123

4 months ago · e4c03728b4
113 changed files with 0 additions and 18672 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,15 +0,0 @@
-*.iml
-.gradle
-/local.properties
-/.idea/caches
-/.idea/libraries
-/.idea/modules.xml
-/.idea/workspace.xml
-/.idea/navEditor.xml
-/.idea/assetWizardSettings.xml
-.DS_Store
-/build
-/captures
-.externalNativeBuild
-.cxx
-local.properties
--- a/.idea/.gitignore
+++ b/.idea/.gitignore
@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
--- a/.idea/.name
+++ b/.idea/.name
@ -1 +0,0 @@
-RemoveMarineAnimals
--- a/.idea/AndroidProjectSystem.xml
+++ b/.idea/AndroidProjectSystem.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="AndroidProjectSystem">
-    <option name="providerId" value="com.android.tools.idea.GradleProjectSystem" />
-  </component>
-</project>
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="21" />
-  </component>
-</project>
--- a/.idea/deploymentTargetDropDown.xml
+++ b/.idea/deploymentTargetDropDown.xml
@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="deploymentTargetDropDown">
-    <value>
-      <entry key="app">
-        <State />
-      </entry>
-    </value>
-  </component>
-</project>
--- a/.idea/deploymentTargetSelector.xml
+++ b/.idea/deploymentTargetSelector.xml
@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="deploymentTargetSelector">
-    <selectionStates>
-      <SelectionState runConfigName="app">
-        <option name="selectionMode" value="DROPDOWN" />
-        <DropdownSelection timestamp="2025-10-20T08:23:09.338881700Z">
-          <Target type="DEFAULT_BOOT">
-            <handle>
-              <DeviceId pluginId="Default" identifier="serial=d;connection=b00b2555" />
-            </handle>
-          </Target>
-        </DropdownSelection>
-        <DialogSelection />
-      </SelectionState>
-    </selectionStates>
-  </component>
-</project>
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="GradleMigrationSettings" migrationVersion="1" />
-  <component name="GradleSettings">
-    <option name="linkedExternalProjectsSettings">
-      <GradleProjectSettings>
-        <option name="testRunner" value="CHOOSE_PER_TEST" />
-        <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
-        <option name="modules">
-          <set>
-            <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/app" />
-          </set>
-        </option>
-      </GradleProjectSettings>
-    </option>
-  </component>
-</project>
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ b/.idea/inspectionProfiles/Project_Default.xml
@ -1,8 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="CommentedOutCode" enabled="true" level="WEAK WARNING" enabled_by_default="true">
-      <option name="minLines" value="14" />
-    </inspection_tool>
-  </profile>
-</component>
--- a/.idea/migrations.xml
+++ b/.idea/migrations.xml
@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectMigrations">
-    <option name="MigrateToGradleLocalJavaHome">
-      <set>
-        <option value="$PROJECT_DIR$" />
-      </set>
-    </option>
-  </component>
-</project>
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@ -1,9 +0,0 @@
-<project version="4">
-  <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
-    <output url="file://$PROJECT_DIR$/build/classes" />
-  </component>
-  <component name="ProjectType">
-    <option name="id" value="Android" />
-  </component>
-</project>
--- a/.idea/render.experimental.xml
+++ b/.idea/render.experimental.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RenderSettings">
-    <option name="showDecorations" value="true" />
-  </component>
-</project>
--- a/.idea/runConfigurations.xml
+++ b/.idea/runConfigurations.xml
@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RunConfigurationProducerService">
-    <option name="ignoredProducers">
-      <set>
-        <option value="com.intellij.execution.junit.AbstractAllInDirectoryConfigurationProducer" />
-        <option value="com.intellij.execution.junit.AllInPackageConfigurationProducer" />
-        <option value="com.intellij.execution.junit.PatternConfigurationProducer" />
-        <option value="com.intellij.execution.junit.TestInClassConfigurationProducer" />
-        <option value="com.intellij.execution.junit.UniqueIdConfigurationProducer" />
-        <option value="com.intellij.execution.junit.testDiscovery.JUnitTestDiscoveryConfigurationProducer" />
-        <option value="org.jetbrains.kotlin.idea.junit.KotlinJUnitRunConfigurationProducer" />
-        <option value="org.jetbrains.kotlin.idea.junit.KotlinPatternConfigurationProducer" />
-      </set>
-    </option>
-  </component>
-</project>
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-  </component>
-</project>
--- a/README.md
+++ b/README.md
@ -1 +0,0 @@
-项目初始化
--- a/app/.gitignore
+++ b/app/.gitignore
@ -1 +0,0 @@
-/build
--- a/app/.idea/.gitignore
+++ b/app/.idea/.gitignore
@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
--- a/app/.idea/gradle.xml
+++ b/app/.idea/gradle.xml
@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="GradleSettings">
-    <option name="linkedExternalProjectsSettings">
-      <GradleProjectSettings>
-        <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
-        <option name="resolveExternalAnnotations" value="false" />
-      </GradleProjectSettings>
-    </option>
-  </component>
-</project>
--- a/app/.idea/migrations.xml
+++ b/app/.idea/migrations.xml
@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectMigrations">
-    <option name="MigrateToGradleLocalJavaHome">
-      <set>
-        <option value="$PROJECT_DIR$" />
-      </set>
-    </option>
-  </component>
-</project>
--- a/app/.idea/misc.xml
+++ b/app/.idea/misc.xml
@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager">
-    <output url="file://$PROJECT_DIR$/build/classes" />
-  </component>
-  <component name="ProjectType">
-    <option name="id" value="Android" />
-  </component>
-</project>
--- a/app/build.gradle
+++ b/app/build.gradle
@ -1,65 +0,0 @@
-plugins {
-    id 'com.android.application'
-}
-
-android {
-    namespace 'com.example.removemarineanimals'
-    compileSdk 34
-
-    defaultConfig {
-        applicationId "com.example.removemarineanimals"
-        minSdk 24
-        targetSdk 34
-        versionCode 1
-        versionName "1.0"
-
-        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
-    }
-
-    buildTypes {
-        release {
-            minifyEnabled false
-            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-        }
-    }
-
-    // ✅ 这里统一配置 binding 功能
-    buildFeatures {
-        viewBinding true
-        dataBinding true
-        buildConfig true
-    }
-
-    compileOptions {
-        sourceCompatibility JavaVersion.VERSION_1_8
-        targetCompatibility JavaVersion.VERSION_1_8
-    }
-}
-
-dependencies {
-    // AndroidX 基础
-    implementation 'androidx.appcompat:appcompat:1.6.1'
-    implementation 'com.google.android.material:material:1.9.0'
-    implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
-    //implementation project(':app')
-
-    // 测试
-    testImplementation 'junit:junit:4.13.2'
-    androidTestImplementation 'androidx.test.ext:junit:1.1.5'
-    androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1'
-
-    // 第三方依赖
-    implementation 'com.github.mik3y:usb-serial-for-android:3.7.0'
-    implementation 'com.google.protobuf:protobuf-java:4.27.2'
-    implementation("org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.8.20")
-    implementation 'com.github.nodemedia:nodemediaclient-android:2.9.20'
-    implementation 'io.github.xmaihh:serialport:2.1.1'
-    // implementation 'com.arthenica:ffmpeg-kit-full:6.0-2'
-
-    // ✅ Room 数据库
-    def room_version = "2.6.1"
-    implementation "androidx.room:room-runtime:$room_version"
-    annotationProcessor "androidx.room:room-compiler:$room_version"
-
-    implementation "androidx.room:room-ktx:$room_version" // 可选，支持协程/LiveData
-}
--- a/app/proguard-rules.pro
+++ b/app/proguard-rules.pro
@ -1,21 +0,0 @@
-# Add project specific ProGuard rules here.
-# You can control the set of applied configuration files using the
-# proguardFiles setting in build.gradle.
-#
-# For more details, see
-#   http://developer.android.com/guide/developing/tools/proguard.html
-
-# If your project uses WebView with JS, uncomment the following
-# and specify the fully qualified class name to the JavaScript interface
-# class:
-#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
-#   public *;
-#}
-
-# Uncomment this to preserve the line number information for
-# debugging stack traces.
-#-keepattributes SourceFile,LineNumberTable
-
-# If you keep the line number information, uncomment this to
-# hide the original source file name.
-#-renamesourcefileattribute SourceFile
--- a/app/src/androidTest/java/com/example/removemarineanimals/ExampleInstrumentedTest.java
+++ b/app/src/androidTest/java/com/example/removemarineanimals/ExampleInstrumentedTest.java
@ -1,26 +0,0 @@
-package com.example.removemarineanimals;
-
-import android.content.Context;
-
-import androidx.test.platform.app.InstrumentationRegistry;
-import androidx.test.ext.junit.runners.AndroidJUnit4;
-
-import org.junit.Test;
-import org.junit.runner.RunWith;
-
-import static org.junit.Assert.*;
-
-/**
- * Instrumented test, which will execute on an Android device.
