YuLin_Zhen
/
FW_SWJ
1
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

更新 去掉fivewheel

master
LIN\54376 3 weeks ago
parent
4225251b2b
commit
6aa318858e
21 changed files with 0 additions and 6176 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
internal_static_ErrorData_fieldAccessorTable;
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
java.lang.String[] descriptorData = {
"\n\017bsp_Error.proto\"b\n\tErrorData\022\026\n\016Com_Er" +
"ror_Code\030\001 \001(\005\022\035\n\025Left_Motor_Error_Code\030" +
"\002 \001(\005\022\036\n\026Right_Motor_Error_Code\030\003 \001(\005*z\n" +
"\010ComError\022\r\n\tMK32_SBus\020\000\022\n\n\006TL720D\020\001\022\020\n\014" +
"Force_sensor\020\002\022\020\n\014ZQ_LeftMotor\020\003\022\021\n\rZQ_R" +
"ightMotor\020\004\022\013\n\007DMAKE_1\020\005\022\017\n\013MK32_Serial\020" +
"\006B \n\034com.example.fivewheel.modelsP\000b\006pro" +
"to3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
});
internal_static_ErrorData_descriptor =
getDescriptor().getMessageTypes().get(0);
internal_static_ErrorData_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_ErrorData_descriptor,
new java.lang.String[] { "ComErrorCode", "LeftMotorErrorCode", "RightMotorErrorCode", });
descriptor.resolveAllFeaturesImmutable();
}
// @@protoc_insertion_point(outer_class_scope)
}

