iterator = list.iterator();
- while (iterator.hasNext()) {
- bytes[i] = iterator.next();
- i++;
- }
- return bytes;
- }
-
- public int Counter = 1000;
- boolean StartCountDown = false;
-
- private void receive(byte[] data) {
-
- for (int i = 0; i < data.length; i++) {
- _receiveBufferlist.add(data[i]);
- }
-
- //decodeRceive(data);
- if (StartCountDown == false) {
- StartCountDown = true;
- new CountDownTimer(500, 500) {
- public void onTick(long millisUntilFinished) {
- // Used for formatting digit to be in 2 digits only
-
- }
-
- // When the task is over it will print 00:00:00 there
- public void onFinish() {
- decodeRceive(listTobyte(_receiveBufferlist));
- _receiveBufferlist.clear();
- StartCountDown = false;
- }
- }.start();
- }
-
-
- }
-
- private void decodeRceive(byte[] data) {
- try {
-
- } catch (
- Exception e) {
- //spn.append("exception:{e} ");
- }
- }
- void status(String str)
- {
- mainBinding.message.setText(str);
-// SpannableStringBuilder spn = new SpannableStringBuilder(str + '\r' + '\n');
-//
-// // spn.append(getTime());
-//
-// spn.setSpan(new ForegroundColorSpan(getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
-// receiveText.append(spn);
-// scrollView.fullScroll(ScrollView.FOCUS_DOWN);
- }
-}
diff --git a/app/src/main/java/com/example/fivewheel/MainActivity.java b/app/src/main/java/com/example/fivewheel/MainActivity.java
deleted file mode 100644
index 96a7f7e..0000000
--- a/app/src/main/java/com/example/fivewheel/MainActivity.java
+++ /dev/null
@@ -1,431 +0,0 @@
-package com.example.fivewheel;
-
-import android.content.Context;
-import android.content.SharedPreferences;
-import android.os.Bundle;
-import android.text.Editable;
-import android.text.TextWatcher;
-import android.view.inputmethod.InputMethodManager;
-import android.widget.EditText;
-
-import androidx.annotation.NonNull;
-import androidx.appcompat.app.AppCompatActivity;
-import androidx.databinding.DataBindingUtil;
-import androidx.lifecycle.ViewModelProvider;
-import androidx.lifecycle.ViewModelStoreOwner;
-
-import com.example.fivewheel.databinding.ActivityMainBinding;
-import com.example.fivewheel.models.BspPV;
-import com.example.fivewheel.models.RobotRMACM;
-import com.example.fivewheel.services.ModbusCRC;
-import com.example.fivewheel.services.VideoPlayerHelper;
-import com.example.fivewheel.services.ttySerialPortHelper;
-import com.example.fivewheel.viewmodels.MainViewModel;
-
-import java.util.Timer;
-import java.util.TimerTask;
-
-import cn.nodemedia.NodePlayer;
-
-
-
-public class MainActivity extends AppCompatActivity {
-
- public ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
- //USB 串口服务
- //public USBSerialPortHelper serialPortHelper;
- private BspPV.PV_struct_define _toSendPV;
-
- public RobotRMACM.RMACM robotRMACM;
- String RobotAutoSpeed;
- String RobotManualSpeed;
- String RobotChgLength;
- private static final String ALLOWED_CHARS = "0123456789.-+";
- /**
- * 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;
- }
- }
-
- // 整数输入框
- private void setupIntegerEditText(EditText editText) {
- editText.addTextChangedListener(new TextWatcher() {
- @Override public void beforeTextChanged(CharSequence s, int start, int count, int after) {}
- @Override public void onTextChanged(CharSequence s, int start, int before, int count) {}
- @Override
- public void afterTextChanged(Editable editable) {
- String text = editable.toString();
- // 防止输入小数点
- if (text.contains(".")) {
- text = text.replace(".", "");
- editText.setText(text);
- editText.setSelection(editText.getText().length());
- }
- }
- });
-
- editText.setOnFocusChangeListener((v, hasFocus) -> {
- if (!hasFocus) {
- String text = editText.getText().toString().trim();
- if (text.isEmpty()) {
- editText.setText("0");
- }
-
- }else {
- // 获得焦点时再显示光标
- editText.setCursorVisible(true);
- }
-
-
- });
- // 🔑 新增：编辑完成时自动隐藏光标
- editText.setOnEditorActionListener((v, actionId, event) -> {
- editText.setCursorVisible(false);
- editText.clearFocus();
- InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE);
- if (imm != null) {
- imm.hideSoftInputFromWindow(editText.getWindowToken(), 0);
- }
- return false;
- });
- }
-
- // 小数输入框
- private void setupDecimalEditText(EditText editText) {
- editText.addTextChangedListener(new TextWatcher() {
- @Override public void beforeTextChanged(CharSequence s, int start, int count, int after) {}
- @Override public void onTextChanged(CharSequence s, int start, int before, int count) {}
- @Override
- public void afterTextChanged(Editable editable) {
- String text = editable.toString();
- // 如果只输入了 "."
- if (text.equals(".")) {
- editText.setText("0.");
- editText.setSelection(editText.getText().length());
- }
- }
- });
-
- editText.setOnFocusChangeListener((v, hasFocus) -> {
- if (!hasFocus) {
- String text = editText.getText().toString().trim();
- if (text.isEmpty()) {
- editText.setText("0");
- }
- }else {
- // 获得焦点时再显示光标
- editText.setCursorVisible(true);
- }
- });
- // 🔑 新增：编辑完成时自动隐藏光标
- editText.setOnEditorActionListener((v, actionId, event) -> {
- editText.setCursorVisible(false);
- editText.clearFocus();
- InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE);
- if (imm != null) {
- imm.hideSoftInputFromWindow(editText.getWindowToken(), 0);
- }
- return false;
- });
- }
-
- // 安全取值，防止 Timer 崩溃
- private int getSafeInt(@NonNull EditText editText, int defaultValue) {
- String text = editText.getText().toString().trim();
- if (text.isEmpty()) return defaultValue;
- try {
- return Integer.parseInt(text);
- } catch (NumberFormatException e) {
- return defaultValue;
- }
- }
-
- private double getSafeDouble(@NonNull EditText editText, double defaultValue) {
- String text = editText.getText().toString().trim();
- if (text.isEmpty()) return defaultValue;
- try {
- return Double.parseDouble(text);
- } catch (NumberFormatException e) {
- return defaultValue;
- }
- }
-
-
-
- Timer timer = new Timer();
-
- //--
- public MainActivity() {
- robotRMACM = RobotRMACM.RMACM.newBuilder().setRobotSpeed(0).setLightBrightness(0).build();
- }
-
-
-
- @Override
- protected void onCreate(Bundle savedInstanceState) {
- super.onCreate(savedInstanceState);
-
-
- //MainViewModel binding region
- mainBinding= DataBindingUtil.setContentView(this,R.layout.activity_main);
- MainViewModel vm=new ViewModelProvider((ViewModelStoreOwner) this).get(MainViewModel.class);
- MainViewModel.mainBinding=mainBinding;
-
- mainBinding.setVm(vm);
-
- // 整数输入框
- setupIntegerEditText(mainBinding.tvRobotChgLength);
- setupIntegerEditText(mainBinding.tvRobotManualSpeed);
- setupIntegerEditText(mainBinding.tvRobotAutoSpeed);
-
- // 小数输入框
-// setupDecimalEditText(mainBinding.tvRobotLeftCompensation);
- // setupDecimalEditText(mainBinding.tvRobotRightCompensation);
-
-
- // 保存数据
- String Str_RobotChgLength = "100";
- String Str_RobotLeftCompensation = "0";
- String Str_RobotRightCompensation = "0";
- String Str_RobotManualSpeed = "8";
- String Str_RobotAutoSpeed = "20";
-
-// SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE);
-//
-// Str_RobotChgLength = sharedPreferences.getString("RobotChgLength","");
-// Str_RobotLeftCompensation = sharedPreferences.getString("RobotLeftCompensation","");
-// Str_RobotRightCompensation = sharedPreferences.getString("RobotRightCompensation","");
-// Str_RobotManualSpeed = sharedPreferences.getString("RobotManualSpeed","");
-// Str_RobotAutoSpeed = sharedPreferences.getString("RobotAutoSpeed","");
-
- mainBinding.rFAngleRoll.setText(String.valueOf(0));
- mainBinding.tvRobotError.setText(String.valueOf(0));
- mainBinding.tvRobotChgLength.setText(Str_RobotChgLength);
- // mainBinding.tvRobotLeftCompensation.setText(Str_RobotLeftCompensation);
- // mainBinding.tvRobotRightCompensation.setText(Str_RobotRightCompensation);
- mainBinding.tvForce.setText(String.valueOf(0));
- mainBinding.tvRobotManualSpeed.setText(Str_RobotManualSpeed);
- mainBinding.tvRobotAutoSpeed.setText(Str_RobotAutoSpeed);
- mainBinding.tvRobotCurrent.setText(String.valueOf(0));
- mainBinding.tvDynamometer.setText(String.valueOf(0));
-
- /* USB串口 控制区域*/
- ttySerialPortHelper.MainActivity = this;
- ttySerialPortHelper.Open();
-
- /* NodePlayer 播放视频区域*/
- NodePlayer nodePlayer0=new NodePlayer(this);
- // NodePlayer nodePlayer1=new NodePlayer(this);
-
- //String address0 = "rtsp://192.168.1.168:8554/0";
- // String address1 = "rtsp://192.168.1.169:8554/0";
-
- //String addressTest = "rtsp://rtspstream:yEhp9qzAqveM9kHIE7GcL@zephyr.rtsp.stream/movie";
- String address0 = "rtsp://192.168.144.25:8554/main.264";
- /**/
- VideoPlayerHelper.startVedio(mainBinding.nodePlayerView0,nodePlayer0,address0);
- // VideoPlayerHelper.startVedio(mainBinding.nodePlayerView1,nodePlayer1,address1);
- //VideoPlayerHelper.startVedio(mainBinding.nodePlayerView1,nodePlayer1,addressTest);
-
-
-
- timer.schedule(new TimerTask() {
- @Override
- public void run() {
-// byte[] sendbyteArray=new byte[4];
-// sendbyteArray[0]=(byte) 0xff;
-// sendbyteArray[1]=(byte) 0xff;
-// sendbyteArray[2]=(byte) robotRMACM.getLightBrightness();
-// sendbyteArray[3]=(byte) robotRMACM.getRobotSpeed();
-// mainBinding.tvRobotSpeed22.getText();
-//
-// ttySerialPortHelper.SendData(sendbyteArray);
-
-
-
- _toSendPV = BspPV.PV_struct_define.newBuilder()
- .setRobotChgLength(getSafeInt(mainBinding.tvRobotChgLength, 0))
- .setRobotAutoSpeedBase(getSafeDouble(mainBinding.tvRobotAutoSpeed, 0.0))
- .setRobotManualSpeedBase(getSafeDouble(mainBinding.tvRobotManualSpeed, 0.0))
- .build();
-
-
-
-
-
- byte[] byteArray = _toSendPV.toByteArray();
- byte[] sendbyteArray = new byte[byteArray.length + 4];
- byte[] sendbyteArray3 = new byte[byteArray.length + 6];
- if (byteArray.length != 0) {
- System.arraycopy(byteArray, 0, sendbyteArray, 4, byteArray.length);
- }
- sendbyteArray[0] = (byte) 0x55;
- sendbyteArray[1] = (byte) 0x55;
- sendbyteArray[2] = (byte) 0x01;
- sendbyteArray[3] = (byte) 0x01;
-
- byte[] byteArray2 = ModbusCRC.calculateCRC(sendbyteArray);
-
- System.arraycopy(sendbyteArray, 0, sendbyteArray3, 0, sendbyteArray.length);
-
- System.arraycopy(byteArray2, 0, sendbyteArray3, sendbyteArray3.length - 2, 2);
-
- ttySerialPortHelper.SendData(sendbyteArray3);
- }
- }, 0, 1000); // 延迟 0 毫秒，每隔 1000 毫秒执行一次
-
-
-
- }
-
-
-
- int testCounter=0;
- // Create a Timer instance
-
- @Override
- protected void onStart() {
- super.onStart();
-
- // serialPortHelper.onStart();
-
- }
- @Override
- public void onStop()
- {
- // serialPortHelper.onStop();
- //获取SharedPreferences对象
-
- SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE);
- SharedPreferences.Editor editor =sharedPreferences.edit();
-
- editor.putString("RobotChgLength", String.valueOf(mainBinding.tvRobotChgLength.getText()));
- editor.putString("RobotLeftCompensation", String.valueOf(mainBinding.tvRobotLeftCompensation.getText()));
- editor.putString("RobotRightCompensation", String.valueOf(mainBinding.tvRobotRightCompensation.getText()));
- editor.putString("RobotManualSpeed", String.valueOf(mainBinding.tvRobotManualSpeed.getText()));
- editor.putString("RobotAutoSpeed", String.valueOf(mainBinding.tvRobotAutoSpeed.getText()));
- editor.apply();
- // 保存数据
-
- super.onStop();
-
- }
-
- @Override
- public void onResume()
- {
- super.onResume();
- // serialPortHelper.onResume();
- startSending();
- }
-
- @Override
- public void onPause()
- {
- // serialPortHelper.onPause();
-
- SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE);
- SharedPreferences.Editor editor =sharedPreferences.edit();
-
- editor.putString("RobotChgLength", String.valueOf(mainBinding.tvRobotChgLength.getText()));
- editor.putString("RobotLeftCompensation", String.valueOf(mainBinding.tvRobotLeftCompensation.getText()));
- editor.putString("RobotRightCompensation", String.valueOf(mainBinding.tvRobotRightCompensation.getText()));
- editor.putString("RobotManualSpeed", String.valueOf(mainBinding.tvRobotManualSpeed.getText()));
- editor.putString("RobotAutoSpeed", String.valueOf(mainBinding.tvRobotAutoSpeed.getText()));
- editor.apply();
- stopSending();
- super.onPause();
- }
- @Override
- protected void onDestroy() {
- super.onDestroy();
- if (timer != null) {
- timer.cancel();
- }
- }
- private TimerTask sendTask;
- private void startSending() {
- if (timer == null) {
- timer = new Timer();
- sendTask = new TimerTask() {
- @Override
- public void run() {
- _toSendPV = BspPV.PV_struct_define.newBuilder()
- .setRobotChgLength(Integer.parseInt(mainBinding.tvRobotChgLength.getText().toString()))
- .setRobotAutoSpeedBase(Double.parseDouble(mainBinding.tvRobotAutoSpeed.getText().toString()))
- .setRobotManualSpeedBase(Double.parseDouble(mainBinding.tvRobotManualSpeed.getText().toString()))
- .build();
-
- byte[] byteArray = _toSendPV.toByteArray();
- byte[] sendbyteArray = new byte[byteArray.length + 4];
- byte[] sendbyteArray3 = new byte[byteArray.length + 6];
-
- if (byteArray.length != 0) {
- System.arraycopy(byteArray, 0, sendbyteArray, 4, byteArray.length);
- }
- sendbyteArray[0] = (byte) 0x55;
- sendbyteArray[1] = (byte) 0x55;
- sendbyteArray[2] = (byte) 0x01;
- sendbyteArray[3] = (byte) 0x01;
-
- byte[] byteArray2 = ModbusCRC.calculateCRC(sendbyteArray);
-
- System.arraycopy(sendbyteArray, 0, sendbyteArray3, 0, sendbyteArray.length);
- System.arraycopy(byteArray2, 0, sendbyteArray3, sendbyteArray3.length - 2, 2);
-
- ttySerialPortHelper.SendData(sendbyteArray3);
- }
- };
- timer.schedule(sendTask, 0, 1000); // 1 秒一次
- }
- }
- private void stopSending() {
- if (timer != null) {
- timer.cancel();
- timer = null;
- }
- if (sendTask != null) {
- sendTask.cancel();
- sendTask = null;
- }
- }
-/*
- private void saveMotorError(String motorSide, String errorMsg) {
- new Thread(() -> {
- AppDatabase db = AppDatabase.getInstance(this);
- RobotLog log = new RobotLog();
- log.type = "error";
- log.message = motorSide + " 电机报错: " + errorMsg;
- log.time = System.currentTimeMillis();
- db.robotLogDao().insert(log);
- }).start();
- }
-*/
-
-}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/fivewheel/models/BspError.java b/app/src/main/java/com/example/fivewheel/models/BspError.java
deleted file mode 100644
index 1164c53..0000000
--- a/app/src/main/java/com/example/fivewheel/models/BspError.java
+++ /dev/null
@@ -1,815 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_Error.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.fivewheel.models;
-
-public final class BspError {
- private BspError() {}
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- BspError.class.getName());
- }
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- /**
- * Protobuf enum {@code ComError}
- */
- public enum ComError
- implements com.google.protobuf.ProtocolMessageEnum {
- /**
- * MK32_SBus = 0;
- */
- MK32_SBus(0),
- /**
- * TL720D = 1;
- */
- TL720D(1),
- /**
- * Force_sensor = 2;
- */
- Force_sensor(2),
- /**
- * ZQ_LeftMotor = 3;
- */
- ZQ_LeftMotor(3),
- /**
- * ZQ_RightMotor = 4;
- */
- ZQ_RightMotor(4),
- /**
- * DMAKE_1 = 5;
- */
- DMAKE_1(5),
- /**
- *
- * DMAKE_2 = 6;
- * DMAKE_3 = 7;
- *
- *
- * MK32_Serial = 6;
- */
- MK32_Serial(6),
- UNRECOGNIZED(-1),
- ;
-
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- ComError.class.getName());
- }
- /**
- * MK32_SBus = 0;
- */
- public static final int MK32_SBus_VALUE = 0;
- /**
- * TL720D = 1;
- */
- public static final int TL720D_VALUE = 1;
- /**
- * Force_sensor = 2;
- */
- public static final int Force_sensor_VALUE = 2;
- /**
- * ZQ_LeftMotor = 3;
- */
- public static final int ZQ_LeftMotor_VALUE = 3;
- /**
- * ZQ_RightMotor = 4;
- */
- public static final int ZQ_RightMotor_VALUE = 4;
- /**
- * DMAKE_1 = 5;
- */
- public static final int DMAKE_1_VALUE = 5;
- /**
- *
- * DMAKE_2 = 6;
- * DMAKE_3 = 7;
- *
- *
- * MK32_Serial = 6;
- */
- public static final int MK32_Serial_VALUE = 6;
-
-
- public final int getNumber() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalArgumentException(
- "Can't get the number of an unknown enum value.");
- }
- return value;
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- * @deprecated Use {@link #forNumber(int)} instead.