- *
- * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
- */
-@RunWith(AndroidJUnit4.class)
-public class ExampleInstrumentedTest {
-    @Test
-    public void useAppContext() {
-        // Context of the app under test.
-        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
-        assertEquals("com.example.removemarineanimals", appContext.getPackageName());
-    }
-}
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools">
-    <uses-feature android:name="android.hardware.camera"/>
-    <uses-feature android:name="android.hardware.camera.autofocus"/>
-    <uses-permission android:name="android.permission.INTERNET"/>
-    <uses-permission android:name="android.permission.CAMERA"/>
-    <uses-permission android:name="android.permission.RECORD_AUDIO"/>
-    <uses-permission android:name="android.permission.FLASHLIGHT"/>
-    <uses-permission android:name="android.permission.USB_PERMISSION" />
-    <uses-feature android:name="android.hardware.usb.accessory" android:required="false" />
-    <uses-feature android:name="android.hardware.usb.host" />
-    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
-    <uses-permission android:name="android.permission.VIBRATE"/>
-
-    <application
-        android:allowBackup="true"
-        android:dataExtractionRules="@xml/data_extraction_rules"
-        android:fullBackupContent="@xml/backup_rules"
-        android:icon="@drawable/squrelogo"
-        android:label="@string/app_name"
-        android:roundIcon= "@drawable/squrelogo"
-        android:supportsRtl="true"
-        android:theme="@style/Theme.RemoveMarineAnimals"
-        tools:targetApi="31">
-        <activity
-            android:name=".MainActivity"
-            android:exported="true">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-
-                <category android:name="android.intent.category.LAUNCHER" />
-                <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
-
-            </intent-filter>
-
-            <meta-data
-                android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
-                android:resource="@xml/device_filter" />
-        </activity>
-    </application>
-
-</manifest>
--- a/app/src/main/assets/iconfront/demo.css
+++ b/app/src/main/assets/iconfront/demo.css
@ -1,539 +0,0 @@
-/* Logo 字体 */
-@font-face {
-  font-family: "iconfont logo";
-  src: url('https://at.alicdn.com/t/font_985780_km7mi63cihi.eot?t=1545807318834');
-  src: url('https://at.alicdn.com/t/font_985780_km7mi63cihi.eot?t=1545807318834#iefix') format('embedded-opentype'),
-    url('https://at.alicdn.com/t/font_985780_km7mi63cihi.woff?t=1545807318834') format('woff'),
-    url('https://at.alicdn.com/t/font_985780_km7mi63cihi.ttf?t=1545807318834') format('truetype'),
-    url('https://at.alicdn.com/t/font_985780_km7mi63cihi.svg?t=1545807318834#iconfont') format('svg');
-}
-
-.logo {
-  font-family: "iconfont logo";
-  font-size: 160px;
-  font-style: normal;
-  -webkit-font-smoothing: antialiased;
-  -moz-osx-font-smoothing: grayscale;
-}
-
-/* tabs */
-.nav-tabs {
-  position: relative;
-}
-
-.nav-tabs .nav-more {
-  position: absolute;
-  right: 0;
-  bottom: 0;
-  height: 42px;
-  line-height: 42px;
-  color: #666;
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-#tabs {
-  border-bottom: 1px solid #eee;
-}
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-  cursor: pointer;
-  width: 100px;
-  height: 40px;
-  line-height: 40px;
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-.main {
-  padding: 30px 100px;
-  width: 960px;
-  margin: 0 auto;
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-.main .logo {
-  color: #333;
-  text-align: left;
-  margin-bottom: 30px;
-  line-height: 1;
-  height: 110px;
-  margin-top: -50px;
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--- a/app/src/main/assets/iconfront/demo_index.html
+++ b/app/src/main/assets/iconfront/demo_index.html
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+++ b/app/src/main/assets/iconfront/iconfont.css
@ -1,719 +0,0 @@
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--- a/app/src/main/assets/iconfront/iconfont.js
+++ b/app/src/main/assets/iconfront/iconfont.js
--- a/app/src/main/assets/iconfront/iconfont.json
+++ b/app/src/main/assets/iconfront/iconfont.json
--- a/app/src/main/assets/iconfront/iconfont.ttf
+++ b/app/src/main/assets/iconfront/iconfont.ttf
--- a/app/src/main/assets/iconfront/iconfont.woff
+++ b/app/src/main/assets/iconfront/iconfont.woff
--- a/app/src/main/assets/iconfront/iconfont.woff2
+++ b/app/src/main/assets/iconfront/iconfont.woff2
--- a/app/src/main/java/bsp_Error.proto
+++ b/app/src/main/java/bsp_Error.proto
@ -1,30 +0,0 @@
-syntax = "proto3";
-
-option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
-
-message ErrorData
-{ 
-	int32 Com_Error_Code=1;
-	int32 Left_Motor_Error_Code=2;
-	int32 Right_Motor_Error_Code=3;
- 
-}
-
-enum ComError //枚举消息类型 Error Bit Define
-{
-	MK32_SBus 		=	0;
-	TL720D 			=	1;
-	Force_sensor	=	2;
-	ZQ_LeftMotor	=	3;
-	ZQ_RightMotor	=	4;
-	DMAKE_1 		=	5;	
-//	DMAKE_2 		=	6;
-//	DMAKE_3 		=	7;
-	MK32_Serial 	=	6;
-}
-
-//protoc --nanopb_out=. *.proto
-
-
-
--- a/app/src/main/java/bsp_IV.proto
+++ b/app/src/main/java/bsp_IV.proto
@ -1,23 +0,0 @@
-syntax = "proto3";
-option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
-
-message IV_struct_define{
-
-	  // 五轮项目
-	  int32 Robot_Move_AutoSpeed= 1;
-	  int32 Robot_Move_ManualSpeed= 2;
-	  int32 Robot_CurrentPosition= 3;
-	  int32 Robot_AngleRoll= 4;
-	  int32 Robot_Error= 5;
-	  int32 Robot_DynamometerValue= 6;
-	  int32 Robot_ForceValue= 7;
-	  int32 Robot_CurrentState= 8;
- 	  int32 Robot_Current_Left= 9;
- 	  int32 Robot_Current_Right= 10;
-	  int32 Robot_Error_Left = 11;
-	  int32 Robot_Error_Right = 12;
-	  int32 Robot_Compensation_Left = 13;
-	  int32 Robot_Compensation_Right = 14;
-	  int32 Robot_RESET = 15;
-};
--- a/app/src/main/java/bsp_PV.proto
+++ b/app/src/main/java/bsp_PV.proto
@ -1,12 +0,0 @@
-syntax = "proto3";
-
-option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
-message PV_struct_define{
- 
-	  int32 Robot_ChgLength= 1;
- 	  double Robot_AutoSpeedBase=2;
-	  double Robot_ManualSpeedBase=3;
-	  int32 Robot_LaneChange_Direction = 4;
-	  int32 Robot_Force = 5;
-};
--- a/app/src/main/java/com/example/removemarineanimals/AppDatabase.java
+++ b/app/src/main/java/com/example/removemarineanimals/AppDatabase.java
@ -1,57 +0,0 @@
-package com.example.removemarineanimals;
-
-import static com.example.removemarineanimals.viewmodels.MainViewModel.mainBinding;
-
-import android.content.Context;
-
-import androidx.room.Database;
-import androidx.room.Room;
-import androidx.room.RoomDatabase;
-
-@Database(entities = {RobotLog.class}, version = 1, exportSchema = false)
-public abstract class AppDatabase extends RoomDatabase {
-
-    public abstract RobotLogDao robotLogDao();
-
-    private static volatile AppDatabase INSTANCE;
-
-    public static AppDatabase getInstance(Context context) {
-        if (INSTANCE == null) {
-            synchronized (AppDatabase.class) {
-                if (INSTANCE == null) {
-                    INSTANCE = Room.databaseBuilder(context.getApplicationContext(),
-                                    AppDatabase.class, "robot_logs.db")
-                            .fallbackToDestructiveMigration() // 数据库升级时清空数据，可根据需求改
-                            .build();
-                }
-            }
-        }
-        return INSTANCE;
-    }
-
-    // 在 MainActivity 中添加两个成员变量缓存电机状态
-    private String lastLeftError = "正常";
-    private String lastRightError = "正常";
-
-    // 在 TimerTask 或接收串口数据后调用的方法
-    private void checkMotorErrors() {
-        String currentLeftError = mainBinding.tvLeftError.getText().toString().trim();
-        String currentRightError = mainBinding.tvRightError.getText().toString().trim();
-
-        // 左电机状态变化且不正常时保存日志
-        if (!currentLeftError.equals("正常") && !currentLeftError.equals(lastLeftError)) {
-            saveMotorError("左电机", currentLeftError);
-        }
-        lastLeftError = currentLeftError;
-
-        // 右电机状态变化且不正常时保存日志
-        if (!currentRightError.equals("正常") && !currentRightError.equals(lastRightError)) {
-            saveMotorError("右电机", currentRightError);
-        }
-        lastRightError = currentRightError;
-    }
-
-    private void saveMotorError(String 左电机, String currentLeftError) {
-    }
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/MainActivity
+++ b/app/src/main/java/com/example/removemarineanimals/MainActivity
@ -1,335 +0,0 @@
-package com.example.removemarineanimals;
-
-import androidx.appcompat.app.AppCompatActivity;
-import androidx.core.content.ContextCompat;
-import androidx.databinding.DataBindingUtil;
-import androidx.lifecycle.ViewModelProvider;
-
-import android.app.PendingIntent;
-import android.content.BroadcastReceiver;
-import android.content.Context;
-import android.content.Intent;
-import android.content.IntentFilter;
-import android.hardware.usb.UsbDevice;
-import android.hardware.usb.UsbDeviceConnection;
-import android.hardware.usb.UsbManager;
-import android.os.Build;
