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更新 去掉fivewheel

master
LIN\54376 3 months ago
parent
4225251b2b
commit
6aa318858e
21 changed files with 0 additions and 6176 deletions
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  1. 29
      app/src/androidTest/java/com/example/fivewheel/AppDatabase.java
  2. 26
      app/src/androidTest/java/com/example/fivewheel/ExampleInstrumentedTest.java
  3. 20
      app/src/androidTest/java/com/example/fivewheel/RobotLog.java
  4. 17
      app/src/androidTest/java/com/example/fivewheel/RobotLogDao.java
  5. 335
      app/src/main/java/com/example/fivewheel/MainActivity - 副本.txt
  6. 431
      app/src/main/java/com/example/fivewheel/MainActivity.java
  7. 815
      app/src/main/java/com/example/fivewheel/models/BspError.java
  8. 1459
      app/src/main/java/com/example/fivewheel/models/BspIV.java
  9. 644
      app/src/main/java/com/example/fivewheel/models/BspPV.java
  10. 792
      app/src/main/java/com/example/fivewheel/models/RobotData.java
  11. 615
      app/src/main/java/com/example/fivewheel/models/RobotRMACM.java
  12. 23
      app/src/main/java/com/example/fivewheel/services/CustomProber.java
  13. 17
      app/src/main/java/com/example/fivewheel/services/DisplayUtils.java
  14. 72
      app/src/main/java/com/example/fivewheel/services/ModbusCRC.java
  15. 54
      app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java
  16. 140
      app/src/main/java/com/example/fivewheel/services/RtspRecorder.java
  17. 352
      app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
  18. 27
      app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java
  19. 224
      app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
  20. 67
      app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java
  21. 17
      app/src/test/java/com/example/fivewheel/ExampleUnitTest.java

29
app/src/androidTest/java/com/example/fivewheel/AppDatabase.java
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@ -1,29 +0,0 @@
package com.example.fivewheel;
import android.content.Context;
import androidx.room.Database;
import androidx.room.Room;
import androidx.room.RoomDatabase;
@Database(entities = {RobotLog.class}, version = 1)
public abstract class AppDatabase extends RoomDatabase {
public abstract RobotLogDao robotLogDao();
private static volatile AppDatabase INSTANCE;
public static AppDatabase getInstance(Context context) {
if (INSTANCE == null) {
synchronized (AppDatabase.class) {
if (INSTANCE == null) {
INSTANCE = Room.databaseBuilder(context.getApplicationContext(),
AppDatabase.class, "robot_logs.db")
.fallbackToDestructiveMigration() // 数据库升级时清空数据，可根据需求改
.build();
}
}
}
return INSTANCE;
}
}

26
app/src/androidTest/java/com/example/fivewheel/ExampleInstrumentedTest.java
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@ -1,26 +0,0 @@
package com.example.fivewheel;
import android.content.Context;
import androidx.test.platform.app.InstrumentationRegistry;
import androidx.test.ext.junit.runners.AndroidJUnit4;
import org.junit.Test;
import org.junit.runner.RunWith;
import static org.junit.Assert.*;
/**
* Instrumented test, which will execute on an Android device.
*
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
@RunWith(AndroidJUnit4.class)
public class ExampleInstrumentedTest {
@Test
public void useAppContext() {
// Context of the app under test.
Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
assertEquals("com.example.removemarineanimals", appContext.getPackageName());
}
}

20
app/src/androidTest/java/com/example/fivewheel/RobotLog.java
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@ -1,20 +0,0 @@
package com.example.fivewheel;
import androidx.room.ColumnInfo;
import androidx.room.Entity;
import androidx.room.PrimaryKey;
@Entity(tableName = "robot_logs")
public class RobotLog {
@PrimaryKey(autoGenerate = true)
public int id;
@ColumnInfo(name = "type") // "error" 或 "param_change"
public String type;
@ColumnInfo(name = "message") // 具体信息：报错内容或修改了哪个参数
public String message;
@ColumnInfo(name = "time") // 时间戳
public long time;
}

17
app/src/androidTest/java/com/example/fivewheel/RobotLogDao.java
View File

@ -1,17 +0,0 @@
package com.example.fivewheel;
import androidx.room.Dao;
import androidx.room.Insert;
import androidx.room.Query;
import java.util.List;
@Dao
public interface RobotLogDao {
@Insert
void insert(RobotLog log);
@Query("SELECT * FROM robot_logs ORDER BY time DESC")
List<RobotLog> getAllLogs();
}