- */
- @java.lang.Deprecated
- public static ComError valueOf(int value) {
- return forNumber(value);
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- */
- public static ComError forNumber(int value) {
- switch (value) {
- case 0: return MK32_SBus;
- case 1: return TL720D;
- case 2: return Force_sensor;
- case 3: return ZQ_LeftMotor;
- case 4: return ZQ_RightMotor;
- case 5: return DMAKE_1;
- case 6: return MK32_Serial;
- default: return null;
- }
- }
-
- public static com.google.protobuf.Internal.EnumLiteMap
- internalGetValueMap() {
- return internalValueMap;
- }
- private static final com.google.protobuf.Internal.EnumLiteMap<
- ComError> internalValueMap =
- new com.google.protobuf.Internal.EnumLiteMap() {
- public ComError findValueByNumber(int number) {
- return ComError.forNumber(number);
- }
- };
-
- public final com.google.protobuf.Descriptors.EnumValueDescriptor
- getValueDescriptor() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalStateException(
- "Can't get the descriptor of an unrecognized enum value.");
- }
- return getDescriptor().getValues().get(ordinal());
- }
- public final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptorForType() {
- return getDescriptor();
- }
- public static final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspError.getDescriptor().getEnumTypes().get(0);
- }
-
- private static final ComError[] VALUES = values();
-
- public static ComError valueOf(
- com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
- if (desc.getType() != getDescriptor()) {
- throw new java.lang.IllegalArgumentException(
- "EnumValueDescriptor is not for this type.");
- }
- if (desc.getIndex() == -1) {
- return UNRECOGNIZED;
- }
- return VALUES[desc.getIndex()];
- }
-
- private final int value;
-
- private ComError(int value) {
- this.value = value;
- }
-
- // @@protoc_insertion_point(enum_scope:ComError)
- }
-
- public interface ErrorDataOrBuilder extends
- // @@protoc_insertion_point(interface_extends:ErrorData)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
- */
- int getComErrorCode();
-
- /**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
- */
- int getLeftMotorErrorCode();
-
- /**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
- */
- int getRightMotorErrorCode();
- }
- /**
- * Protobuf type {@code ErrorData}
- */
- public static final class ErrorData extends
- com.google.protobuf.GeneratedMessage implements
- // @@protoc_insertion_point(message_implements:ErrorData)
- ErrorDataOrBuilder {
- private static final long serialVersionUID = 0L;
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- ErrorData.class.getName());
- }
- // Use ErrorData.newBuilder() to construct.
- private ErrorData(com.google.protobuf.GeneratedMessage.Builder builder) {
- super(builder);
- }
- private ErrorData() {
- }
-
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspError.internal_static_ErrorData_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- 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;
- /**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
- */
- @java.lang.Override
- public int getComErrorCode() {
- return comErrorCode_;
- }
-
- public static final int LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER = 2;
- private int leftMotorErrorCode_ = 0;
- /**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
- */
- @java.lang.Override
- public int getLeftMotorErrorCode() {
- return leftMotorErrorCode_;
- }
-
- public static final int RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER = 3;
- private int rightMotorErrorCode_ = 0;
- /**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
- */
- @java.lang.Override
- public int getRightMotorErrorCode() {
- return rightMotorErrorCode_;
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (comErrorCode_ != 0) {
- output.writeInt32(1, comErrorCode_);
- }
- if (leftMotorErrorCode_ != 0) {
- output.writeInt32(2, leftMotorErrorCode_);
- }
- if (rightMotorErrorCode_ != 0) {
- output.writeInt32(3, rightMotorErrorCode_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (comErrorCode_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, comErrorCode_);
- }
- if (leftMotorErrorCode_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(2, leftMotorErrorCode_);
- }
- if (rightMotorErrorCode_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(3, rightMotorErrorCode_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof com.example.fivewheel.models.BspError.ErrorData)) {
- return super.equals(obj);
- }
- 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 (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @java.lang.Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + 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 = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
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- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- java.nio.ByteBuffer data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- com.google.protobuf.ByteString data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- com.google.protobuf.ByteString data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(byte[] data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- byte[] data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- public static com.example.fivewheel.models.BspError.ErrorData parseDelimitedFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input);
- }
-
- public static com.example.fivewheel.models.BspError.ErrorData parseDelimitedFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- com.google.protobuf.CodedInputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @java.lang.Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(com.example.fivewheel.models.BspError.ErrorData prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @java.lang.Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @java.lang.Override
- protected Builder newBuilderForType(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- * Protobuf type {@code ErrorData}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessage.Builder implements
- // @@protoc_insertion_point(builder_implements:ErrorData)
- com.example.fivewheel.models.BspError.ErrorDataOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspError.internal_static_ErrorData_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- com.example.fivewheel.models.BspError.ErrorData.class, com.example.fivewheel.models.BspError.ErrorData.Builder.class);
- }
-
- // Construct using com.example.fivewheel.models.BspError.ErrorData.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- super(parent);
-
- }
- @java.lang.Override
- public Builder clear() {
- super.clear();
- bitField0_ = 0;
- comErrorCode_ = 0;
- leftMotorErrorCode_ = 0;
- rightMotorErrorCode_ = 0;
- return this;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspError.ErrorData getDefaultInstanceForType() {
- return com.example.fivewheel.models.BspError.ErrorData.getDefaultInstance();
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspError.ErrorData build() {
- com.example.fivewheel.models.BspError.ErrorData result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspError.ErrorData buildPartial() {
- com.example.fivewheel.models.BspError.ErrorData result = new com.example.fivewheel.models.BspError.ErrorData(this);
- if (bitField0_ != 0) { buildPartial0(result); }
- onBuilt();
- return result;
- }
-
- private void buildPartial0(com.example.fivewheel.models.BspError.ErrorData result) {
- int from_bitField0_ = bitField0_;
- if (((from_bitField0_ & 0x00000001) != 0)) {
- result.comErrorCode_ = comErrorCode_;
- }
- if (((from_bitField0_ & 0x00000002) != 0)) {
- result.leftMotorErrorCode_ = leftMotorErrorCode_;
- }
- if (((from_bitField0_ & 0x00000004) != 0)) {
- result.rightMotorErrorCode_ = rightMotorErrorCode_;
- }
- }
-
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof com.example.fivewheel.models.BspError.ErrorData) {
- return mergeFrom((com.example.fivewheel.models.BspError.ErrorData)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- 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.getLeftMotorErrorCode() != 0) {
- setLeftMotorErrorCode(other.getLeftMotorErrorCode());
- }
- if (other.getRightMotorErrorCode() != 0) {
- setRightMotorErrorCode(other.getRightMotorErrorCode());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 8: {
- comErrorCode_ = input.readInt32();
- bitField0_ |= 0x00000001;
- break;
- } // case 8
- case 16: {
- leftMotorErrorCode_ = input.readInt32();
- bitField0_ |= 0x00000002;
- break;
- } // case 16
- case 24: {
- rightMotorErrorCode_ = input.readInt32();
- bitField0_ |= 0x00000004;
- break;
- } // case 24
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private int comErrorCode_ ;
- /**
- * int32 Com_Error_Code = 1;
- * @return The comErrorCode.
- */
- @java.lang.Override
- public int getComErrorCode() {
- return comErrorCode_;
- }
- /**
- * int32 Com_Error_Code = 1;
- * @param value The comErrorCode to set.
- * @return This builder for chaining.
- */
- public Builder setComErrorCode(int value) {
-
- comErrorCode_ = value;
- bitField0_ |= 0x00000001;
- onChanged();
- return this;
- }
- /**
- * int32 Com_Error_Code = 1;
- * @return This builder for chaining.
- */
- public Builder clearComErrorCode() {
- bitField0_ = (bitField0_ & ~0x00000001);
- comErrorCode_ = 0;
- onChanged();
- return this;
- }
-
- private int leftMotorErrorCode_ ;
- /**
- * int32 Left_Motor_Error_Code = 2;
- * @return The leftMotorErrorCode.
- */
- @java.lang.Override
- public int getLeftMotorErrorCode() {
- return leftMotorErrorCode_;
- }
- /**
- * int32 Left_Motor_Error_Code = 2;
- * @param value The leftMotorErrorCode to set.
- * @return This builder for chaining.
- */
- public Builder setLeftMotorErrorCode(int value) {
-
- leftMotorErrorCode_ = value;
- bitField0_ |= 0x00000002;
- onChanged();
- return this;
- }
- /**
- * int32 Left_Motor_Error_Code = 2;
- * @return This builder for chaining.
- */
- public Builder clearLeftMotorErrorCode() {
- bitField0_ = (bitField0_ & ~0x00000002);
- leftMotorErrorCode_ = 0;
- onChanged();
- return this;
- }
-
- private int rightMotorErrorCode_ ;
- /**
- * int32 Right_Motor_Error_Code = 3;
- * @return The rightMotorErrorCode.
- */
- @java.lang.Override
- public int getRightMotorErrorCode() {
- return rightMotorErrorCode_;
- }
- /**
- * int32 Right_Motor_Error_Code = 3;
- * @param value The rightMotorErrorCode to set.
- * @return This builder for chaining.
- */
- public Builder setRightMotorErrorCode(int value) {
-
- rightMotorErrorCode_ = value;
- bitField0_ |= 0x00000004;
- onChanged();
- return this;
- }
- /**
- * int32 Right_Motor_Error_Code = 3;
- * @return This builder for chaining.
- */
- public Builder clearRightMotorErrorCode() {
- bitField0_ = (bitField0_ & ~0x00000004);
- rightMotorErrorCode_ = 0;
- onChanged();
- return this;
- }
-
- // @@protoc_insertion_point(builder_scope:ErrorData)
- }
-
- // @@protoc_insertion_point(class_scope:ErrorData)
- private static final com.example.fivewheel.models.BspError.ErrorData DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new com.example.fivewheel.models.BspError.ErrorData();
- }
-
- public static com.example.fivewheel.models.BspError.ErrorData getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @java.lang.Override
- public ErrorData parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspError.ErrorData getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- private static final com.google.protobuf.Descriptors.Descriptor
- internal_static_ErrorData_descriptor;
- private static final
- com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internal_static_ErrorData_fieldAccessorTable;
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- java.lang.String[] descriptorData = {
- "\n\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"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- });
- internal_static_ErrorData_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_ErrorData_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessage.FieldAccessorTable(
- internal_static_ErrorData_descriptor,
- new java.lang.String[] { "ComErrorCode", "LeftMotorErrorCode", "RightMotorErrorCode", });
- descriptor.resolveAllFeaturesImmutable();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/app/src/main/java/com/example/fivewheel/models/BspIV.java b/app/src/main/java/com/example/fivewheel/models/BspIV.java
deleted file mode 100644
index ffb979f..0000000
--- a/app/src/main/java/com/example/fivewheel/models/BspIV.java
+++ /dev/null
@@ -1,1459 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_IV.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.fivewheel.models;
-
-public final class BspIV {
- private BspIV() {}
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- BspIV.class.getName());
- }
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- public interface IV_struct_defineOrBuilder extends
- // @@protoc_insertion_point(interface_extends:IV_struct_define)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- *
- * 五轮项目
- *
- *
- * int32 Robot_Move_AutoSpeed = 1;
- * @return The robotMoveAutoSpeed.
- */
- int getRobotMoveAutoSpeed();
-
- /**
- * int32 Robot_Move_ManualSpeed = 2;
- * @return The robotMoveManualSpeed.
- */
- int getRobotMoveManualSpeed();
-
- /**
- * int32 Robot_CurrentPosition = 3;
- * @return The robotCurrentPosition.
- */
- int getRobotCurrentPosition();
-
- /**
- * int32 Robot_AngleRoll = 4;
- * @return The robotAngleRoll.