-import android.os.Bundle;
-
-import com.example.removemarineanimals.databinding.ActivityMainBinding;
-import com.example.removemarineanimals.services.CustomProber;
-//import com.example.removemarineanimals.services.USBSerialPortHelper;
-import com.example.removemarineanimals.services.VideoHelper;
-import com.example.removemarineanimals.viewmodels.MainViewModel;
-import com.hoho.android.usbserial.driver.UsbSerialDriver;
-import com.hoho.android.usbserial.driver.UsbSerialPort;
-import com.hoho.android.usbserial.driver.UsbSerialProber;
-import com.hoho.android.usbserial.util.SerialInputOutputManager;
-
-import android.os.Bundle;
-import android.os.CountDownTimer;
-import android.os.Handler;
-import android.os.Looper;
-
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.Iterator;
-import java.util.List;
-
-import cn.nodemedia.NodePlayer;
-
-
-public class MainActivity extends AppCompatActivity implements SerialInputOutputManager.Listener {
-
-
-    private enum UsbPermission {Unknown, Requested, Granted, Denied}
-
-    private static final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
-    private int deviceId = 60000;
-    private int deviceId_test = 60000;
-    private int portNum;
-    private static final int WRITE_WAIT_MILLIS = 500;
-    private static final int READ_WAIT_MILLIS = 1000;
-    private static String PortNameContians = "SILICON";/**/
-    private int baudRate = 57600;
-    private boolean withIoManager = true;
-
-    private BroadcastReceiver broadcastReceiver;
-    private Handler mainLooper;
-
-
-    private SerialInputOutputManager usbIoManager;
-    private UsbSerialPort usbSerialPort;
-    private UsbPermission usbPermission = UsbPermission.Unknown;
-    private boolean connected = false;
-
-
-    public void GetControlsReferences() {
-        broadcastReceiver = new BroadcastReceiver() {
-            @Override
-            public void onReceive(Context context, Intent intent) {
-                if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
-                    usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)
-                            ? UsbPermission.Granted : UsbPermission.Denied;
-                    connect();
-                }
-
-
-            }
-        };
-        mainLooper = new Handler(Looper.getMainLooper());
-
-
-        _receiveBufferlist = new ArrayList<Byte>();
-    }
-
-
-    public static ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
-//    public USBSerialPortHelper serialPortHelper;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        // setContentView(R.layout.activity_main);
-        mainBinding = DataBindingUtil.setContentView(this, R.layout.activity_main);
-        MainViewModel vm = new ViewModelProvider(this).get(MainViewModel.class);
-        MainViewModel.mainBinding = mainBinding;
-        // vm.mainBinding=mainBinding;
-        mainBinding.setVm(vm);
-
-
-        //nodePlayer0 =new NodePlayer(this);
-        //nodePlayer1 =new NodePlayer(this);
-
-        VideoHelper.nodePlayerView0 = mainBinding.nodePlayerView0;
-        VideoHelper.nodePlayerView1 = mainBinding.nodePlayerView1;
-
-        VideoHelper.nodePlayer0 = new NodePlayer(this);
-        VideoHelper.nodePlayer1 = new NodePlayer(this);
-
-
-        VideoHelper.StatPlayVideo();
-
-//
-//        serialPortHelper=new USBSerialPortHelper();
-//        serialPortHelper.MainActivity=this;
-//        serialPortHelper.intialize();
-
-
-        GetControlsReferences();
-        connect();
-
-    }
-
-    @Override
-    protected void onStart() {
-        super.onStart();
-        ContextCompat.registerReceiver(this, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
-
-    }
-
-    @Override
-    public void onStop() {
-        this.unregisterReceiver(broadcastReceiver);
-        super.onStop();
-    }
-
-    @Override
-    public void onResume() {
-        super.onResume();
-        if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
-            //mainLooper.post(this::connect);
-
-        }
-
-    }
-
-    @Override
-    public void onPause() {
-        if (connected) {
-            status("串口断开");
-            // _serialPortSwitch.setChecked(false);
-            disconnect();
-        }
-        super.onPause();
-    }
-
-    @Override
-    public void onNewData(byte[] data) {
-        mainLooper.post(() ->
-        {
-            receive(data);
-            // receive data
-        });
-    }
-
-    @Override
-    public void onRunError(Exception e) {
-        mainLooper.post(() ->
-        {
-            status("connection lost: " + e.getMessage());
-            disconnect();
-        });
-    }
-
-    private void connect() {
-
-        UsbDevice device = null;
-        UsbManager usbManager = (UsbManager) this.getSystemService(Context.USB_SERVICE);
-        for (UsbDevice v : usbManager.getDeviceList().values()) {
-            status(v.getManufacturerName().toUpperCase());
-            if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
-                device = v;
-                break;
-            }
-        }
-
-        if (device == null) {
-            // _serialPortSwitch.setChecked(false);
-
-            status("找不到设备");
-            return;
-        }
-        UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
-        if (driver == null) {
-            driver = CustomProber.getCustomProber().probeDevice(device);
-        }
-        if (driver == null) {
-            // _serialPortSwitch.setChecked(false);
-            status("无驱动");
-            return;
-        }
-        if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
-        {
-            status("connection failed: not enough ports at device");
-            status("找不到设备");
-            return;
-        }
-        usbSerialPort = driver.getPorts().get(portNum);
-
-        UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
-        if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
-            usbPermission = UsbPermission.Requested;
-            int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
-            Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
-            intent.setPackage(this.getPackageName());
-            PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(this, 0, intent, flags);
-            usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
-            return;
-        }
-        if (usbConnection == null) {
-            if (!usbManager.hasPermission(driver.getDevice())) {
-                status("connection failed: permission denied");
-            } else {
-                status("connection failed: open failed");
-            }
-
-            return;
-        }
-
-        try {
-            usbSerialPort.open(usbConnection);
-            try {
-                usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
-            } catch (UnsupportedOperationException e) {
-                status("unsupport setparameters");
-            }
-            if (withIoManager) {
-                usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
-                usbIoManager.setReadBufferSize(40960);
-                usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
-                usbIoManager.start();
-            }
-            //status("connected");
-            connected = true;
-            //   _serialPortSwitch.setChecked(true);
-            //switch set true
-
-        } catch (Exception e) {
-            status("connection failed: " + e.getMessage());
-            disconnect();
-        }
-    }
-
-    private void disconnect() {
-        connected = false;
-
-        if (usbIoManager != null) {
-            usbIoManager.setListener(null);
-            usbIoManager.stop();
-        }
-        usbIoManager = null;
-        try {
-            usbSerialPort.close();
-        } catch (IOException ignored)
-        {
-
-        }
-        usbSerialPort = null;
-    }
-
-    List<Byte> _receiveBufferlist;
-
-    private byte[] listTobyte(List<Byte> list) {
-        if (list == null || list.size() < 0)
-            return null;
-        byte[] bytes = new byte[list.size()];
-        int i = 0;
-        Iterator<Byte> iterator = list.iterator();
-        while (iterator.hasNext()) {
-            bytes[i] = iterator.next();
-            i++;
-        }
-        return bytes;
-    }
-
-    public int Counter = 1000;
-    boolean StartCountDown = false;
-
-    private void receive(byte[] data) {
-
-        for (int i = 0; i < data.length; i++) {
-            _receiveBufferlist.add(data[i]);
-        }
-
-        //decodeRceive(data);
-        if (StartCountDown == false) {
-            StartCountDown = true;
-            new CountDownTimer(500, 500) {
-                public void onTick(long millisUntilFinished) {
-                    // Used for formatting digit to be in 2 digits only
-
-                }
-
-                // When the task is over it will print 00:00:00 there
-                public void onFinish() {
-                    decodeRceive(listTobyte(_receiveBufferlist));
-                    _receiveBufferlist.clear();
