getAllLogs();
+
+ @Query("DELETE FROM robot_logs WHERE time < :timeLimit")
+ void deleteLogsBefore(long timeLimit);
+
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/models/BspError.java b/app/src/main/java/com/example/removemarineanimals/models/BspError.java
new file mode 100644
index 0000000..a7010bd
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspError.java
@@ -0,0 +1,815 @@
+// 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.removemarineanimals.models;
+
+public final class BspError {
+ private BspError() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspError.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ /**
+ * Protobuf enum {@code ComError}
+ */
+ public enum ComError
+ implements com.google.protobuf.ProtocolMessageEnum {
+ /**
+ * MK32_SBus = 0;
+ */
+ MK32_SBus(0),
+ /**
+ * TL720D = 1;
+ */
+ TL720D(1),
+ /**
+ * Force_sensor = 2;
+ */
+ Force_sensor(2),
+ /**
+ * ZQ_LeftMotor = 3;
+ */
+ ZQ_LeftMotor(3),
+ /**
+ * ZQ_RightMotor = 4;
+ */
+ ZQ_RightMotor(4),
+ /**
+ * DMAKE_1 = 5;
+ */
+ DMAKE_1(5),
+ /**
+ *
+ * DMAKE_2 = 6;
+ * DMAKE_3 = 7;
+ *
+ *
+ * MK32_Serial = 6;
+ */
+ MK32_Serial(6),
+ UNRECOGNIZED(-1),
+ ;
+
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ ComError.class.getName());
+ }
+ /**
+ * MK32_SBus = 0;
+ */
+ public static final int MK32_SBus_VALUE = 0;
+ /**
+ * TL720D = 1;
+ */
+ public static final int TL720D_VALUE = 1;
+ /**
+ * Force_sensor = 2;
+ */
+ public static final int Force_sensor_VALUE = 2;
+ /**
+ * ZQ_LeftMotor = 3;
+ */
+ public static final int ZQ_LeftMotor_VALUE = 3;
+ /**
+ * ZQ_RightMotor = 4;
+ */
+ public static final int ZQ_RightMotor_VALUE = 4;
+ /**
+ * DMAKE_1 = 5;
+ */
+ public static final int DMAKE_1_VALUE = 5;
+ /**
+ *
+ * DMAKE_2 = 6;
+ * DMAKE_3 = 7;
+ *
+ *
+ * MK32_Serial = 6;
+ */
+ public static final int MK32_Serial_VALUE = 6;
+
+
+ public final int getNumber() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalArgumentException(
+ "Can't get the number of an unknown enum value.");
+ }
+ return value;
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ * @deprecated Use {@link #forNumber(int)} instead.
+ */
+ @java.lang.Deprecated
+ public static ComError valueOf(int value) {
+ return forNumber(value);
+ }
+
+ /**
+ * @param value The numeric wire value of the corresponding enum entry.
+ * @return The enum associated with the given numeric wire value.
+ */
+ public static ComError forNumber(int value) {
+ switch (value) {
+ case 0: return MK32_SBus;
+ case 1: return TL720D;
+ case 2: return Force_sensor;
+ case 3: return ZQ_LeftMotor;
+ case 4: return ZQ_RightMotor;
+ case 5: return DMAKE_1;
+ case 6: return MK32_Serial;
+ default: return null;
+ }
+ }
+
+ public static com.google.protobuf.Internal.EnumLiteMap
+ internalGetValueMap() {
+ return internalValueMap;
+ }
+ private static final com.google.protobuf.Internal.EnumLiteMap<
+ ComError> internalValueMap =
+ new com.google.protobuf.Internal.EnumLiteMap() {
+ public ComError findValueByNumber(int number) {
+ return ComError.forNumber(number);
+ }
+ };
+
+ public final com.google.protobuf.Descriptors.EnumValueDescriptor
+ getValueDescriptor() {
+ if (this == UNRECOGNIZED) {
+ throw new java.lang.IllegalStateException(
+ "Can't get the descriptor of an unrecognized enum value.");
+ }
+ return getDescriptor().getValues().get(ordinal());
+ }
+ public final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptorForType() {
+ return getDescriptor();
+ }
+ public static final com.google.protobuf.Descriptors.EnumDescriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspError.getDescriptor().getEnumTypes().get(0);
+ }
+
+ private static final ComError[] VALUES = values();
+
+ public static ComError valueOf(
+ com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+ if (desc.getType() != getDescriptor()) {
+ throw new java.lang.IllegalArgumentException(
+ "EnumValueDescriptor is not for this type.");
+ }
+ if (desc.getIndex() == -1) {
+ return UNRECOGNIZED;
+ }
+ return VALUES[desc.getIndex()];
+ }
+
+ private final int value;
+
+ private ComError(int value) {
+ this.value = value;
+ }
+
+ // @@protoc_insertion_point(enum_scope:ComError)
+ }
+
+ public interface ErrorDataOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:ErrorData)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * int32 Com_Error_Code = 1;
+ * @return The comErrorCode.
+ */
+ int getComErrorCode();
+
+ /**
+ * int32 Left_Motor_Error_Code = 2;
+ * @return The leftMotorErrorCode.
+ */
+ int getLeftMotorErrorCode();
+
+ /**
+ * int32 Right_Motor_Error_Code = 3;
+ * @return The rightMotorErrorCode.
+ */
+ int getRightMotorErrorCode();
+ }
+ /**
+ * Protobuf type {@code ErrorData}
+ */
+ public static final class ErrorData extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:ErrorData)
+ ErrorDataOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ ErrorData.class.getName());
+ }
+ // Use ErrorData.newBuilder() to construct.
+ private ErrorData(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private ErrorData() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspError.ErrorData.class, com.example.removemarineanimals.models.BspError.ErrorData.Builder.class);
+ }
+
+ public static final int COM_ERROR_CODE_FIELD_NUMBER = 1;
+ private int comErrorCode_ = 0;
+ /**
+ * int32 Com_Error_Code = 1;
+ * @return The comErrorCode.
+ */
+ @java.lang.Override
+ public int getComErrorCode() {
+ return comErrorCode_;
+ }
+
+ public static final int LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER = 2;
+ private int leftMotorErrorCode_ = 0;
+ /**
+ * int32 Left_Motor_Error_Code = 2;
+ * @return The leftMotorErrorCode.
+ */
+ @java.lang.Override
+ public int getLeftMotorErrorCode() {
+ return leftMotorErrorCode_;
+ }
+
+ public static final int RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER = 3;
+ private int rightMotorErrorCode_ = 0;
+ /**
+ * int32 Right_Motor_Error_Code = 3;
+ * @return The rightMotorErrorCode.
+ */
+ @java.lang.Override
+ public int getRightMotorErrorCode() {
+ return rightMotorErrorCode_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (comErrorCode_ != 0) {
+ output.writeInt32(1, comErrorCode_);
+ }
+ if (leftMotorErrorCode_ != 0) {
+ output.writeInt32(2, leftMotorErrorCode_);
+ }
+ if (rightMotorErrorCode_ != 0) {
+ output.writeInt32(3, rightMotorErrorCode_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (comErrorCode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, comErrorCode_);
+ }
+ if (leftMotorErrorCode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, leftMotorErrorCode_);
+ }
+ if (rightMotorErrorCode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, rightMotorErrorCode_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof com.example.removemarineanimals.models.BspError.ErrorData)) {
+ return super.equals(obj);
+ }
+ com.example.removemarineanimals.models.BspError.ErrorData other = (com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static com.example.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code ErrorData}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:ErrorData)
+ com.example.removemarineanimals.models.BspError.ErrorDataOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspError.ErrorData.class, com.example.removemarineanimals.models.BspError.ErrorData.Builder.class);
+ }
+
+ // Construct using com.example.removemarineanimals.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.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspError.ErrorData getDefaultInstanceForType() {
+ return com.example.removemarineanimals.models.BspError.ErrorData.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspError.ErrorData build() {
+ com.example.removemarineanimals.models.BspError.ErrorData result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspError.ErrorData buildPartial() {
+ com.example.removemarineanimals.models.BspError.ErrorData result = new com.example.removemarineanimals.models.BspError.ErrorData(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.removemarineanimals.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.removemarineanimals.models.BspError.ErrorData) {
+ return mergeFrom((com.example.removemarineanimals.models.BspError.ErrorData)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.removemarineanimals.models.BspError.ErrorData other) {
+ if (other == com.example.removemarineanimals.models.BspError.ErrorData.getDefaultInstance()) return this;
+ if (other.getComErrorCode() != 0) {
+ setComErrorCode(other.getComErrorCode());
+ }
+ if (other.getLeftMotorErrorCode() != 0) {
+ setLeftMotorErrorCode(other.getLeftMotorErrorCode());
+ }
+ if (other.getRightMotorErrorCode() != 0) {
+ setRightMotorErrorCode(other.getRightMotorErrorCode());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 8: {
+ comErrorCode_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ leftMotorErrorCode_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ rightMotorErrorCode_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int comErrorCode_ ;
+ /**
+ * int32 Com_Error_Code = 1;
+ * @return The comErrorCode.
+ */
+ @java.lang.Override
+ public int getComErrorCode() {
+ return comErrorCode_;
+ }
+ /**
+ * int32 Com_Error_Code = 1;
+ * @param value The comErrorCode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setComErrorCode(int value) {
+
+ comErrorCode_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Com_Error_Code = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearComErrorCode() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ comErrorCode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int leftMotorErrorCode_ ;
+ /**
+ * int32 Left_Motor_Error_Code = 2;
+ * @return The leftMotorErrorCode.
+ */
+ @java.lang.Override
+ public int getLeftMotorErrorCode() {
+ return leftMotorErrorCode_;
+ }
+ /**
+ * int32 Left_Motor_Error_Code = 2;
+ * @param value The leftMotorErrorCode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLeftMotorErrorCode(int value) {
+
+ leftMotorErrorCode_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Left_Motor_Error_Code = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearLeftMotorErrorCode() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ leftMotorErrorCode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rightMotorErrorCode_ ;
+ /**
+ * int32 Right_Motor_Error_Code = 3;
+ * @return The rightMotorErrorCode.
+ */
+ @java.lang.Override
+ public int getRightMotorErrorCode() {
+ return rightMotorErrorCode_;
+ }
+ /**
+ * int32 Right_Motor_Error_Code = 3;
+ * @param value The rightMotorErrorCode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRightMotorErrorCode(int value) {
+
+ rightMotorErrorCode_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Right_Motor_Error_Code = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRightMotorErrorCode() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ rightMotorErrorCode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:ErrorData)
+ }
+
+ // @@protoc_insertion_point(class_scope:ErrorData)
+ private static final com.example.removemarineanimals.models.BspError.ErrorData DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspError.ErrorData();
+ }
+
+ public static com.example.removemarineanimals.models.BspError.ErrorData getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public ErrorData parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.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&com.example.removemarineanimals.mod" +
+ "elsP\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_ErrorData_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_ErrorData_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_ErrorData_descriptor,
+ new java.lang.String[] { "ComErrorCode", "LeftMotorErrorCode", "RightMotorErrorCode", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/models/BspIV.java b/app/src/main/java/com/example/removemarineanimals/models/BspIV.java
new file mode 100644
index 0000000..84e50a3
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspIV.java
@@ -0,0 +1,1532 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// NO CHECKED-IN PROTOBUF GENCODE
+// source: bsp_IV.proto
+// Protobuf Java Version: 4.27.2
+
+package com.example.removemarineanimals.models;
+
+public final class BspIV {
+ private BspIV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspIV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface IV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:IV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 五轮项目
+ *
+ *
+ * int32 Robot_Move_AutoSpeed = 1;
+ * @return The robotMoveAutoSpeed.
+ */
+ int getRobotMoveAutoSpeed();
+
+ /**
+ * int32 Robot_Move_ManualSpeed = 2;
+ * @return The robotMoveManualSpeed.
+ */
+ int getRobotMoveManualSpeed();
+
+ /**
+ * int32 Robot_CurrentPosition = 3;
+ * @return The robotCurrentPosition.
+ */
+ int getRobotCurrentPosition();
+
+ /**
+ * int32 Robot_AngleRoll = 4;
+ * @return The robotAngleRoll.
+ */
+ int getRobotAngleRoll();
+
+ /**
+ * int32 Robot_Error = 5;
+ * @return The robotError.
+ */
+ int getRobotError();
+
+ /**
+ * int32 Robot_DynamometerValue = 6;
+ * @return The robotDynamometerValue.
+ */
+ int getRobotDynamometerValue();
+
+ /**
+ * int32 Robot_ForceValue = 7;
+ * @return The robotForceValue.
+ */
+ int getRobotForceValue();
+
+ /**
+ * int32 Robot_CurrentState = 8;
+ * @return The robotCurrentState.
+ */
+ int getRobotCurrentState();
+
+ /**
+ * int32 Robot_Current_Left = 9;
+ * @return The robotCurrentLeft.
+ */
+ int getRobotCurrentLeft();
+
+ /**
+ * int32 Robot_Current_Right = 10;
+ * @return The robotCurrentRight.