- */
- int getRobotAngleRoll();
-
- /**
- * int32 Robot_Error = 5;
- * @return The robotError.
- */
- int getRobotError();
-
- /**
- * int32 Robot_DynamometerValue = 6;
- * @return The robotDynamometerValue.
- */
- int getRobotDynamometerValue();
-
- /**
- * int32 Robot_ForceValue = 7;
- * @return The robotForceValue.
- */
- int getRobotForceValue();
-
- /**
- * int32 Robot_CurrentState = 8;
- * @return The robotCurrentState.
- */
- int getRobotCurrentState();
-
- /**
- * int32 Robot_Current_Left = 9;
- * @return The robotCurrentLeft.
- */
- int getRobotCurrentLeft();
-
- /**
- * int32 Robot_Current_Right = 10;
- * @return The robotCurrentRight.
- */
- int getRobotCurrentRight();
-
- /**
- * int32 Robot_Error_Left = 11;
- * @return The robotErrorLeft.
- */
- int getRobotErrorLeft();
-
- /**
- * int32 Robot_Error_Right = 12;
- * @return The robotErrorRight.
- */
- int getRobotErrorRight();
-
- /**
- * int32 Robot_Compensation_Left = 13;
- * @return The robotCompensationLeft.
- */
- int getRobotCompensationLeft();
-
- /**
- * int32 Robot_Compensation_Right = 14;
- * @return The robotCompensationRight.
- */
- int getRobotCompensationRight();
- }
- /**
- * Protobuf type {@code IV_struct_define}
- */
- public static final class IV_struct_define extends
- com.google.protobuf.GeneratedMessage implements
- // @@protoc_insertion_point(message_implements:IV_struct_define)
- IV_struct_defineOrBuilder {
- private static final long serialVersionUID = 0L;
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- IV_struct_define.class.getName());
- }
- // Use IV_struct_define.newBuilder() to construct.
- private IV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
- super(builder);
- }
- private IV_struct_define() {
- }
-
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- com.example.fivewheel.models.BspIV.IV_struct_define.class, com.example.fivewheel.models.BspIV.IV_struct_define.Builder.class);
- }
-
- public static final int ROBOT_MOVE_AUTOSPEED_FIELD_NUMBER = 1;
- private int robotMoveAutoSpeed_ = 0;
- /**
- *
- * 五轮项目
- *
- *
- * int32 Robot_Move_AutoSpeed = 1;
- * @return The robotMoveAutoSpeed.
- */
- @java.lang.Override
- public int getRobotMoveAutoSpeed() {
- return robotMoveAutoSpeed_;
- }
-
- public static final int ROBOT_MOVE_MANUALSPEED_FIELD_NUMBER = 2;
- private int robotMoveManualSpeed_ = 0;
- /**
- * int32 Robot_Move_ManualSpeed = 2;
- * @return The robotMoveManualSpeed.
- */
- @java.lang.Override
- public int getRobotMoveManualSpeed() {
- return robotMoveManualSpeed_;
- }
-
- public static final int ROBOT_CURRENTPOSITION_FIELD_NUMBER = 3;
- private int robotCurrentPosition_ = 0;
- /**
- * int32 Robot_CurrentPosition = 3;
- * @return The robotCurrentPosition.
- */
- @java.lang.Override
- public int getRobotCurrentPosition() {
- return robotCurrentPosition_;
- }
-
- public static final int ROBOT_ANGLEROLL_FIELD_NUMBER = 4;
- private int robotAngleRoll_ = 0;
- /**
- * int32 Robot_AngleRoll = 4;
- * @return The robotAngleRoll.
- */
- @java.lang.Override
- public int getRobotAngleRoll() {
- return robotAngleRoll_;
- }
-
- public static final int ROBOT_ERROR_FIELD_NUMBER = 5;
- private int robotError_ = 0;
- /**
- * int32 Robot_Error = 5;
- * @return The robotError.
- */
- @java.lang.Override
- public int getRobotError() {
- return robotError_;
- }
-
- public static final int ROBOT_DYNAMOMETERVALUE_FIELD_NUMBER = 6;
- private int robotDynamometerValue_ = 0;
- /**
- * int32 Robot_DynamometerValue = 6;
- * @return The robotDynamometerValue.
- */
- @java.lang.Override
- public int getRobotDynamometerValue() {
- return robotDynamometerValue_;
- }
-
- public static final int ROBOT_FORCEVALUE_FIELD_NUMBER = 7;
- private int robotForceValue_ = 0;
- /**
- * int32 Robot_ForceValue = 7;
- * @return The robotForceValue.
- */
- @java.lang.Override
- public int getRobotForceValue() {
- return robotForceValue_;
- }
-
- public static final int ROBOT_CURRENTSTATE_FIELD_NUMBER = 8;
- private int robotCurrentState_ = 0;
- /**
- * int32 Robot_CurrentState = 8;
- * @return The robotCurrentState.
- */
- @java.lang.Override
- public int getRobotCurrentState() {
- return robotCurrentState_;
- }
-
- public static final int ROBOT_CURRENT_LEFT_FIELD_NUMBER = 9;
- private int robotCurrentLeft_ = 0;
- /**
- * int32 Robot_Current_Left = 9;
- * @return The robotCurrentLeft.
- */
- @java.lang.Override
- public int getRobotCurrentLeft() {
- return robotCurrentLeft_;
- }
-
- public static final int ROBOT_CURRENT_RIGHT_FIELD_NUMBER = 10;
- private int robotCurrentRight_ = 0;
- /**
- * int32 Robot_Current_Right = 10;
- * @return The robotCurrentRight.
- */
- @java.lang.Override
- public int getRobotCurrentRight() {
- return robotCurrentRight_;
- }
-
- public static final int ROBOT_ERROR_LEFT_FIELD_NUMBER = 11;
- private int robotErrorLeft_ = 0;
- /**
- * int32 Robot_Error_Left = 11;
- * @return The robotErrorLeft.
- */
- @java.lang.Override
- public int getRobotErrorLeft() {
- return robotErrorLeft_;
- }
-
- public static final int ROBOT_ERROR_RIGHT_FIELD_NUMBER = 12;
- private int robotErrorRight_ = 0;
- /**
- * int32 Robot_Error_Right = 12;
- * @return The robotErrorRight.
- */
- @java.lang.Override
- public int getRobotErrorRight() {
- return robotErrorRight_;
- }
-
- public static final int ROBOT_COMPENSATION_LEFT_FIELD_NUMBER = 13;
- private int robotCompensationLeft_ = 0;
- /**
- * int32 Robot_Compensation_Left = 13;
- * @return The robotCompensationLeft.
- */
- @java.lang.Override
- public int getRobotCompensationLeft() {
- return robotCompensationLeft_;
- }
-
- public static final int ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER = 14;
- private int robotCompensationRight_ = 0;
- /**
- * int32 Robot_Compensation_Right = 14;
- * @return The robotCompensationRight.
- */
- @java.lang.Override
- public int getRobotCompensationRight() {
- return robotCompensationRight_;
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (robotMoveAutoSpeed_ != 0) {
- output.writeInt32(1, robotMoveAutoSpeed_);
- }
- if (robotMoveManualSpeed_ != 0) {
- output.writeInt32(2, robotMoveManualSpeed_);
- }
- if (robotCurrentPosition_ != 0) {
- output.writeInt32(3, robotCurrentPosition_);
- }
- if (robotAngleRoll_ != 0) {
- output.writeInt32(4, robotAngleRoll_);
- }
- if (robotError_ != 0) {
- output.writeInt32(5, robotError_);
- }
- if (robotDynamometerValue_ != 0) {
- output.writeInt32(6, robotDynamometerValue_);
- }
- if (robotForceValue_ != 0) {
- output.writeInt32(7, robotForceValue_);
- }
- if (robotCurrentState_ != 0) {
- output.writeInt32(8, robotCurrentState_);
- }
- if (robotCurrentLeft_ != 0) {
- output.writeInt32(9, robotCurrentLeft_);
- }
- if (robotCurrentRight_ != 0) {
- output.writeInt32(10, robotCurrentRight_);
- }
- if (robotErrorLeft_ != 0) {
- output.writeInt32(11, robotErrorLeft_);
- }
- if (robotErrorRight_ != 0) {
- output.writeInt32(12, robotErrorRight_);
- }
- if (robotCompensationLeft_ != 0) {
- output.writeInt32(13, robotCompensationLeft_);
- }
- if (robotCompensationRight_ != 0) {
- output.writeInt32(14, robotCompensationRight_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (robotMoveAutoSpeed_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, robotMoveAutoSpeed_);
- }
- if (robotMoveManualSpeed_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(2, robotMoveManualSpeed_);
- }
- if (robotCurrentPosition_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(3, robotCurrentPosition_);
- }
- if (robotAngleRoll_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(4, robotAngleRoll_);
- }
- if (robotError_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(5, robotError_);
- }
- if (robotDynamometerValue_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(6, robotDynamometerValue_);
- }
- if (robotForceValue_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(7, robotForceValue_);
- }
- if (robotCurrentState_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(8, robotCurrentState_);
- }
- if (robotCurrentLeft_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(9, robotCurrentLeft_);
- }
- if (robotCurrentRight_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(10, robotCurrentRight_);
- }
- if (robotErrorLeft_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(11, robotErrorLeft_);
- }
- if (robotErrorRight_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(12, robotErrorRight_);
- }
- if (robotCompensationLeft_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(13, robotCompensationLeft_);
- }
- if (robotCompensationRight_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(14, robotCompensationRight_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof com.example.fivewheel.models.BspIV.IV_struct_define)) {
- return super.equals(obj);
- }
- com.example.fivewheel.models.BspIV.IV_struct_define other = (com.example.fivewheel.models.BspIV.IV_struct_define) obj;
-
- if (getRobotMoveAutoSpeed()
- != other.getRobotMoveAutoSpeed()) return false;
- if (getRobotMoveManualSpeed()
- != other.getRobotMoveManualSpeed()) return false;
- if (getRobotCurrentPosition()
- != other.getRobotCurrentPosition()) return false;
- if (getRobotAngleRoll()
- != other.getRobotAngleRoll()) return false;
- if (getRobotError()
- != other.getRobotError()) return false;
- if (getRobotDynamometerValue()
- != other.getRobotDynamometerValue()) return false;
- if (getRobotForceValue()
- != other.getRobotForceValue()) return false;
- if (getRobotCurrentState()
- != other.getRobotCurrentState()) return false;
- if (getRobotCurrentLeft()
- != other.getRobotCurrentLeft()) return false;
- if (getRobotCurrentRight()
- != other.getRobotCurrentRight()) return false;
- if (getRobotErrorLeft()
- != other.getRobotErrorLeft()) return false;
- if (getRobotErrorRight()
- != other.getRobotErrorRight()) return false;
- if (getRobotCompensationLeft()
- != other.getRobotCompensationLeft()) return false;
- if (getRobotCompensationRight()
- != other.getRobotCompensationRight()) return false;
- if (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @java.lang.Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + ROBOT_MOVE_AUTOSPEED_FIELD_NUMBER;
- hash = (53 * hash) + getRobotMoveAutoSpeed();
- hash = (37 * hash) + ROBOT_MOVE_MANUALSPEED_FIELD_NUMBER;
- hash = (53 * hash) + getRobotMoveManualSpeed();
- hash = (37 * hash) + ROBOT_CURRENTPOSITION_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCurrentPosition();
- hash = (37 * hash) + ROBOT_ANGLEROLL_FIELD_NUMBER;
- hash = (53 * hash) + getRobotAngleRoll();
- hash = (37 * hash) + ROBOT_ERROR_FIELD_NUMBER;
- hash = (53 * hash) + getRobotError();
- hash = (37 * hash) + ROBOT_DYNAMOMETERVALUE_FIELD_NUMBER;
- hash = (53 * hash) + getRobotDynamometerValue();
- hash = (37 * hash) + ROBOT_FORCEVALUE_FIELD_NUMBER;
- hash = (53 * hash) + getRobotForceValue();
- hash = (37 * hash) + ROBOT_CURRENTSTATE_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCurrentState();
- hash = (37 * hash) + ROBOT_CURRENT_LEFT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCurrentLeft();
- hash = (37 * hash) + ROBOT_CURRENT_RIGHT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCurrentRight();
- hash = (37 * hash) + ROBOT_ERROR_LEFT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotErrorLeft();
- hash = (37 * hash) + ROBOT_ERROR_RIGHT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotErrorRight();
- hash = (37 * hash) + ROBOT_COMPENSATION_LEFT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCompensationLeft();
- hash = (37 * hash) + ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER;
- hash = (53 * hash) + getRobotCompensationRight();
- hash = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- java.nio.ByteBuffer data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- java.nio.ByteBuffer data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- com.google.protobuf.ByteString data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- com.google.protobuf.ByteString data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(byte[] data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- byte[] data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseDelimitedFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input);
- }
-
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseDelimitedFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- com.google.protobuf.CodedInputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @java.lang.Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(com.example.fivewheel.models.BspIV.IV_struct_define prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @java.lang.Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @java.lang.Override
- protected Builder newBuilderForType(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- * Protobuf type {@code IV_struct_define}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessage.Builder implements
- // @@protoc_insertion_point(builder_implements:IV_struct_define)
- com.example.fivewheel.models.BspIV.IV_struct_defineOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- com.example.fivewheel.models.BspIV.IV_struct_define.class, com.example.fivewheel.models.BspIV.IV_struct_define.Builder.class);
- }
-
- // Construct using com.example.fivewheel.models.BspIV.IV_struct_define.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- super(parent);
-
- }
- @java.lang.Override
- public Builder clear() {
- super.clear();
- bitField0_ = 0;
- robotMoveAutoSpeed_ = 0;
- robotMoveManualSpeed_ = 0;
- robotCurrentPosition_ = 0;
- robotAngleRoll_ = 0;
- robotError_ = 0;
- robotDynamometerValue_ = 0;
- robotForceValue_ = 0;
- robotCurrentState_ = 0;
- robotCurrentLeft_ = 0;
- robotCurrentRight_ = 0;
- robotErrorLeft_ = 0;
- robotErrorRight_ = 0;
- robotCompensationLeft_ = 0;
- robotCompensationRight_ = 0;
- return this;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstanceForType() {
- return com.example.fivewheel.models.BspIV.IV_struct_define.getDefaultInstance();
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspIV.IV_struct_define build() {
- com.example.fivewheel.models.BspIV.IV_struct_define result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspIV.IV_struct_define buildPartial() {