-                    StartCountDown = false;
-                }
-            }.start();
-        }
-
-
-    }
-
-    private void decodeRceive(byte[] data) {
-        try {
-
-        } catch (
-                Exception e) {
-            //spn.append("exception:{e} ");
-        }
-    }
-    void status(String str)
-    {
-        mainBinding.message.setText(str);
-//        SpannableStringBuilder spn = new SpannableStringBuilder(str + '\r' + '\n');
-//
-//        // spn.append(getTime());
-//
-//        spn.setSpan(new ForegroundColorSpan(getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
-//        receiveText.append(spn);
-//        scrollView.fullScroll(ScrollView.FOCUS_DOWN);
-    }
-}
--- a/app/src/main/java/com/example/removemarineanimals/MainActivity.java
+++ b/app/src/main/java/com/example/removemarineanimals/MainActivity.java
@ -1,607 +0,0 @@
-package com.example.removemarineanimals;
-
-import android.content.Context;
-import android.content.SharedPreferences;
-import android.os.Bundle;
-import android.text.Editable;
-import android.text.TextWatcher;
-import android.view.View;
-import android.view.inputmethod.InputMethodManager;
-import android.widget.EditText;
-import android.widget.TextView;
-import androidx.annotation.NonNull;
-import androidx.appcompat.app.AlertDialog;
-import androidx.appcompat.app.AppCompatActivity;
-import androidx.core.content.ContextCompat;
-import androidx.databinding.DataBindingUtil;
-import androidx.lifecycle.ViewModelProvider;
-
-import com.example.removemarineanimals.databinding.ActivityMainBinding;
-import com.example.removemarineanimals.models.BspPV;
-import com.example.removemarineanimals.models.RobotRMACM;
-import com.example.removemarineanimals.services.ModbusCRC;
-import com.example.removemarineanimals.services.ttySerialPortHelper;
-import com.example.removemarineanimals.viewmodels.MainViewModel;
-
-import java.util.List;
-import java.util.Locale;
-import java.util.Timer;
-import java.util.TimerTask;
-
-
-public class MainActivity extends AppCompatActivity {
-
-    public ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
-    //USB 串口服务
-    //public USBSerialPortHelper serialPortHelper;
-    private BspPV.PV_struct_define _toSendPV;
-
-    public RobotRMACM.RMACM robotRMACM;
-
-    // 换道标志位，默认左换道
-    private int laneChangeDirection = 0;
-
-    // 按钮高亮状态
-    private boolean isLeftLaneChangeActive = true;
-    private boolean isRightLaneChangeActive = false;
-
-    // 输入框
-    private void setupDecimalEditText(EditText editText, String paramName) {
-        editText.addTextChangedListener(new TextWatcher() {
-            @Override public void beforeTextChanged(CharSequence s, int start, int count, int after) {}
-            @Override public void onTextChanged(CharSequence s, int start, int before, int count) {}
-            @Override
-            public void afterTextChanged(Editable editable) {
-                String text = editable.toString();
-                // 如果只输入了 "."
-                if (text.equals(".")) {
-                    editText.setText("0.");
-                    editText.setSelection(editText.getText().length());
-                }
-            }
-        });
-
-        //新增
-        editText.setOnFocusChangeListener((v, hasFocus) -> {
-            if (!hasFocus) {
-                String text = editText.getText().toString().trim();
-                String originalText = text;
-
-                if (text.isEmpty()) {
-                    text = getDefaultValue(paramName);
-                    editText.setText(text);
-                    saveParamChange(paramName, text);
-                } else {
-                    // 在编辑完成后进行一次性参数限制
-                    text = validateAndLimitValue(paramName, text);
-
-                    // 如果值被调整，更新编辑框并显示提示
-                    if (!text.equals(originalText)) {
-                        editText.setText(text);
-                        showRangeLimitDialog(paramName, originalText, text);
-                    }
-
-                    // 自动保存参数修改日志
-                    saveParamChange(paramName, text);
-                }
-                editText.setCursorVisible(false);
-            } else {
-                // 获得焦点时再显示光标，并全选文本
-                editText.setCursorVisible(true);
-
-                // 延迟一小段时间后全选文本，确保焦点稳定
-                editText.postDelayed(() -> {
-                    if (editText.hasFocus()) {
-                        editText.selectAll();
-                    }
-                }, 100);
-            }
-        });
-
-        // 新增：编辑完成时自动隐藏光标
-        editText.setOnEditorActionListener((v, actionId, event) -> {
-            editText.setCursorVisible(false);
-            editText.clearFocus();
-            InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE);
-            if (imm != null) {
-                imm.hideSoftInputFromWindow(editText.getWindowToken(), 0);
-            }
-            return false;
-        });
-
-        // 新增：点击编辑框时也全选文本（作为焦点变化的补充）
-        editText.setOnClickListener(v -> {
-            if (editText.hasFocus()) {
-                editText.postDelayed(() -> {
-                    if (editText.hasFocus()) {
-                        editText.selectAll();
-                    }
-                }, 100);
-            }
-        });
-    }
-
-    /**
-     * 验证并限制参数值范围
-     */
-    private String validateAndLimitValue(String paramName, String value) {
-        try {
-            double numValue = Double.parseDouble(value);
-
-            switch (paramName) {
-                case "RobotChgLength":
-                    // 换道长度限制在0-1000
-                    int length = Math.max(0, Math.min(1000, (int) Math.round(numValue)));
-                    return String.valueOf(length);
-
-                case "RobotManualSpeed":
-                case "RobotAutoSpeed":
-                    // 速度限制在 0-30 范围内
-                    double speed = Math.max(0, Math.min(30, numValue));
-                    // 保留一位小数
-                    return (speed == (int)speed) ? String.valueOf((int)speed) : String.format(Locale.getDefault(),"%.1f", speed);
-
-                case "RobotForce":
-                    // 压力限制在 300-3000 范围内
-                    int force = Math.max(300, Math.min(3000, (int) Math.round(numValue)));
-                    return String.valueOf(force);
-
-                default:
-                    return value;
-            }
-        } catch (NumberFormatException e) {
-            // 如果解析失败，返回默认值
-            return getDefaultValue(paramName);
-        }
-    }
-
-    /**
-     * 获取参数的默认值
-     */
-    private String getDefaultValue(String paramName) {
-        switch (paramName) {
-            case "RobotChgLength": return "100";
-            case "RobotManualSpeed": return "8";
-            case "RobotAutoSpeed": return "20";
-            case "RobotForce": return "300";
-            default: return "0";
-        }
-    }
-
-    /**
-     * 显示范围限制提示对话框
-     */
-    private void showRangeLimitDialog(String paramName, String originalValue, String adjustedValue) {
-        runOnUiThread(() -> {
-            String paramDisplayName = getParamDisplayName(paramName);
-            String rangeInfo = getRangeInfo(paramName);
-
-            String message = String.format("输入值 %s 已调整为 %s\n%s",
-                    originalValue, adjustedValue, rangeInfo);
-
-            new AlertDialog.Builder(this)
-                    .setTitle(paramDisplayName + " 调整提示")
-                    .setMessage(message)
-                    .setPositiveButton("确定", null)
-                    .show();
-        });
-    }
-
-    /**
-     * 获取参数显示名称
-     */
-    private String getParamDisplayName(String paramName) {
-        switch (paramName) {
-            case "RobotChgLength": return "换道长度";
-            case "RobotManualSpeed": return "手动速度";
-            case "RobotAutoSpeed": return "自动速度";
-            case "RobotForce": return "压力值";
-            default: return paramName;
-        }
-    }
-
-    /**
-     * 获取参数范围信息
-     */
-    private String getRangeInfo(String paramName) {
-        switch (paramName) {
-            case "RobotChgLength": return "有效范围：0 — 1000";
-            case "RobotManualSpeed":
-            case "RobotAutoSpeed": return "有效范围：0 - 30";
-            case "RobotForce": return "有效范围：300 - 3000";
-            default: return "";
-        }
-    }
-
-    // 安全取值，防止 Timer 崩溃
-    private int getSafeInt(@NonNull EditText editText) {
-        String text = editText.getText().toString().trim();
-        if (text.isEmpty()) return 0;
-        try {
-            return Integer.parseInt(text);
-        } catch (NumberFormatException e) {
-            return 0;
-        }
-    }
-
-    private double getSafeDouble(@NonNull EditText editText) {
-        String text = editText.getText().toString().trim();
-        if (text.isEmpty()) return 0.0;
-        try {
-            return Double.parseDouble(text);
-        } catch (NumberFormatException e) {
-            return 0.0;
-        }
-    }
-
-    Timer timer = new Timer();
-    //--
-    public MainActivity() {