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);
}
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);
}
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
.ensureFieldAccessorsInitialized(
com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
}
// Construct using com.example.fivewheel.models.BspPV.PV_struct_define.newBuilder()
private Builder() {
}
private Builder(
com.google.protobuf.GeneratedMessage.BuilderParent parent) {
super(parent);
}
@java.lang.Override
public Builder clear() {
super.clear();
bitField0_ = 0;
robotChgLength_ = 0;
robotAutoSpeedBase_ = 0D;
robotManualSpeedBase_ = 0D;
return this;
}
@java.lang.Override
public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
}
@java.lang.Override
public com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstanceForType() {
return com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance();
}
@java.lang.Override
public com.example.fivewheel.models.BspPV.PV_struct_define build() {
com.example.fivewheel.models.BspPV.PV_struct_define result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
}
return result;
}
@java.lang.Override
public com.example.fivewheel.models.BspPV.PV_struct_define buildPartial() {
com.example.fivewheel.models.BspPV.PV_struct_define result = new com.example.fivewheel.models.BspPV.PV_struct_define(this);
if (bitField0_ != 0) { buildPartial0(result); }
onBuilt();
return result;
}
private void buildPartial0(com.example.fivewheel.models.BspPV.PV_struct_define result) {
int from_bitField0_ = bitField0_;
if (((from_bitField0_ & 0x00000001) != 0)) {
result.robotChgLength_ = robotChgLength_;
}
if (((from_bitField0_ & 0x00000002) != 0)) {
result.robotAutoSpeedBase_ = robotAutoSpeedBase_;
}
if (((from_bitField0_ & 0x00000004) != 0)) {
result.robotManualSpeedBase_ = robotManualSpeedBase_;
}
}
@java.lang.Override
public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof com.example.fivewheel.models.BspPV.PV_struct_define) {
return mergeFrom((com.example.fivewheel.models.BspPV.PV_struct_define)other);
} else {
super.mergeFrom(other);
return this;
}
}
public Builder mergeFrom(com.example.fivewheel.models.BspPV.PV_struct_define other) {
if (other == com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
if (other.getRobotChgLength() != 0) {
setRobotChgLength(other.getRobotChgLength());
}
if (other.getRobotAutoSpeedBase() != 0D) {
setRobotAutoSpeedBase(other.getRobotAutoSpeedBase());
}
if (other.getRobotManualSpeedBase() != 0D) {
setRobotManualSpeedBase(other.getRobotManualSpeedBase());
}
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
}
@java.lang.Override
public final boolean isInitialized() {
return true;
}
@java.lang.Override
public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
if (extensionRegistry == null) {
throw new java.lang.NullPointerException();
}
try {
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);
}
public static final int RF_ANGLE_ROLL_FIELD_NUMBER = 1;
private int rFAngleRoll_ = 0;
/**
* <pre>
* 横滚角
* </pre>
*
* <code>int32 RF_Angle_Roll = 1;</code>
* @return The rFAngleRoll.
*/
@Override
public int getRFAngleRoll() {
return rFAngleRoll_;
}
public static final int RF_ANGLE_PITCH_FIELD_NUMBER = 2;
private int rFAnglePitch_ = 0;
/**
* <pre>
* 俯仰角
* </pre>
*
* <code>int32 RF_Angle_Pitch = 2;</code>
* @return The rFAnglePitch.
*/
@Override
public int getRFAnglePitch() {
return rFAnglePitch_;
}
public static final int RF_ANGLE_YAW_FIELD_NUMBER = 3;
private int rFAngleYaw_ = 0;
/**
* <pre>
* 航向角
* </pre>
*
* <code>int32 RF_Angle_Yaw = 3;</code>
* @return The rFAngleYaw.
*/
@Override
public int getRFAngleYaw() {
return rFAngleYaw_;
}
public static final int RF_DEPTH_FIELD_NUMBER = 4;
private int rFDepth_ = 0;
/**
* <pre>
* 海洋深度
* </pre>
*
* <code>int32 RF_Depth = 4;</code>
* @return The rFDepth.
*/
@Override
public int getRFDepth() {
return rFDepth_;
}
private byte memoizedIsInitialized = -1;
@Override
public final boolean isInitialized() {
byte isInitialized = memoizedIsInitialized;
if (isInitialized == 1) return true;
if (isInitialized == 0) return false;
memoizedIsInitialized = 1;
return true;
}
@Override
public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
if (rFAngleRoll_ != 0) {
output.writeInt32(1, rFAngleRoll_);
}
if (rFAnglePitch_ != 0) {
output.writeInt32(2, rFAnglePitch_);
}
if (rFAngleYaw_ != 0) {
output.writeInt32(3, rFAngleYaw_);
}
if (rFDepth_ != 0) {
output.writeInt32(4, rFDepth_);
}
getUnknownFields().writeTo(output);
}
@Override
public int getSerializedSize() {
int size = memoizedSize;
if (size != -1) return size;
size = 0;
if (rFAngleRoll_ != 0) {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(1, rFAngleRoll_);
}
if (rFAnglePitch_ != 0) {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(2, rFAnglePitch_);
}
if (rFAngleYaw_ != 0) {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(3, rFAngleYaw_);
}
if (rFDepth_ != 0) {
size += com.google.protobuf.CodedOutputStream
.computeInt32Size(4, rFDepth_);
}
size += getUnknownFields().getSerializedSize();
memoizedSize = size;
return size;
}
@Override
public boolean equals(final Object obj) {
if (obj == this) {
return true;
}
if (!(obj instanceof DataTrans)) {
return super.equals(obj);
}
DataTrans other = (DataTrans) obj;
if (getRFAngleRoll()
!= other.getRFAngleRoll()) return false;
if (getRFAnglePitch()
!= other.getRFAnglePitch()) return false;
if (getRFAngleYaw()
!= other.getRFAngleYaw()) return false;
if (getRFDepth()
!= other.getRFDepth()) return false;
if (!getUnknownFields().equals(other.getUnknownFields())) return false;
return true;
}
@Override
public int hashCode() {
if (memoizedHashCode != 0) {
return memoizedHashCode;
}
int hash = 41;
hash = (19 * hash) + getDescriptor().hashCode();
hash = (37 * hash) + RF_ANGLE_ROLL_FIELD_NUMBER;
hash = (53 * hash) + getRFAngleRoll();
hash = (37 * hash) + RF_ANGLE_PITCH_FIELD_NUMBER;
