUMBER;
+ hash = (53 * hash) + getErrorCode();
+ hash = (37 * hash) + MOTOR_1_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor1Error();
+ hash = (37 * hash) + MOTOR_2_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor2Error();
+ hash = (37 * hash) + MOTOR_3_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor3Error();
+ hash = (37 * hash) + MOTOR_4_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor4Error();
+ hash = (37 * hash) + MOTOR_5_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor5Error();
+ hash = (37 * hash) + MOTOR_6_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor6Error();
+ hash = (37 * hash) + MOTOR_7_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getMotor7Error();
hash = (29 * hash) + getUnknownFields().hashCode();
memoizedHashCode = hash;
return hash;
@@ -502,9 +1175,14 @@ public final class BspError {
public Builder clear() {
super.clear();
bitField0_ = 0;
- comErrorCode_ = 0;
- leftMotorErrorCode_ = 0;
- rightMotorErrorCode_ = 0;
+ errorCode_ = 0;
+ motor1Error_ = 0;
+ motor2Error_ = 0;
+ motor3Error_ = 0;
+ motor4Error_ = 0;
+ motor5Error_ = 0;
+ motor6Error_ = 0;
+ motor7Error_ = 0;
return this;
}
@@ -539,13 +1217,28 @@ public final class BspError {
private void buildPartial0(com.example.fivewheel.models.BspError.ErrorData result) {
int from_bitField0_ = bitField0_;
if (((from_bitField0_ & 0x00000001) != 0)) {
- result.comErrorCode_ = comErrorCode_;
+ result.errorCode_ = errorCode_;
}
if (((from_bitField0_ & 0x00000002) != 0)) {
- result.leftMotorErrorCode_ = leftMotorErrorCode_;
+ result.motor1Error_ = motor1Error_;
}
if (((from_bitField0_ & 0x00000004) != 0)) {
- result.rightMotorErrorCode_ = rightMotorErrorCode_;
+ result.motor2Error_ = motor2Error_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.motor3Error_ = motor3Error_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.motor4Error_ = motor4Error_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.motor5Error_ = motor5Error_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.motor6Error_ = motor6Error_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.motor7Error_ = motor7Error_;
}
}
@@ -561,14 +1254,29 @@ public final class BspError {
public Builder mergeFrom(com.example.fivewheel.models.BspError.ErrorData other) {
if (other == com.example.fivewheel.models.BspError.ErrorData.getDefaultInstance()) return this;
- if (other.getComErrorCode() != 0) {
- setComErrorCode(other.getComErrorCode());
+ if (other.getErrorCode() != 0) {
+ setErrorCode(other.getErrorCode());
+ }
+ if (other.getMotor1Error() != 0) {
+ setMotor1Error(other.getMotor1Error());
+ }
+ if (other.getMotor2Error() != 0) {
+ setMotor2Error(other.getMotor2Error());
}
- if (other.getLeftMotorErrorCode() != 0) {
- setLeftMotorErrorCode(other.getLeftMotorErrorCode());
+ if (other.getMotor3Error() != 0) {
+ setMotor3Error(other.getMotor3Error());
}
- if (other.getRightMotorErrorCode() != 0) {
- setRightMotorErrorCode(other.getRightMotorErrorCode());
+ if (other.getMotor4Error() != 0) {
+ setMotor4Error(other.getMotor4Error());
+ }
+ if (other.getMotor5Error() != 0) {
+ setMotor5Error(other.getMotor5Error());
+ }
+ if (other.getMotor6Error() != 0) {
+ setMotor6Error(other.getMotor6Error());
+ }
+ if (other.getMotor7Error() != 0) {
+ setMotor7Error(other.getMotor7Error());
}
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
@@ -597,20 +1305,45 @@ public final class BspError {
done = true;
break;
case 8: {
- comErrorCode_ = input.readInt32();
+ errorCode_ = input.readInt32();
bitField0_ |= 0x00000001;
break;
} // case 8
- case 16: {
- leftMotorErrorCode_ = input.readInt32();
+ case 168: {
+ motor1Error_ = input.readInt32();
bitField0_ |= 0x00000002;
break;
- } // case 16
- case 24: {
- rightMotorErrorCode_ = input.readInt32();
+ } // case 168
+ case 176: {
+ motor2Error_ = input.readInt32();
bitField0_ |= 0x00000004;
break;
- } // case 24
+ } // case 176
+ case 184: {
+ motor3Error_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 184
+ case 192: {
+ motor4Error_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 192
+ case 200: {
+ motor5Error_ = input.readInt32();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 200
+ case 208: {
+ motor6Error_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 208
+ case 216: {
+ motor7Error_ = input.readInt32();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 216
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
@@ -628,98 +1361,258 @@ public final class BspError {
}
private int bitField0_;
- private int comErrorCode_ ;
+ private int errorCode_ ;
/**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
+ * int32 ErrorCode = 1;
+ * @return The errorCode.
*/
@java.lang.Override
- public int getComErrorCode() {
- return comErrorCode_;
+ public int getErrorCode() {
+ return errorCode_;
}
/**
- * int32 Com_Error_Code = 1;
- * @param value The comErrorCode to set.
+ * int32 ErrorCode = 1;
+ * @param value The errorCode to set.
* @return This builder for chaining.
*/
- public Builder setComErrorCode(int value) {
+ public Builder setErrorCode(int value) {
- comErrorCode_ = value;
+ errorCode_ = value;
bitField0_ |= 0x00000001;
onChanged();
return this;
}
/**
- * int32 Com_Error_Code = 1;
+ * int32 ErrorCode = 1;
* @return This builder for chaining.
*/
- public Builder clearComErrorCode() {
+ public Builder clearErrorCode() {
bitField0_ = (bitField0_ & ~0x00000001);
- comErrorCode_ = 0;
+ errorCode_ = 0;
onChanged();
return this;
}
- private int leftMotorErrorCode_ ;
+ private int motor1Error_ ;
/**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
+ * int32 Motor_1_Error = 21;
+ * @return The motor1Error.
*/
@java.lang.Override
- public int getLeftMotorErrorCode() {
- return leftMotorErrorCode_;
+ public int getMotor1Error() {
+ return motor1Error_;
}
/**
- * int32 Left_Motor_Error_Code = 2;
- * @param value The leftMotorErrorCode to set.
+ * int32 Motor_1_Error = 21;
+ * @param value The motor1Error to set.
* @return This builder for chaining.
*/
- public Builder setLeftMotorErrorCode(int value) {
+ public Builder setMotor1Error(int value) {
- leftMotorErrorCode_ = value;
+ motor1Error_ = value;
bitField0_ |= 0x00000002;
onChanged();
return this;
}
/**
- * int32 Left_Motor_Error_Code = 2;
+ * int32 Motor_1_Error = 21;
* @return This builder for chaining.