335
app/src/main/java/com/example/fivewheel/MainActivity - 副本.txt
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@ -1,335 +0,0 @@
package com.example.removemarineanimals;
import androidx.appcompat.app.AppCompatActivity;
import androidx.core.content.ContextCompat;
import androidx.databinding.DataBindingUtil;
import androidx.lifecycle.ViewModelProvider;
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.Bundle;
import com.example.removemarineanimals.databinding.ActivityMainBinding;
import com.example.removemarineanimals.services.CustomProber;
//import com.example.removemarineanimals.services.USBSerialPortHelper;
import com.example.removemarineanimals.services.VideoHelper;
import com.example.removemarineanimals.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 android.os.Bundle;
import android.os.CountDownTimer;
import android.os.Handler;
import android.os.Looper;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;
import cn.nodemedia.NodePlayer;
public class MainActivity extends AppCompatActivity implements SerialInputOutputManager.Listener {
private enum UsbPermission {Unknown, Requested, Granted, Denied}
private static final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
private int deviceId = 60000;
private int deviceId_test = 60000;
private int portNum;
private static final int WRITE_WAIT_MILLIS = 500;
private static final int READ_WAIT_MILLIS = 1000;
private static String PortNameContians = "SILICON";/**/
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 GetControlsReferences() {
broadcastReceiver = new BroadcastReceiver() {
@Override
public void onReceive(Context context, Intent intent) {
if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)
? UsbPermission.Granted : UsbPermission.Denied;
connect();
}
}
};
mainLooper = new Handler(Looper.getMainLooper());
_receiveBufferlist = new ArrayList<Byte>();
}
public static ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
// public USBSerialPortHelper serialPortHelper;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
// setContentView(R.layout.activity_main);
mainBinding = DataBindingUtil.setContentView(this, R.layout.activity_main);
MainViewModel vm = new ViewModelProvider(this).get(MainViewModel.class);
MainViewModel.mainBinding = mainBinding;
// vm.mainBinding=mainBinding;
mainBinding.setVm(vm);
//nodePlayer0 =new NodePlayer(this);
//nodePlayer1 =new NodePlayer(this);
VideoHelper.nodePlayerView0 = mainBinding.nodePlayerView0;
VideoHelper.nodePlayerView1 = mainBinding.nodePlayerView1;
VideoHelper.nodePlayer0 = new NodePlayer(this);
VideoHelper.nodePlayer1 = new NodePlayer(this);
VideoHelper.StatPlayVideo();
//
// serialPortHelper=new USBSerialPortHelper();
// serialPortHelper.MainActivity=this;
// serialPortHelper.intialize();
GetControlsReferences();
connect();
}
@Override
protected void onStart() {
super.onStart();
ContextCompat.registerReceiver(this, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
}
@Override
public void onStop() {
this.unregisterReceiver(broadcastReceiver);
super.onStop();
}
@Override
public void onResume() {
super.onResume();
if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
//mainLooper.post(this::connect);
}
}
@Override
public void onPause() {
if (connected) {
status("串口断开");
// _serialPortSwitch.setChecked(false);
disconnect();
}
super.onPause();
}
@Override
public void onNewData(byte[] data) {
mainLooper.post(() ->
{
receive(data);
// receive data
});
}
@Override
public void onRunError(Exception e) {
mainLooper.post(() ->
{
status("connection lost: " + e.getMessage());
disconnect();
});
}
private void connect() {
UsbDevice device = null;
UsbManager usbManager = (UsbManager) this.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(this.getPackageName());
PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(this, 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);
} 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<Byte> _receiveBufferlist;
private byte[] listTobyte(List<Byte> list) {
if (list == null || list.size() < 0)
return null;
byte[] bytes = new byte[list.size()];
int i = 0;
Iterator<Byte> iterator = list.iterator();
while (iterator.hasNext()) {
bytes[i] = iterator.next();
i++;
}
return bytes;
}
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);
}
}

431
app/src/main/java/com/example/fivewheel/MainActivity.java
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@ -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();
}
*/
}