-        robotRMACM =  RobotRMACM.RMACM.newBuilder().setRobotSpeed(0).setLightBrightness(0).build();
-    }
-
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-
-        //MainViewModel binding region
-        mainBinding = DataBindingUtil.setContentView(this,R.layout.activity_main);
-        MainViewModel vm=new ViewModelProvider(this).get(MainViewModel.class);
-        MainViewModel.mainBinding=mainBinding;
-        mainBinding.btnShowLogs.setOnClickListener(v -> showLogsDialog());
-        mainBinding.setVm(vm);
-
-        // 设置左右换道按钮的点击监听器
-        mainBinding.btnLeftLaneChange.setOnClickListener(v -> {
-            setLaneChangeDirection(0); // 左换道
-            updateButtonStyles();
-            saveOperationLog("切换至左换道");
-        });
-
-        mainBinding.btnRightLaneChange.setOnClickListener(v -> {
-            setLaneChangeDirection(1); // 右换道
-            updateButtonStyles();
-            saveOperationLog("切换至右换道");
-        });
-
-        // 初始化按钮样式
-        updateButtonStyles();
-
-        setupDecimalEditText(mainBinding.tvRobotChgLength, "RobotChgLength");
-        setupDecimalEditText(mainBinding.tvRobotManualSpeed, "RobotManualSpeed");
-        setupDecimalEditText(mainBinding.tvRobotAutoSpeed, "RobotAutoSpeed");
-        setupDecimalEditText(mainBinding.tvRobotForce, "RobotForce");
-
-
-        // 保存参数
-        SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE);
-        String Str_RobotChgLength = sharedPreferences.getString("RobotChgLength", "100");
-        String Str_RobotLeftCompensation = sharedPreferences.getString("RobotLeftCompensation", "0");
-        String Str_RobotRightCompensation = sharedPreferences.getString("RobotRightCompensation", "0");
-        String Str_RobotManualSpeed = sharedPreferences.getString("RobotManualSpeed", "8");
-        String Str_RobotAutoSpeed = sharedPreferences.getString("RobotAutoSpeed", "20");
-        String Str_RobotForce = sharedPreferences.getString("RobotForce", "300");
-
-        mainBinding.rFAngleRoll.setText(String.valueOf(0));
-        mainBinding.tvRobotError.setText(String.valueOf(0));
-        mainBinding.tvRobotChgLength.setText(Str_RobotChgLength);
-        mainBinding.tvRobotLeftCompensation.setText(Str_RobotLeftCompensation);
-        mainBinding.tvRobotRightCompensation.setText(Str_RobotRightCompensation);
-        mainBinding.tvForce.setText(String.valueOf(0));
-        mainBinding.tvRobotManualSpeed.setText(Str_RobotManualSpeed);
-        mainBinding.tvRobotAutoSpeed.setText(Str_RobotAutoSpeed);
-        mainBinding.tvRobotCurrent.setText(String.valueOf(0));
-        mainBinding.tvDynamometer.setText(String.valueOf(0));
-        mainBinding.tvRobotForce.setText(Str_RobotForce);
-
-        /* 删除15天前旧日志*/
-        deleteOldLogs();
-
-        /* USB串口 控制区域*/
-        ttySerialPortHelper.MainActivity = this;
-        ttySerialPortHelper.Open();
-
-//        /* NodePlayer 播放视频区域*/
-//        NodePlayer   nodePlayer0=new NodePlayer(this);
-//        // NodePlayer   nodePlayer1=new NodePlayer(this);
-//
-//        //String address0 = "rtsp://192.168.1.168:8554/0";
-//        // String address1 = "rtsp://192.168.1.169:8554/0";
-//
-//        //String addressTest = "rtsp://rtspstream:yEhp9qzAqveM9kHIE7GcL@zephyr.rtsp.stream/movie";
-//        String address0 = "rtsp://192.168.144.25:8554/main.264";
-//        /**/
-//        //VideoPlayerHelper.startVideo(mainBinding.nodePlayerView0,nodePlayer0,address0);不涉及摄像头
-//        // VideoPlayerHelper.startVideo(mainBinding.nodePlayerView1,nodePlayer1,address1);
-//        //VideoPlayerHelper.startVideo(mainBinding.nodePlayerView1,nodePlayer1,addressTest);
-
-        startSending();
-    }
-
-    // 设置换道方向
-    private void setLaneChangeDirection(int direction) {
-        laneChangeDirection = direction;
-        isLeftLaneChangeActive = (direction == 0);
-        isRightLaneChangeActive = (direction == 1);
-    }
-
-    // 更新按钮样式
-    private void updateButtonStyles() {
-        // 左换道按钮样式
-        if (isLeftLaneChangeActive) {
-            mainBinding.btnLeftLaneChange.setTextColor(ContextCompat.getColor(this, R.color.mediumvioletred)); // 高亮色
-            mainBinding.btnLeftLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle);
-        } else {
-            mainBinding.btnLeftLaneChange.setTextColor(ContextCompat.getColor(this, R.color.deepskyblue)); // 默认色
-            mainBinding.btnLeftLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle);
-        }
-
-        // 右换道按钮样式
-        if (isRightLaneChangeActive) {
-            mainBinding.btnRightLaneChange.setTextColor(ContextCompat.getColor(this, R.color.mediumvioletred));
-            mainBinding.btnRightLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle);
-        } else {
-            mainBinding.btnRightLaneChange.setTextColor(ContextCompat.getColor(this, R.color.deepskyblue));
-            mainBinding.btnRightLaneChange.setBackgroundResource(R.drawable.blue_rounded_rectangle);
-        }
-    }
-
-    // Create a Timer instance
-
-    @Override
-    protected void onStart() {
-        super.onStart();
-
-        //  serialPortHelper.onStart();
-
-    }
-    @Override
-    public void onStop()
-    {
-        super.onStop();
-    }
-
-    @Override
-    public void onResume()
-    {
-        super.onResume();
-        //  serialPortHelper.onResume();
-        //新增
-        startSending();
-    }
-
-    @Override
-    public void onPause() {
-        super.onPause();
-        stopSending();
-
-        SharedPreferences sharedPreferences = getSharedPreferences("MyData", Context.MODE_PRIVATE);
-        SharedPreferences.Editor editor = sharedPreferences.edit();
-
-        // 添加空值检查
-        String chgLength = String.valueOf(mainBinding.tvRobotChgLength.getText());
-        if (chgLength.isEmpty()) chgLength = "100";
-
-        String leftComp = String.valueOf(mainBinding.tvRobotLeftCompensation.getText());
-        if (leftComp.isEmpty()) leftComp = "0";
-
-        String rightComp = String.valueOf(mainBinding.tvRobotRightCompensation.getText());
-        if (rightComp.isEmpty()) rightComp = "0";
-
-        String manualSpeed = String.valueOf(mainBinding.tvRobotManualSpeed.getText());
-        if (manualSpeed.isEmpty()) manualSpeed = "8";
-
-        String autoSpeed = String.valueOf(mainBinding.tvRobotAutoSpeed.getText());
-        if (autoSpeed.isEmpty()) autoSpeed = "20";
-
-        String force = String.valueOf(mainBinding.tvRobotForce.getText());
-        if (force.isEmpty()) force = "300";
-
-        editor.putString("RobotChgLength", chgLength);
-        editor.putString("RobotLeftCompensation", leftComp);
-        editor.putString("RobotRightCompensation", rightComp);
-        editor.putString("RobotManualSpeed", manualSpeed);
-        editor.putString("RobotAutoSpeed", autoSpeed);
-        editor.putString("RobotForce", force);
-        editor.apply();
-    }
-    @Override
-    protected void onDestroy() {
-        super.onDestroy();
-        if (timer != null) {
-            timer.cancel();
-        }
-    }
-    private TimerTask sendTask;
-    //新增
-    private void startSending() {
-        stopSending();
-        if (timer == null) {
-            timer = new Timer();
-            sendTask = new TimerTask() {
-                @Override
-                public void run() {
-                    try {
-                        // 获取当前编辑框的值
-                        int chgLength = getSafeInt(mainBinding.tvRobotChgLength);
-                        double manualSpeed = getSafeDouble(mainBinding.tvRobotManualSpeed);
-                        double autoSpeed = getSafeDouble(mainBinding.tvRobotAutoSpeed);
-                        int force = getSafeInt(mainBinding.tvRobotForce);
-
-                        // 在发送前进行范围限制
-                        chgLength = Math.max(0, Math.min(1000, chgLength));
-                        manualSpeed = Math.max(0, Math.min(30, manualSpeed));
-                        autoSpeed = Math.max(0, Math.min(30, autoSpeed));
-                        force = Math.max(300, Math.min(3000, force));
-
-                        _toSendPV = BspPV.PV_struct_define.newBuilder()
-                                .setRobotChgLength(chgLength)
-                                .setRobotAutoSpeedBase(autoSpeed)
-                                .setRobotManualSpeedBase(manualSpeed)
-                                .setRobotLaneChangeDirection(laneChangeDirection)
-                                .setRobotForce(force)
-                                .build();
-
-                        byte[] byteArray = _toSendPV.toByteArray();
-                        byte[] sendByteArray = new byte[byteArray.length + 4];
-                        byte[] sendByteArray3 = new byte[byteArray.length + 6];
-
-                        if (byteArray.length != 0) {
-                            System.arraycopy(byteArray, 0, sendByteArray, 4, byteArray.length);
-                        }
-                        sendByteArray[0] = (byte) 0x55;
-                        sendByteArray[1] = (byte) 0x55;
-                        sendByteArray[2] = (byte) 0x01;
-                        sendByteArray[3] = (byte) 0x01;