*/
- public Builder clearLeftMotorErrorCode() {
+ public Builder clearMotor1Error() {
bitField0_ = (bitField0_ & ~0x00000002);
- leftMotorErrorCode_ = 0;
+ motor1Error_ = 0;
onChanged();
return this;
}
- private int rightMotorErrorCode_ ;
+ private int motor2Error_ ;
/**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
+ * int32 Motor_2_Error = 22;
+ * @return The motor2Error.
*/
@java.lang.Override
- public int getRightMotorErrorCode() {
- return rightMotorErrorCode_;
+ public int getMotor2Error() {
+ return motor2Error_;
}
/**
- * int32 Right_Motor_Error_Code = 3;
- * @param value The rightMotorErrorCode to set.
+ * int32 Motor_2_Error = 22;
+ * @param value The motor2Error to set.
* @return This builder for chaining.
*/
- public Builder setRightMotorErrorCode(int value) {
+ public Builder setMotor2Error(int value) {
- rightMotorErrorCode_ = value;
+ motor2Error_ = value;
bitField0_ |= 0x00000004;
onChanged();
return this;
}
/**
- * int32 Right_Motor_Error_Code = 3;
+ * int32 Motor_2_Error = 22;
* @return This builder for chaining.
*/
- public Builder clearRightMotorErrorCode() {
+ public Builder clearMotor2Error() {
bitField0_ = (bitField0_ & ~0x00000004);
- rightMotorErrorCode_ = 0;
+ motor2Error_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int motor3Error_ ;
+ /**
+ * int32 Motor_3_Error = 23;
+ * @return The motor3Error.
+ */
+ @java.lang.Override
+ public int getMotor3Error() {
+ return motor3Error_;
+ }
+ /**
+ * int32 Motor_3_Error = 23;
+ * @param value The motor3Error to set.
+ * @return This builder for chaining.
+ */
+ public Builder setMotor3Error(int value) {
+
+ motor3Error_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Motor_3_Error = 23;
+ * @return This builder for chaining.
+ */
+ public Builder clearMotor3Error() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ motor3Error_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int motor4Error_ ;
+ /**
+ * int32 Motor_4_Error = 24;
+ * @return The motor4Error.
+ */
+ @java.lang.Override
+ public int getMotor4Error() {
+ return motor4Error_;
+ }
+ /**
+ * int32 Motor_4_Error = 24;
+ * @param value The motor4Error to set.
+ * @return This builder for chaining.
+ */
+ public Builder setMotor4Error(int value) {
+
+ motor4Error_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Motor_4_Error = 24;
+ * @return This builder for chaining.
+ */
+ public Builder clearMotor4Error() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ motor4Error_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int motor5Error_ ;
+ /**
+ * int32 Motor_5_Error = 25;
+ * @return The motor5Error.
+ */
+ @java.lang.Override
+ public int getMotor5Error() {
+ return motor5Error_;
+ }
+ /**
+ * int32 Motor_5_Error = 25;
+ * @param value The motor5Error to set.
+ * @return This builder for chaining.
+ */
+ public Builder setMotor5Error(int value) {
+
+ motor5Error_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Motor_5_Error = 25;
+ * @return This builder for chaining.
+ */
+ public Builder clearMotor5Error() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ motor5Error_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int motor6Error_ ;
+ /**
+ * int32 Motor_6_Error = 26;
+ * @return The motor6Error.
+ */
+ @java.lang.Override
+ public int getMotor6Error() {
+ return motor6Error_;
+ }
+ /**
+ * int32 Motor_6_Error = 26;
+ * @param value The motor6Error to set.
+ * @return This builder for chaining.
+ */
+ public Builder setMotor6Error(int value) {
+
+ motor6Error_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Motor_6_Error = 26;
+ * @return This builder for chaining.
+ */
+ public Builder clearMotor6Error() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ motor6Error_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int motor7Error_ ;
+ /**
+ * int32 Motor_7_Error = 27;
+ * @return The motor7Error.
+ */
+ @java.lang.Override
+ public int getMotor7Error() {
+ return motor7Error_;
+ }
+ /**
+ * int32 Motor_7_Error = 27;
+ * @param value The motor7Error to set.
+ * @return This builder for chaining.
+ */
+ public Builder setMotor7Error(int value) {
+
+ motor7Error_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Motor_7_Error = 27;
+ * @return This builder for chaining.
+ */
+ public Builder clearMotor7Error() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ motor7Error_ = 0;
onChanged();
return this;
}
@@ -775,6 +1668,11 @@ public final class BspError {
}
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_ErrorDataInfo_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_ErrorDataInfo_fieldAccessorTable;
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_ErrorData_descriptor;
private static final
@@ -789,25 +1687,37 @@ public final class BspError {
descriptor;
static {
java.lang.String[] descriptorData = {
- "\n\017bsp_Error.proto\"b\n\tErrorData\022\026\n\016Com_Er" +
- "ror_Code\030\001 \001(\005\022\035\n\025Left_Motor_Error_Code\030" +
- "\002 \001(\005\022\036\n\026Right_Motor_Error_Code\030\003 \001(\005*z\n" +
- "\010ComError\022\r\n\tMK32_SBus\020\000\022\n\n\006TL720D\020\001\022\020\n\014" +
- "Force_sensor\020\002\022\020\n\014ZQ_LeftMotor\020\003\022\021\n\rZQ_R" +
- "ightMotor\020\004\022\013\n\007DMAKE_1\020\005\022\017\n\013MK32_Serial\020" +
- "\006B \n\034com.example.fivewheel.modelsP\000b\006pro" +
- "to3"
+ "\n\017bsp_Error.proto\"8\n\rErrorDataInfo\022\023\n\013Er" +
+ "ror_Value\030\001 \001(\005\022\022\n\nError_Name\030\004 \001(\014\"\277\001\n\t" +
+ "ErrorData\022\021\n\tErrorCode\030\001 \001(\005\022\025\n\rMotor_1_" +
+ "Error\030\025 \001(\005\022\025\n\rMotor_2_Error\030\026 \001(\005\022\025\n\rMo" +
+ "tor_3_Error\030\027 \001(\005\022\025\n\rMotor_4_Error\030\030 \001(\005" +
+ "\022\025\n\rMotor_5_Error\030\031 \001(\005\022\025\n\rMotor_6_Error" +
+ "\030\032 \001(\005\022\025\n\rMotor_7_Error\030\033 \001(\005*\345\001\n\010ComErr" +