815
app/src/main/java/com/example/fivewheel/models/BspError.java
View File

@ -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 {
/**
* <code>MK32_SBus = 0;</code>
*/
MK32_SBus(0),
/**
* <code>TL720D = 1;</code>
*/
TL720D(1),
/**
* <code>Force_sensor = 2;</code>
*/
Force_sensor(2),
/**
* <code>ZQ_LeftMotor = 3;</code>
*/
ZQ_LeftMotor(3),
/**
* <code>ZQ_RightMotor = 4;</code>
*/
ZQ_RightMotor(4),
/**
* <code>DMAKE_1 = 5;</code>
*/
DMAKE_1(5),
/**
* <pre>
* DMAKE_2 = 6;
* DMAKE_3 = 7;
* </pre>
*
* <code>MK32_Serial = 6;</code>
*/
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());
}
/**
* <code>MK32_SBus = 0;</code>
*/
public static final int MK32_SBus_VALUE = 0;
/**
* <code>TL720D = 1;</code>
*/
public static final int TL720D_VALUE = 1;
/**
* <code>Force_sensor = 2;</code>
*/
public static final int Force_sensor_VALUE = 2;
/**
* <code>ZQ_LeftMotor = 3;</code>
*/
public static final int ZQ_LeftMotor_VALUE = 3;
/**
* <code>ZQ_RightMotor = 4;</code>
*/
public static final int ZQ_RightMotor_VALUE = 4;
/**
* <code>DMAKE_1 = 5;</code>
*/
public static final int DMAKE_1_VALUE = 5;
/**
* <pre>
* DMAKE_2 = 6;
* DMAKE_3 = 7;
* </pre>
*
* <code>MK32_Serial = 6;</code>
*/
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<ComError>
internalGetValueMap() {
return internalValueMap;
}
private static final com.google.protobuf.Internal.EnumLiteMap<
ComError> internalValueMap =
new com.google.protobuf.Internal.EnumLiteMap<ComError>() {
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 {
/**
* <code>int32 Com_Error_Code = 1;</code>
* @return The comErrorCode.
*/
int getComErrorCode();
/**
* <code>int32 Left_Motor_Error_Code = 2;</code>
* @return The leftMotorErrorCode.
*/
int getLeftMotorErrorCode();
/**
* <code>int32 Right_Motor_Error_Code = 3;</code>
* @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;
/**
* <code>int32 Com_Error_Code = 1;</code>
* @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;
/**
* <code>int32 Left_Motor_Error_Code = 2;</code>
* @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;
/**
* <code>int32 Right_Motor_Error_Code = 3;</code>
* @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(
java.nio.ByteBuffer data)
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<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_ ;
/**
* <code>int32 Com_Error_Code = 1;</code>
* @return The comErrorCode.
*/
@java.lang.Override
public int getComErrorCode() {
return comErrorCode_;
}
/**
* <code>int32 Com_Error_Code = 1;</code>
* @param value The comErrorCode to set.
* @return This builder for chaining.
*/
public Builder setComErrorCode(int value) {
comErrorCode_ = value;
bitField0_ |= 0x00000001;
onChanged();
return this;
}
/**
* <code>int32 Com_Error_Code = 1;</code>
* @return This builder for chaining.
*/
public Builder clearComErrorCode() {
bitField0_ = (bitField0_ & ~0x00000001);
comErrorCode_ = 0;
onChanged();
return this;
}
private int leftMotorErrorCode_ ;
/**
* <code>int32 Left_Motor_Error_Code = 2;</code>
* @return The leftMotorErrorCode.
*/
@java.lang.Override
public int getLeftMotorErrorCode() {
return leftMotorErrorCode_;
}
/**
* <code>int32 Left_Motor_Error_Code = 2;</code>
* @param value The leftMotorErrorCode to set.
* @return This builder for chaining.
*/
public Builder setLeftMotorErrorCode(int value) {
leftMotorErrorCode_ = value;
bitField0_ |= 0x00000002;
onChanged();
return this;
}
/**
* <code>int32 Left_Motor_Error_Code = 2;</code>
* @return This builder for chaining.
*/
public Builder clearLeftMotorErrorCode() {
bitField0_ = (bitField0_ & ~0x00000002);
leftMotorErrorCode_ = 0;
onChanged();
return this;
}
private int rightMotorErrorCode_ ;
/**
* <code>int32 Right_Motor_Error_Code = 3;</code>
* @return The rightMotorErrorCode.
*/
@java.lang.Override
public int getRightMotorErrorCode() {
return rightMotorErrorCode_;
}
/**
* <code>int32 Right_Motor_Error_Code = 3;</code>
* @param value The rightMotorErrorCode to set.
* @return This builder for chaining.
*/
public Builder setRightMotorErrorCode(int value) {
rightMotorErrorCode_ = value;
bitField0_ |= 0x00000004;
onChanged();
return this;
}
/**
* <code>int32 Right_Motor_Error_Code = 3;</code>
* @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<ErrorData>
PARSER = new com.google.protobuf.AbstractParser<ErrorData>() {
@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<ErrorData> parser() {
return PARSER;
}
@java.lang.Override
public com.google.protobuf.Parser<ErrorData> 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
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public static com.google.protobuf.Descriptors.FileDescriptor
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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
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new com.google.protobuf.Descriptors.FileDescriptor[] {
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internal_static_ErrorData_descriptor =
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internal_static_ErrorData_fieldAccessorTable = new
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internal_static_ErrorData_descriptor,
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descriptor.resolveAllFeaturesImmutable();
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// @@protoc_insertion_point(outer_class_scope)
}