- com.example.fivewheel.models.BspIV.IV_struct_define result = new com.example.fivewheel.models.BspIV.IV_struct_define(this);
- if (bitField0_ != 0) { buildPartial0(result); }
- onBuilt();
- return result;
- }
-
- private void buildPartial0(com.example.fivewheel.models.BspIV.IV_struct_define result) {
- int from_bitField0_ = bitField0_;
- if (((from_bitField0_ & 0x00000001) != 0)) {
- result.robotMoveAutoSpeed_ = robotMoveAutoSpeed_;
- }
- if (((from_bitField0_ & 0x00000002) != 0)) {
- result.robotMoveManualSpeed_ = robotMoveManualSpeed_;
- }
- if (((from_bitField0_ & 0x00000004) != 0)) {
- result.robotCurrentPosition_ = robotCurrentPosition_;
- }
- if (((from_bitField0_ & 0x00000008) != 0)) {
- result.robotAngleRoll_ = robotAngleRoll_;
- }
- if (((from_bitField0_ & 0x00000010) != 0)) {
- result.robotError_ = robotError_;
- }
- if (((from_bitField0_ & 0x00000020) != 0)) {
- result.robotDynamometerValue_ = robotDynamometerValue_;
- }
- if (((from_bitField0_ & 0x00000040) != 0)) {
- result.robotForceValue_ = robotForceValue_;
- }
- if (((from_bitField0_ & 0x00000080) != 0)) {
- result.robotCurrentState_ = robotCurrentState_;
- }
- if (((from_bitField0_ & 0x00000100) != 0)) {
- result.robotCurrentLeft_ = robotCurrentLeft_;
- }
- if (((from_bitField0_ & 0x00000200) != 0)) {
- result.robotCurrentRight_ = robotCurrentRight_;
- }
- if (((from_bitField0_ & 0x00000400) != 0)) {
- result.robotErrorLeft_ = robotErrorLeft_;
- }
- if (((from_bitField0_ & 0x00000800) != 0)) {
- result.robotErrorRight_ = robotErrorRight_;
- }
- if (((from_bitField0_ & 0x00001000) != 0)) {
- result.robotCompensationLeft_ = robotCompensationLeft_;
- }
- if (((from_bitField0_ & 0x00002000) != 0)) {
- result.robotCompensationRight_ = robotCompensationRight_;
- }
- }
-
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof com.example.fivewheel.models.BspIV.IV_struct_define) {
- return mergeFrom((com.example.fivewheel.models.BspIV.IV_struct_define)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(com.example.fivewheel.models.BspIV.IV_struct_define other) {
- if (other == com.example.fivewheel.models.BspIV.IV_struct_define.getDefaultInstance()) return this;
- if (other.getRobotMoveAutoSpeed() != 0) {
- setRobotMoveAutoSpeed(other.getRobotMoveAutoSpeed());
- }
- if (other.getRobotMoveManualSpeed() != 0) {
- setRobotMoveManualSpeed(other.getRobotMoveManualSpeed());
- }
- if (other.getRobotCurrentPosition() != 0) {
- setRobotCurrentPosition(other.getRobotCurrentPosition());
- }
- if (other.getRobotAngleRoll() != 0) {
- setRobotAngleRoll(other.getRobotAngleRoll());
- }
- if (other.getRobotError() != 0) {
- setRobotError(other.getRobotError());
- }
- if (other.getRobotDynamometerValue() != 0) {
- setRobotDynamometerValue(other.getRobotDynamometerValue());
- }
- if (other.getRobotForceValue() != 0) {
- setRobotForceValue(other.getRobotForceValue());
- }
- if (other.getRobotCurrentState() != 0) {
- setRobotCurrentState(other.getRobotCurrentState());
- }
- if (other.getRobotCurrentLeft() != 0) {
- setRobotCurrentLeft(other.getRobotCurrentLeft());
- }
- if (other.getRobotCurrentRight() != 0) {
- setRobotCurrentRight(other.getRobotCurrentRight());
- }
- if (other.getRobotErrorLeft() != 0) {
- setRobotErrorLeft(other.getRobotErrorLeft());
- }
- if (other.getRobotErrorRight() != 0) {
- setRobotErrorRight(other.getRobotErrorRight());
- }
- if (other.getRobotCompensationLeft() != 0) {
- setRobotCompensationLeft(other.getRobotCompensationLeft());
- }
- if (other.getRobotCompensationRight() != 0) {
- setRobotCompensationRight(other.getRobotCompensationRight());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 8: {
- robotMoveAutoSpeed_ = input.readInt32();
- bitField0_ |= 0x00000001;
- break;
- } // case 8
- case 16: {
- robotMoveManualSpeed_ = input.readInt32();
- bitField0_ |= 0x00000002;
- break;
- } // case 16
- case 24: {
- robotCurrentPosition_ = input.readInt32();
- bitField0_ |= 0x00000004;
- break;
- } // case 24
- case 32: {
- robotAngleRoll_ = input.readInt32();
- bitField0_ |= 0x00000008;
- break;
- } // case 32
- case 40: {
- robotError_ = input.readInt32();
- bitField0_ |= 0x00000010;
- break;
- } // case 40
- case 48: {
- robotDynamometerValue_ = input.readInt32();
- bitField0_ |= 0x00000020;
- break;
- } // case 48
- case 56: {
- robotForceValue_ = input.readInt32();
- bitField0_ |= 0x00000040;
- break;
- } // case 56
- case 64: {
- robotCurrentState_ = input.readInt32();
- bitField0_ |= 0x00000080;
- break;
- } // case 64
- case 72: {
- robotCurrentLeft_ = input.readInt32();
- bitField0_ |= 0x00000100;
- break;
- } // case 72
- case 80: {
- robotCurrentRight_ = input.readInt32();
- bitField0_ |= 0x00000200;
- break;
- } // case 80
- case 88: {
- robotErrorLeft_ = input.readInt32();
- bitField0_ |= 0x00000400;
- break;
- } // case 88
- case 96: {
- robotErrorRight_ = input.readInt32();
- bitField0_ |= 0x00000800;
- break;
- } // case 96
- case 104: {
- robotCompensationLeft_ = input.readInt32();
- bitField0_ |= 0x00001000;
- break;
- } // case 104
- case 112: {
- robotCompensationRight_ = input.readInt32();
- bitField0_ |= 0x00002000;
- break;
- } // case 112
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private int robotMoveAutoSpeed_ ;
- /**
- *
- * 五轮项目
- *
- *
- * int32 Robot_Move_AutoSpeed = 1;
- * @return The robotMoveAutoSpeed.
- */
- @java.lang.Override
- public int getRobotMoveAutoSpeed() {
- return robotMoveAutoSpeed_;
- }
- /**
- *
- * 五轮项目
- *
- *
- * int32 Robot_Move_AutoSpeed = 1;
- * @param value The robotMoveAutoSpeed to set.
- * @return This builder for chaining.
- */
- public Builder setRobotMoveAutoSpeed(int value) {
-
- robotMoveAutoSpeed_ = value;
- bitField0_ |= 0x00000001;
- onChanged();
- return this;
- }
- /**
- *
- * 五轮项目
- *
- *
- * int32 Robot_Move_AutoSpeed = 1;
- * @return This builder for chaining.
- */
- public Builder clearRobotMoveAutoSpeed() {
- bitField0_ = (bitField0_ & ~0x00000001);
- robotMoveAutoSpeed_ = 0;
- onChanged();
- return this;
- }
-
- private int robotMoveManualSpeed_ ;
- /**
- * int32 Robot_Move_ManualSpeed = 2;
- * @return The robotMoveManualSpeed.
- */
- @java.lang.Override
- public int getRobotMoveManualSpeed() {
- return robotMoveManualSpeed_;
- }
- /**
- * int32 Robot_Move_ManualSpeed = 2;
- * @param value The robotMoveManualSpeed to set.
- * @return This builder for chaining.
- */
- public Builder setRobotMoveManualSpeed(int value) {
-
- robotMoveManualSpeed_ = value;
- bitField0_ |= 0x00000002;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Move_ManualSpeed = 2;
- * @return This builder for chaining.
- */
- public Builder clearRobotMoveManualSpeed() {
- bitField0_ = (bitField0_ & ~0x00000002);
- robotMoveManualSpeed_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCurrentPosition_ ;
- /**
- * int32 Robot_CurrentPosition = 3;
- * @return The robotCurrentPosition.
- */
- @java.lang.Override
- public int getRobotCurrentPosition() {
- return robotCurrentPosition_;
- }
- /**
- * int32 Robot_CurrentPosition = 3;
- * @param value The robotCurrentPosition to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCurrentPosition(int value) {
-
- robotCurrentPosition_ = value;
- bitField0_ |= 0x00000004;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_CurrentPosition = 3;
- * @return This builder for chaining.
- */
- public Builder clearRobotCurrentPosition() {
- bitField0_ = (bitField0_ & ~0x00000004);
- robotCurrentPosition_ = 0;
- onChanged();
- return this;
- }
-
- private int robotAngleRoll_ ;
- /**
- * int32 Robot_AngleRoll = 4;
- * @return The robotAngleRoll.
- */
- @java.lang.Override
- public int getRobotAngleRoll() {
- return robotAngleRoll_;
- }
- /**
- * int32 Robot_AngleRoll = 4;
- * @param value The robotAngleRoll to set.
- * @return This builder for chaining.
- */
- public Builder setRobotAngleRoll(int value) {
-
- robotAngleRoll_ = value;
- bitField0_ |= 0x00000008;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_AngleRoll = 4;
- * @return This builder for chaining.
- */
- public Builder clearRobotAngleRoll() {
- bitField0_ = (bitField0_ & ~0x00000008);
- robotAngleRoll_ = 0;
- onChanged();
- return this;
- }
-
- private int robotError_ ;
- /**
- * int32 Robot_Error = 5;
- * @return The robotError.
- */
- @java.lang.Override
- public int getRobotError() {
- return robotError_;
- }
- /**
- * int32 Robot_Error = 5;
- * @param value The robotError to set.
- * @return This builder for chaining.
- */
- public Builder setRobotError(int value) {
-
- robotError_ = value;
- bitField0_ |= 0x00000010;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Error = 5;
- * @return This builder for chaining.
- */
- public Builder clearRobotError() {
- bitField0_ = (bitField0_ & ~0x00000010);
- robotError_ = 0;
- onChanged();
- return this;
- }
-
- private int robotDynamometerValue_ ;
- /**
- * int32 Robot_DynamometerValue = 6;
- * @return The robotDynamometerValue.
- */
- @java.lang.Override
- public int getRobotDynamometerValue() {
- return robotDynamometerValue_;
- }
- /**
- * int32 Robot_DynamometerValue = 6;
- * @param value The robotDynamometerValue to set.
- * @return This builder for chaining.
- */
- public Builder setRobotDynamometerValue(int value) {
-
- robotDynamometerValue_ = value;
- bitField0_ |= 0x00000020;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_DynamometerValue = 6;
- * @return This builder for chaining.
- */
- public Builder clearRobotDynamometerValue() {
- bitField0_ = (bitField0_ & ~0x00000020);
- robotDynamometerValue_ = 0;
- onChanged();
- return this;
- }
-
- private int robotForceValue_ ;
- /**
- * int32 Robot_ForceValue = 7;
- * @return The robotForceValue.
- */
- @java.lang.Override
- public int getRobotForceValue() {
- return robotForceValue_;
- }
- /**
- * int32 Robot_ForceValue = 7;
- * @param value The robotForceValue to set.
- * @return This builder for chaining.
- */
- public Builder setRobotForceValue(int value) {
-
- robotForceValue_ = value;
- bitField0_ |= 0x00000040;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_ForceValue = 7;
- * @return This builder for chaining.
- */
- public Builder clearRobotForceValue() {
- bitField0_ = (bitField0_ & ~0x00000040);
- robotForceValue_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCurrentState_ ;
- /**
- * int32 Robot_CurrentState = 8;
- * @return The robotCurrentState.
- */
- @java.lang.Override
- public int getRobotCurrentState() {
- return robotCurrentState_;
- }
- /**
- * int32 Robot_CurrentState = 8;
- * @param value The robotCurrentState to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCurrentState(int value) {
-
- robotCurrentState_ = value;
- bitField0_ |= 0x00000080;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_CurrentState = 8;
- * @return This builder for chaining.
- */
- public Builder clearRobotCurrentState() {
- bitField0_ = (bitField0_ & ~0x00000080);
- robotCurrentState_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCurrentLeft_ ;
- /**
- * int32 Robot_Current_Left = 9;
- * @return The robotCurrentLeft.
- */
- @java.lang.Override
- public int getRobotCurrentLeft() {
- return robotCurrentLeft_;
- }
- /**
- * int32 Robot_Current_Left = 9;
- * @param value The robotCurrentLeft to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCurrentLeft(int value) {
-
- robotCurrentLeft_ = value;
- bitField0_ |= 0x00000100;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Current_Left = 9;
- * @return This builder for chaining.
- */
- public Builder clearRobotCurrentLeft() {
- bitField0_ = (bitField0_ & ~0x00000100);
- robotCurrentLeft_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCurrentRight_ ;
- /**
- * int32 Robot_Current_Right = 10;
- * @return The robotCurrentRight.
- */
- @java.lang.Override
- public int getRobotCurrentRight() {
- return robotCurrentRight_;
- }
- /**
- * int32 Robot_Current_Right = 10;
- * @param value The robotCurrentRight to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCurrentRight(int value) {
-
- robotCurrentRight_ = value;
- bitField0_ |= 0x00000200;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Current_Right = 10;
- * @return This builder for chaining.
- */
- public Builder clearRobotCurrentRight() {
- bitField0_ = (bitField0_ & ~0x00000200);
- robotCurrentRight_ = 0;
- onChanged();
- return this;
- }
-
- private int robotErrorLeft_ ;
- /**
- * int32 Robot_Error_Left = 11;
- * @return The robotErrorLeft.
- */
- @java.lang.Override
- public int getRobotErrorLeft() {
- return robotErrorLeft_;
- }
- /**
- * int32 Robot_Error_Left = 11;
- * @param value The robotErrorLeft to set.
- * @return This builder for chaining.
- */
- public Builder setRobotErrorLeft(int value) {
-
- robotErrorLeft_ = value;
- bitField0_ |= 0x00000400;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Error_Left = 11;
- * @return This builder for chaining.
- */
- public Builder clearRobotErrorLeft() {
- bitField0_ = (bitField0_ & ~0x00000400);
- robotErrorLeft_ = 0;
- onChanged();
- return this;
- }
-
- private int robotErrorRight_ ;
- /**
- * int32 Robot_Error_Right = 12;
- * @return The robotErrorRight.
- */
- @java.lang.Override
- public int getRobotErrorRight() {
- return robotErrorRight_;
- }
- /**
- * int32 Robot_Error_Right = 12;
- * @param value The robotErrorRight to set.
- * @return This builder for chaining.
- */
- public Builder setRobotErrorRight(int value) {
-
- robotErrorRight_ = value;
- bitField0_ |= 0x00000800;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Error_Right = 12;
- * @return This builder for chaining.
- */
- public Builder clearRobotErrorRight() {
- bitField0_ = (bitField0_ & ~0x00000800);
- robotErrorRight_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCompensationLeft_ ;
- /**
- * int32 Robot_Compensation_Left = 13;
- * @return The robotCompensationLeft.
- */
- @java.lang.Override
- public int getRobotCompensationLeft() {
- return robotCompensationLeft_;
- }
- /**
- * int32 Robot_Compensation_Left = 13;
- * @param value The robotCompensationLeft to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCompensationLeft(int value) {
-
- robotCompensationLeft_ = value;
- bitField0_ |= 0x00001000;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Compensation_Left = 13;
- * @return This builder for chaining.