+ "or\022\013\n\007U7_SBus\020\000\022\020\n\014Force_sensor\020\001\022\021\n\rTi5" +
+ "_LeftMotor\020\002\022\022\n\016Ti5_RightMotor\020\003\022\017\n\013Cmcu" +
+ "_Sensor\020\004\022\035\n\031Remote_Button_Reset_State\020\005" +
+ "\022\027\n\023CMCU06_Force_sensor\020\006\022\026\n\022Dynamometer" +
+ "_sensor\020\007\022\n\n\006TL720D\020\010\022\025\n\021Ultrasonic_sens" +
+ "or\020\t\022\017\n\013Android_485\020\017B \n\034com.example.fiv" +
+ "ewheel.modelsP\000b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
});
- internal_static_ErrorData_descriptor =
+ internal_static_ErrorDataInfo_descriptor =
getDescriptor().getMessageTypes().get(0);
+ internal_static_ErrorDataInfo_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_ErrorDataInfo_descriptor,
+ new java.lang.String[] { "ErrorValue", "ErrorName", });
+ internal_static_ErrorData_descriptor =
+ getDescriptor().getMessageTypes().get(1);
internal_static_ErrorData_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_ErrorData_descriptor,
- new java.lang.String[] { "ComErrorCode", "LeftMotorErrorCode", "RightMotorErrorCode", });
+ new java.lang.String[] { "ErrorCode", "Motor1Error", "Motor2Error", "Motor3Error", "Motor4Error", "Motor5Error", "Motor6Error", "Motor7Error", });
descriptor.resolveAllFeaturesImmutable();
}
diff --git a/app/src/main/java/com/example/fivewheel/models/BspIV.java b/app/src/main/java/com/example/fivewheel/models/BspIV.java
index ffb979f..9884b6c 100644
--- a/app/src/main/java/com/example/fivewheel/models/BspIV.java
+++ b/app/src/main/java/com/example/fivewheel/models/BspIV.java
@@ -32,6 +32,7 @@ public final class BspIV {
/**
*
* 五轮项目
+ * 五轮项目
*
*
* int32 Robot_Move_AutoSpeed = 1;
@@ -116,6 +117,36 @@ public final class BspIV {
* @return The robotCompensationRight.
*/
int getRobotCompensationRight();
+
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ int getRobotRESET();
+
+ /**
+ * int64 TimeStamp = 16;
+ * @return The timeStamp.
+ */
+ long getTimeStamp();
+
+ /**
+ * int32 RobotRestart = 17;
+ * @return The robotRestart.
+ */
+ int getRobotRestart();
+
+ /**
+ * int32 RobotAngle = 18;
+ * @return The robotAngle.
+ */
+ int getRobotAngle();
+
+ /**
+ * int32 SystemError = 19;
+ * @return The systemError.
+ */
+ int getSystemError();
}
/**
* Protobuf type {@code IV_struct_define}
@@ -159,6 +190,7 @@ public final class BspIV {
/**
*
* 五轮项目
+ * 五轮项目
*
*
* int32 Robot_Move_AutoSpeed = 1;
@@ -312,6 +344,61 @@ public final class BspIV {
return robotCompensationRight_;
}
+ public static final int ROBOT_RESET_FIELD_NUMBER = 15;
+ private int robotRESET_ = 0;
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ @java.lang.Override
+ public int getRobotRESET() {
+ return robotRESET_;
+ }
+
+ public static final int TIMESTAMP_FIELD_NUMBER = 16;
+ private long timeStamp_ = 0L;
+ /**
+ * int64 TimeStamp = 16;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+
+ public static final int ROBOTRESTART_FIELD_NUMBER = 17;
+ private int robotRestart_ = 0;
+ /**
+ * int32 RobotRestart = 17;
+ * @return The robotRestart.
+ */
+ @java.lang.Override
+ public int getRobotRestart() {
+ return robotRestart_;
+ }
+
+ public static final int ROBOTANGLE_FIELD_NUMBER = 18;
+ private int robotAngle_ = 0;
+ /**
+ * int32 RobotAngle = 18;
+ * @return The robotAngle.
+ */
+ @java.lang.Override
+ public int getRobotAngle() {
+ return robotAngle_;
+ }
+
+ public static final int SYSTEMERROR_FIELD_NUMBER = 19;
+ private int systemError_ = 0;
+ /**
+ * int32 SystemError = 19;
+ * @return The systemError.
+ */
+ @java.lang.Override
+ public int getSystemError() {
+ return systemError_;
+ }
+
private byte memoizedIsInitialized = -1;
@java.lang.Override
public final boolean isInitialized() {
@@ -368,6 +455,21 @@ public final class BspIV {
if (robotCompensationRight_ != 0) {
output.writeInt32(14, robotCompensationRight_);
}
+ if (robotRESET_ != 0) {
+ output.writeInt32(15, robotRESET_);
+ }
+ if (timeStamp_ != 0L) {
+ output.writeInt64(16, timeStamp_);
+ }
+ if (robotRestart_ != 0) {
+ output.writeInt32(17, robotRestart_);
+ }
+ if (robotAngle_ != 0) {
+ output.writeInt32(18, robotAngle_);
+ }
+ if (systemError_ != 0) {
+ output.writeInt32(19, systemError_);
+ }
getUnknownFields().writeTo(output);
}
@@ -433,6 +535,26 @@ public final class BspIV {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(14, robotCompensationRight_);
}
+ if (robotRESET_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(15, robotRESET_);
+ }
+ if (timeStamp_ != 0L) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt64Size(16, timeStamp_);
+ }
+ if (robotRestart_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(17, robotRestart_);
+ }
+ if (robotAngle_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(18, robotAngle_);
+ }
+ if (systemError_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(19, systemError_);
+ }
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
return size;
@@ -476,6 +598,16 @@ public final class BspIV {
!= other.getRobotCompensationLeft()) return false;
if (getRobotCompensationRight()
!= other.getRobotCompensationRight()) return false;
+ if (getRobotRESET()
+ != other.getRobotRESET()) return false;
+ if (getTimeStamp()
+ != other.getTimeStamp()) return false;
+ if (getRobotRestart()
+ != other.getRobotRestart()) return false;
+ if (getRobotAngle()
+ != other.getRobotAngle()) return false;
+ if (getSystemError()
+ != other.getSystemError()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@@ -515,6 +647,17 @@ public final class BspIV {
hash = (53 * hash) + getRobotCompensationLeft();
hash = (37 * hash) + ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER;
hash = (53 * hash) + getRobotCompensationRight();
+ hash = (37 * hash) + ROBOT_RESET_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotRESET();