+ */
+ int getRobotCurrentRight();
+
+ /**
+ * int32 Robot_Error_Left = 11;
+ * @return The robotErrorLeft.
+ */
+ int getRobotErrorLeft();
+
+ /**
+ * int32 Robot_Error_Right = 12;
+ * @return The robotErrorRight.
+ */
+ int getRobotErrorRight();
+
+ /**
+ * int32 Robot_Compensation_Left = 13;
+ * @return The robotCompensationLeft.
+ */
+ int getRobotCompensationLeft();
+
+ /**
+ * int32 Robot_Compensation_Right = 14;
+ * @return The robotCompensationRight.
+ */
+ int getRobotCompensationRight();
+
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ int getRobotRESET();
+ }
+ /**
+ * Protobuf type {@code IV_struct_define}
+ */
+ public static final class IV_struct_define extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:IV_struct_define)
+ IV_struct_defineOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ IV_struct_define.class.getName());
+ }
+ // Use IV_struct_define.newBuilder() to construct.
+ private IV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private IV_struct_define() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspIV.IV_struct_define.class, com.example.removemarineanimals.models.BspIV.IV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOT_MOVE_AUTOSPEED_FIELD_NUMBER = 1;
+ private int robotMoveAutoSpeed_ = 0;
+ /**
+ *
+ * 五轮项目
+ *
+ *
+ * int32 Robot_Move_AutoSpeed = 1;
+ * @return The robotMoveAutoSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveAutoSpeed() {
+ return robotMoveAutoSpeed_;
+ }
+
+ public static final int ROBOT_MOVE_MANUALSPEED_FIELD_NUMBER = 2;
+ private int robotMoveManualSpeed_ = 0;
+ /**
+ * int32 Robot_Move_ManualSpeed = 2;
+ * @return The robotMoveManualSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveManualSpeed() {
+ return robotMoveManualSpeed_;
+ }
+
+ public static final int ROBOT_CURRENTPOSITION_FIELD_NUMBER = 3;
+ private int robotCurrentPosition_ = 0;
+ /**
+ * int32 Robot_CurrentPosition = 3;
+ * @return The robotCurrentPosition.
+ */
+ @java.lang.Override
+ public int getRobotCurrentPosition() {
+ return robotCurrentPosition_;
+ }
+
+ public static final int ROBOT_ANGLEROLL_FIELD_NUMBER = 4;
+ private int robotAngleRoll_ = 0;
+ /**
+ * int32 Robot_AngleRoll = 4;
+ * @return The robotAngleRoll.
+ */
+ @java.lang.Override
+ public int getRobotAngleRoll() {
+ return robotAngleRoll_;
+ }
+
+ public static final int ROBOT_ERROR_FIELD_NUMBER = 5;
+ private int robotError_ = 0;
+ /**
+ * int32 Robot_Error = 5;
+ * @return The robotError.
+ */
+ @java.lang.Override
+ public int getRobotError() {
+ return robotError_;
+ }
+
+ public static final int ROBOT_DYNAMOMETERVALUE_FIELD_NUMBER = 6;
+ private int robotDynamometerValue_ = 0;
+ /**
+ * int32 Robot_DynamometerValue = 6;
+ * @return The robotDynamometerValue.
+ */
+ @java.lang.Override
+ public int getRobotDynamometerValue() {
+ return robotDynamometerValue_;
+ }
+
+ public static final int ROBOT_FORCEVALUE_FIELD_NUMBER = 7;
+ private int robotForceValue_ = 0;
+ /**
+ * int32 Robot_ForceValue = 7;
+ * @return The robotForceValue.
+ */
+ @java.lang.Override
+ public int getRobotForceValue() {
+ return robotForceValue_;
+ }
+
+ public static final int ROBOT_CURRENTSTATE_FIELD_NUMBER = 8;
+ private int robotCurrentState_ = 0;
+ /**
+ * int32 Robot_CurrentState = 8;
+ * @return The robotCurrentState.
+ */
+ @java.lang.Override
+ public int getRobotCurrentState() {
+ return robotCurrentState_;
+ }
+
+ public static final int ROBOT_CURRENT_LEFT_FIELD_NUMBER = 9;
+ private int robotCurrentLeft_ = 0;
+ /**
+ * int32 Robot_Current_Left = 9;
+ * @return The robotCurrentLeft.
+ */
+ @java.lang.Override
+ public int getRobotCurrentLeft() {
+ return robotCurrentLeft_;
+ }
+
+ public static final int ROBOT_CURRENT_RIGHT_FIELD_NUMBER = 10;
+ private int robotCurrentRight_ = 0;
+ /**
+ * int32 Robot_Current_Right = 10;
+ * @return The robotCurrentRight.
+ */
+ @java.lang.Override
+ public int getRobotCurrentRight() {
+ return robotCurrentRight_;
+ }
+
+ public static final int ROBOT_ERROR_LEFT_FIELD_NUMBER = 11;
+ private int robotErrorLeft_ = 0;
+ /**
+ * int32 Robot_Error_Left = 11;
+ * @return The robotErrorLeft.
+ */
+ @java.lang.Override
+ public int getRobotErrorLeft() {
+ return robotErrorLeft_;
+ }
+
+ public static final int ROBOT_ERROR_RIGHT_FIELD_NUMBER = 12;
+ private int robotErrorRight_ = 0;
+ /**
+ * int32 Robot_Error_Right = 12;
+ * @return The robotErrorRight.
+ */
+ @java.lang.Override
+ public int getRobotErrorRight() {
+ return robotErrorRight_;
+ }
+
+ public static final int ROBOT_COMPENSATION_LEFT_FIELD_NUMBER = 13;
+ private int robotCompensationLeft_ = 0;
+ /**
+ * int32 Robot_Compensation_Left = 13;
+ * @return The robotCompensationLeft.
+ */
+ @java.lang.Override
+ public int getRobotCompensationLeft() {
+ return robotCompensationLeft_;
+ }
+
+ public static final int ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER = 14;
+ private int robotCompensationRight_ = 0;
+ /**
+ * int32 Robot_Compensation_Right = 14;
+ * @return The robotCompensationRight.
+ */
+ @java.lang.Override
+ public int getRobotCompensationRight() {
+ return robotCompensationRight_;
+ }
+
+ public static final int ROBOT_RESET_FIELD_NUMBER = 15;
+ private int robotRESET_ = 0;
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ @java.lang.Override
+ public int getRobotRESET() {
+ return robotRESET_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (robotMoveAutoSpeed_ != 0) {
+ output.writeInt32(1, robotMoveAutoSpeed_);
+ }
+ if (robotMoveManualSpeed_ != 0) {
+ output.writeInt32(2, robotMoveManualSpeed_);
+ }
+ if (robotCurrentPosition_ != 0) {
+ output.writeInt32(3, robotCurrentPosition_);
+ }
+ if (robotAngleRoll_ != 0) {
+ output.writeInt32(4, robotAngleRoll_);
+ }
+ if (robotError_ != 0) {
+ output.writeInt32(5, robotError_);
+ }
+ if (robotDynamometerValue_ != 0) {
+ output.writeInt32(6, robotDynamometerValue_);
+ }
+ if (robotForceValue_ != 0) {
+ output.writeInt32(7, robotForceValue_);
+ }
+ if (robotCurrentState_ != 0) {
+ output.writeInt32(8, robotCurrentState_);
+ }
+ if (robotCurrentLeft_ != 0) {
+ output.writeInt32(9, robotCurrentLeft_);
+ }
+ if (robotCurrentRight_ != 0) {
+ output.writeInt32(10, robotCurrentRight_);
+ }
+ if (robotErrorLeft_ != 0) {
+ output.writeInt32(11, robotErrorLeft_);
+ }
+ if (robotErrorRight_ != 0) {
+ output.writeInt32(12, robotErrorRight_);
+ }
+ if (robotCompensationLeft_ != 0) {
+ output.writeInt32(13, robotCompensationLeft_);
+ }
+ if (robotCompensationRight_ != 0) {
+ output.writeInt32(14, robotCompensationRight_);
+ }
+ if (robotRESET_ != 0) {
+ output.writeInt32(15, robotRESET_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (robotMoveAutoSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, robotMoveAutoSpeed_);
+ }
+ if (robotMoveManualSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, robotMoveManualSpeed_);
+ }
+ if (robotCurrentPosition_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, robotCurrentPosition_);
+ }
+ if (robotAngleRoll_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, robotAngleRoll_);
+ }
+ if (robotError_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(5, robotError_);
+ }
+ if (robotDynamometerValue_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(6, robotDynamometerValue_);
+ }
+ if (robotForceValue_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(7, robotForceValue_);
+ }
+ if (robotCurrentState_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(8, robotCurrentState_);
+ }
+ if (robotCurrentLeft_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(9, robotCurrentLeft_);
+ }
+ if (robotCurrentRight_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(10, robotCurrentRight_);
+ }
+ if (robotErrorLeft_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(11, robotErrorLeft_);
+ }
+ if (robotErrorRight_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(12, robotErrorRight_);
+ }
+ if (robotCompensationLeft_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(13, robotCompensationLeft_);
+ }
+ if (robotCompensationRight_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(14, robotCompensationRight_);
+ }
+ if (robotRESET_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(15, robotRESET_);
+ }
+ 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.removemarineanimals.models.BspIV.IV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.removemarineanimals.models.BspIV.IV_struct_define other = (com.example.removemarineanimals.models.BspIV.IV_struct_define) obj;
+
+ if (getRobotMoveAutoSpeed()
+ != other.getRobotMoveAutoSpeed()) return false;
+ if (getRobotMoveManualSpeed()
+ != other.getRobotMoveManualSpeed()) return false;
+ if (getRobotCurrentPosition()
+ != other.getRobotCurrentPosition()) return false;
+ if (getRobotAngleRoll()
+ != other.getRobotAngleRoll()) return false;
+ if (getRobotError()
+ != other.getRobotError()) return false;
+ if (getRobotDynamometerValue()
+ != other.getRobotDynamometerValue()) return false;
+ if (getRobotForceValue()
+ != other.getRobotForceValue()) return false;
+ if (getRobotCurrentState()
+ != other.getRobotCurrentState()) return false;
+ if (getRobotCurrentLeft()
+ != other.getRobotCurrentLeft()) return false;
+ if (getRobotCurrentRight()
+ != other.getRobotCurrentRight()) return false;
+ if (getRobotErrorLeft()
+ != other.getRobotErrorLeft()) return false;
+ if (getRobotErrorRight()
+ != other.getRobotErrorRight()) return false;
+ if (getRobotCompensationLeft()
+ != other.getRobotCompensationLeft()) return false;
+ if (getRobotCompensationRight()
+ != other.getRobotCompensationRight()) return false;
+ if (getRobotRESET()
+ != other.getRobotRESET()) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (37 * hash) + ROBOT_MOVE_AUTOSPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotMoveAutoSpeed();
+ hash = (37 * hash) + ROBOT_MOVE_MANUALSPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotMoveManualSpeed();
+ hash = (37 * hash) + ROBOT_CURRENTPOSITION_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCurrentPosition();
+ hash = (37 * hash) + ROBOT_ANGLEROLL_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotAngleRoll();
+ hash = (37 * hash) + ROBOT_ERROR_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotError();
+ hash = (37 * hash) + ROBOT_DYNAMOMETERVALUE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotDynamometerValue();
+ hash = (37 * hash) + ROBOT_FORCEVALUE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotForceValue();
+ hash = (37 * hash) + ROBOT_CURRENTSTATE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCurrentState();
+ hash = (37 * hash) + ROBOT_CURRENT_LEFT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCurrentLeft();
+ hash = (37 * hash) + ROBOT_CURRENT_RIGHT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCurrentRight();
+ hash = (37 * hash) + ROBOT_ERROR_LEFT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotErrorLeft();
+ hash = (37 * hash) + ROBOT_ERROR_RIGHT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotErrorRight();
+ hash = (37 * hash) + ROBOT_COMPENSATION_LEFT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCompensationLeft();
+ hash = (37 * hash) + ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotCompensationRight();
+ hash = (37 * hash) + ROBOT_RESET_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotRESET();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(com.example.removemarineanimals.models.BspIV.IV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code IV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:IV_struct_define)
+ com.example.removemarineanimals.models.BspIV.IV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspIV.IV_struct_define.class, com.example.removemarineanimals.models.BspIV.IV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.removemarineanimals.models.BspIV.IV_struct_define.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ robotMoveAutoSpeed_ = 0;
+ robotMoveManualSpeed_ = 0;
+ robotCurrentPosition_ = 0;
+ robotAngleRoll_ = 0;
+ robotError_ = 0;
+ robotDynamometerValue_ = 0;
+ robotForceValue_ = 0;
+ robotCurrentState_ = 0;
+ robotCurrentLeft_ = 0;
+ robotCurrentRight_ = 0;
+ robotErrorLeft_ = 0;
+ robotErrorRight_ = 0;
+ robotCompensationLeft_ = 0;
+ robotCompensationRight_ = 0;
+ robotRESET_ = 0;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+ return com.example.removemarineanimals.models.BspIV.IV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspIV.IV_struct_define build() {
+ com.example.removemarineanimals.models.BspIV.IV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspIV.IV_struct_define buildPartial() {
+ com.example.removemarineanimals.models.BspIV.IV_struct_define result = new com.example.removemarineanimals.models.BspIV.IV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.removemarineanimals.models.BspIV.IV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.robotMoveAutoSpeed_ = robotMoveAutoSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.robotMoveManualSpeed_ = robotMoveManualSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.robotCurrentPosition_ = robotCurrentPosition_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.robotAngleRoll_ = robotAngleRoll_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.robotError_ = robotError_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.robotDynamometerValue_ = robotDynamometerValue_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.robotForceValue_ = robotForceValue_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.robotCurrentState_ = robotCurrentState_;