-
-                        byte[] byteArray2 = ModbusCRC.calculateCRC(sendByteArray);
-
-                        System.arraycopy(sendByteArray, 0, sendByteArray3, 0, sendByteArray.length);
-                        System.arraycopy(byteArray2, 0, sendByteArray3, sendByteArray3.length - 2, 2);
-
-                        ttySerialPortHelper.SendData(sendByteArray3);
-
-                        runOnUiThread(() -> checkMotorErrors());
-                    } catch (Exception e) {
-                        android.util.Log.e("MainActivity", "Error in startSending timer task", e);
-                    }
-                }
-            };
-            timer.schedule(sendTask, 0, 1000);
-        }
-    }
-
-    private void stopSending() {
-        try {
-            if (sendTask != null) {
-                sendTask.cancel();
-                sendTask = null;
-            }
-            if (timer != null) {
-                timer.cancel();
-                timer.purge();
-                timer = null;
-            }
-        } catch (Exception ignored) {}
-    }
-
-    private void saveMotorError(String motorSide, String errorMsg) {
-        new Thread(() -> {
-            AppDatabase db = AppDatabase.getInstance(this);
-            RobotLog log = new RobotLog();
-            log.type = "error";
-            log.message = motorSide + " 电机报错: " + errorMsg;
-            log.time = System.currentTimeMillis();
-            db.robotLogDao().insert(log);
-        }).start();
-    }
-
-
-    private String lastLeftError = "xxx";
-    private String lastRightError = "xxx";
-
-    private void checkMotorErrors() {
-        String currentLeftError = mainBinding.tvLeftError.getText().toString().trim();
-        String currentRightError = mainBinding.tvRightError.getText().toString().trim();
-
-        // 左电机状态变化且不正常时保存日志
-        if (!currentLeftError.equals("正常") && !currentLeftError.equals(lastLeftError)) {
-            saveMotorError("左电机", currentLeftError);
-        }
-        lastLeftError = currentLeftError;
-
-        // 右电机状态变化且不正常时保存日志
-        if (!currentRightError.equals("正常") && !currentRightError.equals(lastRightError)) {
-            saveMotorError("右电机", currentRightError);
-        }
-        lastRightError = currentRightError;
-    }
-
-
-    // 启用参数设定区域
-    public void enableParameterArea() {
-        runOnUiThread(() -> {
-            mainBinding.setLayout.setEnabled(true);
-            for (int i = 0; i < mainBinding.setLayout.getChildCount(); i++) {
-                View child = mainBinding.setLayout.getChildAt(i);
-                child.setEnabled(true);
-                child.setAlpha(1.0f);
-            }
-        });
-    }
-
-    // 禁用参数设定区域
-    public void disableParameterArea() {
-        runOnUiThread(() -> {
-            mainBinding.setLayout.setEnabled(false);
-            for (int i = 0; i < mainBinding.setLayout.getChildCount(); i++) {
-                View child = mainBinding.setLayout.getChildAt(i);
-                child.setEnabled(false);
-                child.setAlpha(0.5f);
-            }
-        });
-    }
-
-    private void saveParamChange(String paramName, String newValue) {
-        new Thread(() -> {
-            AppDatabase db = AppDatabase.getInstance(this);
-            RobotLog log = new RobotLog();
-            log.type = "param_change";
-            log.message = paramName + " 修改为 " + newValue;
-            log.time = System.currentTimeMillis();
-            db.robotLogDao().insert(log);
-        }).start();
-    }
-
-    private void saveOperationLog(String operation) {
-        new Thread(() -> {
-            AppDatabase db = AppDatabase.getInstance(this);
-            RobotLog log = new RobotLog();
-            log.type = "operation";
-            log.message = operation;
-            log.time = System.currentTimeMillis();
-            db.robotLogDao().insert(log);
-        }).start();
-    }
-
-    private void showLogsDialog() {
-        new Thread(() -> {
-            AppDatabase db = AppDatabase.getInstance(this);
-            List<RobotLog> logs = db.robotLogDao().getAllLogs();
-
-            StringBuilder sb = new StringBuilder();
-            for (RobotLog log : logs) {
-                sb.append("[").append(android.text.format.DateFormat.format("yyyy-MM-dd HH:mm:ss", log.time)).append("] ");
-                sb.append(log.type).append(": ").append(log.message).append("\n");
-            }
-
-            String logContent = sb.toString();
-
-            runOnUiThread(() -> {
-                // 创建 Dialog
-                AlertDialog.Builder builder = new AlertDialog.Builder(this);
-                builder.setTitle("日志信息");
-
-                // 使用自定义布局
-                View dialogView = getLayoutInflater().inflate(R.layout.dialog_logs, null);
-                TextView tvLogs = dialogView.findViewById(R.id.tv_logs_content);
-                tvLogs.setText(logContent.isEmpty() ? "暂无日志" : logContent);
-
-                builder.setView(dialogView)
-                        .setPositiveButton("关闭", null)
-                        .show();
-            });
-        }).start();
-    }
-
-    private void deleteOldLogs() {
-        new Thread(() -> {
-            AppDatabase db = AppDatabase.getInstance(this);
-            long thirtyDaysAgo = System.currentTimeMillis() - 15L * 24 * 60 * 60 * 1000; // 15天前时间戳
-            db.robotLogDao().deleteLogsBefore(thirtyDaysAgo);
-        }).start();
-    }
-
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/RobotLog.java
+++ b/app/src/main/java/com/example/removemarineanimals/RobotLog.java
@ -1,20 +0,0 @@
-package com.example.removemarineanimals;
-
-import androidx.room.ColumnInfo;
-import androidx.room.Entity;
-import androidx.room.PrimaryKey;
-
-@Entity(tableName = "robot_logs")
-public class RobotLog {
-    @PrimaryKey(autoGenerate = true)
-    public int id;
-
-    @ColumnInfo(name = "type")   // "error" 或 "param_change"
-    public String type;
-
-    @ColumnInfo(name = "message") // 具体信息：报错内容或修改了哪个参数
-    public String message;
-
-    @ColumnInfo(name = "time")   // 时间戳
-    public long time;
-}
--- a/app/src/main/java/com/example/removemarineanimals/RobotLogDao.java
+++ b/app/src/main/java/com/example/removemarineanimals/RobotLogDao.java
@ -1,22 +0,0 @@
-package com.example.removemarineanimals;
-
-import androidx.room.Dao;
-import androidx.room.Insert;
-import androidx.room.Query;
-
-import java.util.List;
-
-@Dao
-public interface RobotLogDao {
-
-    @Insert
-    void insert(RobotLog log);
-
-
-    @Query("SELECT * FROM robot_logs ORDER BY time DESC")
-    List<RobotLog> getAllLogs();
-
-    @Query("DELETE FROM robot_logs WHERE time < :timeLimit")
-    void deleteLogsBefore(long timeLimit);
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/models/BspError.java
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspError.java
@ -1,815 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_Error.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.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 {
-    /**
-     * <code>MK32_SBus = 0;</code>
-     */
-    MK32_SBus(0),
-    /**
-     * <code>TL720D = 1;</code>
-     */
-    TL720D(1),
-    /**
-     * <code>Force_sensor = 2;</code>
-     */
-    Force_sensor(2),
-    /**
-     * <code>ZQ_LeftMotor = 3;</code>
-     */
-    ZQ_LeftMotor(3),
-    /**
-     * <code>ZQ_RightMotor = 4;</code>
-     */
-    ZQ_RightMotor(4),
-    /**
-     * <code>DMAKE_1 = 5;</code>
-     */
-    DMAKE_1(5),
-    /**
-     * <pre>
-     * DMAKE_2 		=	6;
-     * DMAKE_3 		=	7;
-     * </pre>
-     *
-     * <code>MK32_Serial = 6;</code>
-     */
-    MK32_Serial(6),
-    UNRECOGNIZED(-1),
-    ;
-
-    static {
-      com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
-        com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
-        /* major= */ 4,
-        /* minor= */ 27,
-        /* patch= */ 2,
-        /* suffix= */ "",
-        ComError.class.getName());
-    }
-    /**
-     * <code>MK32_SBus = 0;</code>
-     */
-    public static final int MK32_SBus_VALUE = 0;
-    /**
-     * <code>TL720D = 1;</code>
-     */
-    public static final int TL720D_VALUE = 1;
-    /**
-     * <code>Force_sensor = 2;</code>
-     */
-    public static final int Force_sensor_VALUE = 2;
-    /**
-     * <code>ZQ_LeftMotor = 3;</code>
-     */
-    public static final int ZQ_LeftMotor_VALUE = 3;
-    /**
-     * <code>ZQ_RightMotor = 4;</code>
-     */
-    public static final int ZQ_RightMotor_VALUE = 4;
-    /**
-     * <code>DMAKE_1 = 5;</code>
-     */
-    public static final int DMAKE_1_VALUE = 5;
-    /**
-     * <pre>
-     * DMAKE_2 		=	6;
-     * DMAKE_3 		=	7;
-     * </pre>
-     *
-     * <code>MK32_Serial = 6;</code>
-     */
-    public static final int MK32_Serial_VALUE = 6;
-
-
-    public final int getNumber() {
-      if (this == UNRECOGNIZED) {
-        throw new java.lang.IllegalArgumentException(
-            "Can't get the number of an unknown enum value.");
-      }
-      return value;
-    }
-
-    /**
-     * @param value The numeric wire value of the corresponding enum entry.