- */
- public Builder clearRobotCompensationLeft() {
- bitField0_ = (bitField0_ & ~0x00001000);
- robotCompensationLeft_ = 0;
- onChanged();
- return this;
- }
-
- private int robotCompensationRight_ ;
- /**
- * int32 Robot_Compensation_Right = 14;
- * @return The robotCompensationRight.
- */
- @java.lang.Override
- public int getRobotCompensationRight() {
- return robotCompensationRight_;
- }
- /**
- * int32 Robot_Compensation_Right = 14;
- * @param value The robotCompensationRight to set.
- * @return This builder for chaining.
- */
- public Builder setRobotCompensationRight(int value) {
-
- robotCompensationRight_ = value;
- bitField0_ |= 0x00002000;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_Compensation_Right = 14;
- * @return This builder for chaining.
- */
- public Builder clearRobotCompensationRight() {
- bitField0_ = (bitField0_ & ~0x00002000);
- robotCompensationRight_ = 0;
- onChanged();
- return this;
- }
-
- // @@protoc_insertion_point(builder_scope:IV_struct_define)
- }
-
- // @@protoc_insertion_point(class_scope:IV_struct_define)
- private static final com.example.fivewheel.models.BspIV.IV_struct_define DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new com.example.fivewheel.models.BspIV.IV_struct_define();
- }
-
- public static com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @java.lang.Override
- public IV_struct_define parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- private static final com.google.protobuf.Descriptors.Descriptor
- internal_static_IV_struct_define_descriptor;
- private static final
- com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internal_static_IV_struct_define_fieldAccessorTable;
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- java.lang.String[] descriptorData = {
- "\n\014bsp_IV.proto\"\244\003\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" +
- "ot_Error\030\005 \001(\005\022\036\n\026Robot_DynamometerValue" +
- "\030\006 \001(\005\022\030\n\020Robot_ForceValue\030\007 \001(\005\022\032\n\022Robo" +
- "t_CurrentState\030\010 \001(\005\022\032\n\022Robot_Current_Le" +
- "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"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- });
- internal_static_IV_struct_define_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_IV_struct_define_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessage.FieldAccessorTable(
- internal_static_IV_struct_define_descriptor,
- new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", "RobotCompensationLeft", "RobotCompensationRight", });
- descriptor.resolveAllFeaturesImmutable();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/app/src/main/java/com/example/fivewheel/models/BspPV.java b/app/src/main/java/com/example/fivewheel/models/BspPV.java
deleted file mode 100644
index d04b85e..0000000
--- a/app/src/main/java/com/example/fivewheel/models/BspPV.java
+++ /dev/null
@@ -1,644 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_PV.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.fivewheel.models;
-
-public final class BspPV {
- private BspPV() {}
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- BspPV.class.getName());
- }
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- public interface PV_struct_defineOrBuilder extends
- // @@protoc_insertion_point(interface_extends:PV_struct_define)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- * int32 Robot_ChgLength = 1;
- * @return The robotChgLength.
- */
- int getRobotChgLength();
-
- /**
- * double Robot_AutoSpeedBase = 2;
- * @return The robotAutoSpeedBase.
- */
- double getRobotAutoSpeedBase();
-
- /**
- * double Robot_ManualSpeedBase = 3;
- * @return The robotManualSpeedBase.
- */
- double getRobotManualSpeedBase();
- }
- /**
- * Protobuf type {@code PV_struct_define}
- */
- public static final class PV_struct_define extends
- com.google.protobuf.GeneratedMessage implements
- // @@protoc_insertion_point(message_implements:PV_struct_define)
- PV_struct_defineOrBuilder {
- private static final long serialVersionUID = 0L;
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- PV_struct_define.class.getName());
- }
- // Use PV_struct_define.newBuilder() to construct.
- private PV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
- super(builder);
- }
- private PV_struct_define() {
- }
-
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
- }
-
- public static final int ROBOT_CHGLENGTH_FIELD_NUMBER = 1;
- private int robotChgLength_ = 0;
- /**
- * int32 Robot_ChgLength = 1;
- * @return The robotChgLength.
- */
- @java.lang.Override
- public int getRobotChgLength() {
- return robotChgLength_;
- }
-
- public static final int ROBOT_AUTOSPEEDBASE_FIELD_NUMBER = 2;
- private double robotAutoSpeedBase_ = 0D;
- /**
- * double Robot_AutoSpeedBase = 2;
- * @return The robotAutoSpeedBase.
- */
- @java.lang.Override
- public double getRobotAutoSpeedBase() {
- return robotAutoSpeedBase_;
- }
-
- public static final int ROBOT_MANUALSPEEDBASE_FIELD_NUMBER = 3;
- private double robotManualSpeedBase_ = 0D;
- /**
- * double Robot_ManualSpeedBase = 3;
- * @return The robotManualSpeedBase.
- */
- @java.lang.Override
- public double getRobotManualSpeedBase() {
- return robotManualSpeedBase_;
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (robotChgLength_ != 0) {
- output.writeInt32(1, robotChgLength_);
- }
- if (java.lang.Double.doubleToRawLongBits(robotAutoSpeedBase_) != 0) {
- output.writeDouble(2, robotAutoSpeedBase_);
- }
- if (java.lang.Double.doubleToRawLongBits(robotManualSpeedBase_) != 0) {
- output.writeDouble(3, robotManualSpeedBase_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (robotChgLength_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, robotChgLength_);
- }
- if (java.lang.Double.doubleToRawLongBits(robotAutoSpeedBase_) != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeDoubleSize(2, robotAutoSpeedBase_);
- }
- if (java.lang.Double.doubleToRawLongBits(robotManualSpeedBase_) != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeDoubleSize(3, robotManualSpeedBase_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof com.example.fivewheel.models.BspPV.PV_struct_define)) {
- return super.equals(obj);
- }
- com.example.fivewheel.models.BspPV.PV_struct_define other = (com.example.fivewheel.models.BspPV.PV_struct_define) obj;
-
- if (getRobotChgLength()
- != other.getRobotChgLength()) return false;
- if (java.lang.Double.doubleToLongBits(getRobotAutoSpeedBase())
- != java.lang.Double.doubleToLongBits(
- other.getRobotAutoSpeedBase())) return false;
- if (java.lang.Double.doubleToLongBits(getRobotManualSpeedBase())
- != java.lang.Double.doubleToLongBits(
- other.getRobotManualSpeedBase())) return false;
- if (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @java.lang.Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + ROBOT_CHGLENGTH_FIELD_NUMBER;
- hash = (53 * hash) + getRobotChgLength();
- hash = (37 * hash) + ROBOT_AUTOSPEEDBASE_FIELD_NUMBER;
- hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
- java.lang.Double.doubleToLongBits(getRobotAutoSpeedBase()));
- hash = (37 * hash) + ROBOT_MANUALSPEEDBASE_FIELD_NUMBER;
- hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
- java.lang.Double.doubleToLongBits(getRobotManualSpeedBase()));
- hash = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- java.nio.ByteBuffer data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- java.nio.ByteBuffer data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
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- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- com.google.protobuf.ByteString data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
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- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(byte[] data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- byte[] data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
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- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
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- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
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- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input);
- }
-
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseDelimitedFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- com.google.protobuf.CodedInputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @java.lang.Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(com.example.fivewheel.models.BspPV.PV_struct_define prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @java.lang.Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @java.lang.Override
- protected Builder newBuilderForType(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- * Protobuf type {@code PV_struct_define}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessage.Builder implements
- // @@protoc_insertion_point(builder_implements:PV_struct_define)
- com.example.fivewheel.models.BspPV.PV_struct_defineOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
- }
-
- // Construct using com.example.fivewheel.models.BspPV.PV_struct_define.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- com.google.protobuf.GeneratedMessage.BuilderParent parent) {
- super(parent);
-
- }
- @java.lang.Override
- public Builder clear() {
- super.clear();
- bitField0_ = 0;
- robotChgLength_ = 0;
- robotAutoSpeedBase_ = 0D;
- robotManualSpeedBase_ = 0D;
- return this;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstanceForType() {
- return com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance();
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspPV.PV_struct_define build() {
- com.example.fivewheel.models.BspPV.PV_struct_define result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspPV.PV_struct_define buildPartial() {
- com.example.fivewheel.models.BspPV.PV_struct_define result = new com.example.fivewheel.models.BspPV.PV_struct_define(this);
- if (bitField0_ != 0) { buildPartial0(result); }
- onBuilt();
- return result;
- }
-
- private void buildPartial0(com.example.fivewheel.models.BspPV.PV_struct_define result) {
- int from_bitField0_ = bitField0_;
- if (((from_bitField0_ & 0x00000001) != 0)) {
- result.robotChgLength_ = robotChgLength_;
- }
- if (((from_bitField0_ & 0x00000002) != 0)) {
- result.robotAutoSpeedBase_ = robotAutoSpeedBase_;
- }
- if (((from_bitField0_ & 0x00000004) != 0)) {
- result.robotManualSpeedBase_ = robotManualSpeedBase_;
- }
- }
-
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof com.example.fivewheel.models.BspPV.PV_struct_define) {
- return mergeFrom((com.example.fivewheel.models.BspPV.PV_struct_define)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(com.example.fivewheel.models.BspPV.PV_struct_define other) {
- if (other == com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
- if (other.getRobotChgLength() != 0) {
- setRobotChgLength(other.getRobotChgLength());
- }
- if (other.getRobotAutoSpeedBase() != 0D) {
- setRobotAutoSpeedBase(other.getRobotAutoSpeedBase());
- }
- if (other.getRobotManualSpeedBase() != 0D) {
- setRobotManualSpeedBase(other.getRobotManualSpeedBase());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
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- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 8: {
- robotChgLength_ = input.readInt32();
- bitField0_ |= 0x00000001;
- break;
- } // case 8
- case 17: {
- robotAutoSpeedBase_ = input.readDouble();
- bitField0_ |= 0x00000002;
- break;
- } // case 17
- case 25: {
- robotManualSpeedBase_ = input.readDouble();
- bitField0_ |= 0x00000004;
- break;
- } // case 25
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private int robotChgLength_ ;
- /**
- * int32 Robot_ChgLength = 1;
- * @return The robotChgLength.
- */
- @java.lang.Override
- public int getRobotChgLength() {
- return robotChgLength_;
- }
- /**
- * int32 Robot_ChgLength = 1;
- * @param value The robotChgLength to set.
- * @return This builder for chaining.
- */
- public Builder setRobotChgLength(int value) {
-
- robotChgLength_ = value;
- bitField0_ |= 0x00000001;
- onChanged();
- return this;
- }
- /**
- * int32 Robot_ChgLength = 1;
- * @return This builder for chaining.
- */
- public Builder clearRobotChgLength() {
- bitField0_ = (bitField0_ & ~0x00000001);
- robotChgLength_ = 0;
- onChanged();
- return this;
- }
-
- private double robotAutoSpeedBase_ ;
- /**
- * double Robot_AutoSpeedBase = 2;
- * @return The robotAutoSpeedBase.
- */
- @java.lang.Override
- public double getRobotAutoSpeedBase() {
- return robotAutoSpeedBase_;
- }
- /**
- * double Robot_AutoSpeedBase = 2;
- * @param value The robotAutoSpeedBase to set.
- * @return This builder for chaining.
- */
- public Builder setRobotAutoSpeedBase(double value) {
-
- robotAutoSpeedBase_ = value;
- bitField0_ |= 0x00000002;
- onChanged();
- return this;
- }
- /**
- * double Robot_AutoSpeedBase = 2;
- * @return This builder for chaining.
- */
- public Builder clearRobotAutoSpeedBase() {
- bitField0_ = (bitField0_ & ~0x00000002);
- robotAutoSpeedBase_ = 0D;
- onChanged();
- return this;
- }
-
- private double robotManualSpeedBase_ ;
- /**
- * double Robot_ManualSpeedBase = 3;
- * @return The robotManualSpeedBase.
- */
- @java.lang.Override
- public double getRobotManualSpeedBase() {
- return robotManualSpeedBase_;
- }
- /**
- * double Robot_ManualSpeedBase = 3;
- * @param value The robotManualSpeedBase to set.
- * @return This builder for chaining.
- */
- public Builder setRobotManualSpeedBase(double value) {
-
- robotManualSpeedBase_ = value;
- bitField0_ |= 0x00000004;
- onChanged();
- return this;
- }
- /**
- * double Robot_ManualSpeedBase = 3;
- * @return This builder for chaining.
- */
- public Builder clearRobotManualSpeedBase() {
- bitField0_ = (bitField0_ & ~0x00000004);
- robotManualSpeedBase_ = 0D;
- onChanged();
- return this;
- }
-
- // @@protoc_insertion_point(builder_scope:PV_struct_define)
- }
-
- // @@protoc_insertion_point(class_scope:PV_struct_define)
- private static final com.example.fivewheel.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new com.example.fivewheel.models.BspPV.PV_struct_define();
- }
-
- public static com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @java.lang.Override
- public PV_struct_define parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- private static final com.google.protobuf.Descriptors.Descriptor
- internal_static_PV_struct_define_descriptor;
- private static final
- com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internal_static_PV_struct_define_fieldAccessorTable;
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- java.lang.String[] descriptorData = {
- "\n\014bsp_PV.proto\"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"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- });
- internal_static_PV_struct_define_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_PV_struct_define_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessage.FieldAccessorTable(
- internal_static_PV_struct_define_descriptor,
- new java.lang.String[] { "RobotChgLength", "RobotAutoSpeedBase", "RobotManualSpeedBase", });
- descriptor.resolveAllFeaturesImmutable();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/app/src/main/java/com/example/fivewheel/models/RobotData.java b/app/src/main/java/com/example/fivewheel/models/RobotData.java
deleted file mode 100644
index 73543a7..0000000
--- a/app/src/main/java/com/example/fivewheel/models/RobotData.java
+++ /dev/null
@@ -1,792 +0,0 @@
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-// NO CHECKED-IN PROTOBUF GENCODE
-// source: robot_data.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.fivewheel.models;
-
-public final class RobotData {
- private RobotData() {}
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- RobotData.class.getName());
- }
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- public interface DataTransOrBuilder extends
- // @@protoc_insertion_point(interface_extends:DataTrans)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- *
- * 横滚角
- *
- *
- * int32 RF_Angle_Roll = 1;
- * @return The rFAngleRoll.
- */
- int getRFAngleRoll();
-
- /**
- *
- * 俯仰角
- *
- *
- * int32 RF_Angle_Pitch = 2;
- * @return The rFAnglePitch.
- */
- int getRFAnglePitch();
-
- /**
- *
- * 航向角
- *
- *
- * int32 RF_Angle_Yaw = 3;
- * @return The rFAngleYaw.
- */
- int getRFAngleYaw();
-
- /**
- *
- * 海洋深度
- *
- *
- * int32 RF_Depth = 4;
- * @return The rFDepth.
- */
- int getRFDepth();
- }
- /**
- * Protobuf type {@code DataTrans}
- */
- public static final class DataTrans extends
- com.google.protobuf.GeneratedMessage implements
- // @@protoc_insertion_point(message_implements:DataTrans)
- DataTransOrBuilder {
- private static final long serialVersionUID = 0L;
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- DataTrans.class.getName());
- }
- // Use DataTrans.newBuilder() to construct.