hash = (53 * hash) + getRFAnglePitch();
hash = (37 * hash) + RF_ANGLE_YAW_FIELD_NUMBER;
hash = (53 * hash) + getRFAngleYaw();
hash = (37 * hash) + RF_DEPTH_FIELD_NUMBER;
hash = (53 * hash) + getRFDepth();
hash = (29 * hash) + getUnknownFields().hashCode();
memoizedHashCode = hash;
return hash;
}
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);
}
// Construct using com.example.removemarineanimals.models.RobotData.DataTrans.newBuilder()
private Builder() {
}
private Builder(
BuilderParent parent) {
super(parent);
}
@Override
public Builder clear() {
super.clear();
bitField0_ = 0;
rFAngleRoll_ = 0;
rFAnglePitch_ = 0;
rFAngleYaw_ = 0;
rFDepth_ = 0;
return this;
}
@Override
public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
return RobotData.internal_static_DataTrans_descriptor;
}
@Override
public DataTrans getDefaultInstanceForType() {
return DataTrans.getDefaultInstance();
}
@Override
public DataTrans build() {
DataTrans result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
}
return result;
}
@Override
public DataTrans buildPartial() {
DataTrans result = new DataTrans(this);
if (bitField0_ != 0) { buildPartial0(result); }
onBuilt();
return result;
}
private void buildPartial0(DataTrans result) {
int from_bitField0_ = bitField0_;
if (((from_bitField0_ & 0x00000001) != 0)) {
result.rFAngleRoll_ = rFAngleRoll_;
}
if (((from_bitField0_ & 0x00000002) != 0)) {
result.rFAnglePitch_ = rFAnglePitch_;
}
if (((from_bitField0_ & 0x00000004) != 0)) {
result.rFAngleYaw_ = rFAngleYaw_;
}
if (((from_bitField0_ & 0x00000008) != 0)) {
result.rFDepth_ = rFDepth_;
}
}
@Override
public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof DataTrans) {
return mergeFrom((DataTrans)other);
} else {
super.mergeFrom(other);
return this;
}
}
public Builder mergeFrom(DataTrans other) {
if (other == DataTrans.getDefaultInstance()) return this;
if (other.getRFAngleRoll() != 0) {
setRFAngleRoll(other.getRFAngleRoll());
}
if (other.getRFAnglePitch() != 0) {
setRFAnglePitch(other.getRFAnglePitch());
}
if (other.getRFAngleYaw() != 0) {
setRFAngleYaw(other.getRFAngleYaw());
}
if (other.getRFDepth() != 0) {
setRFDepth(other.getRFDepth());
}
this.mergeUnknownFields(other.getUnknownFields());
onChanged();
return this;
}
@Override
public final boolean isInitialized() {
return true;
}
@Override
public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
if (extensionRegistry == null) {
throw new NullPointerException();
}
try {
boolean done = false;
while (!done) {
int tag = input.readTag();
switch (tag) {
case 0:
done = true;
break;
case 8: {
rFAngleRoll_ = input.readInt32();
bitField0_ |= 0x00000001;
break;
} // case 8
case 16: {
rFAnglePitch_ = input.readInt32();
bitField0_ |= 0x00000002;
break;
} // case 16
case 24: {
rFAngleYaw_ = input.readInt32();
bitField0_ |= 0x00000004;
break;
} // case 24
case 32: {
rFDepth_ = input.readInt32();
bitField0_ |= 0x00000008;
break;
} // case 32
default: {
if (!super.parseUnknownField(input, extensionRegistry, tag)) {
done = true; // was an endgroup tag
}
break;
} // default:
} // switch (tag)
} // while (!done)
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.unwrapIOException();
} finally {
onChanged();
} // finally
return this;
}
private int bitField0_;
private int rFAngleRoll_ ;
/**
* <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();
}
public static DataTrans getDefaultInstance() {
return DEFAULT_INSTANCE;
}
private static final com.google.protobuf.Parser<DataTrans>
PARSER = new com.google.protobuf.AbstractParser<DataTrans>() {
@Override
public DataTrans parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
Builder builder = newBuilder();
try {
builder.mergeFrom(input, extensionRegistry);
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
throw e.setUnfinishedMessage(builder.buildPartial());
} catch (com.google.protobuf.UninitializedMessageException e) {
throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
} catch (java.io.IOException e) {
throw new com.google.protobuf.InvalidProtocolBufferException(e)
.setUnfinishedMessage(builder.buildPartial());
}
return builder.buildPartial();
}
};
public static com.google.protobuf.Parser<DataTrans> parser() {
return PARSER;
}
@Override
public com.google.protobuf.Parser<DataTrans> getParserForType() {
return PARSER;
}
@Override
public DataTrans getDefaultInstanceForType() {
return DEFAULT_INSTANCE;
}
}
private static final com.google.protobuf.Descriptors.Descriptor
internal_static_DataTrans_descriptor;
private static final
com.google.protobuf.GeneratedMessage.FieldAccessorTable
internal_static_DataTrans_fieldAccessorTable;
public static com.google.protobuf.Descriptors.FileDescriptor
getDescriptor() {
return descriptor;
}
private static com.google.protobuf.Descriptors.FileDescriptor
descriptor;
static {
String[] descriptorData = {
"\n\020robot_data.proto\"b\n\tDataTrans\022\025\n\rRF_An" +
"gle_Roll\030\001 \001(\005\022\026\n\016RF_Angle_Pitch\030\002 \001(\005\022\024" +
"\n\014RF_Angle_Yaw\030\003 \001(\005\022\020\n\010RF_Depth\030\004 \001(\005B*" +
"\n&com.example.removemarineanimals.models" +
"P\000b\006proto3"
};
descriptor = com.google.protobuf.Descriptors.FileDescriptor
.internalBuildGeneratedFileFrom(descriptorData,
new com.google.protobuf.Descriptors.FileDescriptor[] {
});
internal_static_DataTrans_descriptor =
getDescriptor().getMessageTypes().get(0);
internal_static_DataTrans_fieldAccessorTable = new
com.google.protobuf.GeneratedMessage.FieldAccessorTable(
internal_static_DataTrans_descriptor,
new String[] { "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth", });
descriptor.resolveAllFeaturesImmutable();
}
// @@protoc_insertion_point(outer_class_scope)
}

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

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);
}
}
Write Preview
Loading…
Cancel
Save