+ hash = (37 * hash) + TIMESTAMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ getTimeStamp());
+ hash = (37 * hash) + ROBOTRESTART_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotRestart();
+ hash = (37 * hash) + ROBOTANGLE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotAngle();
+ hash = (37 * hash) + SYSTEMERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getSystemError();
hash = (29 * hash) + getUnknownFields().hashCode();
memoizedHashCode = hash;
return hash;
@@ -660,6 +803,11 @@ public final class BspIV {
robotErrorRight_ = 0;
robotCompensationLeft_ = 0;
robotCompensationRight_ = 0;
+ robotRESET_ = 0;
+ timeStamp_ = 0L;
+ robotRestart_ = 0;
+ robotAngle_ = 0;
+ systemError_ = 0;
return this;
}
@@ -735,6 +883,21 @@ public final class BspIV {
if (((from_bitField0_ & 0x00002000) != 0)) {
result.robotCompensationRight_ = robotCompensationRight_;
}
+ if (((from_bitField0_ & 0x00004000) != 0)) {
+ result.robotRESET_ = robotRESET_;
+ }
+ if (((from_bitField0_ & 0x00008000) != 0)) {
+ result.timeStamp_ = timeStamp_;
+ }
+ if (((from_bitField0_ & 0x00010000) != 0)) {
+ result.robotRestart_ = robotRestart_;
+ }
+ if (((from_bitField0_ & 0x00020000) != 0)) {
+ result.robotAngle_ = robotAngle_;
+ }
+ if (((from_bitField0_ & 0x00040000) != 0)) {
+ result.systemError_ = systemError_;
+ }
}
@java.lang.Override
@@ -791,6 +954,21 @@ public final class BspIV {
if (other.getRobotCompensationRight() != 0) {
setRobotCompensationRight(other.getRobotCompensationRight());
}
+ if (other.getRobotRESET() != 0) {
+ setRobotRESET(other.getRobotRESET());
+ }
+ if (other.getTimeStamp() != 0L) {
+ setTimeStamp(other.getTimeStamp());
+ }
+ if (other.getRobotRestart() != 0) {
+ setRobotRestart(other.getRobotRestart());
+ }
+ if (other.getRobotAngle() != 0) {
+ setRobotAngle(other.getRobotAngle());
+ }
+ if (other.getSystemError() != 0) {
+ setSystemError(other.getSystemError());
+ }
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
@@ -887,6 +1065,31 @@ public final class BspIV {
bitField0_ |= 0x00002000;
break;
} // case 112
+ case 120: {
+ robotRESET_ = input.readInt32();
+ bitField0_ |= 0x00004000;
+ break;
+ } // case 120
+ case 128: {
+ timeStamp_ = input.readInt64();
+ bitField0_ |= 0x00008000;
+ break;
+ } // case 128
+ case 136: {
+ robotRestart_ = input.readInt32();
+ bitField0_ |= 0x00010000;
+ break;
+ } // case 136
+ case 144: {
+ robotAngle_ = input.readInt32();
+ bitField0_ |= 0x00020000;
+ break;
+ } // case 144
+ case 152: {
+ systemError_ = input.readInt32();
+ bitField0_ |= 0x00040000;
+ break;
+ } // case 152
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
@@ -908,6 +1111,7 @@ public final class BspIV {
/**
*
* 五轮项目
+ * 五轮项目
*
*
* int32 Robot_Move_AutoSpeed = 1;
@@ -920,6 +1124,7 @@ public final class BspIV {
/**
*
* 五轮项目
+ * 五轮项目
*
*
* int32 Robot_Move_AutoSpeed = 1;
@@ -936,6 +1141,7 @@ public final class BspIV {
/**
*
* 五轮项目
+ * 五轮项目
*
*
* int32 Robot_Move_AutoSpeed = 1;
@@ -1364,6 +1570,166 @@ public final class BspIV {
return this;
}
+ private int robotRESET_ ;
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ @java.lang.Override
+ public int getRobotRESET() {
+ return robotRESET_;
+ }
+ /**
+ * int32 Robot_RESET = 15;
+ * @param value The robotRESET to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotRESET(int value) {
+
+ robotRESET_ = value;
+ bitField0_ |= 0x00004000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_RESET = 15;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotRESET() {
+ bitField0_ = (bitField0_ & ~0x00004000);
+ robotRESET_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private long timeStamp_ ;
+ /**
+ * int64 TimeStamp = 16;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+ /**
+ * int64 TimeStamp = 16;
+ * @param value The timeStamp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setTimeStamp(long value) {
+
+ timeStamp_ = value;
+ bitField0_ |= 0x00008000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int64 TimeStamp = 16;
+ * @return This builder for chaining.
+ */
+ public Builder clearTimeStamp() {
+ bitField0_ = (bitField0_ & ~0x00008000);
+ timeStamp_ = 0L;
+ onChanged();
+ return this;
+ }
+
+ private int robotRestart_ ;
+ /**
+ * int32 RobotRestart = 17;
+ * @return The robotRestart.
+ */
+ @java.lang.Override
+ public int getRobotRestart() {
+ return robotRestart_;
+ }
+ /**
+ * int32 RobotRestart = 17;
+ * @param value The robotRestart to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotRestart(int value) {
+
+ robotRestart_ = value;
+ bitField0_ |= 0x00010000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 RobotRestart = 17;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotRestart() {
+ bitField0_ = (bitField0_ & ~0x00010000);
+ robotRestart_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotAngle_ ;
+ /**
+ * int32 RobotAngle = 18;
+ * @return The robotAngle.
+ */
+ @java.lang.Override
+ public int getRobotAngle() {
+ return robotAngle_;
+ }
+ /**
+ * int32 RobotAngle = 18;
+ * @param value The robotAngle to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotAngle(int value) {
+
+ robotAngle_ = value;
+ bitField0_ |= 0x00020000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 RobotAngle = 18;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotAngle() {
+ bitField0_ = (bitField0_ & ~0x00020000);
+ robotAngle_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int systemError_ ;
+ /**
+ * int32 SystemError = 19;
+ * @return The systemError.
+ */
+ @java.lang.Override
+ public int getSystemError() {
+ return systemError_;
+ }
+ /**
+ * int32 SystemError = 19;
+ * @param value The systemError to set.
+ * @return This builder for chaining.
+ */
+ public Builder setSystemError(int value) {
+
+ systemError_ = value;
+ bitField0_ |= 0x00040000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 SystemError = 19;
+ * @return This builder for chaining.