- private DataTrans(com.google.protobuf.GeneratedMessage.Builder builder) {
- super(builder);
- }
- private DataTrans() {
- }
-
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return RobotData.internal_static_DataTrans_descriptor;
- }
-
- @Override
- protected FieldAccessorTable
- internalGetFieldAccessorTable() {
- return RobotData.internal_static_DataTrans_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- DataTrans.class, Builder.class);
- }
-
- public static final int RF_ANGLE_ROLL_FIELD_NUMBER = 1;
- private int rFAngleRoll_ = 0;
- /**
- *
- * 横滚角
- *
- *
- * int32 RF_Angle_Roll = 1;
- * @return The rFAngleRoll.
- */
- @Override
- public int getRFAngleRoll() {
- return rFAngleRoll_;
- }
-
- public static final int RF_ANGLE_PITCH_FIELD_NUMBER = 2;
- private int rFAnglePitch_ = 0;
- /**
- *
- * 俯仰角
- *
- *
- * int32 RF_Angle_Pitch = 2;
- * @return The rFAnglePitch.
- */
- @Override
- public int getRFAnglePitch() {
- return rFAnglePitch_;
- }
-
- public static final int RF_ANGLE_YAW_FIELD_NUMBER = 3;
- private int rFAngleYaw_ = 0;
- /**
- *
- * 航向角
- *
- *
- * int32 RF_Angle_Yaw = 3;
- * @return The rFAngleYaw.
- */
- @Override
- public int getRFAngleYaw() {
- return rFAngleYaw_;
- }
-
- public static final int RF_DEPTH_FIELD_NUMBER = 4;
- private int rFDepth_ = 0;
- /**
- *
- * 海洋深度
- *
- *
- * int32 RF_Depth = 4;
- * @return The rFDepth.
- */
- @Override
- public int getRFDepth() {
- return rFDepth_;
- }
-
- private byte memoizedIsInitialized = -1;
- @Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (rFAngleRoll_ != 0) {
- output.writeInt32(1, rFAngleRoll_);
- }
- if (rFAnglePitch_ != 0) {
- output.writeInt32(2, rFAnglePitch_);
- }
- if (rFAngleYaw_ != 0) {
- output.writeInt32(3, rFAngleYaw_);
- }
- if (rFDepth_ != 0) {
- output.writeInt32(4, rFDepth_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (rFAngleRoll_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, rFAngleRoll_);
- }
- if (rFAnglePitch_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(2, rFAnglePitch_);
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- if (rFAngleYaw_ != 0) {
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- .computeInt32Size(3, rFAngleYaw_);
- }
- if (rFDepth_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(4, rFDepth_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @Override
- public boolean equals(final Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof DataTrans)) {
- return super.equals(obj);
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- DataTrans other = (DataTrans) obj;
-
- if (getRFAngleRoll()
- != other.getRFAngleRoll()) return false;
- if (getRFAnglePitch()
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- if (getRFAngleYaw()
- != other.getRFAngleYaw()) return false;
- if (getRFDepth()
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- if (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + RF_ANGLE_ROLL_FIELD_NUMBER;
- hash = (53 * hash) + getRFAngleRoll();
- hash = (37 * hash) + RF_ANGLE_PITCH_FIELD_NUMBER;
- hash = (53 * hash) + getRFAnglePitch();
- hash = (37 * hash) + RF_ANGLE_YAW_FIELD_NUMBER;
- hash = (53 * hash) + getRFAngleYaw();
- hash = (37 * hash) + RF_DEPTH_FIELD_NUMBER;
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- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(DataTrans prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @Override
- protected Builder newBuilderForType(
- BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- * Protobuf type {@code DataTrans}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessage.Builder implements
- // @@protoc_insertion_point(builder_implements:DataTrans)
- DataTransOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return RobotData.internal_static_DataTrans_descriptor;
- }
-
- @Override
- protected FieldAccessorTable
- internalGetFieldAccessorTable() {
- return RobotData.internal_static_DataTrans_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- DataTrans.class, Builder.class);
- }
-
- // Construct using com.example.removemarineanimals.models.RobotData.DataTrans.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- BuilderParent parent) {
- super(parent);
-
- }
- @Override
- public Builder clear() {
- super.clear();
- bitField0_ = 0;
- rFAngleRoll_ = 0;
- rFAnglePitch_ = 0;
- rFAngleYaw_ = 0;
- rFDepth_ = 0;
- return this;
- }
-
- @Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return RobotData.internal_static_DataTrans_descriptor;
- }
-
- @Override
- public DataTrans getDefaultInstanceForType() {
- return DataTrans.getDefaultInstance();
- }
-
- @Override
- public DataTrans build() {
- DataTrans result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @Override
- public DataTrans buildPartial() {
- DataTrans result = new DataTrans(this);
- if (bitField0_ != 0) { buildPartial0(result); }
- onBuilt();
- return result;
- }
-
- private void buildPartial0(DataTrans result) {
- int from_bitField0_ = bitField0_;
- if (((from_bitField0_ & 0x00000001) != 0)) {
- result.rFAngleRoll_ = rFAngleRoll_;
- }
- if (((from_bitField0_ & 0x00000002) != 0)) {
- result.rFAnglePitch_ = rFAnglePitch_;
- }
- if (((from_bitField0_ & 0x00000004) != 0)) {
- result.rFAngleYaw_ = rFAngleYaw_;
- }
- if (((from_bitField0_ & 0x00000008) != 0)) {
- result.rFDepth_ = rFDepth_;
- }
- }
-
- @Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof DataTrans) {
- return mergeFrom((DataTrans)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(DataTrans other) {
- if (other == DataTrans.getDefaultInstance()) return this;
- if (other.getRFAngleRoll() != 0) {
- setRFAngleRoll(other.getRFAngleRoll());
- }
- if (other.getRFAnglePitch() != 0) {
- setRFAnglePitch(other.getRFAnglePitch());
- }
- if (other.getRFAngleYaw() != 0) {
- setRFAngleYaw(other.getRFAngleYaw());
- }
- if (other.getRFDepth() != 0) {
- setRFDepth(other.getRFDepth());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @Override
- public final boolean isInitialized() {
- return true;
- }
-
- @Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 8: {
- rFAngleRoll_ = input.readInt32();
- bitField0_ |= 0x00000001;
- break;
- } // case 8
- case 16: {
- rFAnglePitch_ = input.readInt32();
- bitField0_ |= 0x00000002;
- break;
- } // case 16
- case 24: {
- rFAngleYaw_ = input.readInt32();
- bitField0_ |= 0x00000004;
- break;
- } // case 24
- case 32: {
- rFDepth_ = input.readInt32();
- bitField0_ |= 0x00000008;
- break;
- } // case 32
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private int rFAngleRoll_ ;
- /**
- *
- * 横滚角
- *
- *
- * int32 RF_Angle_Roll = 1;
- * @return The rFAngleRoll.
- */
- @Override
- public int getRFAngleRoll() {
- return rFAngleRoll_;
- }
- /**
- *
- * 横滚角
- *
- *
- * int32 RF_Angle_Roll = 1;
- * @param value The rFAngleRoll to set.
- * @return This builder for chaining.
- */
- public Builder setRFAngleRoll(int value) {
-
- rFAngleRoll_ = value;
- bitField0_ |= 0x00000001;
- onChanged();
- return this;
- }
- /**
- *
- * 横滚角
- *
- *
- * int32 RF_Angle_Roll = 1;
- * @return This builder for chaining.
- */
- public Builder clearRFAngleRoll() {
- bitField0_ = (bitField0_ & ~0x00000001);
- rFAngleRoll_ = 0;
- onChanged();
- return this;
- }
-
- private int rFAnglePitch_ ;
- /**
- *
- * 俯仰角
- *
- *
- * int32 RF_Angle_Pitch = 2;
- * @return The rFAnglePitch.
- */
- @Override
- public int getRFAnglePitch() {
- return rFAnglePitch_;
- }
- /**
- *
- * 俯仰角
- *
- *
- * int32 RF_Angle_Pitch = 2;
- * @param value The rFAnglePitch to set.
- * @return This builder for chaining.
- */
- public Builder setRFAnglePitch(int value) {
-
- rFAnglePitch_ = value;
- bitField0_ |= 0x00000002;
- onChanged();
- return this;
- }
- /**
- *
- * 俯仰角
- *
- *
- * int32 RF_Angle_Pitch = 2;
- * @return This builder for chaining.
- */
- public Builder clearRFAnglePitch() {
- bitField0_ = (bitField0_ & ~0x00000002);
- rFAnglePitch_ = 0;
- onChanged();
- return this;
- }
-
- private int rFAngleYaw_ ;
- /**
- *
- * 航向角
- *
- *
- * int32 RF_Angle_Yaw = 3;
- * @return The rFAngleYaw.
- */
- @Override
- public int getRFAngleYaw() {
- return rFAngleYaw_;
- }
- /**
- *
- * 航向角
- *
- *
- * int32 RF_Angle_Yaw = 3;
- * @param value The rFAngleYaw to set.
- * @return This builder for chaining.
- */
- public Builder setRFAngleYaw(int value) {
-
- rFAngleYaw_ = value;
- bitField0_ |= 0x00000004;
- onChanged();
- return this;
- }
- /**
- *
- * 航向角
- *
- *
- * int32 RF_Angle_Yaw = 3;
- * @return This builder for chaining.
- */
- public Builder clearRFAngleYaw() {
- bitField0_ = (bitField0_ & ~0x00000004);
- rFAngleYaw_ = 0;
- onChanged();
- return this;
- }
-
- private int rFDepth_ ;
- /**
- *
- * 海洋深度
- *
- *
- * int32 RF_Depth = 4;
- * @return The rFDepth.
- */
- @Override
- public int getRFDepth() {
- return rFDepth_;
- }
- /**
- *
- * 海洋深度
- *
- *
- * int32 RF_Depth = 4;
- * @param value The rFDepth to set.
- * @return This builder for chaining.
- */
- public Builder setRFDepth(int value) {
-
- rFDepth_ = value;
- bitField0_ |= 0x00000008;
- onChanged();
- return this;
- }
- /**
- *
- * 海洋深度
- *
- *
- * int32 RF_Depth = 4;
- * @return This builder for chaining.
- */
- public Builder clearRFDepth() {
- bitField0_ = (bitField0_ & ~0x00000008);
- rFDepth_ = 0;
- onChanged();
- return this;
- }
-
- // @@protoc_insertion_point(builder_scope:DataTrans)
- }
-
- // @@protoc_insertion_point(class_scope:DataTrans)
- private static final DataTrans DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new DataTrans();
- }
-
- public static DataTrans getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @Override
- public DataTrans parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @Override
- public DataTrans getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- private static final com.google.protobuf.Descriptors.Descriptor
- internal_static_DataTrans_descriptor;
- private static final
- com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internal_static_DataTrans_fieldAccessorTable;
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- String[] descriptorData = {
- "\n\020robot_data.proto\"b\n\tDataTrans\022\025\n\rRF_An" +
- "gle_Roll\030\001 \001(\005\022\026\n\016RF_Angle_Pitch\030\002 \001(\005\022\024" +
- "\n\014RF_Angle_Yaw\030\003 \001(\005\022\020\n\010RF_Depth\030\004 \001(\005B*" +
- "\n&com.example.removemarineanimals.models" +
- "P\000b\006proto3"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- });
- internal_static_DataTrans_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_DataTrans_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessage.FieldAccessorTable(
- internal_static_DataTrans_descriptor,
- new String[] { "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth", });
- descriptor.resolveAllFeaturesImmutable();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/app/src/main/java/com/example/fivewheel/models/RobotRMACM.java b/app/src/main/java/com/example/fivewheel/models/RobotRMACM.java
deleted file mode 100644
index cfbb3ba..0000000
--- a/app/src/main/java/com/example/fivewheel/models/RobotRMACM.java
+++ /dev/null
@@ -1,615 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: robot_RMACM.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.fivewheel.models;
-
-public final class RobotRMACM {
- private RobotRMACM() {}
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- RobotRMACM.class.getName());
- }
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- public interface RMACMOrBuilder extends
- // @@protoc_insertion_point(interface_extends:RMACM)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- *
- * 灯光亮度
- *
- *
- * int32 LightBrightness = 1;
- * @return The lightBrightness.
- */
- int getLightBrightness();
-
- /**
- *
- * 机器人速度
- *
- *
- * int32 Robot_Speed = 2;
- * @return The robotSpeed.
- */
- int getRobotSpeed();
- }
- /**
- *
- * Remove Marine Animal Command
- *
- *
- * Protobuf type {@code RMACM}
- */
- public static final class RMACM extends
- com.google.protobuf.GeneratedMessage implements
- // @@protoc_insertion_point(message_implements:RMACM)
- RMACMOrBuilder {
- private static final long serialVersionUID = 0L;
- static {
- com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
- com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
- /* major= */ 4,
- /* minor= */ 27,
- /* patch= */ 2,
- /* suffix= */ "",
- RMACM.class.getName());
- }
- // Use RMACM.newBuilder() to construct.
- private RMACM(com.google.protobuf.GeneratedMessage.Builder builder) {
- super(builder);
- }
- private RMACM() {
- }
-
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return RobotRMACM.internal_static_RMACM_descriptor;
- }
-
- @Override
- protected FieldAccessorTable
- internalGetFieldAccessorTable() {
- return RobotRMACM.internal_static_RMACM_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- RMACM.class, Builder.class);
- }
-
- public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1;
- private int lightBrightness_ = 0;
- /**
- *
- * 灯光亮度
- *
- *
- * int32 LightBrightness = 1;
- * @return The lightBrightness.
- */
- @Override
- public int getLightBrightness() {
- return lightBrightness_;
- }
-
- public static final int ROBOT_SPEED_FIELD_NUMBER = 2;
- private int robotSpeed_ = 0;
- /**
- *
- * 机器人速度
- *
- *
- * int32 Robot_Speed = 2;
- * @return The robotSpeed.