1459
app/src/main/java/com/example/fivewheel/models/BspIV.java
View File

File diff suppressed because it is too large

644
app/src/main/java/com/example/fivewheel/models/BspPV.java
View File

@ -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 {
/**
* <code>int32 Robot_ChgLength = 1;</code>
* @return The robotChgLength.
*/
int getRobotChgLength();
/**
* <code>double Robot_AutoSpeedBase = 2;</code>
* @return The robotAutoSpeedBase.
*/
double getRobotAutoSpeedBase();
/**
* <code>double Robot_ManualSpeedBase = 3;</code>
* @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;
/**
* <code>int32 Robot_ChgLength = 1;</code>
* @return The robotChgLength.
*/
@java.lang.Override
public int getRobotChgLength() {
return robotChgLength_;
}
public static final int ROBOT_AUTOSPEEDBASE_FIELD_NUMBER = 2;
private double robotAutoSpeedBase_ = 0D;
/**
* <code>double Robot_AutoSpeedBase = 2;</code>
* @return The robotAutoSpeedBase.
*/
@java.lang.Override
public double getRobotAutoSpeedBase() {
return robotAutoSpeedBase_;
}
public static final int ROBOT_MANUALSPEEDBASE_FIELD_NUMBER = 3;
private double robotManualSpeedBase_ = 0D;
/**
* <code>double Robot_ManualSpeedBase = 3;</code>
* @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(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
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);
}
public static com.example.fivewheel.models.BspPV.PV_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.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<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
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com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
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// 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 {
boolean done = false;
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_ ;
/**
* <code>int32 Robot_ChgLength = 1;</code>
* @return The robotChgLength.
*/
@java.lang.Override
public int getRobotChgLength() {
return robotChgLength_;
}
/**
* <code>int32 Robot_ChgLength = 1;</code>
* @param value The robotChgLength to set.
* @return This builder for chaining.
*/
public Builder setRobotChgLength(int value) {
robotChgLength_ = value;
bitField0_ |= 0x00000001;
onChanged();
return this;
}
/**
* <code>int32 Robot_ChgLength = 1;</code>
* @return This builder for chaining.
*/
public Builder clearRobotChgLength() {
bitField0_ = (bitField0_ & ~0x00000001);
robotChgLength_ = 0;
onChanged();
return this;
}
private double robotAutoSpeedBase_ ;
/**
* <code>double Robot_AutoSpeedBase = 2;</code>
* @return The robotAutoSpeedBase.
*/
@java.lang.Override
public double getRobotAutoSpeedBase() {
return robotAutoSpeedBase_;
}
/**
* <code>double Robot_AutoSpeedBase = 2;</code>
* @param value The robotAutoSpeedBase to set.
* @return This builder for chaining.
*/
public Builder setRobotAutoSpeedBase(double value) {
robotAutoSpeedBase_ = value;
bitField0_ |= 0x00000002;
onChanged();
return this;
}
/**
* <code>double Robot_AutoSpeedBase = 2;</code>
* @return This builder for chaining.
*/
public Builder clearRobotAutoSpeedBase() {
bitField0_ = (bitField0_ & ~0x00000002);
robotAutoSpeedBase_ = 0D;
onChanged();
return this;
}
private double robotManualSpeedBase_ ;
/**
* <code>double Robot_ManualSpeedBase = 3;</code>
* @return The robotManualSpeedBase.
*/
@java.lang.Override
public double getRobotManualSpeedBase() {
return robotManualSpeedBase_;
}
/**
* <code>double Robot_ManualSpeedBase = 3;</code>
* @param value The robotManualSpeedBase to set.
* @return This builder for chaining.
*/
public Builder setRobotManualSpeedBase(double value) {
robotManualSpeedBase_ = value;
bitField0_ |= 0x00000004;
onChanged();
return this;
}
/**
* <code>double Robot_ManualSpeedBase = 3;</code>
* @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<PV_struct_define>
PARSER = new com.google.protobuf.AbstractParser<PV_struct_define>() {
@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<PV_struct_define> parser() {
return PARSER;
}
@java.lang.Override
public com.google.protobuf.Parser<PV_struct_define> 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)
}