+ }
+ if (((from_bitField0_ & 0x00000100) != 0)) {
+ result.robotCurrentLeft_ = robotCurrentLeft_;
+ }
+ if (((from_bitField0_ & 0x00000200) != 0)) {
+ result.robotCurrentRight_ = robotCurrentRight_;
+ }
+ if (((from_bitField0_ & 0x00000400) != 0)) {
+ result.robotErrorLeft_ = robotErrorLeft_;
+ }
+ if (((from_bitField0_ & 0x00000800) != 0)) {
+ result.robotErrorRight_ = robotErrorRight_;
+ }
+ if (((from_bitField0_ & 0x00001000) != 0)) {
+ result.robotCompensationLeft_ = robotCompensationLeft_;
+ }
+ if (((from_bitField0_ & 0x00002000) != 0)) {
+ result.robotCompensationRight_ = robotCompensationRight_;
+ }
+ if (((from_bitField0_ & 0x00004000) != 0)) {
+ result.robotRESET_ = robotRESET_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.removemarineanimals.models.BspIV.IV_struct_define) {
+ return mergeFrom((com.example.removemarineanimals.models.BspIV.IV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.removemarineanimals.models.BspIV.IV_struct_define other) {
+ if (other == com.example.removemarineanimals.models.BspIV.IV_struct_define.getDefaultInstance()) return this;
+ if (other.getRobotMoveAutoSpeed() != 0) {
+ setRobotMoveAutoSpeed(other.getRobotMoveAutoSpeed());
+ }
+ if (other.getRobotMoveManualSpeed() != 0) {
+ setRobotMoveManualSpeed(other.getRobotMoveManualSpeed());
+ }
+ if (other.getRobotCurrentPosition() != 0) {
+ setRobotCurrentPosition(other.getRobotCurrentPosition());
+ }
+ if (other.getRobotAngleRoll() != 0) {
+ setRobotAngleRoll(other.getRobotAngleRoll());
+ }
+ if (other.getRobotError() != 0) {
+ setRobotError(other.getRobotError());
+ }
+ if (other.getRobotDynamometerValue() != 0) {
+ setRobotDynamometerValue(other.getRobotDynamometerValue());
+ }
+ if (other.getRobotForceValue() != 0) {
+ setRobotForceValue(other.getRobotForceValue());
+ }
+ if (other.getRobotCurrentState() != 0) {
+ setRobotCurrentState(other.getRobotCurrentState());
+ }
+ if (other.getRobotCurrentLeft() != 0) {
+ setRobotCurrentLeft(other.getRobotCurrentLeft());
+ }
+ if (other.getRobotCurrentRight() != 0) {
+ setRobotCurrentRight(other.getRobotCurrentRight());
+ }
+ if (other.getRobotErrorLeft() != 0) {
+ setRobotErrorLeft(other.getRobotErrorLeft());
+ }
+ if (other.getRobotErrorRight() != 0) {
+ setRobotErrorRight(other.getRobotErrorRight());
+ }
+ if (other.getRobotCompensationLeft() != 0) {
+ setRobotCompensationLeft(other.getRobotCompensationLeft());
+ }
+ if (other.getRobotCompensationRight() != 0) {
+ setRobotCompensationRight(other.getRobotCompensationRight());
+ }
+ if (other.getRobotRESET() != 0) {
+ setRobotRESET(other.getRobotRESET());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 8: {
+ robotMoveAutoSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ robotMoveManualSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ robotCurrentPosition_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ robotAngleRoll_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 40: {
+ robotError_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 40
+ case 48: {
+ robotDynamometerValue_ = input.readInt32();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 48
+ case 56: {
+ robotForceValue_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 56
+ case 64: {
+ robotCurrentState_ = input.readInt32();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 64
+ case 72: {
+ robotCurrentLeft_ = input.readInt32();
+ bitField0_ |= 0x00000100;
+ break;
+ } // case 72
+ case 80: {
+ robotCurrentRight_ = input.readInt32();
+ bitField0_ |= 0x00000200;
+ break;
+ } // case 80
+ case 88: {
+ robotErrorLeft_ = input.readInt32();
+ bitField0_ |= 0x00000400;
+ break;
+ } // case 88
+ case 96: {
+ robotErrorRight_ = input.readInt32();
+ bitField0_ |= 0x00000800;
+ break;
+ } // case 96
+ case 104: {
+ robotCompensationLeft_ = input.readInt32();
+ bitField0_ |= 0x00001000;
+ break;
+ } // case 104
+ case 112: {
+ robotCompensationRight_ = input.readInt32();
+ bitField0_ |= 0x00002000;
+ break;
+ } // case 112
+ case 120: {
+ robotRESET_ = input.readInt32();
+ bitField0_ |= 0x00004000;
+ break;
+ } // case 120
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int robotMoveAutoSpeed_ ;
+ /**
+ *
+ * 五轮项目
+ *
+ *
+ * int32 Robot_Move_AutoSpeed = 1;
+ * @return The robotMoveAutoSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveAutoSpeed() {
+ return robotMoveAutoSpeed_;
+ }
+ /**
+ *
+ * 五轮项目
+ *
+ *
+ * int32 Robot_Move_AutoSpeed = 1;
+ * @param value The robotMoveAutoSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotMoveAutoSpeed(int value) {
+
+ robotMoveAutoSpeed_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 五轮项目
+ *
+ *
+ * int32 Robot_Move_AutoSpeed = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotMoveAutoSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotMoveAutoSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotMoveManualSpeed_ ;
+ /**
+ * int32 Robot_Move_ManualSpeed = 2;
+ * @return The robotMoveManualSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveManualSpeed() {
+ return robotMoveManualSpeed_;
+ }
+ /**
+ * int32 Robot_Move_ManualSpeed = 2;
+ * @param value The robotMoveManualSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotMoveManualSpeed(int value) {
+
+ robotMoveManualSpeed_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Move_ManualSpeed = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotMoveManualSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ robotMoveManualSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCurrentPosition_ ;
+ /**
+ * int32 Robot_CurrentPosition = 3;
+ * @return The robotCurrentPosition.
+ */
+ @java.lang.Override
+ public int getRobotCurrentPosition() {
+ return robotCurrentPosition_;
+ }
+ /**
+ * int32 Robot_CurrentPosition = 3;
+ * @param value The robotCurrentPosition to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCurrentPosition(int value) {
+
+ robotCurrentPosition_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_CurrentPosition = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCurrentPosition() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ robotCurrentPosition_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotAngleRoll_ ;
+ /**
+ * int32 Robot_AngleRoll = 4;
+ * @return The robotAngleRoll.
+ */
+ @java.lang.Override
+ public int getRobotAngleRoll() {
+ return robotAngleRoll_;
+ }
+ /**
+ * int32 Robot_AngleRoll = 4;
+ * @param value The robotAngleRoll to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotAngleRoll(int value) {
+
+ robotAngleRoll_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_AngleRoll = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotAngleRoll() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ robotAngleRoll_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotError_ ;
+ /**
+ * int32 Robot_Error = 5;
+ * @return The robotError.
+ */
+ @java.lang.Override
+ public int getRobotError() {
+ return robotError_;
+ }
+ /**
+ * int32 Robot_Error = 5;
+ * @param value The robotError to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotError(int value) {
+
+ robotError_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Error = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotError() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ robotError_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotDynamometerValue_ ;
+ /**
+ * int32 Robot_DynamometerValue = 6;
+ * @return The robotDynamometerValue.
+ */
+ @java.lang.Override
+ public int getRobotDynamometerValue() {
+ return robotDynamometerValue_;
+ }
+ /**
+ * int32 Robot_DynamometerValue = 6;
+ * @param value The robotDynamometerValue to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotDynamometerValue(int value) {
+
+ robotDynamometerValue_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_DynamometerValue = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotDynamometerValue() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ robotDynamometerValue_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotForceValue_ ;
+ /**
+ * int32 Robot_ForceValue = 7;
+ * @return The robotForceValue.
+ */
+ @java.lang.Override
+ public int getRobotForceValue() {
+ return robotForceValue_;
+ }
+ /**
+ * int32 Robot_ForceValue = 7;
+ * @param value The robotForceValue to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotForceValue(int value) {
+
+ robotForceValue_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_ForceValue = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotForceValue() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ robotForceValue_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCurrentState_ ;
+ /**
+ * int32 Robot_CurrentState = 8;
+ * @return The robotCurrentState.
+ */
+ @java.lang.Override
+ public int getRobotCurrentState() {
+ return robotCurrentState_;
+ }
+ /**
+ * int32 Robot_CurrentState = 8;
+ * @param value The robotCurrentState to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCurrentState(int value) {
+
+ robotCurrentState_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_CurrentState = 8;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCurrentState() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ robotCurrentState_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCurrentLeft_ ;
+ /**
+ * int32 Robot_Current_Left = 9;
+ * @return The robotCurrentLeft.
+ */
+ @java.lang.Override
+ public int getRobotCurrentLeft() {
+ return robotCurrentLeft_;
+ }
+ /**
+ * int32 Robot_Current_Left = 9;
+ * @param value The robotCurrentLeft to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCurrentLeft(int value) {
+
+ robotCurrentLeft_ = value;
+ bitField0_ |= 0x00000100;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Current_Left = 9;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCurrentLeft() {
+ bitField0_ = (bitField0_ & ~0x00000100);
+ robotCurrentLeft_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCurrentRight_ ;
+ /**
+ * int32 Robot_Current_Right = 10;
+ * @return The robotCurrentRight.
+ */
+ @java.lang.Override
+ public int getRobotCurrentRight() {
+ return robotCurrentRight_;
+ }
+ /**
+ * int32 Robot_Current_Right = 10;
+ * @param value The robotCurrentRight to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCurrentRight(int value) {
+
+ robotCurrentRight_ = value;
+ bitField0_ |= 0x00000200;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Current_Right = 10;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCurrentRight() {
+ bitField0_ = (bitField0_ & ~0x00000200);
+ robotCurrentRight_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotErrorLeft_ ;
+ /**
+ * int32 Robot_Error_Left = 11;
+ * @return The robotErrorLeft.
+ */
+ @java.lang.Override
+ public int getRobotErrorLeft() {
+ return robotErrorLeft_;
+ }
+ /**
+ * int32 Robot_Error_Left = 11;
+ * @param value The robotErrorLeft to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotErrorLeft(int value) {
+
+ robotErrorLeft_ = value;
+ bitField0_ |= 0x00000400;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Error_Left = 11;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotErrorLeft() {
+ bitField0_ = (bitField0_ & ~0x00000400);
+ robotErrorLeft_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotErrorRight_ ;
+ /**
+ * int32 Robot_Error_Right = 12;
+ * @return The robotErrorRight.
+ */
+ @java.lang.Override
+ public int getRobotErrorRight() {
+ return robotErrorRight_;
+ }
+ /**
+ * int32 Robot_Error_Right = 12;
+ * @param value The robotErrorRight to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotErrorRight(int value) {
+
+ robotErrorRight_ = value;
+ bitField0_ |= 0x00000800;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Error_Right = 12;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotErrorRight() {
+ bitField0_ = (bitField0_ & ~0x00000800);
+ robotErrorRight_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCompensationLeft_ ;
+ /**
+ * int32 Robot_Compensation_Left = 13;
+ * @return The robotCompensationLeft.
+ */
+ @java.lang.Override
+ public int getRobotCompensationLeft() {
+ return robotCompensationLeft_;
+ }
+ /**
+ * int32 Robot_Compensation_Left = 13;
+ * @param value The robotCompensationLeft to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCompensationLeft(int value) {
+
+ robotCompensationLeft_ = value;
+ bitField0_ |= 0x00001000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Compensation_Left = 13;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCompensationLeft() {
+ bitField0_ = (bitField0_ & ~0x00001000);
+ robotCompensationLeft_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotCompensationRight_ ;
+ /**
+ * int32 Robot_Compensation_Right = 14;
+ * @return The robotCompensationRight.
+ */
+ @java.lang.Override
+ public int getRobotCompensationRight() {
+ return robotCompensationRight_;
+ }
+ /**
+ * int32 Robot_Compensation_Right = 14;
+ * @param value The robotCompensationRight to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotCompensationRight(int value) {
+
+ robotCompensationRight_ = value;
+ bitField0_ |= 0x00002000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Compensation_Right = 14;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotCompensationRight() {
+ bitField0_ = (bitField0_ & ~0x00002000);
+ robotCompensationRight_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotRESET_ ;
+ /**
+ * int32 Robot_RESET = 15;
+ * @return The robotRESET.