+ */
+ public Builder clearSystemError() {
+ bitField0_ = (bitField0_ & ~0x00040000);
+ systemError_ = 0;
+ onChanged();
+ return this;
+ }
+
// @@protoc_insertion_point(builder_scope:IV_struct_define)
}
@@ -1429,7 +1795,7 @@ public final class BspIV {
descriptor;
static {
java.lang.String[] descriptorData = {
- "\n\014bsp_IV.proto\"\244\003\n\020IV_struct_define\022\034\n\024R" +
+ "\n\014bsp_IV.proto\"\213\004\n\020IV_struct_define\022\034\n\024R" +
"obot_Move_AutoSpeed\030\001 \001(\005\022\036\n\026Robot_Move_" +
"ManualSpeed\030\002 \001(\005\022\035\n\025Robot_CurrentPositi" +
"on\030\003 \001(\005\022\027\n\017Robot_AngleRoll\030\004 \001(\005\022\023\n\013Rob" +
@@ -1439,8 +1805,11 @@ public final class BspIV {
"ft\030\t \001(\005\022\033\n\023Robot_Current_Right\030\n \001(\005\022\030\n" +
"\020Robot_Error_Left\030\013 \001(\005\022\031\n\021Robot_Error_R" +
"ight\030\014 \001(\005\022\037\n\027Robot_Compensation_Left\030\r " +
- "\001(\005\022 \n\030Robot_Compensation_Right\030\016 \001(\005B \n" +
- "\034com.example.fivewheel.modelsP\000b\006proto3"
+ "\001(\005\022 \n\030Robot_Compensation_Right\030\016 \001(\005\022\023\n" +
+ "\013Robot_RESET\030\017 \001(\005\022\021\n\tTimeStamp\030\020 \001(\003\022\024\n" +
+ "\014RobotRestart\030\021 \001(\005\022\022\n\nRobotAngle\030\022 \001(\005\022" +
+ "\023\n\013SystemError\030\023 \001(\005B \n\034com.example.five" +
+ "wheel.modelsP\000b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
@@ -1451,7 +1820,7 @@ public final class BspIV {
internal_static_IV_struct_define_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_IV_struct_define_descriptor,
- new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", "RobotCompensationLeft", "RobotCompensationRight", });
+ new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", "RobotCompensationLeft", "RobotCompensationRight", "RobotRESET", "TimeStamp", "RobotRestart", "RobotAngle", "SystemError", });
descriptor.resolveAllFeaturesImmutable();
}
diff --git a/app/src/main/java/com/example/fivewheel/models/BspPV.java b/app/src/main/java/com/example/fivewheel/models/BspPV.java
index d04b85e..616fae8 100644
--- a/app/src/main/java/com/example/fivewheel/models/BspPV.java
+++ b/app/src/main/java/com/example/fivewheel/models/BspPV.java
@@ -46,6 +46,38 @@ public final class BspPV {
* @return The robotManualSpeedBase.
*/
double getRobotManualSpeedBase();
+
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ int getRobotLaneChangeDirection();
+
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ int getRobotForce();
+
+ /**
+ *
+ * 上位机发送下来的时间戳
+ *
+ *
+ * int64 TimeStamp = 6;
+ * @return The timeStamp.
+ */
+ long getTimeStamp();
+
+ /**
+ *
+ * 上位机接收到单片机发送的Restart信号
+ *
+ *
+ * int32 RobotRestartAccepted = 7;
+ * @return The robotRestartAccepted.
+ */
+ int getRobotRestartAccepted();
}
/**
* Protobuf type {@code PV_struct_define}
@@ -117,6 +149,58 @@ public final class BspPV {
return robotManualSpeedBase_;
}
+ public static final int ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER = 4;
+ private int robotLaneChangeDirection_ = 0;
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ @java.lang.Override
+ public int getRobotLaneChangeDirection() {
+ return robotLaneChangeDirection_;
+ }
+
+ public static final int ROBOT_FORCE_FIELD_NUMBER = 5;
+ private int robotForce_ = 0;
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ @java.lang.Override
+ public int getRobotForce() {
+ return robotForce_;
+ }
+
+ public static final int TIMESTAMP_FIELD_NUMBER = 6;
+ private long timeStamp_ = 0L;
+ /**
+ *
+ * 上位机发送下来的时间戳
+ *
+ *
+ * int64 TimeStamp = 6;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+
+ public static final int ROBOTRESTARTACCEPTED_FIELD_NUMBER = 7;
+ private int robotRestartAccepted_ = 0;
+ /**
+ *
+ * 上位机接收到单片机发送的Restart信号
+ *
+ *
+ * int32 RobotRestartAccepted = 7;
+ * @return The robotRestartAccepted.
+ */
+ @java.lang.Override
+ public int getRobotRestartAccepted() {
+ return robotRestartAccepted_;
+ }
+
private byte memoizedIsInitialized = -1;
@java.lang.Override
public final boolean isInitialized() {
@@ -140,6 +224,18 @@ public final class BspPV {
if (java.lang.Double.doubleToRawLongBits(robotManualSpeedBase_) != 0) {
output.writeDouble(3, robotManualSpeedBase_);
}
+ if (robotLaneChangeDirection_ != 0) {
+ output.writeInt32(4, robotLaneChangeDirection_);
+ }
+ if (robotForce_ != 0) {
+ output.writeInt32(5, robotForce_);
+ }
+ if (timeStamp_ != 0L) {
+ output.writeInt64(6, timeStamp_);
+ }
+ if (robotRestartAccepted_ != 0) {
+ output.writeInt32(7, robotRestartAccepted_);
+ }
getUnknownFields().writeTo(output);
}
@@ -161,6 +257,22 @@ public final class BspPV {
size += com.google.protobuf.CodedOutputStream
.computeDoubleSize(3, robotManualSpeedBase_);
}
+ if (robotLaneChangeDirection_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, robotLaneChangeDirection_);
+ }
+ if (robotForce_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(5, robotForce_);
+ }
+ if (timeStamp_ != 0L) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt64Size(6, timeStamp_);
+ }
+ if (robotRestartAccepted_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(7, robotRestartAccepted_);
+ }
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
return size;
@@ -184,6 +296,14 @@ public final class BspPV {
if (java.lang.Double.doubleToLongBits(getRobotManualSpeedBase())
!= java.lang.Double.doubleToLongBits(
other.getRobotManualSpeedBase())) return false;
+ if (getRobotLaneChangeDirection()
+ != other.getRobotLaneChangeDirection()) return false;
+ if (getRobotForce()
+ != other.getRobotForce()) return false;
+ if (getTimeStamp()
+ != other.getTimeStamp()) return false;
+ if (getRobotRestartAccepted()
+ != other.getRobotRestartAccepted()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@@ -203,6 +323,15 @@ public final class BspPV {
hash = (37 * hash) + ROBOT_MANUALSPEEDBASE_FIELD_NUMBER;
hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
java.lang.Double.doubleToLongBits(getRobotManualSpeedBase()));
+ hash = (37 * hash) + ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotLaneChangeDirection();
+ hash = (37 * hash) + ROBOT_FORCE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotForce();
+ hash = (37 * hash) + TIMESTAMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ getTimeStamp());
+ hash = (37 * hash) + ROBOTRESTARTACCEPTED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotRestartAccepted();