-     * @return The enum associated with the given numeric wire value.
-     * @deprecated Use {@link #forNumber(int)} instead.
-     */
-    @java.lang.Deprecated
-    public static ComError valueOf(int value) {
-      return forNumber(value);
-    }
-
-    /**
-     * @param value The numeric wire value of the corresponding enum entry.
-     * @return The enum associated with the given numeric wire value.
-     */
-    public static ComError forNumber(int value) {
-      switch (value) {
-        case 0: return MK32_SBus;
-        case 1: return TL720D;
-        case 2: return Force_sensor;
-        case 3: return ZQ_LeftMotor;
-        case 4: return ZQ_RightMotor;
-        case 5: return DMAKE_1;
-        case 6: return MK32_Serial;
-        default: return null;
-      }
-    }
-
-    public static com.google.protobuf.Internal.EnumLiteMap<ComError>
-        internalGetValueMap() {
-      return internalValueMap;
-    }
-    private static final com.google.protobuf.Internal.EnumLiteMap<
-        ComError> internalValueMap =
-          new com.google.protobuf.Internal.EnumLiteMap<ComError>() {
-            public ComError findValueByNumber(int number) {
-              return ComError.forNumber(number);
-            }
-          };
-
-    public final com.google.protobuf.Descriptors.EnumValueDescriptor
-        getValueDescriptor() {
-      if (this == UNRECOGNIZED) {
-        throw new java.lang.IllegalStateException(
-            "Can't get the descriptor of an unrecognized enum value.");
-      }
-      return getDescriptor().getValues().get(ordinal());
-    }
-    public final com.google.protobuf.Descriptors.EnumDescriptor
-        getDescriptorForType() {
-      return getDescriptor();
-    }
-    public static final com.google.protobuf.Descriptors.EnumDescriptor
-        getDescriptor() {
-      return com.example.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 {
-
-    /**
-     * <code>int32 Com_Error_Code = 1;</code>
-     * @return The comErrorCode.
-     */
-    int getComErrorCode();
-
-    /**
-     * <code>int32 Left_Motor_Error_Code = 2;</code>
-     * @return The leftMotorErrorCode.
-     */
-    int getLeftMotorErrorCode();
-
-    /**
-     * <code>int32 Right_Motor_Error_Code = 3;</code>
-     * @return The rightMotorErrorCode.
-     */
-    int getRightMotorErrorCode();
-  }
-  /**
-   * Protobuf type {@code ErrorData}
-   */
-  public static final class ErrorData extends
-      com.google.protobuf.GeneratedMessage implements
-      // @@protoc_insertion_point(message_implements:ErrorData)
-      ErrorDataOrBuilder {
-  private static final long serialVersionUID = 0L;
-    static {
-      com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
-        com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
-        /* major= */ 4,
-        /* minor= */ 27,
-        /* patch= */ 2,
-        /* suffix= */ "",
-        ErrorData.class.getName());
-    }
-    // Use ErrorData.newBuilder() to construct.
-    private ErrorData(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
-      super(builder);
-    }
-    private ErrorData() {
-    }
-
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return com.example.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;
-    /**
-     * <code>int32 Com_Error_Code = 1;</code>
-     * @return The comErrorCode.
-     */
-    @java.lang.Override
-    public int getComErrorCode() {
-      return comErrorCode_;
-    }
-
-    public static final int LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER = 2;
-    private int leftMotorErrorCode_ = 0;
-    /**
-     * <code>int32 Left_Motor_Error_Code = 2;</code>
-     * @return The leftMotorErrorCode.
-     */
-    @java.lang.Override
-    public int getLeftMotorErrorCode() {
-      return leftMotorErrorCode_;
-    }
-
-    public static final int RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER = 3;
-    private int rightMotorErrorCode_ = 0;
-    /**
-     * <code>int32 Right_Motor_Error_Code = 3;</code>
-     * @return The rightMotorErrorCode.
-     */
-    @java.lang.Override
-    public int getRightMotorErrorCode() {
-      return rightMotorErrorCode_;
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (comErrorCode_ != 0) {
-        output.writeInt32(1, comErrorCode_);
-      }
-      if (leftMotorErrorCode_ != 0) {
-        output.writeInt32(2, leftMotorErrorCode_);
-      }
-      if (rightMotorErrorCode_ != 0) {
-        output.writeInt32(3, rightMotorErrorCode_);
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @java.lang.Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (comErrorCode_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(1, comErrorCode_);
-      }
-      if (leftMotorErrorCode_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(2, leftMotorErrorCode_);
-      }
-      if (rightMotorErrorCode_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(3, rightMotorErrorCode_);
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-      public Builder setComErrorCode(int value) {
-
-        comErrorCode_ = value;
-        bitField0_ |= 0x00000001;
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-        return this;
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-      /**
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-      public Builder clearComErrorCode() {
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-       */
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-      public int getLeftMotorErrorCode() {
-        return leftMotorErrorCode_;
-      }
-      /**
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-       * @return This builder for chaining.
-       */
-      public Builder setLeftMotorErrorCode(int value) {
-
-        leftMotorErrorCode_ = value;
-        bitField0_ |= 0x00000002;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Left_Motor_Error_Code = 2;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearLeftMotorErrorCode() {
-        bitField0_ = (bitField0_ & ~0x00000002);
-        leftMotorErrorCode_ = 0;
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-
-      private int rightMotorErrorCode_ ;
-      /**
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-       */
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-      public int getRightMotorErrorCode() {
-        return rightMotorErrorCode_;
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-      /**
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-       * @return This builder for chaining.
-       */
-      public Builder setRightMotorErrorCode(int value) {
-
-        rightMotorErrorCode_ = value;
-        bitField0_ |= 0x00000004;
-        onChanged();
-        return this;
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-      /**
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-       * @return This builder for chaining.
-       */
-      public Builder clearRightMotorErrorCode() {
-        bitField0_ = (bitField0_ & ~0x00000004);
-        rightMotorErrorCode_ = 0;
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-        return this;
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-          throw e.setUnfinishedMessage(builder.buildPartial());
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-    public static com.google.protobuf.Parser<ErrorData> parser() {
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-  // @@protoc_insertion_point(outer_class_scope)
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--- a/app/src/main/java/com/example/removemarineanimals/models/BspIV.java
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspIV.java
--- a/app/src/main/java/com/example/removemarineanimals/models/BspPV.java
+++ b/app/src/main/java/com/example/removemarineanimals/models/BspPV.java
@ -1,789 +0,0 @@
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-// NO CHECKED-IN PROTOBUF GENCODE
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-// Protobuf Java Version: 4.27.2
-
-package com.example.removemarineanimals.models;
-
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-      /* major= */ 4,
-      /* minor= */ 27,
-      /* patch= */ 2,
-      /* suffix= */ "",
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-  }
-  public static void registerAllExtensions(
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-  }
-
-  public static void registerAllExtensions(
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-    int getRobotChgLength();
-
-    /**
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-     * @return The robotAutoSpeedBase.