+ */
+ @java.lang.Override
+ public int getRobotRESET() {
+ return robotRESET_;
+ }
+ /**
+ * int32 Robot_RESET = 15;
+ * @param value The robotRESET to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotRESET(int value) {
+
+ robotRESET_ = value;
+ bitField0_ |= 0x00004000;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_RESET = 15;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotRESET() {
+ bitField0_ = (bitField0_ & ~0x00004000);
+ robotRESET_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:IV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:IV_struct_define)
+ private static final com.example.removemarineanimals.models.BspIV.IV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspIV.IV_struct_define();
+ }
+
+ public static com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public IV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_IV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_IV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_IV.proto\"\271\003\n\020IV_struct_define\022\034\n\024R" +
+ "obot_Move_AutoSpeed\030\001 \001(\005\022\036\n\026Robot_Move_" +
+ "ManualSpeed\030\002 \001(\005\022\035\n\025Robot_CurrentPositi" +
+ "on\030\003 \001(\005\022\027\n\017Robot_AngleRoll\030\004 \001(\005\022\023\n\013Rob" +
+ "ot_Error\030\005 \001(\005\022\036\n\026Robot_DynamometerValue" +
+ "\030\006 \001(\005\022\030\n\020Robot_ForceValue\030\007 \001(\005\022\032\n\022Robo" +
+ "t_CurrentState\030\010 \001(\005\022\032\n\022Robot_Current_Le" +
+ "ft\030\t \001(\005\022\033\n\023Robot_Current_Right\030\n \001(\005\022\030\n" +
+ "\020Robot_Error_Left\030\013 \001(\005\022\031\n\021Robot_Error_R" +
+ "ight\030\014 \001(\005\022\037\n\027Robot_Compensation_Left\030\r " +
+ "\001(\005\022 \n\030Robot_Compensation_Right\030\016 \001(\005\022\023\n" +
+ "\013Robot_RESET\030\017 \001(\005B*\n&com.example.remove" +
+ "marineanimals.modelsP\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_IV_struct_define_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_IV_struct_define_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_IV_struct_define_descriptor,
+ new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", "RobotCompensationLeft", "RobotCompensationRight", "RobotRESET", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/models/BspPV.java b/app/src/main/java/com/example/removemarineanimals/models/BspPV.java
new file mode 100644
index 0000000..966a19a
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspPV.java
@@ -0,0 +1,789 @@
+// 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.removemarineanimals.models;
+
+public final class BspPV {
+ private BspPV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspPV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface PV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:PV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * int32 Robot_ChgLength = 1;
+ * @return The robotChgLength.
+ */
+ int getRobotChgLength();
+
+ /**
+ * double Robot_AutoSpeedBase = 2;
+ * @return The robotAutoSpeedBase.
+ */
+ double getRobotAutoSpeedBase();
+
+ /**
+ * double Robot_ManualSpeedBase = 3;
+ * @return The robotManualSpeedBase.
+ */
+ double getRobotManualSpeedBase();
+
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ int getRobotLaneChangeDirection();
+
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ int getRobotForce();
+ }
+ /**
+ * 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.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspPV.PV_struct_define.class, com.example.removemarineanimals.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOT_CHGLENGTH_FIELD_NUMBER = 1;
+ private int robotChgLength_ = 0;
+ /**
+ * int32 Robot_ChgLength = 1;
+ * @return The robotChgLength.
+ */
+ @java.lang.Override
+ public int getRobotChgLength() {
+ return robotChgLength_;
+ }
+
+ public static final int ROBOT_AUTOSPEEDBASE_FIELD_NUMBER = 2;
+ private double robotAutoSpeedBase_ = 0D;
+ /**
+ * double Robot_AutoSpeedBase = 2;
+ * @return The robotAutoSpeedBase.
+ */
+ @java.lang.Override
+ public double getRobotAutoSpeedBase() {
+ return robotAutoSpeedBase_;
+ }
+
+ public static final int ROBOT_MANUALSPEEDBASE_FIELD_NUMBER = 3;
+ private double robotManualSpeedBase_ = 0D;
+ /**
+ * double Robot_ManualSpeedBase = 3;
+ * @return The robotManualSpeedBase.
+ */
+ @java.lang.Override
+ public double getRobotManualSpeedBase() {
+ return robotManualSpeedBase_;
+ }
+
+ public static final int ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER = 4;
+ private int robotLaneChangeDirection_ = 0;
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ @java.lang.Override
+ public int getRobotLaneChangeDirection() {
+ return robotLaneChangeDirection_;
+ }
+
+ public static final int ROBOT_FORCE_FIELD_NUMBER = 5;
+ private int robotForce_ = 0;
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ @java.lang.Override
+ public int getRobotForce() {
+ return robotForce_;
+ }
+
+ 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_);
+ }
+ if (robotLaneChangeDirection_ != 0) {
+ output.writeInt32(4, robotLaneChangeDirection_);
+ }
+ if (robotForce_ != 0) {
+ output.writeInt32(5, robotForce_);
+ }
+ 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_);
+ }
+ if (robotLaneChangeDirection_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, robotLaneChangeDirection_);
+ }
+ if (robotForce_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(5, robotForce_);
+ }
+ 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.removemarineanimals.models.BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.removemarineanimals.models.BspPV.PV_struct_define other = (com.example.removemarineanimals.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 (getRobotLaneChangeDirection()
+ != other.getRobotLaneChangeDirection()) return false;
+ if (getRobotForce()
+ != other.getRobotForce()) 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 = (37 * hash) + ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotLaneChangeDirection();
+ hash = (37 * hash) + ROBOT_FORCE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotForce();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.models.BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.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.removemarineanimals.models.BspPV.PV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:PV_struct_define)
+ com.example.removemarineanimals.models.BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.removemarineanimals.models.BspPV.PV_struct_define.class, com.example.removemarineanimals.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.removemarineanimals.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;
+ robotLaneChangeDirection_ = 0;
+ robotForce_ = 0;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return com.example.removemarineanimals.models.BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspPV.PV_struct_define build() {
+ com.example.removemarineanimals.models.BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.models.BspPV.PV_struct_define buildPartial() {
+ com.example.removemarineanimals.models.BspPV.PV_struct_define result = new com.example.removemarineanimals.models.BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.removemarineanimals.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_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.robotLaneChangeDirection_ = robotLaneChangeDirection_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.robotForce_ = robotForce_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.removemarineanimals.models.BspPV.PV_struct_define) {
+ return mergeFrom((com.example.removemarineanimals.models.BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.removemarineanimals.models.BspPV.PV_struct_define other) {
+ if (other == com.example.removemarineanimals.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());
+ }
+ if (other.getRobotLaneChangeDirection() != 0) {
+ setRobotLaneChangeDirection(other.getRobotLaneChangeDirection());
+ }
+ if (other.getRobotForce() != 0) {
+ setRobotForce(other.getRobotForce());
+ }
+ 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
+ case 32: {
+ robotLaneChangeDirection_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 40: {
+ robotForce_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 40
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int robotChgLength_ ;
+ /**
+ * int32 Robot_ChgLength = 1;
+ * @return The robotChgLength.
+ */
+ @java.lang.Override
+ public int getRobotChgLength() {
+ return robotChgLength_;
+ }
+ /**
+ * int32 Robot_ChgLength = 1;
+ * @param value The robotChgLength to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotChgLength(int value) {
+
+ robotChgLength_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_ChgLength = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotChgLength() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotChgLength_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private double robotAutoSpeedBase_ ;
+ /**
+ * double Robot_AutoSpeedBase = 2;
+ * @return The robotAutoSpeedBase.
+ */
+ @java.lang.Override
+ public double getRobotAutoSpeedBase() {
+ return robotAutoSpeedBase_;
+ }
+ /**
+ * double Robot_AutoSpeedBase = 2;
+ * @param value The robotAutoSpeedBase to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotAutoSpeedBase(double value) {
+
+ robotAutoSpeedBase_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ * double Robot_AutoSpeedBase = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotAutoSpeedBase() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ robotAutoSpeedBase_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double robotManualSpeedBase_ ;
+ /**
+ * double Robot_ManualSpeedBase = 3;
+ * @return The robotManualSpeedBase.
+ */
+ @java.lang.Override
+ public double getRobotManualSpeedBase() {
+ return robotManualSpeedBase_;
+ }
+ /**
+ * double Robot_ManualSpeedBase = 3;
+ * @param value The robotManualSpeedBase to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotManualSpeedBase(double value) {
+
+ robotManualSpeedBase_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ * double Robot_ManualSpeedBase = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotManualSpeedBase() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ robotManualSpeedBase_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private int robotLaneChangeDirection_ ;
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return The robotLaneChangeDirection.
+ */
+ @java.lang.Override
+ public int getRobotLaneChangeDirection() {
+ return robotLaneChangeDirection_;
+ }
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @param value The robotLaneChangeDirection to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotLaneChangeDirection(int value) {
+
+ robotLaneChangeDirection_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_LaneChange_Direction = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotLaneChangeDirection() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ robotLaneChangeDirection_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotForce_ ;
+ /**
+ * int32 Robot_Force = 5;
+ * @return The robotForce.
+ */
+ @java.lang.Override
+ public int getRobotForce() {
+ return robotForce_;
+ }
+ /**
+ * int32 Robot_Force = 5;
+ * @param value The robotForce to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotForce(int value) {
+
+ robotForce_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Force = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotForce() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ robotForce_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:PV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:PV_struct_define)
+ private static final com.example.removemarineanimals.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspPV.PV_struct_define();
+ }
+
+ public static com.example.removemarineanimals.models.BspPV.PV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public PV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.removemarineanimals.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\"\240\001\n\020PV_struct_define\022\027\n\017R" +
+ "obot_ChgLength\030\001 \001(\005\022\033\n\023Robot_AutoSpeedB" +
+ "ase\030\002 \001(\001\022\035\n\025Robot_ManualSpeedBase\030\003 \001(\001" +
+ "\022\"\n\032Robot_LaneChange_Direction\030\004 \001(\005\022\023\n\013" +
+ "Robot_Force\030\005 \001(\005B*\n&com.example.removem" +
+ "arineanimals.modelsP\000b\006proto3"
+ };
+ 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", "RobotLaneChangeDirection", "RobotForce", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/models/RobotData.java b/app/src/main/java/com/example/removemarineanimals/models/RobotData.java
new file mode 100644
index 0000000..138f780
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/models/RobotData.java
@@ -0,0 +1,792 @@
+// 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.removemarineanimals.models;
+
+public final class RobotData {
+ private RobotData() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ RobotData.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface DataTransOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:DataTrans)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 横滚角
+ *
+ *
+ * int32 RF_Angle_Roll = 1;
+ * @return The rFAngleRoll.
+ */
+ int getRFAngleRoll();
+
+ /**
+ *
+ * 俯仰角
+ *
+ *
+ * int32 RF_Angle_Pitch = 2;
+ * @return The rFAnglePitch.
+ */
+ int getRFAnglePitch();
+
+ /**
+ *
+ * 航向角
+ *
+ *
+ * int32 RF_Angle_Yaw = 3;
+ * @return The rFAngleYaw.
+ */
+ int getRFAngleYaw();
+
+ /**
+ *
+ * 海洋深度
+ *
+ *
+ * int32 RF_Depth = 4;
+ * @return The rFDepth.
+ */
+ int getRFDepth();
+ }
+ /**
+ * Protobuf type {@code DataTrans}
+ */
+ public static final class DataTrans extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:DataTrans)
+ DataTransOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ DataTrans.class.getName());
+ }
+ // Use DataTrans.newBuilder() to construct.
+ private DataTrans(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private DataTrans() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return RobotData.internal_static_DataTrans_descriptor;
+ }
+
+ @Override
+ protected FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return RobotData.internal_static_DataTrans_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ DataTrans.class, Builder.class);
+ }
+
+ public static final int RF_ANGLE_ROLL_FIELD_NUMBER = 1;
+ private int rFAngleRoll_ = 0;
+ /**
+ *
+ * 横滚角
+ *
+ *
+ * int32 RF_Angle_Roll = 1;
+ * @return The rFAngleRoll.
+ */
+ @Override
+ public int getRFAngleRoll() {
+ return rFAngleRoll_;
+ }
+
+ public static final int RF_ANGLE_PITCH_FIELD_NUMBER = 2;
+ private int rFAnglePitch_ = 0;
+ /**
+ *
+ * 俯仰角
+ *
+ *
+ * int32 RF_Angle_Pitch = 2;
+ * @return The rFAnglePitch.
+ */
+ @Override
+ public int getRFAnglePitch() {
+ return rFAnglePitch_;
+ }
+
+ public static final int RF_ANGLE_YAW_FIELD_NUMBER = 3;
+ private int rFAngleYaw_ = 0;
+ /**
+ *
+ * 航向角
+ *
+ *
+ * int32 RF_Angle_Yaw = 3;
+ * @return The rFAngleYaw.
+ */
+ @Override
+ public int getRFAngleYaw() {
+ return rFAngleYaw_;
+ }
+
+ public static final int RF_DEPTH_FIELD_NUMBER = 4;
+ private int rFDepth_ = 0;
+ /**
+ *
+ * 海洋深度
+ *
+ *
+ * int32 RF_Depth = 4;
+ * @return The rFDepth.