hash = (29 * hash) + getUnknownFields().hashCode();
memoizedHashCode = hash;
return hash;
@@ -337,6 +466,10 @@ public final class BspPV {
robotChgLength_ = 0;
robotAutoSpeedBase_ = 0D;
robotManualSpeedBase_ = 0D;
+ robotLaneChangeDirection_ = 0;
+ robotForce_ = 0;
+ timeStamp_ = 0L;
+ robotRestartAccepted_ = 0;
return this;
}
@@ -379,6 +512,18 @@ public final class BspPV {
if (((from_bitField0_ & 0x00000004) != 0)) {
result.robotManualSpeedBase_ = robotManualSpeedBase_;
}
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.robotLaneChangeDirection_ = robotLaneChangeDirection_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.robotForce_ = robotForce_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.timeStamp_ = timeStamp_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.robotRestartAccepted_ = robotRestartAccepted_;
+ }
}
@java.lang.Override
@@ -402,6 +547,18 @@ public final class BspPV {
if (other.getRobotManualSpeedBase() != 0D) {
setRobotManualSpeedBase(other.getRobotManualSpeedBase());
}
+ if (other.getRobotLaneChangeDirection() != 0) {
+ setRobotLaneChangeDirection(other.getRobotLaneChangeDirection());
+ }
+ if (other.getRobotForce() != 0) {
+ setRobotForce(other.getRobotForce());
+ }
+ if (other.getTimeStamp() != 0L) {
+ setTimeStamp(other.getTimeStamp());
+ }
+ if (other.getRobotRestartAccepted() != 0) {
+ setRobotRestartAccepted(other.getRobotRestartAccepted());
+ }
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
@@ -443,6 +600,26 @@ public final class BspPV {
bitField0_ |= 0x00000004;
break;
} // case 25
+ case 32: {
+ robotLaneChangeDirection_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 40: {
+ robotForce_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 40
+ case 48: {
+ timeStamp_ = input.readInt64();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 48
+ case 56: {
+ robotRestartAccepted_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 56
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
@@ -556,6 +733,158 @@ public final class BspPV {
return this;
}
+ private int robotLaneChangeDirection_ ;
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ @java.lang.Override
+ public int getRobotLaneChangeDirection() {
+ return robotLaneChangeDirection_;
+ }
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @param value The robotLaneChangeDirection to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotLaneChangeDirection(int value) {
+
+ robotLaneChangeDirection_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotLaneChangeDirection() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ robotLaneChangeDirection_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotForce_ ;
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ @java.lang.Override
+ public int getRobotForce() {
+ return robotForce_;
+ }
+ /**
+ * int32 Robot_Force = 5;
+ * @param value The robotForce to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotForce(int value) {
+
+ robotForce_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Force = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotForce() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ robotForce_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private long timeStamp_ ;
+ /**
+ *
+ * 上位机发送下来的时间戳
+ *
+ *
+ * int64 TimeStamp = 6;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+ /**
+ *
+ * 上位机发送下来的时间戳
+ *
+ *
+ * int64 TimeStamp = 6;
+ * @param value The timeStamp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setTimeStamp(long value) {
+
+ timeStamp_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 上位机发送下来的时间戳
+ *
+ *
+ * int64 TimeStamp = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearTimeStamp() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ timeStamp_ = 0L;
+ onChanged();
+ return this;
+ }
+
+ private int robotRestartAccepted_ ;
+ /**
+ *
+ * 上位机接收到单片机发送的Restart信号
+ *
+ *
+ * int32 RobotRestartAccepted = 7;
+ * @return The robotRestartAccepted.
+ */
+ @java.lang.Override
+ public int getRobotRestartAccepted() {
+ return robotRestartAccepted_;
+ }
+ /**
+ *
+ * 上位机接收到单片机发送的Restart信号
+ *
+ *
+ * int32 RobotRestartAccepted = 7;
+ * @param value The robotRestartAccepted to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotRestartAccepted(int value) {
+
+ robotRestartAccepted_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 上位机接收到单片机发送的Restart信号
+ *
+ *
+ * int32 RobotRestartAccepted = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotRestartAccepted() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ robotRestartAccepted_ = 0;
+ onChanged();
+ return this;
+ }
+
// @@protoc_insertion_point(builder_scope:PV_struct_define)
}
@@ -621,11 +950,13 @@ public final class BspPV {
descriptor;
static {
java.lang.String[] descriptorData = {
- "\n\014bsp_PV.proto\"g\n\020PV_struct_define\022\027\n\017Ro" +
- "bot_ChgLength\030\001 \001(\005\022\033\n\023Robot_AutoSpeedBa" +
- "se\030\002 \001(\001\022\035\n\025Robot_ManualSpeedBase\030\003 \001(\001B" +
- " \n\034com.example.fivewheel.modelsP\000b\006proto" +
- "3"
+ "\n\014bsp_PV.proto\"\321\001\n\020PV_struct_define\022\027\n\017R" +
+ "obot_ChgLength\030\001 \001(\005\022\033\n\023Robot_AutoSpeedB" +
+ "ase\030\002 \001(\001\022\035\n\025Robot_ManualSpeedBase\030\003 \001(\001" +
+ "\022\"\n\032Robot_LaneChange_Direction\030\004 \001(\005\022\023\n\013" +
+ "Robot_Force\030\005 \001(\005\022\021\n\tTimeStamp\030\006 \001(\003\022\034\n\024" +
+ "RobotRestartAccepted\030\007 \001(\005B \n\034com.exampl" +
+ "e.fivewheel.modelsP\000b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
@@ -636,7 +967,7 @@ public final class BspPV {
internal_static_PV_struct_define_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_PV_struct_define_descriptor,
- new java.lang.String[] { "RobotChgLength", "RobotAutoSpeedBase", "RobotManualSpeedBase", });
+ new java.lang.String[] { "RobotChgLength", "RobotAutoSpeedBase", "RobotManualSpeedBase", "RobotLaneChangeDirection", "RobotForce", "TimeStamp", "RobotRestartAccepted", });
descriptor.resolveAllFeaturesImmutable();
}
diff --git a/app/src/main/java/com/example/fivewheel/services/CommunicationMethond.java b/app/src/main/java/com/example/fivewheel/services/CommunicationMethond.java
new file mode 100644
index 0000000..a2e79aa
--- /dev/null
+++ b/app/src/main/java/com/example/fivewheel/services/CommunicationMethond.java
@@ -0,0 +1,6 @@
+package com.example.fivewheel.services;
+
+