792
app/src/main/java/com/example/fivewheel/models/RobotData.java
View File

@ -1,792 +0,0 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// NO CHECKED-IN PROTOBUF GENCODE
// source: robot_data.proto
// Protobuf Java Version: 4.27.2
package com.example.fivewheel.models;
public final class RobotData {
private RobotData() {}
static {
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
/* major= */ 4,
/* minor= */ 27,
/* patch= */ 2,
/* suffix= */ "",
RobotData.class.getName());
}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistryLite registry) {
}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
registerAllExtensions(
(com.google.protobuf.ExtensionRegistryLite) registry);
}
public interface DataTransOrBuilder extends
// @@protoc_insertion_point(interface_extends:DataTrans)
com.google.protobuf.MessageOrBuilder {
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @return The rFAngleRoll.
*/
int getRFAngleRoll();
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @return The rFAnglePitch.
*/
int getRFAnglePitch();
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @return The rFAngleYaw.
*/
int getRFAngleYaw();
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @return The rFDepth.
*/
int getRFDepth();
}
/**
* Protobuf type {@code DataTrans}
*/
public static final class DataTrans extends
com.google.protobuf.GeneratedMessage implements
// @@protoc_insertion_point(message_implements:DataTrans)
DataTransOrBuilder {
private static final long serialVersionUID = 0L;
static {
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
/* major= */ 4,
/* minor= */ 27,
/* patch= */ 2,
/* suffix= */ "",
DataTrans.class.getName());
}
// Use DataTrans.newBuilder() to construct.
private DataTrans(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
super(builder);
}
private DataTrans() {
}
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return RobotData.internal_static_DataTrans_descriptor;
}
@Override
protected FieldAccessorTable
internalGetFieldAccessorTable() {
return RobotData.internal_static_DataTrans_fieldAccessorTable
.ensureFieldAccessorsInitialized(
DataTrans.class, Builder.class);
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public static final int RF_ANGLE_ROLL_FIELD_NUMBER = 1;
private int rFAngleRoll_ = 0;
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @return The rFAngleRoll.
*/
@Override
public int getRFAngleRoll() {
return rFAngleRoll_;
}
public static final int RF_ANGLE_PITCH_FIELD_NUMBER = 2;
private int rFAnglePitch_ = 0;
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @return The rFAnglePitch.
*/
@Override
public int getRFAnglePitch() {
return rFAnglePitch_;
}
public static final int RF_ANGLE_YAW_FIELD_NUMBER = 3;
private int rFAngleYaw_ = 0;
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @return The rFAngleYaw.
*/
@Override
public int getRFAngleYaw() {
return rFAngleYaw_;
}
public static final int RF_DEPTH_FIELD_NUMBER = 4;
private int rFDepth_ = 0;
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @return The rFDepth.
*/
@Override
public int getRFDepth() {
return rFDepth_;
}
private byte memoizedIsInitialized = -1;
@Override
public final boolean isInitialized() {
byte isInitialized = memoizedIsInitialized;
if (isInitialized == 1) return true;
if (isInitialized == 0) return false;
memoizedIsInitialized = 1;
return true;
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@Override
public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
if (rFAngleRoll_ != 0) {
output.writeInt32(1, rFAngleRoll_);
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if (rFAnglePitch_ != 0) {
output.writeInt32(2, rFAnglePitch_);
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if (rFAngleYaw_ != 0) {
output.writeInt32(3, rFAngleYaw_);
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if (rFDepth_ != 0) {
output.writeInt32(4, rFDepth_);
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getUnknownFields().writeTo(output);
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if (obj == this) {
return true;
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if (!(obj instanceof DataTrans)) {
return super.equals(obj);
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DataTrans other = (DataTrans) obj;
if (getRFAngleRoll()
!= other.getRFAngleRoll()) return false;
if (getRFAnglePitch()
!= other.getRFAnglePitch()) return false;
if (getRFAngleYaw()
!= other.getRFAngleYaw()) return false;
if (getRFDepth()
!= other.getRFDepth()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
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if (memoizedHashCode != 0) {
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int hash = 41;
hash = (19 * hash) + getDescriptor().hashCode();
hash = (37 * hash) + RF_ANGLE_ROLL_FIELD_NUMBER;
hash = (53 * hash) + getRFAngleRoll();
hash = (37 * hash) + RF_ANGLE_PITCH_FIELD_NUMBER;
hash = (53 * hash) + getRFAnglePitch();
hash = (37 * hash) + RF_ANGLE_YAW_FIELD_NUMBER;
hash = (53 * hash) + getRFAngleYaw();
hash = (37 * hash) + RF_DEPTH_FIELD_NUMBER;
hash = (53 * hash) + getRFDepth();
hash = (29 * hash) + getUnknownFields().hashCode();
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public static DataTrans parseFrom(
java.nio.ByteBuffer data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static DataTrans parseFrom(
java.nio.ByteBuffer data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static DataTrans parseFrom(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static DataTrans parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static DataTrans parseFrom(byte[] data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static DataTrans parseFrom(
byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static DataTrans parseFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input);
}
public static DataTrans parseFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input, extensionRegistry);
}
public static DataTrans parseDelimitedFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseDelimitedWithIOException(PARSER, input);
}
public static DataTrans parseDelimitedFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseDelimitedWithIOException(PARSER, input, extensionRegistry);
}
public static DataTrans parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input);
}
public static DataTrans parseFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input, extensionRegistry);
}
@Override
public Builder newBuilderForType() { return newBuilder(); }
public static Builder newBuilder() {
return DEFAULT_INSTANCE.toBuilder();
}
public static Builder newBuilder(DataTrans prototype) {
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
}
@Override
public Builder toBuilder() {
return this == DEFAULT_INSTANCE
? new Builder() : new Builder().mergeFrom(this);
}
@Override
protected Builder newBuilderForType(
BuilderParent parent) {
Builder builder = new Builder(parent);
return builder;
}
/**
* Protobuf type {@code DataTrans}
*/
public static final class Builder extends
com.google.protobuf.GeneratedMessage.Builder<Builder> implements
// @@protoc_insertion_point(builder_implements:DataTrans)
DataTransOrBuilder {
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return RobotData.internal_static_DataTrans_descriptor;
}
@Override
protected FieldAccessorTable
internalGetFieldAccessorTable() {
return RobotData.internal_static_DataTrans_fieldAccessorTable
.ensureFieldAccessorsInitialized(
DataTrans.class, Builder.class);
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// 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();
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try {
boolean done = false;
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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
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} // switch (tag)
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throw e.unwrapIOException();
} finally {
onChanged();
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private int bitField0_;
private int rFAngleRoll_ ;
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @return The rFAngleRoll.
*/
@Override
public int getRFAngleRoll() {
return rFAngleRoll_;
}
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @param value The rFAngleRoll to set.
* @return This builder for chaining.
*/
public Builder setRFAngleRoll(int value) {
rFAngleRoll_ = value;
bitField0_ |= 0x00000001;
onChanged();
return this;
}
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @return This builder for chaining.
*/
public Builder clearRFAngleRoll() {
bitField0_ = (bitField0_ & ~0x00000001);
rFAngleRoll_ = 0;
onChanged();
return this;
}
private int rFAnglePitch_ ;
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @return The rFAnglePitch.
*/
@Override
public int getRFAnglePitch() {
return rFAnglePitch_;
}
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @param value The rFAnglePitch to set.
* @return This builder for chaining.
*/
public Builder setRFAnglePitch(int value) {
rFAnglePitch_ = value;
bitField0_ |= 0x00000002;
onChanged();
return this;
}
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @return This builder for chaining.
*/
public Builder clearRFAnglePitch() {
bitField0_ = (bitField0_ & ~0x00000002);
rFAnglePitch_ = 0;
onChanged();
return this;
}
private int rFAngleYaw_ ;
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @return The rFAngleYaw.
*/
@Override
public int getRFAngleYaw() {
return rFAngleYaw_;
}
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @param value The rFAngleYaw to set.
* @return This builder for chaining.
*/
public Builder setRFAngleYaw(int value) {
rFAngleYaw_ = value;
bitField0_ |= 0x00000004;
onChanged();
return this;
}
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @return This builder for chaining.
*/
public Builder clearRFAngleYaw() {
bitField0_ = (bitField0_ & ~0x00000004);
rFAngleYaw_ = 0;
onChanged();
return this;
}
private int rFDepth_ ;
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @return The rFDepth.
*/
@Override
public int getRFDepth() {
return rFDepth_;
}
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @param value The rFDepth to set.
* @return This builder for chaining.
*/
public Builder setRFDepth(int value) {
rFDepth_ = value;
bitField0_ |= 0x00000008;
onChanged();
return this;
}
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @return This builder for chaining.
*/
public Builder clearRFDepth() {
bitField0_ = (bitField0_ & ~0x00000008);
rFDepth_ = 0;
onChanged();
return this;
}
// @@protoc_insertion_point(builder_scope:DataTrans)
}
// @@protoc_insertion_point(class_scope:DataTrans)
private static final DataTrans DEFAULT_INSTANCE;
static {
DEFAULT_INSTANCE = new DataTrans();
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public static DataTrans getDefaultInstance() {
return DEFAULT_INSTANCE;
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private static final com.google.protobuf.Parser<DataTrans>
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@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);
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throw e.setUnfinishedMessage(builder.buildPartial());
} catch (com.google.protobuf.UninitializedMessageException e) {
throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
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public static com.google.protobuf.Parser<DataTrans> parser() {
return PARSER;
}
@Override
public com.google.protobuf.Parser<DataTrans> getParserForType() {
return PARSER;
}
@Override
public DataTrans getDefaultInstanceForType() {
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private static final com.google.protobuf.Descriptors.Descriptor
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private static final
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descriptor = com.google.protobuf.Descriptors.FileDescriptor
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615
app/src/main/java/com/example/fivewheel/models/RobotRMACM.java
View File