+ */
+ @Override
+ public int getRFDepth() {
+ return rFDepth_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (rFAngleRoll_ != 0) {
+ output.writeInt32(1, rFAngleRoll_);
+ }
+ if (rFAnglePitch_ != 0) {
+ output.writeInt32(2, rFAnglePitch_);
+ }
+ if (rFAngleYaw_ != 0) {
+ output.writeInt32(3, rFAngleYaw_);
+ }
+ if (rFDepth_ != 0) {
+ output.writeInt32(4, rFDepth_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (rFAngleRoll_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, rFAngleRoll_);
+ }
+ if (rFAnglePitch_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, rFAnglePitch_);
+ }
+ 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 implements
+ // @@protoc_insertion_point(builder_implements:DataTrans)
+ DataTransOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return RobotData.internal_static_DataTrans_descriptor;
+ }
+
+ @Override
+ protected FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return RobotData.internal_static_DataTrans_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ DataTrans.class, Builder.class);
+ }
+
+ // Construct using com.example.removemarineanimals.models.RobotData.DataTrans.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ BuilderParent parent) {
+ super(parent);
+
+ }
+ @Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ rFAngleRoll_ = 0;
+ rFAnglePitch_ = 0;
+ rFAngleYaw_ = 0;
+ rFDepth_ = 0;
+ return this;
+ }
+
+ @Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return RobotData.internal_static_DataTrans_descriptor;
+ }
+
+ @Override
+ public DataTrans getDefaultInstanceForType() {
+ return DataTrans.getDefaultInstance();
+ }
+
+ @Override
+ public DataTrans build() {
+ DataTrans result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @Override
+ public DataTrans buildPartial() {
+ DataTrans result = new DataTrans(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(DataTrans result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.rFAngleRoll_ = rFAngleRoll_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.rFAnglePitch_ = rFAnglePitch_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.rFAngleYaw_ = rFAngleYaw_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.rFDepth_ = rFDepth_;
+ }
+ }
+
+ @Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof DataTrans) {
+ return mergeFrom((DataTrans)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(DataTrans other) {
+ if (other == DataTrans.getDefaultInstance()) return this;
+ if (other.getRFAngleRoll() != 0) {
+ setRFAngleRoll(other.getRFAngleRoll());
+ }
+ if (other.getRFAnglePitch() != 0) {
+ setRFAnglePitch(other.getRFAnglePitch());
+ }
+ if (other.getRFAngleYaw() != 0) {
+ setRFAngleYaw(other.getRFAngleYaw());
+ }
+ if (other.getRFDepth() != 0) {
+ setRFDepth(other.getRFDepth());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 8: {
+ rFAngleRoll_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ rFAnglePitch_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ rFAngleYaw_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ rFDepth_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int rFAngleRoll_ ;
+ /**
+ *
+ * 横滚角
+ *
+ *
+ * int32 RF_Angle_Roll = 1;
+ * @return The rFAngleRoll.
+ */
+ @Override
+ public int getRFAngleRoll() {
+ return rFAngleRoll_;
+ }
+ /**
+ *
+ * 横滚角
+ *
+ *
+ * int32 RF_Angle_Roll = 1;
+ * @param value The rFAngleRoll to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRFAngleRoll(int value) {
+
+ rFAngleRoll_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 横滚角
+ *
+ *
+ * int32 RF_Angle_Roll = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRFAngleRoll() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ rFAngleRoll_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rFAnglePitch_ ;
+ /**
+ *
+ * 俯仰角
+ *
+ *
+ * int32 RF_Angle_Pitch = 2;
+ * @return The rFAnglePitch.
+ */
+ @Override
+ public int getRFAnglePitch() {
+ return rFAnglePitch_;
+ }
+ /**
+ *
+ * 俯仰角
+ *
+ *
+ * int32 RF_Angle_Pitch = 2;
+ * @param value The rFAnglePitch to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRFAnglePitch(int value) {
+
+ rFAnglePitch_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 俯仰角
+ *
+ *
+ * int32 RF_Angle_Pitch = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRFAnglePitch() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ rFAnglePitch_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rFAngleYaw_ ;
+ /**
+ *
+ * 航向角
+ *
+ *
+ * int32 RF_Angle_Yaw = 3;
+ * @return The rFAngleYaw.
+ */
+ @Override
+ public int getRFAngleYaw() {
+ return rFAngleYaw_;
+ }
+ /**
+ *
+ * 航向角
+ *
+ *
+ * int32 RF_Angle_Yaw = 3;
+ * @param value The rFAngleYaw to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRFAngleYaw(int value) {
+
+ rFAngleYaw_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 航向角
+ *
+ *
+ * int32 RF_Angle_Yaw = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRFAngleYaw() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ rFAngleYaw_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rFDepth_ ;
+ /**
+ *
+ * 海洋深度
+ *
+ *
+ * int32 RF_Depth = 4;
+ * @return The rFDepth.
+ */
+ @Override
+ public int getRFDepth() {
+ return rFDepth_;
+ }
+ /**
+ *
+ * 海洋深度
+ *
+ *
+ * int32 RF_Depth = 4;
+ * @param value The rFDepth to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRFDepth(int value) {
+
+ rFDepth_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 海洋深度
+ *
+ *
+ * int32 RF_Depth = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRFDepth() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ rFDepth_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:DataTrans)
+ }
+
+ // @@protoc_insertion_point(class_scope:DataTrans)
+ private static final DataTrans DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new DataTrans();
+ }
+
+ public static DataTrans getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @Override
+ public DataTrans parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @Override
+ public DataTrans getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_DataTrans_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_DataTrans_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ String[] descriptorData = {
+ "\n\020robot_data.proto\"b\n\tDataTrans\022\025\n\rRF_An" +
+ "gle_Roll\030\001 \001(\005\022\026\n\016RF_Angle_Pitch\030\002 \001(\005\022\024" +
+ "\n\014RF_Angle_Yaw\030\003 \001(\005\022\020\n\010RF_Depth\030\004 \001(\005B*" +
+ "\n&com.example.removemarineanimals.models" +
+ "P\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_DataTrans_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_DataTrans_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_DataTrans_descriptor,
+ new String[] { "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java b/app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java
new file mode 100644
index 0000000..c1badac
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java
@@ -0,0 +1,615 @@
+// 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.removemarineanimals.models;
+
+public final class RobotRMACM {
+ private RobotRMACM() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ RobotRMACM.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface RMACMOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:RMACM)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 灯光亮度
+ *
+ *
+ * int32 LightBrightness = 1;
+ * @return The lightBrightness.
+ */
+ int getLightBrightness();
+
+ /**
+ *
+ * 机器人速度
+ *
+ *
+ * int32 Robot_Speed = 2;
+ * @return The robotSpeed.
+ */
+ int getRobotSpeed();
+ }
+ /**
+ *
+ * Remove Marine Animal Command
+ *
+ *
+ * Protobuf type {@code RMACM}
+ */
+ public static final class RMACM extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:RMACM)
+ RMACMOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ RMACM.class.getName());
+ }
+ // Use RMACM.newBuilder() to construct.
+ private RMACM(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private RMACM() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return RobotRMACM.internal_static_RMACM_descriptor;
+ }
+
+ @Override
+ protected FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return RobotRMACM.internal_static_RMACM_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ RMACM.class, Builder.class);
+ }
+
+ public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1;
+ private int lightBrightness_ = 0;
+ /**
+ *
+ * 灯光亮度
+ *
+ *
+ * int32 LightBrightness = 1;
+ * @return The lightBrightness.
+ */
+ @Override
+ public int getLightBrightness() {
+ return lightBrightness_;
+ }
+
+ public static final int ROBOT_SPEED_FIELD_NUMBER = 2;
+ private int robotSpeed_ = 0;
+ /**
+ *
+ * 机器人速度
+ *
+ *
+ * int32 Robot_Speed = 2;
+ * @return The robotSpeed.
+ */
+ @Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (lightBrightness_ != 0) {
+ output.writeInt32(1, lightBrightness_);
+ }
+ if (robotSpeed_ != 0) {
+ output.writeInt32(2, robotSpeed_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (lightBrightness_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, lightBrightness_);
+ }
+ if (robotSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, robotSpeed_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @Override
+ public boolean equals(final Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof RMACM)) {
+ return super.equals(obj);
+ }
+ RMACM other = (RMACM) obj;
+
+ if (getLightBrightness()
+ != other.getLightBrightness()) return false;
+ if (getRobotSpeed()
+ != other.getRobotSpeed()) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (37 * hash) + LIGHTBRIGHTNESS_FIELD_NUMBER;
+ hash = (53 * hash) + getLightBrightness();
+ hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSpeed();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static RMACM parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static RMACM parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static RMACM parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static RMACM parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static RMACM parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static RMACM parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static RMACM parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static RMACM parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ public static RMACM parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static RMACM parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static RMACM parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static RMACM parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(RMACM prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @Override
+ protected Builder newBuilderForType(
+ BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ *
+ * Remove Marine Animal Command
+ *
+ *
+ * Protobuf type {@code RMACM}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:RMACM)
+ RMACMOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return RobotRMACM.internal_static_RMACM_descriptor;
+ }
+
+ @Override
+ protected FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return RobotRMACM.internal_static_RMACM_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ RMACM.class, Builder.class);
+ }
+
+ // Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ BuilderParent parent) {
+ super(parent);
+
+ }
+ @Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ lightBrightness_ = 0;
+ robotSpeed_ = 0;
+ return this;
+ }
+
+ @Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return RobotRMACM.internal_static_RMACM_descriptor;
+ }
+
+ @Override
+ public RMACM getDefaultInstanceForType() {
+ return RMACM.getDefaultInstance();
+ }
+
+ @Override
+ public RMACM build() {
+ RMACM result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @Override
+ public RMACM buildPartial() {
+ RMACM result = new RMACM(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(RMACM result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.lightBrightness_ = lightBrightness_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.robotSpeed_ = robotSpeed_;
+ }
+ }
+
+ @Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof RMACM) {
+ return mergeFrom((RMACM)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(RMACM other) {
+ if (other == RMACM.getDefaultInstance()) return this;
+ if (other.getLightBrightness() != 0) {
+ setLightBrightness(other.getLightBrightness());
+ }
+ if (other.getRobotSpeed() != 0) {
+ setRobotSpeed(other.getRobotSpeed());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 8: {
+ lightBrightness_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ robotSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int lightBrightness_ ;
+ /**
+ *
+ * 灯光亮度
+ *
+ *
+ * int32 LightBrightness = 1;
+ * @return The lightBrightness.
+ */
+ @Override
+ public int getLightBrightness() {
+ return lightBrightness_;
+ }
+ /**
+ *
+ * 灯光亮度
+ *
+ *
+ * int32 LightBrightness = 1;
+ * @param value The lightBrightness to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLightBrightness(int value) {
+
+ lightBrightness_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 灯光亮度
+ *
+ *
+ * int32 LightBrightness = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearLightBrightness() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ lightBrightness_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSpeed_ ;
+ /**
+ *
+ * 机器人速度
+ *
+ *
+ * int32 Robot_Speed = 2;
+ * @return The robotSpeed.