+public enum CommunicationMethond {
+ Wireless, Wired
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/fivewheel/services/DataExchangeHelper.java b/app/src/main/java/com/example/fivewheel/services/DataExchangeHelper.java
new file mode 100644
index 0000000..03a9073
--- /dev/null
+++ b/app/src/main/java/com/example/fivewheel/services/DataExchangeHelper.java
@@ -0,0 +1,154 @@
+package com.example.fivewheel.services;
+
+import com.example.fivewheel.models.BspIV;
+import com.example.fivewheel.models.BspPV;
+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[18] = (short) byteArray.length;
+ //将数据转为小端发送
+ for (int i = 0; i < modifyHoldingRegisterNum; i++) {
+
+
+ ModbusRtuSlaveService.holdingRegisters[19 + 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;
+ }
+ }
+}
diff --git a/app/src/main/java/com/example/fivewheel/services/ErrorDeocdeHelper.java b/app/src/main/java/com/example/fivewheel/services/ErrorDeocdeHelper.java
new file mode 100644
index 0000000..1204604
--- /dev/null
+++ b/app/src/main/java/com/example/fivewheel/services/ErrorDeocdeHelper.java
@@ -0,0 +1,66 @@
+package com.example.fivewheel.services;
+
+
+import com.example.fivewheel.models.BspError;
+
+public class ErrorDeocdeHelper {
+
+ //private static Map flagMap = new HashMap<>();
+
+// public static void AddMap(String errorName, Integer bitPosition)
+// {
+// flagMap.put(errorName,bitPosition);
+// }
+ private static String ErrorResult;
+ private static String addErrorResult;
+ public static String ErrorDeocde(int data)
+ {
+ ErrorResult="";
+ // 循环遍历 Map
+// for (Map.Entry 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;
+ }
+
+
+
+}
diff --git a/app/src/main/java/com/example/fivewheel/services/ModbusRtuSlaveService.java b/app/src/main/java/com/example/fivewheel/services/ModbusRtuSlaveService.java
new file mode 100644
index 0000000..0291bfa
--- /dev/null
+++ b/app/src/main/java/com/example/fivewheel/services/ModbusRtuSlaveService.java
@@ -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;
+ }
+
+
+}
diff --git a/app/src/main/java/com/example/fivewheel/services/ReceiivedIVHandler.java b/app/src/main/java/com/example/fivewheel/services/ReceiivedIVHandler.java
new file mode 100644
index 0000000..1c3d2bb
--- /dev/null
+++ b/app/src/main/java/com/example/fivewheel/services/ReceiivedIVHandler.java
@@ -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());
+ }
+ });
+
+ }
+
+}
diff --git a/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java b/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
index 2e38972..2306a3c 100644
--- a/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
+++ b/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
@@ -1,5 +1,6 @@
package com.example.fivewheel.services;
+
import android.app.PendingIntent;
import android.content.BroadcastReceiver;
import android.content.Context;
@@ -15,10 +16,9 @@ import android.os.Looper;
import androidx.core.content.ContextCompat;
+
import com.example.fivewheel.BuildConfig;
-import com.example.fivewheel.MainActivity;
-import com.example.fivewheel.models.RobotData;
-import com.example.fivewheel.viewmodels.MainViewModel;
+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;
@@ -28,23 +28,15 @@ 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 MainActivity MainActivity;
- //sserial port part start
-
+ 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;
@@ -52,7 +44,8 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
private final int READ_WAIT_MILLIS = 100;
private String PortNameContians = "SILICON";/**/
// private static String PortNameContians="FTD";
- private int baudRate = 57600;
+ //private int baudRate = 115200;
+ private int baudRate = 38400;
private boolean withIoManager = true;
private BroadcastReceiver broadcastReceiver;
@@ -77,10 +70,6 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
mainLooper = new Handler(Looper.getMainLooper());
_receiveBufferlist = new ArrayList();
}
-
- /*
- * Serial
- */
@Override
public void onNewData(byte[] data) {
status("new data");
@@ -97,21 +86,21 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
disconnect();
});
}
-
- /*
- * Serial + UI
- */
-
public void connect() {
UsbDevice device = null;
UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
for (UsbDevice v : usbManager.getDeviceList().values()) {
- status(v.getManufacturerName().toUpperCase());
- if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+ // status(v.getManufacturerName().toUpperCase());
+
+ if (v.getVendorId() == 6790) {
device = v;
break;
}
+// if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+// device = v;
+// break;
+// }
}
if (device == null) {
@@ -153,7 +142,6 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
} else {
status("connection failed: open failed");
}
-
return;
}
@@ -172,11 +160,7 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
usbIoManager.start();
}
- //status("connected");
connected = true;
- // _serialPortSwitch.setChecked(true);
- //switch set true
-
} catch (Exception e) {
status("connection failed: " + e.getMessage());
disconnect();
@@ -212,13 +196,10 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
}
return bytes;
}
-
boolean StartCountDown = false;
-
- // byte _receivedData
private void receive(byte[] data) {
- status("read data");
+ // status("read data");
for (int i = 0; i < data.length; i++) {
_receiveBufferlist.add(data[i]);
}
@@ -227,32 +208,19 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
if (StartCountDown == false)//从收到第一个数据开始计时
{
StartCountDown = true;
- new CountDownTimer(50, 10) {
+ new CountDownTimer(5, 5) {
public void onTick(long millisUntilFinished) {
-
}
-
-
public void onFinish() {
status("read finished");
- try {
-
- decodeRceive(listTobyte(_receiveBufferlist));
-
- }
- catch (Exception ignored)
- {
- status(ignored.getMessage());
- }
+ decodeRceive(listTobyte(_receiveBufferlist));
_receiveBufferlist.clear();
StartCountDown = false;
}
}.start();
}
-
-
}
void status(String str) {
@@ -265,41 +233,47 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
// mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
- // com.example.removemarineanimals.MainActivity.mainBinding.message.setText(str);
+ // MainActivity.mainBinding.message.setText(str);
}
+ int Index = 0;
+
+
private void decodeRceive(byte[] data) {
try {
+ MainActivity.USBSerialPortReceivedTimeCounter=0;//计算时间 归零
- 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 (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