@ -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 {
/**
* <pre>
* 灯光亮度
* </pre>
*
* <code>int32 LightBrightness = 1;</code>
* @return The lightBrightness.
*/
int getLightBrightness();
/**
* <pre>
* 机器人速度
* </pre>
*
* <code>int32 Robot_Speed = 2;</code>
* @return The robotSpeed.
*/
int getRobotSpeed();
}
/**
* <pre>
* Remove Marine Animal Command
* </pre>
*
* Protobuf type {@code RMACM}
*/
public static final class RMACM extends
com.google.protobuf.GeneratedMessage implements
// @@protoc_insertion_point(message_implements:RMACM)
RMACMOrBuilder {
private static final long serialVersionUID = 0L;
static {
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
/* major= */ 4,
/* minor= */ 27,
/* patch= */ 2,
/* suffix= */ "",
RMACM.class.getName());
}
// Use RMACM.newBuilder() to construct.
private RMACM(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
super(builder);
}
private RMACM() {
}
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return RobotRMACM.internal_static_RMACM_descriptor;
}
@Override
protected FieldAccessorTable
internalGetFieldAccessorTable() {
return RobotRMACM.internal_static_RMACM_fieldAccessorTable
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RMACM.class, Builder.class);
}
public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1;
private int lightBrightness_ = 0;
/**
* <pre>
* 灯光亮度
* </pre>
*
* <code>int32 LightBrightness = 1;</code>
* @return The lightBrightness.
*/
@Override
public int getLightBrightness() {
return lightBrightness_;
}
public static final int ROBOT_SPEED_FIELD_NUMBER = 2;
private int robotSpeed_ = 0;
/**
* <pre>
* 机器人速度
* </pre>
*
* <code>int32 Robot_Speed = 2;</code>
* @return The robotSpeed.
*/
@Override
public int getRobotSpeed() {
return robotSpeed_;
}
private byte memoizedIsInitialized = -1;
@Override
public final boolean isInitialized() {
byte isInitialized = memoizedIsInitialized;
if (isInitialized == 1) return true;
if (isInitialized == 0) return false;
memoizedIsInitialized = 1;
return true;
}
@Override
public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
if (lightBrightness_ != 0) {
output.writeInt32(1, lightBrightness_);
}
if (robotSpeed_ != 0) {
output.writeInt32(2, robotSpeed_);
}
getUnknownFields().writeTo(output);
}
@Override
public int getSerializedSize() {
int size = memoizedSize;
if (size != -1) return size;
size = 0;
if (lightBrightness_ != 0) {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(1, lightBrightness_);
}
if (robotSpeed_ != 0) {
size += com.google.protobuf.CodedOutputStream
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}
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
return size;
}
@Override
public boolean equals(final Object obj) {
if (obj == this) {
return true;
}
if (!(obj instanceof RMACM)) {
return super.equals(obj);
}
RMACM other = (RMACM) obj;
if (getLightBrightness()
!= other.getLightBrightness()) return false;
if (getRobotSpeed()
!= other.getRobotSpeed()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@Override
public int hashCode() {
if (memoizedHashCode != 0) {
return memoizedHashCode;
}
int hash = 41;
hash = (19 * hash) + getDescriptor().hashCode();
hash = (37 * hash) + LIGHTBRIGHTNESS_FIELD_NUMBER;
hash = (53 * hash) + getLightBrightness();
hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER;
hash = (53 * hash) + getRobotSpeed();
hash = (29 * hash) + getUnknownFields().hashCode();
memoizedHashCode = hash;
return hash;
}
public static RMACM parseFrom(
java.nio.ByteBuffer data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static RMACM parseFrom(
java.nio.ByteBuffer data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static RMACM parseFrom(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static RMACM parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static RMACM parseFrom(byte[] data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static RMACM parseFrom(
byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
}
public static RMACM parseFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input);
}
public static RMACM parseFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input, extensionRegistry);
}
public static RMACM parseDelimitedFrom(java.io.InputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseDelimitedWithIOException(PARSER, input);
}
public static RMACM parseDelimitedFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseDelimitedWithIOException(PARSER, input, extensionRegistry);
}
public static RMACM parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input);
}
public static RMACM parseFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return com.google.protobuf.GeneratedMessage
.parseWithIOException(PARSER, input, extensionRegistry);
}
@Override
public Builder newBuilderForType() { return newBuilder(); }
public static Builder newBuilder() {
return DEFAULT_INSTANCE.toBuilder();
}
public static Builder newBuilder(RMACM prototype) {
return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
}
@Override
public Builder toBuilder() {
return this == DEFAULT_INSTANCE
? new Builder() : new Builder().mergeFrom(this);
}
@Override
protected Builder newBuilderForType(
BuilderParent parent) {
Builder builder = new Builder(parent);
return builder;
}
/**
* <pre>
* Remove Marine Animal Command
* </pre>
*
* Protobuf type {@code RMACM}
*/
public static final class Builder extends
com.google.protobuf.GeneratedMessage.Builder<Builder> implements
// @@protoc_insertion_point(builder_implements:RMACM)
RMACMOrBuilder {
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return RobotRMACM.internal_static_RMACM_descriptor;
}
@Override
protected FieldAccessorTable
internalGetFieldAccessorTable() {
return RobotRMACM.internal_static_RMACM_fieldAccessorTable