+ */
+ @Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+ /**
+ *
+ * 机器人速度
+ *
+ *
+ * int32 Robot_Speed = 2;
+ * @param value The robotSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSpeed(int value) {
+
+ robotSpeed_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 机器人速度
+ *
+ *
+ * int32 Robot_Speed = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ robotSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:RMACM)
+ }
+
+ // @@protoc_insertion_point(class_scope:RMACM)
+ private static final RMACM DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new RMACM();
+ }
+
+ public static RMACM getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @Override
+ public RMACM parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @Override
+ public RMACM getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_RMACM_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_RMACM_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ String[] descriptorData = {
+ "\n\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" +
+ "ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" +
+ "m.example.removemarineanimals.modelsP\000b\006" +
+ "proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_RMACM_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_RMACM_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_RMACM_descriptor,
+ new String[] { "LightBrightness", "RobotSpeed", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/services/CustomProber.java b/app/src/main/java/com/example/removemarineanimals/services/CustomProber.java
new file mode 100644
index 0000000..c9871c8
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/CustomProber.java
@@ -0,0 +1,23 @@
+package com.example.removemarineanimals.services;
+
+
+import com.hoho.android.usbserial.driver.FtdiSerialDriver;
+import com.hoho.android.usbserial.driver.ProbeTable;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+
+/**
+ * add devices here, that are not known to DefaultProber
+ *
+ * if the App should auto start for these devices, also
+ * add IDs to app/src/main/res/xml/device_filter.xml
+ */
+public class CustomProber {
+
+ public static UsbSerialProber getCustomProber() {
+ ProbeTable customTable = new ProbeTable();
+ customTable.addProduct(0x1234, 0x0001, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ customTable.addProduct(0x1234, 0x0002, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ return new UsbSerialProber(customTable);
+ }
+
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java b/app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java
new file mode 100644
index 0000000..a39e782
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java
@@ -0,0 +1,17 @@
+package com.example.removemarineanimals.services;
+
+import android.content.Context;
+import android.content.res.Resources;
+import android.util.TypedValue;
+
+public class DisplayUtils {
+ // 静态方法，无需实例化即可调用
+ public static int dpToPx(Context context, int dp) {
+ Resources r = context.getResources();
+ return (int) TypedValue.applyDimension(
+ TypedValue.COMPLEX_UNIT_DIP,
+ dp,
+ r.getDisplayMetrics()
+ );
+ }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java b/app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java
new file mode 100644
index 0000000..f8b7316
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java
@@ -0,0 +1,72 @@
+package com.example.removemarineanimals.services;
+
+public class ModbusCRC {
+
+// /**
+// * 一个字节包含位的数量 8
+// */
+// private static final int BITS_OF_BYTE = 8;
+// /**
+// * 多项式
+// */
+// private static final int POLYNOMIAL = 0xA001;
+// /**
+// * 初始值
+// */
+// private static final int INITIAL_VALUE = 0xFFFF;
+//
+// /**
+// * CRC16 编码
+// *
+// * @param bytes 编码内容
+// * @return 编码结果
+// */
+// public static int crc16(byte[] bytes) {
+// int res = INITIAL_VALUE;
+// for (int data : bytes) {
+// res = res ^ data;
+// for (int i = 0; i < BITS_OF_BYTE; i++) {
+// res = (res & 0x0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
+// }
+// }
+// return revert(res);
+// }
+//
+// /**
+// * 翻转16位的高八位和低八位字节
+// *
+// * @param src 翻转数字
+// * @return 翻转结果
+// */
+// private static int revert(int src) {
+// int lowByte = (src & 0xFF00) >> 8;
+// int highByte = (src & 0x00FF) << 8;
+// return lowByte | highByte;
+// }
+
+
+ /**
+ * 计算 Modbus CRC 校验值
+ * @param data 要计算校验值的字节数组
+ * @return CRC 校验值，以 2 字节的数组形式返回
+ */
+ public static byte[] calculateCRC(byte[] data) {
+ int crc = 0xFFFF;
+ for (byte b : data) {
+ crc ^= (b & 0xFF);
+ for (int i = 0; i < 8; i++) {
+ if ((crc & 0x0001) != 0) {
+ crc >>= 1;
+ crc ^= 0xA001;
+ } else {
+ crc >>= 1;
+ }
+ }
+ }
+ // 将 CRC 结果拆分为两个字节
+ byte[] crcBytes = new byte[2];
+ crcBytes[0] = (byte) (crc & 0xFF);
+ crcBytes[1] = (byte) ((crc >> 8) & 0xFF);
+ return crcBytes;
+ }
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java b/app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java
new file mode 100644
index 0000000..798adde
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java
@@ -0,0 +1,54 @@
+package com.example.removemarineanimals.services;
+
+import com.example.removemarineanimals.models.RobotData;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+public class RobotDataHanlder {
+
+
+ public static void test()
+ {
+ //byte[] data=hexToByteArray("080110830118313A04B1CBBACF");
+ byte[] data=hexToByteArray("100A180A28013A32B1CBBACF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000");
+
+ }
+ public static RobotData.DataTrans DeoodeDataFromRobot(byte[] data)
+ {
+
+ RobotData.DataTrans dtrans3 = null;
+ try
+ {
+ dtrans3 = RobotData.DataTrans.parseFrom(data);
+
+ return dtrans3;
+ } catch (InvalidProtocolBufferException e) {
+ return null;
+ }
+
+
+ }
+
+ public static byte[] hexToByteArray(String inHex){
+ int hexlen = inHex.length();
+ byte[] result;
+ if (hexlen % 2 == 1){
+ //奇数
+ hexlen++;
+ result = new byte[(hexlen/2)];
+ inHex="0"+inHex;
+ }else {
+ //偶数
+ result = new byte[(hexlen/2)];
+ }
+ int j=0;
+ for (int i = 0; i < hexlen; i+=2){
+ result[j]=hexToByte(inHex.substring(i,i+2));
+ j++;
+ }
+ return result;
+ }
+ public static byte hexToByte(String inHex){
+ return (byte)Integer.parseInt(inHex,16);
+ }
+
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/services/RtspRecorder.java b/app/src/main/java/com/example/removemarineanimals/services/RtspRecorder.java
new file mode 100644
index 0000000..a3d96fa
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/RtspRecorder.java
@@ -0,0 +1,140 @@
+//package com.example.removemarineanimals.services;
+//
+//import android.content.Context;
+//import android.graphics.Bitmap;
+//import android.graphics.Canvas;
+//import android.view.View;
+//import android.widget.Toast;
+//
+//import com.arthenica.ffmpegkit.FFmpegKit;
+//import com.arthenica.ffmpegkit.FFmpegSession;
+//import com.arthenica.ffmpegkit.ReturnCode;
+//import com.example.removemarineanimals.MainActivity;
+//
+//import java.io.File;
+//import java.io.FileOutputStream;
+//import java.io.IOException;
+//import java.text.SimpleDateFormat;
+//import java.util.Date;
+//
+//public class RtspRecorder {
+// // 用于控制录制会话
+// private MainActivity MainActivity;
+// private static FFmpegSession recordingSession;
+//
+// // 开始分段录制
+// public static void startRecording(Context context, String rtspUrl)
+// {
+//
+// String outputPath ="storage/emulated/0/DCIM/" + "/record_%Y-%m-%d_%H-%M-%S.mp4";
+// //String outputPath = context.getExternalFilesDir(null) + "/record_%Y-%m-%d_%H-%M-%S.mp4";
+// String command = String.format(
+// "-rtsp_transport tcp -i \"%s\" -c:v copy -f segment -segment_time 30 -reset_timestamps 1 -strftime 1 \"%s\"",
+// rtspUrl, outputPath
+// );
+//
+// recordingSession = FFmpegKit.executeAsync(command, session -> {
+// if (ReturnCode.isSuccess(session.getReturnCode())) {
+// // 录制正常结束
+// } else {
+// // 录制异常终止
+// }
+// });
+// }
+//
+// // 停止录制
+// public static void stopRecording() {
+// if (recordingSession != null) {
+// FFmpegKit.cancel(recordingSession.getSessionId());
+// recordingSession = null;
+// }
+// }
+//
+// // 实时截图（需手动调用）
+// public static void takeSnapshot(Context context, String rtspUrl) {
+// //String outputPath = context.getExternalFilesDir(null) + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
+//
+// String outputPath = "storage/emulated/0/DCIM/" + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
+//
+// String command = String.format(
+// "-rtsp_transport tcp -i \"%s\" -frames:v 1 -strftime 1 \"%s\"",
+// rtspUrl, outputPath
+// );
+// FFmpegSession session2 = FFmpegKit.executeAsync(command,session -> {
+// if (ReturnCode.isSuccess(session.getReturnCode()))
+// {
+// // 截图成功
+// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
+//
+// } else
+// {
+// // 截图失败
+// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
+// }
+// });
+//
+////
+//// if (ReturnCode.isSuccess(session.getReturnCode())) {
+//// // 截图成功
+//// } else {
+//// // 截图失败
+//// }
+//
+//// recordingSession = FFmpegKit.executeAsync(command, session -> {
+//// if (ReturnCode.isSuccess(session.getReturnCode()))
+//// {
+//// // 截图成功
+//// Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
+////
+//// } else
+//// {
+//// // 截图失败
+//// Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
+//// }
+//// });
+//
+//
+// }
+//
+// // 方法1：通过DrawingCache（适用于可见的View）
+// public static Bitmap captureView(View view) {
+// view.setDrawingCacheEnabled(true);
+// view.buildDrawingCache();
+// Bitmap bitmap = Bitmap.createBitmap(view.getDrawingCache());
+// view.setDrawingCacheEnabled(false); // 释放缓存
+// return bitmap;
+// }
+//
+// // 方法2：直接绘制到Bitmap（更可靠，适用于未显示的View）
+// public static Bitmap captureViewManual(View view) {
+//
+//// view.measure(View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED), View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED));
+//// view.layout(0, 0, view.getMeasuredWidth(), view.getMeasuredHeight());
+//// view.buildDrawingCache();
+//// Bitmap bitmap = view.getDrawingCache();
+//
+//
+// Bitmap bitmap = Bitmap.createBitmap(view.getWidth(), view.getHeight(), Bitmap.Config.ARGB_8888);
+// Canvas canvas = new Canvas(bitmap);
+// view.draw(canvas);
+// return bitmap;
+// }
+//
+// public static void SnapPictureByView (View view)
+// {
+// // 保存到文件（需权限）
+// Date dNow=new Date();
+// SimpleDateFormat ft = new SimpleDateFormat ("yyyy-MM-dd hh-mm-ss");
+// String path = "storage/emulated/0/DCIM/" + ft.format(dNow)+ ".png";
+// File file = new File(path);
+// try (FileOutputStream out = new FileOutputStream(file))
+// {
+// // Bitmap screenshot = captureView(view);
+// Bitmap screenshot = captureViewManual(view);
+// screenshot.compress(Bitmap.CompressFormat.PNG, 100, out);
+// } catch (IOException e) {
+// e.printStackTrace();
+// }
+// }
+//
+//}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java b/app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java
new file mode 100644
index 0000000..f9f8da2
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java
@@ -0,0 +1,352 @@
+package com.example.removemarineanimals.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.removemarineanimals.BuildConfig;
+import com.example.removemarineanimals.MainActivity;
+import com.example.removemarineanimals.models.RobotData;
+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 java.io.IOException;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+
+public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
+
+
+ public MainActivity MainActivity;
+ //sserial port part start
+
+ private enum UsbPermission {Unknown, Requested, Granted, Denied}
+
+ private final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
+
+
+ //
+ //
+ //
+
+
+ private int deviceId = 60000;
+ private int deviceId_test = 60000;
+ private int portNum;
+ private final int WRITE_WAIT_MILLIS = 500;
+ private final int READ_WAIT_MILLIS = 100;
+ private String PortNameContians = "SILICON";/**/
+ // private static String PortNameContians="FTD";
+ private int baudRate = 57600;
+ private boolean withIoManager = true;
+
+ private BroadcastReceiver broadcastReceiver;
+ private Handler mainLooper;
+
+ private SerialInputOutputManager usbIoManager;
+ private UsbSerialPort usbSerialPort;
+ private UsbPermission usbPermission = UsbPermission.Unknown;
+ private boolean connected = false;
+
+ public void intialize() {
+
+ broadcastReceiver = new BroadcastReceiver() {
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
+ usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
+ connect();
+ }
+ }
+ };
+ mainLooper = new Handler(Looper.getMainLooper());
+ _receiveBufferlist = new ArrayList();
+ }
+
+ /*
+ * Serial
+ */
+ @Override
+ public void onNewData(byte[] data) {
+ status("new data");
+ mainLooper.post(() -> {
+ receive(data);
+ // receive data
+ });
+ }
+
+ @Override
+ public void onRunError(Exception e) {
+ mainLooper.post(() -> {
+ status("connection lost: " + e.getMessage());
+ disconnect();
+ });
+ }
+
+ /*
+ * Serial + UI
+ */
+
+ public void connect() {
+
+ UsbDevice device = null;
+ UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
+ for (UsbDevice v : usbManager.getDeviceList().values()) {
+ status(v.getManufacturerName().toUpperCase());
+ if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+ device = v;
+ break;
+ }
+ }
+
+ if (device == null) {
+ // _serialPortSwitch.setChecked(false);
+
+ status("找不到设备");
+ return;
+ }
+ UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
+ if (driver == null) {
+ driver = CustomProber.getCustomProber().probeDevice(device);
+ }
+ if (driver == null) {
+ // _serialPortSwitch.setChecked(false);
+ status("无驱动");
+ return;
+ }
+ if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
+ {
+ status("connection failed: not enough ports at device");
+ status("找不到设备");
+ return;
+ }
+ usbSerialPort = driver.getPorts().get(portNum);
+
+ UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