- 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 - 2];
- System.arraycopy(data, 2, bytes, 0, data.length - 2);
- RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(bytes);
- //RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(data);
- status("received data");
- if (_dataTrans != null) {
+ DataExchangeHelper.setModbusPVValues( MainActivity._toSendPV);
+ } else if (ModbusRtuSlaveService.processModbusRequest(data, data.length) == 0x10) {
+ BspIV.IV_struct_define iv = DataExchangeHelper.getIVByModbus();
+
+ ReceiivedIVHandler.HandleIV(MainActivity,iv);
- MainViewModel.mainBinding.rFAngleRoll.setText(String.valueOf(_dataTrans.getRFAngleRoll()));
- }
}
+
} 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() {
@@ -329,10 +303,8 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
// _serialPortSwitch.setChecked(false);
disconnect();
}
-
}
-
public void SendData(byte[] data) {
if (connected) {
try {
diff --git a/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java b/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
index 14b26de..bf4b9f8 100644
--- a/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
+++ b/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
@@ -13,10 +13,8 @@ public class ttySerialPortHelper {
private static final String TAG = "ttySerialPortHelper";
private static SerialHelper serialHelper;
private static SerialPortFinder serialPortFinder;
+ public static boolean IsAllButtonSendBack = false;
- private static int restoreOriginalError(int errorFlag) {
- return Integer.reverseBytes(errorFlag);
- }
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"};
@@ -24,17 +22,15 @@ public class ttySerialPortHelper {
final String[] stopbits = new String[]{"1", "2"};
final String[] flowcons = new String[]{"NONE", "RTS/CTS", "XON/XOFF"};
- public static int[] decodedCH=new int[17];
+ public static int[] decodedCH = new int[17];
- public static void Open()
- {
+ public static void Open() {
try {
- // serialPortFinder = new SerialPortFinder();
+ // serialPortFinder = new SerialPortFinder();
//serialHelper = new SerialHelper("dev/ttyHS0", 115200)//MK32
serialHelper = new SerialHelper("/dev/ttyHS3", 115200) //UR7
{
-
@Override
protected void onDataReceived(ComBean comBean) {
@@ -42,178 +38,79 @@ public class ttySerialPortHelper {
@Override
public void run() {
// 更新 UI 的代码
- byte[] data=comBean.bRec;
- // if (data[0] == 0x55 && data[1] == 0x55) {
-// byte[] bytes = new byte[data.length - 2];
-// System.arraycopy(data, 2, bytes, 0, data.length - 2);
-// RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(bytes);
-//
-// if (_dataTrans != null) {
-// MainViewModel.mainBinding.rFAngleDepth.setText(String.valueOf(_dataTrans.getRFDepth()));
-// MainViewModel.mainBinding.rFAnglePitch.setText(String.valueOf(_dataTrans.getRFAnglePitch()));
-// MainViewModel.mainBinding.rFAngleRoll.setText(String.valueOf(_dataTrans.getRFAngleRoll()));
-// MainViewModel.mainBinding.rFAngleYaw.setText(String.valueOf(_dataTrans.getRFAngleYaw()));
-// }
-// }
-
- try {
-
- byte[] crcbytes = new byte[data.length - 2];
- System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
- byte[] crc=ModbusCRC.calculateCRC(crcbytes);
- // status(bytesToHex(data));
-
- if(data[data.length-2]==(byte)(crc[1]&0xff) && data[data.length-1]==(byte)(crc[0] & 0xff))
- {
-
- if ((data[0] == 0x55) && (data[1] == 0x55) )
- {
-
- byte[] bytes = new byte[data.length - 4];
- System.arraycopy(data, 2, bytes, 0, data.length - 4);
-
- BspIV.IV_struct_define _toReceiveIV=BspIV.IV_struct_define.parseFrom(bytes);
-
-
- if (_toReceiveIV!=null)
- {
- // MainActivity.mainBinding.rxRobotSpeed.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
-
- MainActivity.mainBinding.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);
- }
-
-
-
-
- }
- }
- }
-
- } catch (Exception e) {
-
+ 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];
+ }
+
+// 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");
+ } catch (Exception exception) {
+ Log.d(TAG, "Data Received");
}
}
- private static int index =0;
+
+ private static int index = 0;
public static void SendData(byte[] data) {
- serialHelper.send( data); // 发送byte[]
+ serialHelper.send(data); // 发送byte[]
}
- public static byte[] getAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x02,(byte)(0xB5&0xff),(byte)(0xC0&0xff)};
- public static byte[] stopgetAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x00,(byte)(0xf7&0xff),(byte)(0xe0&0xff)};
- public static void sendTxt(String sTxt)
- {
- serialHelper.sendTxt( sTxt); // 发送byte[]
+ 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.send(byte[] bOutArray); // 发送byte[]
//serialHelper.sendHex(String sHex); // 发送Hex
//serialHelper.sendTxt(String sTxt); // 发送ASCII
public static void onDestroy() {
diff --git a/app/src/main/java/generate_java.bat b/app/src/main/java/generate_java.bat
index 269aa20..94b6b30 100644
--- a/app/src/main/java/generate_java.bat
+++ b/app/src/main/java/generate_java.bat
@@ -1,6 +1,2 @@
-cd /d D:\Android_studio_workspace\RemoveMarineAnimals\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
+ protoc --java_out . *.proto
diff --git a/app/src/main/res/drawable/background.png b/app/src/main/res/drawable/background.png
new file mode 100644
index 0000000..8466de6
Binary files /dev/null and b/app/src/main/res/drawable/background.png differ
diff --git a/app/src/main/res/drawable/blue_rounded_rectangle.xml b/app/src/main/res/drawable/blue_rounded_rectangle.xml
new file mode 100644
index 0000000..ec98fab
--- /dev/null
+++ b/app/src/main/res/drawable/blue_rounded_rectangle.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/message_rounded_rectangle.png b/app/src/main/res/drawable/message_rounded_rectangle.png
new file mode 100644
index 0000000..68c1f0e
Binary files /dev/null and b/app/src/main/res/drawable/message_rounded_rectangle.png differ
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index 7150c7a..7242add 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -4,11 +4,6 @@
xmlns:tools="http://schemas.android.com/tools"
tools:context=".MainActivity">
-
-
-
- @null
- - @drawable/blue_rounded_rectangle
+
- @color/white
\ No newline at end of file
diff --git a/settings.gradle b/settings.gradle
index 6b2f8b4..103b1de 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -16,5 +16,5 @@ dependencyResolutionManagement {
}
}
-rootProject.name = "RemoveMarineAnimals"
+rootProject.name = "fivewheel"
include ':app'