- */
- @Override
- public int getRobotSpeed() {
- return robotSpeed_;
- }
-
- private byte memoizedIsInitialized = -1;
- @Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (lightBrightness_ != 0) {
- output.writeInt32(1, lightBrightness_);
- }
- if (robotSpeed_ != 0) {
- output.writeInt32(2, robotSpeed_);
- }
- getUnknownFields().writeTo(output);
- }
-
- @Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
- if (lightBrightness_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(1, lightBrightness_);
- }
- if (robotSpeed_ != 0) {
- size += com.google.protobuf.CodedOutputStream
- .computeInt32Size(2, robotSpeed_);
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @Override
- public boolean equals(final Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof RMACM)) {
- return super.equals(obj);
- }
- RMACM other = (RMACM) obj;
-
- if (getLightBrightness()
- != other.getLightBrightness()) return false;
- if (getRobotSpeed()
- != other.getRobotSpeed()) return false;
- if (!getUnknownFields().equals(other.getUnknownFields())) return false;
- return true;
- }
-
- @Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + LIGHTBRIGHTNESS_FIELD_NUMBER;
- hash = (53 * hash) + getLightBrightness();
- hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER;
- hash = (53 * hash) + getRobotSpeed();
- hash = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static RMACM parseFrom(
- java.nio.ByteBuffer data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static RMACM parseFrom(
- java.nio.ByteBuffer data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static RMACM parseFrom(
- com.google.protobuf.ByteString data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static RMACM parseFrom(
- com.google.protobuf.ByteString data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static RMACM parseFrom(byte[] data)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data);
- }
- public static RMACM parseFrom(
- byte[] data,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- return PARSER.parseFrom(data, extensionRegistry);
- }
- public static RMACM parseFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static RMACM parseFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- public static RMACM parseDelimitedFrom(java.io.InputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input);
- }
-
- public static RMACM parseDelimitedFrom(
- java.io.InputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
- }
- public static RMACM parseFrom(
- com.google.protobuf.CodedInputStream input)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input);
- }
- public static RMACM parseFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- return com.google.protobuf.GeneratedMessage
- .parseWithIOException(PARSER, input, extensionRegistry);
- }
-
- @Override
- public Builder newBuilderForType() { return newBuilder(); }
- public static Builder newBuilder() {
- return DEFAULT_INSTANCE.toBuilder();
- }
- public static Builder newBuilder(RMACM prototype) {
- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
- }
- @Override
- public Builder toBuilder() {
- return this == DEFAULT_INSTANCE
- ? new Builder() : new Builder().mergeFrom(this);
- }
-
- @Override
- protected Builder newBuilderForType(
- BuilderParent parent) {
- Builder builder = new Builder(parent);
- return builder;
- }
- /**
- *
- * Remove Marine Animal Command
- *
- *
- * Protobuf type {@code RMACM}
- */
- public static final class Builder extends
- com.google.protobuf.GeneratedMessage.Builder implements
- // @@protoc_insertion_point(builder_implements:RMACM)
- RMACMOrBuilder {
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return RobotRMACM.internal_static_RMACM_descriptor;
- }
-
- @Override
- protected FieldAccessorTable
- internalGetFieldAccessorTable() {
- return RobotRMACM.internal_static_RMACM_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- RMACM.class, Builder.class);
- }
-
- // Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
- private Builder() {
-
- }
-
- private Builder(
- BuilderParent parent) {
- super(parent);
-
- }
- @Override
- public Builder clear() {
- super.clear();
- bitField0_ = 0;
- lightBrightness_ = 0;
- robotSpeed_ = 0;
- return this;
- }
-
- @Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return RobotRMACM.internal_static_RMACM_descriptor;
- }
-
- @Override
- public RMACM getDefaultInstanceForType() {
- return RMACM.getDefaultInstance();
- }
-
- @Override
- public RMACM build() {
- RMACM result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @Override
- public RMACM buildPartial() {
- RMACM result = new RMACM(this);
- if (bitField0_ != 0) { buildPartial0(result); }
- onBuilt();
- return result;
- }
-
- private void buildPartial0(RMACM result) {
- int from_bitField0_ = bitField0_;
- if (((from_bitField0_ & 0x00000001) != 0)) {
- result.lightBrightness_ = lightBrightness_;
- }
- if (((from_bitField0_ & 0x00000002) != 0)) {
- result.robotSpeed_ = robotSpeed_;
- }
- }
-
- @Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof RMACM) {
- return mergeFrom((RMACM)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(RMACM other) {
- if (other == RMACM.getDefaultInstance()) return this;
- if (other.getLightBrightness() != 0) {
- setLightBrightness(other.getLightBrightness());
- }
- if (other.getRobotSpeed() != 0) {
- setRobotSpeed(other.getRobotSpeed());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @Override
- public final boolean isInitialized() {
- return true;
- }
-
- @Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 8: {
- lightBrightness_ = input.readInt32();
- bitField0_ |= 0x00000001;
- break;
- } // case 8
- case 16: {
- robotSpeed_ = input.readInt32();
- bitField0_ |= 0x00000002;
- break;
- } // case 16
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private int lightBrightness_ ;
- /**
- *
- * 灯光亮度
- *
- *
- * int32 LightBrightness = 1;
- * @return The lightBrightness.
- */
- @Override
- public int getLightBrightness() {
- return lightBrightness_;
- }
- /**
- *
- * 灯光亮度
- *
- *
- * int32 LightBrightness = 1;
- * @param value The lightBrightness to set.
- * @return This builder for chaining.
- */
- public Builder setLightBrightness(int value) {
-
- lightBrightness_ = value;
- bitField0_ |= 0x00000001;
- onChanged();
- return this;
- }
- /**
- *
- * 灯光亮度
- *
- *
- * int32 LightBrightness = 1;
- * @return This builder for chaining.
- */
- public Builder clearLightBrightness() {
- bitField0_ = (bitField0_ & ~0x00000001);
- lightBrightness_ = 0;
- onChanged();
- return this;
- }
-
- private int robotSpeed_ ;
- /**
- *
- * 机器人速度
- *
- *
- * int32 Robot_Speed = 2;
- * @return The robotSpeed.
- */
- @Override
- public int getRobotSpeed() {
- return robotSpeed_;
- }
- /**
- *
- * 机器人速度
- *
- *
- * int32 Robot_Speed = 2;
- * @param value The robotSpeed to set.
- * @return This builder for chaining.
- */
- public Builder setRobotSpeed(int value) {
-
- robotSpeed_ = value;
- bitField0_ |= 0x00000002;
- onChanged();
- return this;
- }
- /**
- *
- * 机器人速度
- *
- *
- * int32 Robot_Speed = 2;
- * @return This builder for chaining.
- */
- public Builder clearRobotSpeed() {
- bitField0_ = (bitField0_ & ~0x00000002);
- robotSpeed_ = 0;
- onChanged();
- return this;
- }
-
- // @@protoc_insertion_point(builder_scope:RMACM)
- }
-
- // @@protoc_insertion_point(class_scope:RMACM)
- private static final RMACM DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new RMACM();
- }
-
- public static RMACM getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @Override
- public RMACM parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @Override
- public RMACM getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- private static final com.google.protobuf.Descriptors.Descriptor
- internal_static_RMACM_descriptor;
- private static final
- com.google.protobuf.GeneratedMessage.FieldAccessorTable
- internal_static_RMACM_fieldAccessorTable;
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- String[] descriptorData = {
- "\n\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" +
- "ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" +
- "m.example.removemarineanimals.modelsP\000b\006" +
- "proto3"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- });
- internal_static_RMACM_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_RMACM_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessage.FieldAccessorTable(
- internal_static_RMACM_descriptor,
- new String[] { "LightBrightness", "RobotSpeed", });
- descriptor.resolveAllFeaturesImmutable();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/app/src/main/java/com/example/fivewheel/services/CustomProber.java b/app/src/main/java/com/example/fivewheel/services/CustomProber.java
deleted file mode 100644
index 84c4922..0000000
--- a/app/src/main/java/com/example/fivewheel/services/CustomProber.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.example.fivewheel.services;
-
-
-import com.hoho.android.usbserial.driver.FtdiSerialDriver;
-import com.hoho.android.usbserial.driver.ProbeTable;
-import com.hoho.android.usbserial.driver.UsbSerialProber;
-
-/**
- * add devices here, that are not known to DefaultProber
- *
- * if the App should auto start for these devices, also
- * add IDs to app/src/main/res/xml/device_filter.xml
- */
-public class CustomProber {
-
- public static UsbSerialProber getCustomProber() {
- ProbeTable customTable = new ProbeTable();
- customTable.addProduct(0x1234, 0x0001, FtdiSerialDriver.class); // e.g. device with custom VID+PID
- customTable.addProduct(0x1234, 0x0002, FtdiSerialDriver.class); // e.g. device with custom VID+PID
- return new UsbSerialProber(customTable);
- }
-
-}
diff --git a/app/src/main/java/com/example/fivewheel/services/DisplayUtils.java b/app/src/main/java/com/example/fivewheel/services/DisplayUtils.java
deleted file mode 100644
index a2c1201..0000000
--- a/app/src/main/java/com/example/fivewheel/services/DisplayUtils.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.example.fivewheel.services;
-
-import android.content.Context;
-import android.content.res.Resources;
-import android.util.TypedValue;
-
-public class DisplayUtils {
- // 静态方法，无需实例化即可调用
- public static int dpToPx(Context context, int dp) {
- Resources r = context.getResources();
- return (int) TypedValue.applyDimension(
- TypedValue.COMPLEX_UNIT_DIP,
- dp,
- r.getDisplayMetrics()
- );
- }
-}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/fivewheel/services/ModbusCRC.java b/app/src/main/java/com/example/fivewheel/services/ModbusCRC.java
deleted file mode 100644
index b649c43..0000000
--- a/app/src/main/java/com/example/fivewheel/services/ModbusCRC.java
+++ /dev/null
@@ -1,72 +0,0 @@
-package com.example.fivewheel.services;
-
-public class ModbusCRC {
-
-// /**
-// * 一个字节包含位的数量 8
-// */
-// private static final int BITS_OF_BYTE = 8;
-// /**
-// * 多项式
-// */
-// private static final int POLYNOMIAL = 0xA001;
-// /**
-// * 初始值
-// */
-// private static final int INITIAL_VALUE = 0xFFFF;
-//
-// /**
-// * CRC16 编码
-// *
-// * @param bytes 编码内容
-// * @return 编码结果
-// */
-// public static int crc16(byte[] bytes) {
-// int res = INITIAL_VALUE;
-// for (int data : bytes) {
-// res = res ^ data;
-// for (int i = 0; i < BITS_OF_BYTE; i++) {
-// res = (res & 0x0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
-// }
-// }
-// return revert(res);
-// }
-//
-// /**
-// * 翻转16位的高八位和低八位字节
-// *
-// * @param src 翻转数字
-// * @return 翻转结果
-// */
-// private static int revert(int src) {
-// int lowByte = (src & 0xFF00) >> 8;
-// int highByte = (src & 0x00FF) << 8;
-// return lowByte | highByte;
-// }
-
-
- /**
- * 计算 Modbus CRC 校验值
- * @param data 要计算校验值的字节数组
- * @return CRC 校验值，以 2 字节的数组形式返回
- */
- public static byte[] calculateCRC(byte[] data) {
- int crc = 0xFFFF;
- for (byte b : data) {
- crc ^= (b & 0xFF);
- for (int i = 0; i < 8; i++) {
- if ((crc & 0x0001) != 0) {
- crc >>= 1;
- crc ^= 0xA001;
- } else {
- crc >>= 1;
- }
- }
- }
- // 将 CRC 结果拆分为两个字节
- byte[] crcBytes = new byte[2];
- crcBytes[0] = (byte) (crc & 0xFF);
- crcBytes[1] = (byte) ((crc >> 8) & 0xFF);
- return crcBytes;
- }
-}
diff --git a/app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java b/app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java
deleted file mode 100644
index d163fd8..0000000
--- a/app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java
+++ /dev/null
@@ -1,54 +0,0 @@
-package com.example.fivewheel.services;
-
-import com.example.fivewheel.models.RobotData;
-import com.google.protobuf.InvalidProtocolBufferException;
-
-public class RobotDataHanlder {
-
-
- public static void test()
- {
- //byte[] data=hexToByteArray("080110830118313A04B1CBBACF");
- byte[] data=hexToByteArray("100A180A28013A32B1CBBACF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000");
-
- }
- public static RobotData.DataTrans DeoodeDataFromRobot(byte[] data)
- {
-
- RobotData.DataTrans dtrans3 = null;
- try
- {
- dtrans3 = RobotData.DataTrans.parseFrom(data);
-
- return dtrans3;
- } catch (InvalidProtocolBufferException e) {
- return null;
- }
-
-
- }
-
- public static byte[] hexToByteArray(String inHex){
- int hexlen = inHex.length();
- byte[] result;
- if (hexlen % 2 == 1){
- //奇数
- hexlen++;
- result = new byte[(hexlen/2)];
- inHex="0"+inHex;
- }else {
- //偶数
- result = new byte[(hexlen/2)];
- }
- int j=0;
- for (int i = 0; i < hexlen; i+=2){
- result[j]=hexToByte(inHex.substring(i,i+2));
- j++;
- }
- return result;
- }
- public static byte hexToByte(String inHex){
- return (byte)Integer.parseInt(inHex,16);
- }
-
-}
diff --git a/app/src/main/java/com/example/fivewheel/services/RtspRecorder.java b/app/src/main/java/com/example/fivewheel/services/RtspRecorder.java
deleted file mode 100644
index a3d96fa..0000000
--- a/app/src/main/java/com/example/fivewheel/services/RtspRecorder.java
+++ /dev/null
@@ -1,140 +0,0 @@
-//package com.example.removemarineanimals.services;
-//
-//import android.content.Context;
-//import android.graphics.Bitmap;
-//import android.graphics.Canvas;
-//import android.view.View;
-//import android.widget.Toast;
-//
-//import com.arthenica.ffmpegkit.FFmpegKit;
-//import com.arthenica.ffmpegkit.FFmpegSession;
-//import com.arthenica.ffmpegkit.ReturnCode;
-//import com.example.removemarineanimals.MainActivity;
-//
-//import java.io.File;
-//import java.io.FileOutputStream;
-//import java.io.IOException;
-//import java.text.SimpleDateFormat;
-//import java.util.Date;
-//
-//public class RtspRecorder {
-// // 用于控制录制会话
-// private MainActivity MainActivity;
-// private static FFmpegSession recordingSession;
-//
-// // 开始分段录制
-// public static void startRecording(Context context, String rtspUrl)
-// {
-//
-// String outputPath ="storage/emulated/0/DCIM/" + "/record_%Y-%m-%d_%H-%M-%S.mp4";
-// //String outputPath = context.getExternalFilesDir(null) + "/record_%Y-%m-%d_%H-%M-%S.mp4";
-// String command = String.format(
-// "-rtsp_transport tcp -i \"%s\" -c:v copy -f segment -segment_time 30 -reset_timestamps 1 -strftime 1 \"%s\"",
-// rtspUrl, outputPath
-// );
-//
-// recordingSession = FFmpegKit.executeAsync(command, session -> {
-// if (ReturnCode.isSuccess(session.getReturnCode())) {
-// // 录制正常结束
-// } else {
-// // 录制异常终止
-// }
-// });
-// }
-//
-// // 停止录制
-// public static void stopRecording() {
-// if (recordingSession != null) {
-// FFmpegKit.cancel(recordingSession.getSessionId());
-// recordingSession = null;
-// }
-// }
-//
-// // 实时截图（需手动调用）
-// public static void takeSnapshot(Context context, String rtspUrl) {
-// //String outputPath = context.getExternalFilesDir(null) + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
-//
-// String outputPath = "storage/emulated/0/DCIM/" + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
-//
-// String command = String.format(
