From 45a7d685a881bff86bef6978b963ca981d7455fe Mon Sep 17 00:00:00 2001
From: "LIN\\54376" <543769318@qq.com>
Date: Mon, 12 Jan 2026 15:02:22 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8F=AA=E4=BF=9D=E7=95=99=E4=B8=80=E4=B8=AA?=
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---
 .gradle/config.properties                     |  2 +-
 .idea/deploymentTargetSelector.xml            |  4 +-
 .../com/example/fivewheel/MainActivity.java   | 87 ++++++++++++++++---
 app/src/main/res/layout/activity_main.xml     | 32 ++++++-
 4 files changed, 107 insertions(+), 18 deletions(-)

diff --git a/.gradle/config.properties b/.gradle/config.properties
index 1a5d426..2886330 100644
--- a/.gradle/config.properties
+++ b/.gradle/config.properties
@@ -1,2 +1,2 @@
-#Mon Dec 22 02:41:36 CST 2025
+#Thu Jan 08 07:06:27 CST 2026
 java.home=F\:\\Program Files\\Android\\Android Studio\\jbr
diff --git a/.idea/deploymentTargetSelector.xml b/.idea/deploymentTargetSelector.xml
index 009ef66..538de40 100644
--- a/.idea/deploymentTargetSelector.xml
+++ b/.idea/deploymentTargetSelector.xml
@@ -4,10 +4,10 @@
     <selectionStates>
       <SelectionState runConfigName="app">
         <option name="selectionMode" value="DROPDOWN" />
-        <DropdownSelection timestamp="2025-12-19T02:11:32.151250600Z">
+        <DropdownSelection timestamp="2025-12-23T01:25:16.652477600Z">
           <Target type="DEFAULT_BOOT">
             <handle>
-              <DeviceId pluginId="LocalEmulator" identifier="path=C:\Users\asus\.android\avd\Medium_Phone.avd" />
+              <DeviceId pluginId="Default" identifier="serial=d;connection=76beca8a" />
             </handle>
           </Target>
         </DropdownSelection>
diff --git a/app/src/main/java/com/example/fivewheel/MainActivity.java b/app/src/main/java/com/example/fivewheel/MainActivity.java
index 83d1a57..256914f 100644
--- a/app/src/main/java/com/example/fivewheel/MainActivity.java
+++ b/app/src/main/java/com/example/fivewheel/MainActivity.java
@@ -452,9 +452,16 @@ public class MainActivity extends AppCompatActivity {
 
         //设置自动工作按钮的点击监听器
         mainBinding.btnBindAutoWork.setOnClickListener(v -> {
-            Robot_AutoWork = 1;   // 标志位置 1
-            updateAutoWorkButtonStyle(); // 变色
-            saveOperationLog("开启自动工作模式");
+            if (Robot_AutoWork == 0) {
+                // 当前是停止状态 -> 切换为开启
+                Robot_AutoWork = 1;
+                saveOperationLog("开启自动工作模式");
+            } else {
+                // 当前是开启状态 -> 切换为停止（取消绑定）
+                Robot_AutoWork = 0;
+                saveOperationLog("停止自动工作模式");
+            }
+            updateAutoWorkButtonStyle(); // 更新按钮样式和文字
         });
 
 
@@ -498,14 +505,14 @@ public class MainActivity extends AppCompatActivity {
         deleteOldLogs();
 
         /* NodePlayer 播放视频区域*/
-        NodePlayer nodePlayer0 = new NodePlayer(this);
+        //NodePlayer nodePlayer0 = new NodePlayer(this);
         // NodePlayer   nodePlayer1=new NodePlayer(this);
 
         //String address0 = "rtsp://192.168.1.168:8554/0";
         // String address1 = "rtsp://192.168.1.169:8554/0";
 