.ensureFieldAccessorsInitialized(
RMACM.class, Builder.class);
}
// Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
private Builder() {
}
private Builder(
BuilderParent parent) {
super(parent);
}
@Override
public Builder clear() {
super.clear();
bitField0_ = 0;
lightBrightness_ = 0;
robotSpeed_ = 0;
return this;
}
@Override
public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
return RobotRMACM.internal_static_RMACM_descriptor;
}
@Override
public RMACM getDefaultInstanceForType() {
return RMACM.getDefaultInstance();
}
@Override
public RMACM build() {
RMACM result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
}
return result;
}
@Override
public RMACM buildPartial() {
RMACM result = new RMACM(this);
if (bitField0_ != 0) { buildPartial0(result); }
onBuilt();
return result;
}
private void buildPartial0(RMACM result) {
int from_bitField0_ = bitField0_;
if (((from_bitField0_ & 0x00000001) != 0)) {
result.lightBrightness_ = lightBrightness_;
}
if (((from_bitField0_ & 0x00000002) != 0)) {
result.robotSpeed_ = robotSpeed_;
}
}
@Override
public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof RMACM) {
return mergeFrom((RMACM)other);
} else {
super.mergeFrom(other);
return this;
}
}
public Builder mergeFrom(RMACM other) {
if (other == RMACM.getDefaultInstance()) return this;
if (other.getLightBrightness() != 0) {
setLightBrightness(other.getLightBrightness());
}
if (other.getRobotSpeed() != 0) {
setRobotSpeed(other.getRobotSpeed());
}
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
}
@Override
public final boolean isInitialized() {
return true;
}
@Override
public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
if (extensionRegistry == null) {
throw new NullPointerException();
}
try {
boolean done = false;
while (!done) {
int tag = input.readTag();
switch (tag) {
case 0:
done = true;
break;
case 8: {
lightBrightness_ = input.readInt32();
bitField0_ |= 0x00000001;
break;
} // case 8
case 16: {
robotSpeed_ = input.readInt32();
bitField0_ |= 0x00000002;
break;
} // case 16
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
}
break;
} // default:
} // switch (tag)
} // while (!done)
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.unwrapIOException();
} finally {
onChanged();
} // finally
return this;
}
private int bitField0_;
private int lightBrightness_ ;
/**
* <pre>
* 灯光亮度
* </pre>
*
* <code>int32 LightBrightness = 1;</code>
* @return The lightBrightness.
*/
@Override
public int getLightBrightness() {
return lightBrightness_;
}
/**
* <pre>
* 灯光亮度
* </pre>
*
* <code>int32 LightBrightness = 1;</code>
* @param value The lightBrightness to set.
* @return This builder for chaining.
*/
public Builder setLightBrightness(int value) {
lightBrightness_ = value;
bitField0_ |= 0x00000001;
onChanged();
return this;
}
/**
* <pre>
* 灯光亮度
* </pre>
*
* <code>int32 LightBrightness = 1;</code>
* @return This builder for chaining.
*/
public Builder clearLightBrightness() {
bitField0_ = (bitField0_ & ~0x00000001);
lightBrightness_ = 0;
onChanged();
return this;
}
private int robotSpeed_ ;
/**
* <pre>
* 机器人速度
* </pre>
*
* <code>int32 Robot_Speed = 2;</code>
* @return The robotSpeed.
*/
@Override
public int getRobotSpeed() {
return robotSpeed_;
}
/**
* <pre>
* 机器人速度
* </pre>
*
* <code>int32 Robot_Speed = 2;</code>
* @param value The robotSpeed to set.
* @return This builder for chaining.
*/
public Builder setRobotSpeed(int value) {
robotSpeed_ = value;
bitField0_ |= 0x00000002;
onChanged();
return this;
}
/**
* <pre>
* 机器人速度
* </pre>
*
* <code>int32 Robot_Speed = 2;</code>
* @return This builder for chaining.
*/
public Builder clearRobotSpeed() {
bitField0_ = (bitField0_ & ~0x00000002);
robotSpeed_ = 0;
onChanged();
return this;
}
// @@protoc_insertion_point(builder_scope:RMACM)
}
// @@protoc_insertion_point(class_scope:RMACM)
private static final RMACM DEFAULT_INSTANCE;
static {
DEFAULT_INSTANCE = new RMACM();
}
public static RMACM getDefaultInstance() {
return DEFAULT_INSTANCE;
}
private static final com.google.protobuf.Parser<RMACM>
PARSER = new com.google.protobuf.AbstractParser<RMACM>() {
@Override
public RMACM parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
Builder builder = newBuilder();
try {
builder.mergeFrom(input, extensionRegistry);
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.setUnfinishedMessage(builder.buildPartial());
} catch (com.google.protobuf.UninitializedMessageException e) {
throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
} catch (java.io.IOException e) {
throw new com.google.protobuf.InvalidProtocolBufferException(e)
.setUnfinishedMessage(builder.buildPartial());
}
return builder.buildPartial();
}
};
public static com.google.protobuf.Parser<RMACM> parser() {
return PARSER;
}
@Override
public com.google.protobuf.Parser<RMACM> getParserForType() {
return PARSER;
}
@Override
public RMACM getDefaultInstanceForType() {
return DEFAULT_INSTANCE;
}
}
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_RMACM_descriptor;
private static final
com.google.protobuf.GeneratedMessage.FieldAccessorTable
internal_static_RMACM_fieldAccessorTable;
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
String[] descriptorData = {
"\n\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" +
"ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" +
"m.example.removemarineanimals.modelsP\000b\006" +
"proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
});
internal_static_RMACM_descriptor =
getDescriptor().getMessageTypes().get(0);
internal_static_RMACM_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_RMACM_descriptor,
new String[] { "LightBrightness", "RobotSpeed", });
descriptor.resolveAllFeaturesImmutable();
}
// @@protoc_insertion_point(outer_class_scope)
}