-// "-rtsp_transport tcp -i \"%s\" -frames:v 1 -strftime 1 \"%s\"",
-// rtspUrl, outputPath
-// );
-// FFmpegSession session2 = FFmpegKit.executeAsync(command,session -> {
-// if (ReturnCode.isSuccess(session.getReturnCode()))
-// {
-// // 截图成功
-// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
-//
-// } else
-// {
-// // 截图失败
-// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
-// }
-// });
-//
-////
-//// if (ReturnCode.isSuccess(session.getReturnCode())) {
-//// // 截图成功
-//// } else {
-//// // 截图失败
-//// }
-//
-//// recordingSession = FFmpegKit.executeAsync(command, session -> {
-//// if (ReturnCode.isSuccess(session.getReturnCode()))
-//// {
-//// // 截图成功
-//// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
-////
-//// } else
-//// {
-//// // 截图失败
-//// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
-//// }
-//// });
-//
-//
-// }
-//
-// // 方法1：通过DrawingCache（适用于可见的View）
-// public static Bitmap captureView(View view) {
-// view.setDrawingCacheEnabled(true);
-// view.buildDrawingCache();
-// Bitmap bitmap = Bitmap.createBitmap(view.getDrawingCache());
-// view.setDrawingCacheEnabled(false); // 释放缓存
-// return bitmap;
-// }
-//
-// // 方法2：直接绘制到Bitmap（更可靠，适用于未显示的View）
-// public static Bitmap captureViewManual(View view) {
-//
-//// view.measure(View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED), View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED));
-//// view.layout(0, 0, view.getMeasuredWidth(), view.getMeasuredHeight());
-//// view.buildDrawingCache();
-//// Bitmap bitmap = view.getDrawingCache();
-//
-//
-// Bitmap bitmap = Bitmap.createBitmap(view.getWidth(), view.getHeight(), Bitmap.Config.ARGB_8888);
-// Canvas canvas = new Canvas(bitmap);
-// view.draw(canvas);
-// return bitmap;
-// }
-//
-// public static void SnapPictureByView (View view)
-// {
-// // 保存到文件（需权限）
-// Date dNow=new Date();
-// SimpleDateFormat ft = new SimpleDateFormat ("yyyy-MM-dd hh-mm-ss");
-// String path = "storage/emulated/0/DCIM/" + ft.format(dNow)+ ".png";
-// File file = new File(path);
-// try (FileOutputStream out = new FileOutputStream(file))
-// {
-// // Bitmap screenshot = captureView(view);
-// Bitmap screenshot = captureViewManual(view);
-// screenshot.compress(Bitmap.CompressFormat.PNG, 100, out);
-// } catch (IOException e) {
-// e.printStackTrace();
-// }
-// }
-//
-//}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java b/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
deleted file mode 100644
index 2e38972..0000000
--- a/app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
+++ /dev/null
@@ -1,352 +0,0 @@
-package com.example.fivewheel.services;
-
-import android.app.PendingIntent;
-import android.content.BroadcastReceiver;
-import android.content.Context;
-import android.content.Intent;
-import android.content.IntentFilter;
-import android.hardware.usb.UsbDevice;
-import android.hardware.usb.UsbDeviceConnection;
-import android.hardware.usb.UsbManager;
-import android.os.Build;
-import android.os.CountDownTimer;
-import android.os.Handler;
-import android.os.Looper;
-
-import androidx.core.content.ContextCompat;
-
-import com.example.fivewheel.BuildConfig;
-import com.example.fivewheel.MainActivity;
-import com.example.fivewheel.models.RobotData;
-import com.example.fivewheel.viewmodels.MainViewModel;
-import com.hoho.android.usbserial.driver.UsbSerialDriver;
-import com.hoho.android.usbserial.driver.UsbSerialPort;
-import com.hoho.android.usbserial.driver.UsbSerialProber;
-import com.hoho.android.usbserial.util.SerialInputOutputManager;
-
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.Iterator;
-import java.util.List;
-
-public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
-
-
- public MainActivity MainActivity;
- //sserial port part start
-
- private enum UsbPermission {Unknown, Requested, Granted, Denied}
-
- private final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
-
-
- //
- //
- //
-
-
- private int deviceId = 60000;
- private int deviceId_test = 60000;
- private int portNum;
- private final int WRITE_WAIT_MILLIS = 500;
- private final int READ_WAIT_MILLIS = 100;
- private String PortNameContians = "SILICON";/**/
- // private static String PortNameContians="FTD";
- private int baudRate = 57600;
- private boolean withIoManager = true;
-
- private BroadcastReceiver broadcastReceiver;
- private Handler mainLooper;
-
- private SerialInputOutputManager usbIoManager;
- private UsbSerialPort usbSerialPort;
- private UsbPermission usbPermission = UsbPermission.Unknown;
- private boolean connected = false;
-
- public void intialize() {
-
- broadcastReceiver = new BroadcastReceiver() {
- @Override
- public void onReceive(Context context, Intent intent) {
- if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
- usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
- connect();
- }
- }
- };
- mainLooper = new Handler(Looper.getMainLooper());
- _receiveBufferlist = new ArrayList();
- }
-
- /*
- * Serial
- */
- @Override
- public void onNewData(byte[] data) {
- status("new data");
- mainLooper.post(() -> {
- receive(data);
- // receive data
- });
- }
-
- @Override
- public void onRunError(Exception e) {
- mainLooper.post(() -> {
- status("connection lost: " + e.getMessage());
- disconnect();
- });
- }
-
- /*
- * Serial + UI
- */
-
- public void connect() {
-
- UsbDevice device = null;
- UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
- for (UsbDevice v : usbManager.getDeviceList().values()) {
- status(v.getManufacturerName().toUpperCase());
- if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
- device = v;
- break;
- }
- }
-
- if (device == null) {
- // _serialPortSwitch.setChecked(false);
-
- status("找不到设备");
- return;
- }
- UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
- if (driver == null) {
- driver = CustomProber.getCustomProber().probeDevice(device);
- }
- if (driver == null) {
- // _serialPortSwitch.setChecked(false);
- status("无驱动");
- return;
- }
- if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
- {
- status("connection failed: not enough ports at device");
- status("找不到设备");
- return;
- }
- usbSerialPort = driver.getPorts().get(portNum);
-
- UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
- if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
- usbPermission = UsbPermission.Requested;
- int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
- Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
- intent.setPackage(MainActivity.getPackageName());
- PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
- usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
- return;
- }
- if (usbConnection == null) {
- if (!usbManager.hasPermission(driver.getDevice())) {
- status("connection failed: permission denied");
- } else {
- status("connection failed: open failed");
- }
-
- return;
- }
-
- try {
- usbSerialPort.open(usbConnection);
- try {
- usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
- status("connected: ");
-
- } catch (UnsupportedOperationException e) {
- status("unsupport setparameters");
- }
- if (withIoManager) {
- usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
- usbIoManager.setReadBufferSize(40960);
- usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
- usbIoManager.start();
- }
- //status("connected");
- connected = true;
- // _serialPortSwitch.setChecked(true);
- //switch set true
-
- } catch (Exception e) {
- status("connection failed: " + e.getMessage());
- disconnect();
- }
- }
-
- private void disconnect() {
- connected = false;
-
- if (usbIoManager != null) {
- usbIoManager.setListener(null);
- usbIoManager.stop();
- }
- usbIoManager = null;
- try {
- usbSerialPort.close();
- } catch (IOException ignored) {
-
- }
- usbSerialPort = null;
- }
-
- List _receiveBufferlist;
-
- private static byte[] listTobyte(List list) {
- if (list == null || list.size() < 0) return null;
- byte[] bytes = new byte[list.size()];
- int i = 0;
- Iterator iterator = list.iterator();
- while (iterator.hasNext()) {
- bytes[i] = iterator.next();
- i++;
- }
- return bytes;
- }
-
- boolean StartCountDown = false;
-
- // byte _receivedData
- private void receive(byte[] data) {
-
- status("read data");
- for (int i = 0; i < data.length; i++) {
- _receiveBufferlist.add(data[i]);
- }
-
- //decodeRceive(data);
- if (StartCountDown == false)//从收到第一个数据开始计时
- {
- StartCountDown = true;
- new CountDownTimer(50, 10) {
- public void onTick(long millisUntilFinished) {
-
-
- }
-
-
- public void onFinish() {
-
- status("read finished");
- try {
-
- decodeRceive(listTobyte(_receiveBufferlist));
-
- }
- catch (Exception ignored)
- {
- status(ignored.getMessage());
- }
- _receiveBufferlist.clear();
- StartCountDown = false;
- }
- }.start();
- }
-
-
- }
-
- void status(String str) {
-// SpannableStringBuilder spn = new SpannableStringBuilder(str+'\r'+'\n');
-//
-// // spn.append(getTime());
-//
-// spn.setSpan(new ForegroundColorSpan(MainActivity.getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
-// receiveText.append(spn);
- // mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
-
-
- // com.example.removemarineanimals.MainActivity.mainBinding.message.setText(str);
- }
-
- private void decodeRceive(byte[] data) {
- 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 - 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) {
-
- MainViewModel.mainBinding.rFAngleRoll.setText(String.valueOf(_dataTrans.getRFAngleRoll()));
-
- }
- }
-
-
- } catch (Exception e) {
-
- }
- }
-
-
- public void onStart() {
-
- ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
- status("onStart");
-
- }
-
- public void onStop() {
- MainActivity.unregisterReceiver(broadcastReceiver);
- status("onStop");
- }
-
-
- public void onResume() {
-
- if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
- mainLooper.post(this::connect);
-
- }
- }
-
-
- public void onPause() {
- if (connected) {
- status("串口断开");
- // _serialPortSwitch.setChecked(false);
- disconnect();
- }
-
- }
-
-
- public void SendData(byte[] data) {
- if (connected) {
- try {
- usbSerialPort.write(data, WRITE_WAIT_MILLIS);
- } catch (IOException e) {
- status("Send Failed");
- connected = false;
- }
- } else {
- status("usb serialport disconnected");
-
- }
-
-
- }
-
-}
diff --git a/app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java b/app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java
deleted file mode 100644
index d6b190b..0000000
--- a/app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java
+++ /dev/null
@@ -1,27 +0,0 @@
-package com.example.fivewheel.services;
-
-import cn.nodemedia.NodePlayer;
-import cn.nodemedia.NodePlayerView;
-
-public class VideoPlayerHelper {
-
-
-
- public static void startVedio(NodePlayerView nodePlayerView, NodePlayer nodePlayer,String address ){
-
-
- nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
- nodePlayerView.setUIViewContentMode(NodePlayerView.UIViewContentMode.ScaleToFill);//设置视频画面缩放模式
- //nodePlayer=new NodePlayer(this);
- nodePlayer.setPlayerView(nodePlayerView);//设置播放视图
- //设置RTSP流使用的传输协议,支持的模式有:
- nodePlayer.setRtspTransport(NodePlayer.RTSP_TRANSPORT_TCP);//设置传输
- nodePlayer.setInputUrl(address);
- nodePlayer.setVideoEnable(true);//设置视频启用
- nodePlayer.setBufferTime(100);//设置缓冲时间
- nodePlayer.setHWEnable(true);
- nodePlayer.setMaxBufferTime(200);//设置最大缓冲时间
- nodePlayer.start();
- }
-}
-
diff --git a/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java b/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
deleted file mode 100644
index 14b26de..0000000
--- a/app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
+++ /dev/null
@@ -1,224 +0,0 @@
-package com.example.fivewheel.services;
-
-import android.util.Log;
-
-import com.example.fivewheel.models.BspIV;
-
-import android_serialport_api.SerialPortFinder;
-import tp.xmaihh.serialport.SerialHelper;
-import tp.xmaihh.serialport.bean.ComBean;
-
-public class ttySerialPortHelper {
- public static com.example.fivewheel.MainActivity MainActivity;
- private static final String TAG = "ttySerialPortHelper";
- private static SerialHelper serialHelper;
- private static SerialPortFinder serialPortFinder;
-
- 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"};
- final String[] paritys = new String[]{"NONE", "ODD", "EVEN", "SPACE", "MARK"};
- final String[] stopbits = new String[]{"1", "2"};
- final String[] flowcons = new String[]{"NONE", "RTS/CTS", "XON/XOFF"};
-
- public static int[] decodedCH=new int[17];
-
- public static void Open()
- {
-
- try {
- // serialPortFinder = new SerialPortFinder();
- //serialHelper = new SerialHelper("dev/ttyHS0", 115200)//MK32
- serialHelper = new SerialHelper("/dev/ttyHS3", 115200) //UR7
- {
-
- @Override
- protected void onDataReceived(ComBean comBean) {
-
- MainActivity.runOnUiThread(new Runnable() {
- @Override
- public void run() {
- // 更新 UI 的代码
- byte[] data=comBean.bRec;
- // 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) {
-
- }
-
- }
- });
- }
- };
- serialHelper.open();
- }
- catch (Exception exception)
- {
- Log.d(TAG,"Data Received");
- }
-
- }
- private static int index =0;
-
-
- public static void SendData(byte[] data) {
-
- serialHelper.send( data); // 发送byte[]
- }
-
- public static byte[] getAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x02,(byte)(0xB5&0xff),(byte)(0xC0&0xff)};
- public static byte[] stopgetAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x00,(byte)(0xf7&0xff),(byte)(0xe0&0xff)};
- public static void sendTxt(String sTxt)
- {
- serialHelper.sendTxt( sTxt); // 发送byte[]
- }
-//serialHelper.send(byte[] bOutArray); // 发送byte[]
-//serialHelper.sendHex(String sHex); // 发送Hex
-//serialHelper.sendTxt(String sTxt); // 发送ASCII
- public static void onDestroy() {
-
- serialHelper.close();
- }
-
-}
diff --git a/app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java b/app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java
deleted file mode 100644
index 2d6f83d..0000000
--- a/app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java
+++ /dev/null
@@ -1,67 +0,0 @@
-package com.example.fivewheel.viewmodels;
-
-
-
-import android.widget.SeekBar;
-
-import androidx.lifecycle.ViewModel;
-
-import com.example.fivewheel.R;
-import com.example.fivewheel.databinding.ActivityMainBinding;
-//import com.example.removemarineanimals.models.user;
-//import com.example.removemarineanimals.services.RobotData;
-//import com.example.removemarineanimals.services.VideoHelper;
-
-
-public class MainViewModel extends ViewModel {
-
-
- // public RobotData.DataTrans _dataTrans=new RobotData.DataTrans();
- public static ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
- // public final MutableLiveData LiveUser;
-
- public MainViewModel()
- {
-// LiveUser = new MutableLiveData();
-//
-// user u=LiveUser.getValue();
-// if(u==null)
-// {
-// u=new user();
-// u.setName("dddddd");
-// LiveUser.setValue(u);
-// }
-
-
-
- }
-
-
- //# region Video操作区域
- int recordVideoState=0;
-
- public void SnapVideo()
- {
-
-
- }
-
- //#end region Video操作区域
-
- void SetPage()
- {
-
-
- }
-
- public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-
- }
-
-
-
-
-
-
-
-}
diff --git a/app/src/test/java/com/example/fivewheel/ExampleUnitTest.java b/app/src/test/java/com/example/fivewheel/ExampleUnitTest.java
deleted file mode 100644
index fb23d91..0000000
--- a/app/src/test/java/com/example/fivewheel/ExampleUnitTest.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.example.fivewheel;
-
-import org.junit.Test;
-
-import static org.junit.Assert.*;
-
-/**
- * Example local unit test, which will execute on the development machine (host).
- *
- * @see Testing documentation
- */
-public class ExampleUnitTest {
- @Test
- public void addition_isCorrect() {
- assertEquals(4, 2 + 2);
- }
-}
\ No newline at end of file