         //String addressTest = "rtsp://rtspstream:yEhp9qzAqveM9kHIE7GcL@zephyr.rtsp.stream/movie";
-        String address0 = "rtsp://192.168.144.25:8554/main.264";
+        //String address0 = "rtsp://192.168.144.25:8554/main.264";
         /**/
         //VideoPlayerHelper.startVedio(+mainBinding.nodePlayerView0,nodePlayer0,address0);
         // VideoPlayerHelper.startVedio(mainBinding.nodePlayerView1,nodePlayer1,address1);
@@ -524,7 +531,6 @@ public class MainActivity extends AppCompatActivity {
         ModbusRtuSlaveService.ModbusRtuSlaveServiceIntialize(serialPortHelper);
     }
 
-
     int UARTSendCount = 0;
     public int USBSerialPortReceivedTimeCounter = 0;
 
@@ -534,6 +540,9 @@ public class MainActivity extends AppCompatActivity {
 
         serialPortHelper.onStart();
         UARTSendCount = 0;
+        if (timer == null) {
+            timer = new Timer();
+        }
         timer.schedule(new TimerTask() {
             @Override
             public void run() {
@@ -552,13 +561,25 @@ public class MainActivity extends AppCompatActivity {
                             ModbusRtuSlaveService.holdingRegisters[18]= 1;//在线
                         }
 
-
                         // 使用安全的发送值获取方法（只在编辑完成后发送新值）
+                        int chgLength = getSafeChgLengthForSending();
+                        double manualSpeed = getSafeManualSpeedForSending();
+                        double autoSpeed = getSafeAutoSpeedForSending();
+                        int force = getSafeForceForSending();
+
+                        // 在发送前进行范围限制（二次保障）
+                        chgLength = Math.max(0, Math.min(1000, chgLength));
+                        manualSpeed = Math.max(0, Math.min(30, manualSpeed));
+                        autoSpeed = Math.max(0, Math.min(30, autoSpeed));
+                        force = Math.max(300, Math.min(3000, force));
+
                         _toSendPV = _toSendPV.toBuilder()
-                                .setRobotChgLength(getSafeInt(mainBinding.tvRobotChgLength, 0))
-                                .setRobotAutoSpeedBase(getSafeDouble(mainBinding.tvRobotAutoSpeed, 0.0))
-                                .setRobotManualSpeedBase(getSafeDouble(mainBinding.tvRobotManualSpeed, 0.0))
-                                .setRobotForce(getSafeInt(mainBinding.tvRobotForce, 0))
+                                .setRobotChgLength(chgLength)
+                                .setRobotAutoSpeedBase(autoSpeed)
+                                .setRobotManualSpeedBase(manualSpeed)
+                                .setRobotLaneChangeDirection(laneChangeDirection)
+                                .setRobotForce(force)
+                                .setRobotAutoWork(Robot_AutoWork)
                                 .setTimeStamp(System.currentTimeMillis())
                                 .build();
 
@@ -574,6 +595,13 @@ public class MainActivity extends AppCompatActivity {
                             AndroidMCUCommunicationMethod = CommunicationMethond.Wired;
                         }
 
+                        // 根据当前的连接方式更新 UI 显示
+                        if (AndroidMCUCommunicationMethod == CommunicationMethond.Wired) {
+                            mainBinding.tvRobotConnect.setText("有线");
+                        } else {
+                            mainBinding.tvRobotConnect.setText("无线");
+                        }
+
                         if (AndroidMCUCommunicationMethod == CommunicationMethond.Wireless) {
 
                             //若sdk有数据返回，则停止发送
@@ -595,6 +623,34 @@ public class MainActivity extends AppCompatActivity {
                             if (ttySerialPortHelper.IsAllButtonSendBack == false) {
                                 ttySerialPortHelper.SendData(ttySerialPortHelper.getAllChData_50Hz);
                             }
+                        }else
+                        {
+                            //无线模式发送
+                            try {
+
+                                byte[] byteArray = _toSendPV.toByteArray();
+                                byte[] sendByteArray = new byte[byteArray.length + 4];
+                                byte[] sendByteArray3 = new byte[byteArray.length + 6];
+
+                                if (byteArray.length != 0) {
+                                    System.arraycopy(byteArray, 0, sendByteArray, 4, byteArray.length);
+                                }
+                                sendByteArray[0] = (byte) 0x55;
+                                sendByteArray[1] = (byte) 0x55;
+                                sendByteArray[2] = (byte) 0x01;
+                                sendByteArray[3] = (byte) 0x01;
+
+                                byte[] byteArray2 = ModbusCRC.calculateCRC(sendByteArray);
+
+                                System.arraycopy(sendByteArray, 0, sendByteArray3, 0, sendByteArray.length);
+                                System.arraycopy(byteArray2, 0, sendByteArray3, sendByteArray3.length - 2, 2);
+
+                                ttySerialPortHelper.SendData(sendByteArray3);
+
+                                runOnUiThread(() -> checkMotorErrors());
+                            } catch (Exception e) {
+                                android.util.Log.e("MainActivity", "Error in startSending timer task", e);
+                            }
                         }
 