+ if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
+ usbPermission = UsbPermission.Requested;
+ int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
+ Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
+ intent.setPackage(MainActivity.getPackageName());
+ PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
+ usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
+ return;
+ }
+ if (usbConnection == null) {
+ if (!usbManager.hasPermission(driver.getDevice())) {
+ status("connection failed: permission denied");
+ } else {
+ status("connection failed: open failed");
+ }
+
+ return;
+ }
+
+ try {
+ usbSerialPort.open(usbConnection);
+ try {
+ usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
+ status("connected: ");
+
+ } catch (UnsupportedOperationException e) {
+ status("unsupport setparameters");
+ }
+ if (withIoManager) {
+ usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
+ usbIoManager.setReadBufferSize(40960);
+ usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
+ usbIoManager.start();
+ }
+ //status("connected");
+ connected = true;
+ // _serialPortSwitch.setChecked(true);
+ //switch set true
+
+ } catch (Exception e) {
+ status("connection failed: " + e.getMessage());
+ disconnect();
+ }
+ }
+
+ private void disconnect() {
+ connected = false;
+
+ if (usbIoManager != null) {
+ usbIoManager.setListener(null);
+ usbIoManager.stop();
+ }
+ usbIoManager = null;
+ try {
+ usbSerialPort.close();
+ } catch (IOException ignored) {
+
+ }
+ usbSerialPort = null;
+ }
+
+ List _receiveBufferlist;
+
+ private static byte[] listTobyte(List list) {
+ if (list == null || list.size() < 0) return null;
+ byte[] bytes = new byte[list.size()];
+ int i = 0;
+ Iterator iterator = list.iterator();
+ while (iterator.hasNext()) {
+ bytes[i] = iterator.next();
+ i++;
+ }
+ return bytes;
+ }
+
+ boolean StartCountDown = false;
+
+ // byte _receivedData
+ private void receive(byte[] data) {
+
+ status("read data");
+ for (int i = 0; i < data.length; i++) {
+ _receiveBufferlist.add(data[i]);
+ }
+
+ //decodeRceive(data);
+ if (StartCountDown == false)//从收到第一个数据开始计时
+ {
+ StartCountDown = true;
+ new CountDownTimer(50, 10) {
+ public void onTick(long millisUntilFinished) {
+
+
+ }
+
+
+ public void onFinish() {
+
+ status("read finished");
+ try {
+
+ decodeRceive(listTobyte(_receiveBufferlist));
+
+ }
+ catch (Exception ignored)
+ {
+ status(ignored.getMessage());
+ }
+ _receiveBufferlist.clear();
+ StartCountDown = false;
+ }
+ }.start();
+ }
+
+
+ }
+
+ void status(String str) {
+// SpannableStringBuilder spn = new SpannableStringBuilder(str+'\r'+'\n');
+//
+// // spn.append(getTime());
+//
+// spn.setSpan(new ForegroundColorSpan(MainActivity.getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
+// receiveText.append(spn);
+ // mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
+
+
+ // com.example.removemarineanimals.MainActivity.mainBinding.message.setText(str);
+ }
+
+ private void decodeRceive(byte[] data) {
+ try {
+
+
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc=ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+
+ if(data[data.length-2]==(byte)(crc[1]&0xff) && data[data.length-1]==(byte)(crc[0] & 0xff))
+ {
+
+ }
+ if (data[0] == 0x55 && data[1] == 0x55) {
+ byte[] bytes = new byte[data.length - 2];
+ System.arraycopy(data, 2, bytes, 0, data.length - 2);
+ RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(bytes);
+ //RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(data);
+ status("received data");
+ if (_dataTrans != null) {
+
+ MainViewModel.mainBinding.rFAngleRoll.setText(String.valueOf(_dataTrans.getRFAngleRoll()));
+
+ }
+ }
+
+
+ } catch (Exception e) {
+
+ }
+ }
+
+
+ public void onStart() {
+
+ ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
+ status("onStart");
+
+ }
+
+ public void onStop() {
+ MainActivity.unregisterReceiver(broadcastReceiver);
+ status("onStop");
+ }
+
+
+ public void onResume() {
+
+ if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
+ mainLooper.post(this::connect);
+
+ }
+ }
+
+
+ public void onPause() {
+ if (connected) {
+ status("串口断开");
+ // _serialPortSwitch.setChecked(false);
+ disconnect();
+ }
+
+ }
+
+
+ public void SendData(byte[] data) {
+ if (connected) {
+ try {
+ usbSerialPort.write(data, WRITE_WAIT_MILLIS);
+ } catch (IOException e) {
+ status("Send Failed");
+ connected = false;
+ }
+ } else {
+ status("usb serialport disconnected");
+
+ }
+
+
+ }
+
+}
diff --git a/app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java b/app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java
new file mode 100644
index 0000000..7d494ae
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java
@@ -0,0 +1,27 @@
+package com.example.removemarineanimals.services;
+
+import cn.nodemedia.NodePlayer;
+import cn.nodemedia.NodePlayerView;
+
+public class VideoPlayerHelper {
+
+
+
+ public static void startVideo(NodePlayerView nodePlayerView, NodePlayer nodePlayer, String address ){
+
+
+ nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
+ nodePlayerView.setUIViewContentMode(NodePlayerView.UIViewContentMode.ScaleToFill);//设置视频画面缩放模式
+ //nodePlayer=new NodePlayer(this);
+ nodePlayer.setPlayerView(nodePlayerView);//设置播放视图
+ //设置RTSP流使用的传输协议,支持的模式有:
+ nodePlayer.setRtspTransport(NodePlayer.RTSP_TRANSPORT_TCP);//设置传输
+ nodePlayer.setInputUrl(address);
+ nodePlayer.setVideoEnable(true);//设置视频启用
+ nodePlayer.setBufferTime(100);//设置缓冲时间
+ nodePlayer.setHWEnable(true);
+ nodePlayer.setMaxBufferTime(200);//设置最大缓冲时间
+ nodePlayer.start();
+ }
+}
+
diff --git a/app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java b/app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java
new file mode 100644
index 0000000..4834107
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java
@@ -0,0 +1,227 @@
+package com.example.removemarineanimals.services;
+
+import android.util.Log;
+
+import com.example.removemarineanimals.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.removemarineanimals.MainActivity MainActivity;
+ private static final String TAG = "ttySerialPortHelper";
+ private static SerialHelper serialHelper;
+ private static SerialPortFinder serialPortFinder;
+
+ 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.tvForce.setText(String.valueOf(_toReceiveIV.getRobotForceValue()));
+ MainActivity.mainBinding.tvRobotRightCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationRight()/100.0));
+ MainActivity.mainBinding.tvRobotLeftCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationLeft()/100.0));
+ MainActivity.mainBinding.tvRobotCurrent.setText("L"+String.valueOf(_toReceiveIV.getRobotCurrentLeft()/1000)
+ + "R"+String.valueOf(_toReceiveIV.getRobotCurrentRight()/1000));
+
+ int leftError = _toReceiveIV.getRobotErrorLeft();
+ int rightError = _toReceiveIV.getRobotErrorRight();
+
+ // 左
+ if (leftError != 0) {
+ StringBuilder leftBits = new StringBuilder("错误: ");
+ for (int i = 0; i < 32; i++) {
+ if (((leftError >> i) & 1) == 1) {
+ leftBits.append(i).append(" ");
+ }
+ }
+
+ MainActivity.mainBinding.tvLeftError.setText(leftBits.toString().trim());
+ } else {
+ MainActivity.mainBinding.tvLeftError.setText("正常");
+ }
+
+ //右
+ if (rightError != 0) {
+ StringBuilder rightBits = new StringBuilder("错误: ");
+ for (int i = 0; i < 32; i++) {
+ if (((rightError >> i) & 1) == 1) {
+ rightBits.append(i).append(" ");
+ }
+ }
+ MainActivity.mainBinding.tvRightError.setText(rightBits.toString().trim());
+ } else {
+ MainActivity.mainBinding.tvRightError.setText("正常");
+ }
+ String m = "";
+
+ if(_toReceiveIV.getRobotError() != 0 && _toReceiveIV.getRobotCurrentState() != 12)
+ {
+ m = "null";
+ MainActivity.mainBinding.tvRobotError.setText(m);
+ }
+ else
+ {
+ 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;
+ case 13 :
+ m = "未复位";
+ break;
+ case 14 :
+ m = "复位完成";
+ break;
+ default:
+ throw new IllegalStateException("Unexpected value: " + _toReceiveIV.getRobotCurrentState());
+ }
+ MainActivity.mainBinding.tvRobotError.setText(m);
+ // 当状态为 0、11、12、15 时允许修改参数，否则禁用
+ int state = _toReceiveIV.getRobotCurrentState();
+ if (state == 0 || state == 11 || state == 12 || state == 15) {
+ MainActivity.enableParameterArea();
+ } else {
+ MainActivity.disableParameterArea();
+ }
+ }
+ }
+ }
+ }
+
+ } 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();
+ }
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java b/app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java
new file mode 100644
index 0000000..7e2b9ad
--- /dev/null
+++ b/app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java
@@ -0,0 +1,77 @@
+package com.example.removemarineanimals.viewmodels;
+
+
+
+import android.view.View;
+import android.widget.SeekBar;
+
+import androidx.annotation.MainThread;
+import androidx.lifecycle.LiveData;
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+
+import com.example.removemarineanimals.R;
+import com.example.removemarineanimals.databinding.ActivityMainBinding;
+//import com.example.removemarineanimals.models.user;
+//import com.example.removemarineanimals.services.RobotData;
+import com.example.removemarineanimals.services.RobotDataHanlder;
+//import com.example.removemarineanimals.services.VideoHelper;
+
+import java.io.UnsupportedEncodingException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+
+import cn.nodemedia.NodePlayer;
+
+public class MainViewModel extends ViewModel {
+
+
+ // public RobotData.DataTrans _dataTrans=new RobotData.DataTrans();
+ public static ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
+ // public final MutableLiveData LiveUser;
+
+ public MainViewModel()
+ {
+// LiveUser = new MutableLiveData();
+//
+// user u=LiveUser.getValue();
+// if(u==null)
+// {
+// u=new user();
+// u.setName("dddddd");
+// LiveUser.setValue(u);
+// }
+
+
+
+ }
+
+
+ //# region Video操作区域
+ int recordVideoState=0;
+
+ public void SnapVideo()
+ {
+
+
+ }
+
+ //#end region Video操作区域
+
+ void SetPage()
+ {
+
+
+ }
+
+ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+
+ }
+
+
+
+
+
+
+
+}
diff --git a/app/src/main/res/drawable/background.xml b/app/src/main/res/drawable/background.xml
new file mode 100644
index 0000000..853e760
--- /dev/null
+++ b/app/src/main/res/drawable/background.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/blue_rounded_rectangle.xml b/app/src/main/res/drawable/blue_rounded_rectangle.xml
new file mode 100644
index 0000000..a973af9
--- /dev/null
+++ b/app/src/main/res/drawable/blue_rounded_rectangle.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/message_rounded_rectangle.xml b/app/src/main/res/drawable/message_rounded_rectangle.xml
new file mode 100644
index 0000000..4b88f7d
--- /dev/null
+++ b/app/src/main/res/drawable/message_rounded_rectangle.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/layout/dialog_logs.xml b/app/src/main/res/layout/dialog_logs.xml
new file mode 100644
index 0000000..49b534b
--- /dev/null
+++ b/app/src/main/res/layout/dialog_logs.xml
@@ -0,0 +1,15 @@
+
+
+
+
+
+
diff --git a/app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java b/app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java
new file mode 100644
index 0000000..e4c36cc
--- /dev/null
+++ b/app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java
@@ -0,0 +1,17 @@
+package com.example.removemarineanimals;
+
+import org.junit.Test;
+
+import static org.junit.Assert.*;
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * @see Testing documentation
+ */
+public class ExampleUnitTest {
+ @Test
+ public void addition_isCorrect() {
+ assertEquals(4, 2 + 2);
+ }
+}
\ No newline at end of file
diff --git a/proto/BspIV.java b/proto/BspIV.java
new file mode 100644
index 0000000..5deef62
--- /dev/null
+++ b/proto/BspIV.java
@@ -0,0 +1,729 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// NO CHECKED-IN PROTOBUF GENCODE
+// source: bsp_IV.proto
+// Protobuf Java Version: 4.27.2
+
+public final class BspIV {
+ private BspIV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspIV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface IV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:IV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 Robot_Move_Speed = 1;
+ * @return The robotMoveSpeed.
+ */
+ int getRobotMoveSpeed();
+
+ /**
+ * int32 Robot_Swing_Speed = 2;
+ * @return The robotSwingSpeed.
+ */
+ int getRobotSwingSpeed();
+
+ /**
+ * int32 Robot_Tilt_Speed = 3;
+ * @return The robotTiltSpeed.
+ */
+ int getRobotTiltSpeed();
+
+ /**
+ * int32 Robot_Tilt_Current = 4;
+ * @return The robotTiltCurrent.
+ */
+ int getRobotTiltCurrent();
+ }
+ /**
+ * Protobuf type {@code IV_struct_define}
+ */
+ public static final class IV_struct_define extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:IV_struct_define)
+ IV_struct_defineOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ IV_struct_define.class.getName());
+ }
+ // Use IV_struct_define.newBuilder() to construct.
+ private IV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private IV_struct_define() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return BspIV.internal_static_IV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ BspIV.IV_struct_define.class, BspIV.IV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOT_MOVE_SPEED_FIELD_NUMBER = 1;
+ private int robotMoveSpeed_ = 0;
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 Robot_Move_Speed = 1;
+ * @return The robotMoveSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveSpeed() {
+ return robotMoveSpeed_;
+ }
+
+ public static final int ROBOT_SWING_SPEED_FIELD_NUMBER = 2;
+ private int robotSwingSpeed_ = 0;
+ /**
+ * int32 Robot_Swing_Speed = 2;
+ * @return The robotSwingSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSwingSpeed() {
+ return robotSwingSpeed_;
+ }
+
+ public static final int ROBOT_TILT_SPEED_FIELD_NUMBER = 3;
+ private int robotTiltSpeed_ = 0;
+ /**
+ * int32 Robot_Tilt_Speed = 3;
+ * @return The robotTiltSpeed.