23
app/src/main/java/com/example/fivewheel/services/CustomProber.java
View File

@ -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);
}
}

17
app/src/main/java/com/example/fivewheel/services/DisplayUtils.java
View File

@ -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()
);
}
}

72
app/src/main/java/com/example/fivewheel/services/ModbusCRC.java
View File

@ -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;
}
}

54
app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java
View File

@ -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);
}
}

140
app/src/main/java/com/example/fivewheel/services/RtspRecorder.java
View File

@ -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();
// }
// }
//
//}

352
app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java
View File

@ -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";
// <usb-device vendor-id="4292" product-id="60000" /> <!-- 0xea60: CP2102 and other CP210x single port devices -->
// <usb-device vendor-id="4292" product-id="60016" /> <!-- 0xea70: CP2105 -->
// <usb-device vendor-id="4292" product-id="60017" /> <!-- 0xea71: CP2108 -->
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<Byte>();
}
/*
* 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<Byte> _receiveBufferlist;
private static byte[] listTobyte(List<Byte> list) {
if (list == null || list.size() < 0) return null;
byte[] bytes = new byte[list.size()];
int i = 0;
Iterator<Byte> iterator = list.iterator();
while (iterator.hasNext()) {
bytes[i] = iterator.next();
i++;
}
return bytes;
}
boolean StartCountDown = false;
// 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");
}
}
}

27
app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java
View File

@ -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();
}
}

224
app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java
View File

@ -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();
}
}

67
app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java
View File

@ -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<user> LiveUser;
public MainViewModel()
{
// LiveUser = new MutableLiveData<user>();
//
// user u=LiveUser.getValue();
// if(u==null)
// {
// u=new user();
// u.setName("dddddd");
// LiveUser.setValue(u);
// }
}
//# region Video操作区域
int recordVideoState=0;
public void SnapVideo()
{
}
//#end region Video操作区域
void SetPage()
{
}
public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
}
}

17
app/src/test/java/com/example/fivewheel/ExampleUnitTest.java
View File

@ -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 <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
public class ExampleUnitTest {
@Test
public void addition_isCorrect() {
assertEquals(4, 2 + 2);
}
}
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