 
@@ -604,7 +660,7 @@ public class MainActivity extends AppCompatActivity {
 
 
             }
-        }, 0, 250); // 延迟 0 毫秒，每隔 1000 毫秒执行一次
+        }, 0, 100); // 延迟 0 毫秒，每隔 1000 毫秒执行一次
 
     }
 
@@ -629,7 +685,7 @@ public class MainActivity extends AppCompatActivity {
     public void onResume() {
         super.onResume();
         serialPortHelper.onResume();
-
+       // startSending();
     }
 
     @Override
@@ -707,7 +763,6 @@ public class MainActivity extends AppCompatActivity {
                                 .setRobotLaneChangeDirection(laneChangeDirection)
                                 .setRobotForce(force)
                                 .setRobotAutoWork(Robot_AutoWork)
-                                .setTimeStamp(System.currentTimeMillis())
                                 .build();
 
 
@@ -785,11 +840,15 @@ public class MainActivity extends AppCompatActivity {
     //
     private void updateAutoWorkButtonStyle() {
         if (Robot_AutoWork == 1) {
+            // 已开启自动模式：显示高亮颜色，文字变为“取消”
+            mainBinding.btnBindAutoWork.setText("取消自动作业");
             mainBinding.btnBindAutoWork.setTextColor(
                     ContextCompat.getColor(this, R.color.mediumvioletred));
             mainBinding.btnBindAutoWork.setBackgroundResource(R.drawable.blue_rounded_rectangle);
 
         } else {
+            // 未开启自动模式：显示默认颜色，文字变为“绑定”
+            mainBinding.btnBindAutoWork.setText("绑定自动作业");
             mainBinding.btnBindAutoWork.setTextColor(
                     ContextCompat.getColor(this, R.color.deepskyblue));
             mainBinding.btnBindAutoWork.setBackgroundResource(R.drawable.blue_rounded_rectangle);
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index 8b601fc..c7f353a 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -40,7 +40,7 @@
                     android:layout_gravity="center"
                     android:columnCount="1"
                     android:orientation="vertical"
-                    android:rowCount="9">
+                    android:rowCount="10">
 
                     <!--机器人作业状态-->
                     <LinearLayout
@@ -320,6 +320,36 @@
                             android:textStyle="bold" />
                     </LinearLayout>
 
+                    <!--机器人连接方式-->
+                    <LinearLayout
+                        android:layout_width="match_parent"
+                        android:layout_height="0dp"
+                        android:layout_rowWeight="1"
+                        android:gravity="center"
+                        android:orientation="horizontal">
+
+                        <TextView
+                            android:layout_width="45dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginHorizontal="5dp"
+                            android:text="连  接"
+                            android:textColor="@color/midnightblue"
+                            android:textSize="14sp"
+                            android:textStyle="bold" />
+
+                        <TextView
+                            android:id="@+id/tvRobotConnect"
+                            android:layout_width="wrap_content"
+                            android:layout_height="wrap_content"
+                            android:layout_margin="1dp"
+                            android:layout_weight="1"
+                            android:gravity="center"
+                            android:text="0"
+                            android:textColor="@color/midnightblue"
+                            android:textSize="14sp"
+                            android:textStyle="bold" />
+                    </LinearLayout>
+
                     <!--左电机错误信息-->
                     <FrameLayout
                         android:id="@+id/mainViewErrMessageFrameLayout"