+ */
+ @java.lang.Override
+ public int getRobotTiltSpeed() {
+ return robotTiltSpeed_;
+ }
+
+ public static final int ROBOT_TILT_CURRENT_FIELD_NUMBER = 4;
+ private int robotTiltCurrent_ = 0;
+ /**
+ * int32 Robot_Tilt_Current = 4;
+ * @return The robotTiltCurrent.
+ */
+ @java.lang.Override
+ public int getRobotTiltCurrent() {
+ return robotTiltCurrent_;
+ }
+
+ 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 (robotMoveSpeed_ != 0) {
+ output.writeInt32(1, robotMoveSpeed_);
+ }
+ if (robotSwingSpeed_ != 0) {
+ output.writeInt32(2, robotSwingSpeed_);
+ }
+ if (robotTiltSpeed_ != 0) {
+ output.writeInt32(3, robotTiltSpeed_);
+ }
+ if (robotTiltCurrent_ != 0) {
+ output.writeInt32(4, robotTiltCurrent_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (robotMoveSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, robotMoveSpeed_);
+ }
+ if (robotSwingSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, robotSwingSpeed_);
+ }
+ if (robotTiltSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, robotTiltSpeed_);
+ }
+ if (robotTiltCurrent_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, robotTiltCurrent_);
+ }
+ 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 BspIV.IV_struct_define)) {
+ return super.equals(obj);
+ }
+ BspIV.IV_struct_define other = (BspIV.IV_struct_define) obj;
+
+ if (getRobotMoveSpeed()
+ != other.getRobotMoveSpeed()) return false;
+ if (getRobotSwingSpeed()
+ != other.getRobotSwingSpeed()) return false;
+ if (getRobotTiltSpeed()
+ != other.getRobotTiltSpeed()) return false;
+ if (getRobotTiltCurrent()
+ != other.getRobotTiltCurrent()) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (37 * hash) + ROBOT_MOVE_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotMoveSpeed();
+ hash = (37 * hash) + ROBOT_SWING_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSwingSpeed();
+ hash = (37 * hash) + ROBOT_TILT_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotTiltSpeed();
+ hash = (37 * hash) + ROBOT_TILT_CURRENT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotTiltCurrent();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static BspIV.IV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static BspIV.IV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static BspIV.IV_struct_define parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ public static BspIV.IV_struct_define parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static BspIV.IV_struct_define parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static BspIV.IV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(BspIV.IV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code IV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:IV_struct_define)
+ BspIV.IV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return BspIV.internal_static_IV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ BspIV.IV_struct_define.class, BspIV.IV_struct_define.Builder.class);
+ }
+
+ // Construct using BspIV.IV_struct_define.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ robotMoveSpeed_ = 0;
+ robotSwingSpeed_ = 0;
+ robotTiltSpeed_ = 0;
+ robotTiltCurrent_ = 0;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return BspIV.internal_static_IV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public BspIV.IV_struct_define getDefaultInstanceForType() {
+ return BspIV.IV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public BspIV.IV_struct_define build() {
+ BspIV.IV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public BspIV.IV_struct_define buildPartial() {
+ BspIV.IV_struct_define result = new BspIV.IV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(BspIV.IV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.robotMoveSpeed_ = robotMoveSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.robotSwingSpeed_ = robotSwingSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.robotTiltSpeed_ = robotTiltSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.robotTiltCurrent_ = robotTiltCurrent_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof BspIV.IV_struct_define) {
+ return mergeFrom((BspIV.IV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(BspIV.IV_struct_define other) {
+ if (other == BspIV.IV_struct_define.getDefaultInstance()) return this;
+ if (other.getRobotMoveSpeed() != 0) {
+ setRobotMoveSpeed(other.getRobotMoveSpeed());
+ }
+ if (other.getRobotSwingSpeed() != 0) {
+ setRobotSwingSpeed(other.getRobotSwingSpeed());
+ }
+ if (other.getRobotTiltSpeed() != 0) {
+ setRobotTiltSpeed(other.getRobotTiltSpeed());
+ }
+ if (other.getRobotTiltCurrent() != 0) {
+ setRobotTiltCurrent(other.getRobotTiltCurrent());
+ }
+ 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: {
+ robotMoveSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ robotSwingSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ robotTiltSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ robotTiltCurrent_ = 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 robotMoveSpeed_ ;
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 Robot_Move_Speed = 1;
+ * @return The robotMoveSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveSpeed() {
+ return robotMoveSpeed_;
+ }
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 Robot_Move_Speed = 1;
+ * @param value The robotMoveSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotMoveSpeed(int value) {
+
+ robotMoveSpeed_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 Robot_Move_Speed = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotMoveSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotMoveSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSwingSpeed_ ;
+ /**
+ * int32 Robot_Swing_Speed = 2;
+ * @return The robotSwingSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSwingSpeed() {
+ return robotSwingSpeed_;
+ }
+ /**
+ * int32 Robot_Swing_Speed = 2;
+ * @param value The robotSwingSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSwingSpeed(int value) {
+
+ robotSwingSpeed_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Swing_Speed = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSwingSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ robotSwingSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotTiltSpeed_ ;
+ /**
+ * int32 Robot_Tilt_Speed = 3;
+ * @return The robotTiltSpeed.
+ */
+ @java.lang.Override
+ public int getRobotTiltSpeed() {
+ return robotTiltSpeed_;
+ }
+ /**
+ * int32 Robot_Tilt_Speed = 3;
+ * @param value The robotTiltSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotTiltSpeed(int value) {
+
+ robotTiltSpeed_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Tilt_Speed = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotTiltSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ robotTiltSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotTiltCurrent_ ;
+ /**
+ * int32 Robot_Tilt_Current = 4;
+ * @return The robotTiltCurrent.
+ */
+ @java.lang.Override
+ public int getRobotTiltCurrent() {
+ return robotTiltCurrent_;
+ }
+ /**
+ * int32 Robot_Tilt_Current = 4;
+ * @param value The robotTiltCurrent to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotTiltCurrent(int value) {
+
+ robotTiltCurrent_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Tilt_Current = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotTiltCurrent() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ robotTiltCurrent_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:IV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:IV_struct_define)
+ private static final BspIV.IV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new BspIV.IV_struct_define();
+ }
+
+ public static BspIV.IV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public IV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public BspIV.IV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_IV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_IV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_IV.proto\"}\n\020IV_struct_define\022\030\n\020Ro" +
+ "bot_Move_Speed\030\001 \001(\005\022\031\n\021Robot_Swing_Spee" +
+ "d\030\002 \001(\005\022\030\n\020Robot_Tilt_Speed\030\003 \001(\005\022\032\n\022Rob" +
+ "ot_Tilt_Current\030\004 \001(\005b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_IV_struct_define_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_IV_struct_define_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_IV_struct_define_descriptor,
+ new java.lang.String[] { "RobotMoveSpeed", "RobotSwingSpeed", "RobotTiltSpeed", "RobotTiltCurrent", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/proto/BspPV.java b/proto/BspPV.java
new file mode 100644
index 0000000..8918130
--- /dev/null
+++ b/proto/BspPV.java
@@ -0,0 +1,564 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// NO CHECKED-IN PROTOBUF GENCODE
+// source: bsp_PV.proto
+// Protobuf Java Version: 4.27.2
+
+public final class BspPV {
+ private BspPV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspPV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface PV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:PV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ * int32 Robot_Tilt_TargetCurrent = 1;
+ * @return The robotTiltTargetCurrent.
+ */
+ int getRobotTiltTargetCurrent();
+
+ /**
+ * int32 CurrentModeValue = 2;
+ * @return The currentModeValue.
+ */
+ int getCurrentModeValue();
+ }
+ /**
+ * 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 BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ BspPV.PV_struct_define.class, BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOT_TILT_TARGETCURRENT_FIELD_NUMBER = 1;
+ private int robotTiltTargetCurrent_ = 0;
+ /**
+ * int32 Robot_Tilt_TargetCurrent = 1;
+ * @return The robotTiltTargetCurrent.
+ */
+ @java.lang.Override
+ public int getRobotTiltTargetCurrent() {
+ return robotTiltTargetCurrent_;
+ }
+
+ public static final int CURRENTMODEVALUE_FIELD_NUMBER = 2;
+ private int currentModeValue_ = 0;
+ /**
+ * int32 CurrentModeValue = 2;
+ * @return The currentModeValue.
+ */
+ @java.lang.Override
+ public int getCurrentModeValue() {
+ return currentModeValue_;
+ }
+
+ 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 (robotTiltTargetCurrent_ != 0) {
+ output.writeInt32(1, robotTiltTargetCurrent_);
+ }
+ if (currentModeValue_ != 0) {
+ output.writeInt32(2, currentModeValue_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (robotTiltTargetCurrent_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, robotTiltTargetCurrent_);
+ }
+ if (currentModeValue_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, currentModeValue_);
+ }
+ 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 BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ BspPV.PV_struct_define other = (BspPV.PV_struct_define) obj;
+
+ if (getRobotTiltTargetCurrent()
+ != other.getRobotTiltTargetCurrent()) return false;
+ if (getCurrentModeValue()
+ != other.getCurrentModeValue()) 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_TILT_TARGETCURRENT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotTiltTargetCurrent();
+ hash = (37 * hash) + CURRENTMODEVALUE_FIELD_NUMBER;
+ hash = (53 * hash) + getCurrentModeValue();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static 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 BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static 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 BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static BspPV.PV_struct_define parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static BspPV.PV_struct_define parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static 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 BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static 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 BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static 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(BspPV.PV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:PV_struct_define)
+ BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ BspPV.PV_struct_define.class, BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using 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;
+ robotTiltTargetCurrent_ = 0;
+ currentModeValue_ = 0;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public BspPV.PV_struct_define getDefaultInstanceForType() {
+ return BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public BspPV.PV_struct_define build() {
+ BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public BspPV.PV_struct_define buildPartial() {
+ BspPV.PV_struct_define result = new BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(BspPV.PV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.robotTiltTargetCurrent_ = robotTiltTargetCurrent_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.currentModeValue_ = currentModeValue_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof BspPV.PV_struct_define) {
+ return mergeFrom((BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(BspPV.PV_struct_define other) {
+ if (other == BspPV.PV_struct_define.getDefaultInstance()) return this;
+ if (other.getRobotTiltTargetCurrent() != 0) {
+ setRobotTiltTargetCurrent(other.getRobotTiltTargetCurrent());
+ }
+ if (other.getCurrentModeValue() != 0) {
+ setCurrentModeValue(other.getCurrentModeValue());
+ }
+ 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: {
+ robotTiltTargetCurrent_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ currentModeValue_ = 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 robotTiltTargetCurrent_ ;
+ /**
+ * int32 Robot_Tilt_TargetCurrent = 1;
+ * @return The robotTiltTargetCurrent.
+ */
+ @java.lang.Override
+ public int getRobotTiltTargetCurrent() {
+ return robotTiltTargetCurrent_;
+ }
+ /**
+ * int32 Robot_Tilt_TargetCurrent = 1;
+ * @param value The robotTiltTargetCurrent to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotTiltTargetCurrent(int value) {
+
+ robotTiltTargetCurrent_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 Robot_Tilt_TargetCurrent = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotTiltTargetCurrent() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotTiltTargetCurrent_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int currentModeValue_ ;
+ /**
+ * int32 CurrentModeValue = 2;
+ * @return The currentModeValue.
+ */
+ @java.lang.Override
+ public int getCurrentModeValue() {
+ return currentModeValue_;
+ }
+ /**
+ * int32 CurrentModeValue = 2;
+ * @param value The currentModeValue to set.
+ * @return This builder for chaining.
+ */
+ public Builder setCurrentModeValue(int value) {
+
+ currentModeValue_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ * int32 CurrentModeValue = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearCurrentModeValue() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ currentModeValue_ = 0;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:PV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:PV_struct_define)
+ private static final BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new BspPV.PV_struct_define();
+ }
+
+ public static BspPV.PV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public PV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public 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\"N\n\020PV_struct_define\022 \n\030Ro" +
+ "bot_Tilt_TargetCurrent\030\001 \001(\005\022\030\n\020CurrentM" +
+ "odeValue\030\002 \001(\005b\006proto3"
+ };
+ 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[] { "RobotTiltTargetCurrent", "CurrentModeValue", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/proto/bsp_IV.proto b/proto/bsp_IV.proto
new file mode 100644
index 0000000..b5fc91d
--- /dev/null
+++ b/proto/bsp_IV.proto
@@ -0,0 +1,10 @@
+syntax = "proto3";
+message IV_struct_define{
+
+ // 洗舱项目
+ int32 Robot_Move_Speed= 1;
+ int32 Robot_Swing_Speed= 2;
+ int32 Robot_Tilt_Speed= 3;
+ int32 Robot_Tilt_Current= 4;
+
+};
diff --git a/proto/bsp_PV.proto b/proto/bsp_PV.proto
new file mode 100644
index 0000000..598fc65
--- /dev/null
+++ b/proto/bsp_PV.proto
@@ -0,0 +1,6 @@
+syntax = "proto3";
+message PV_struct_define{
+
+ int32 Robot_Tilt_TargetCurrent= 1;
+ int32 CurrentModeValue=2;
+};