-     */
-    double getRobotAutoSpeedBase();
-
-    /**
-     * <code>double Robot_ManualSpeedBase = 3;</code>
-     * @return The robotManualSpeedBase.
-     */
-    double getRobotManualSpeedBase();
-
-    /**
-     * <code>int32 Robot_LaneChange_Direction = 4;</code>
-     * @return The robotLaneChangeDirection.
-     */
-    int getRobotLaneChangeDirection();
-
-    /**
-     * <code>int32 Robot_Force = 5;</code>
-     * @return The robotForce.
-     */
-    int getRobotForce();
-  }
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-   */
-  public static final class PV_struct_define extends
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-  private static final long serialVersionUID = 0L;
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-        /* patch= */ 2,
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-    private PV_struct_define(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
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-    public static final int ROBOT_CHGLENGTH_FIELD_NUMBER = 1;
-    private int robotChgLength_ = 0;
-    /**
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-     * @return The robotChgLength.
-     */
-    @java.lang.Override
-    public int getRobotChgLength() {
-      return robotChgLength_;
-    }
-
-    public static final int ROBOT_AUTOSPEEDBASE_FIELD_NUMBER = 2;
-    private double robotAutoSpeedBase_ = 0D;
-    /**
-     * <code>double Robot_AutoSpeedBase = 2;</code>
-     * @return The robotAutoSpeedBase.
-     */
-    @java.lang.Override
-    public double getRobotAutoSpeedBase() {
-      return robotAutoSpeedBase_;
-    }
-
-    public static final int ROBOT_MANUALSPEEDBASE_FIELD_NUMBER = 3;
-    private double robotManualSpeedBase_ = 0D;
-    /**
-     * <code>double Robot_ManualSpeedBase = 3;</code>
-     * @return The robotManualSpeedBase.
-     */
-    @java.lang.Override
-    public double getRobotManualSpeedBase() {
-      return robotManualSpeedBase_;
-    }
-
-    public static final int ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER = 4;
-    private int robotLaneChangeDirection_ = 0;
-    /**
-     * <code>int32 Robot_LaneChange_Direction = 4;</code>
-     * @return The robotLaneChangeDirection.
-     */
-    @java.lang.Override
-    public int getRobotLaneChangeDirection() {
-      return robotLaneChangeDirection_;
-    }
-
-    public static final int ROBOT_FORCE_FIELD_NUMBER = 5;
-    private int robotForce_ = 0;
-    /**
-     * <code>int32 Robot_Force = 5;</code>
-     * @return The robotForce.
-     */
-    @java.lang.Override
-    public int getRobotForce() {
-      return robotForce_;
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
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-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
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-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
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-      if (robotChgLength_ != 0) {
-        output.writeInt32(1, robotChgLength_);
-      }
-      if (java.lang.Double.doubleToRawLongBits(robotAutoSpeedBase_) != 0) {
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-      if (java.lang.Double.doubleToLongBits(getRobotManualSpeedBase())
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-      if (getRobotLaneChangeDirection()
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-      hash = (37 * hash) + ROBOT_LANECHANGE_DIRECTION_FIELD_NUMBER;
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-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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-      return com.google.protobuf.GeneratedMessage
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-    @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);
-    }
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-    public Builder toBuilder() {
-      return this == DEFAULT_INSTANCE
-          ? new Builder() : new Builder().mergeFrom(this);
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-    @java.lang.Override
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-      Builder builder = new Builder(parent);
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-    /**
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-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessage.Builder<Builder> implements
-        // @@protoc_insertion_point(builder_implements:PV_struct_define)
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-      // Construct using com.example.removemarineanimals.models.BspPV.PV_struct_define.newBuilder()
-      private Builder() {
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-      }
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-      private Builder(
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-        super(parent);
-
-      }
-      @java.lang.Override
-      public Builder clear() {
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-        robotChgLength_ = 0;
-        robotAutoSpeedBase_ = 0D;
-        robotManualSpeedBase_ = 0D;
-        robotLaneChangeDirection_ = 0;
-        robotForce_ = 0;
-        return this;
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-      @java.lang.Override
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-      @java.lang.Override
-      public com.example.removemarineanimals.models.BspPV.PV_struct_define build() {
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-        if (!result.isInitialized()) {
-          throw newUninitializedMessageException(result);
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-        return result;
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-
-      @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_;
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-      }
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-      @java.lang.Override
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-        if (other instanceof com.example.removemarineanimals.models.BspPV.PV_struct_define) {
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-          return this;
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-
-      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;
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-
-      @java.lang.Override
-      public Builder mergeFrom(
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-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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-          throw new java.lang.NullPointerException();
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-        try {
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-            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
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-                break;
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-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.unwrapIOException();
-        } finally {
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-        return this;
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-      private int bitField0_;
-
-      private int robotChgLength_ ;
-      /**
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-       * @return The robotChgLength.
-       */
-      @java.lang.Override
-      public int getRobotChgLength() {
-        return robotChgLength_;
-      }
-      /**
-       * <code>int32 Robot_ChgLength = 1;</code>
-       * @param value The robotChgLength to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotChgLength(int value) {
-
-        robotChgLength_ = value;
-        bitField0_ |= 0x00000001;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_ChgLength = 1;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotChgLength() {
-        bitField0_ = (bitField0_ & ~0x00000001);
-        robotChgLength_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private double robotAutoSpeedBase_ ;
-      /**
-       * <code>double Robot_AutoSpeedBase = 2;</code>
-       * @return The robotAutoSpeedBase.
-       */
-      @java.lang.Override
-      public double getRobotAutoSpeedBase() {
-        return robotAutoSpeedBase_;
-      }
-      /**
-       * <code>double Robot_AutoSpeedBase = 2;</code>
-       * @param value The robotAutoSpeedBase to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotAutoSpeedBase(double value) {
-
-        robotAutoSpeedBase_ = value;
-        bitField0_ |= 0x00000002;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>double Robot_AutoSpeedBase = 2;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotAutoSpeedBase() {
-        bitField0_ = (bitField0_ & ~0x00000002);
-        robotAutoSpeedBase_ = 0D;
-        onChanged();
-        return this;
-      }
-
-      private double robotManualSpeedBase_ ;
-      /**
-       * <code>double Robot_ManualSpeedBase = 3;</code>
-       * @return The robotManualSpeedBase.
-       */
-      @java.lang.Override
-      public double getRobotManualSpeedBase() {
-        return robotManualSpeedBase_;
-      }
-      /**
-       * <code>double Robot_ManualSpeedBase = 3;</code>
-       * @param value The robotManualSpeedBase to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotManualSpeedBase(double value) {
-
-        robotManualSpeedBase_ = value;
-        bitField0_ |= 0x00000004;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>double Robot_ManualSpeedBase = 3;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotManualSpeedBase() {
-        bitField0_ = (bitField0_ & ~0x00000004);
-        robotManualSpeedBase_ = 0D;
-        onChanged();
-        return this;
-      }
-
-      private int robotLaneChangeDirection_ ;
-      /**
-       * <code>int32 Robot_LaneChange_Direction = 4;</code>
-       * @return The robotLaneChangeDirection.
-       */
-      @java.lang.Override
-      public int getRobotLaneChangeDirection() {
-        return robotLaneChangeDirection_;
-      }
-      /**
-       * <code>int32 Robot_LaneChange_Direction = 4;</code>
-       * @param value The robotLaneChangeDirection to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotLaneChangeDirection(int value) {
-
-        robotLaneChangeDirection_ = value;
-        bitField0_ |= 0x00000008;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_LaneChange_Direction = 4;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotLaneChangeDirection() {
-        bitField0_ = (bitField0_ & ~0x00000008);
-        robotLaneChangeDirection_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int robotForce_ ;
-      /**
-       * <code>int32 Robot_Force = 5;</code>
-       * @return The robotForce.
-       */
-      @java.lang.Override
-      public int getRobotForce() {
-        return robotForce_;
-      }
-      /**
-       * <code>int32 Robot_Force = 5;</code>
-       * @param value The robotForce to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotForce(int value) {
-
-        robotForce_ = value;
-        bitField0_ |= 0x00000010;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_Force = 5;</code>
-       * @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<PV_struct_define>
-        PARSER = new com.google.protobuf.AbstractParser<PV_struct_define>() {
-      @java.lang.Override
-      public PV_struct_define parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
-        } catch (com.google.protobuf.UninitializedMessageException e) {
-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
-        } catch (java.io.IOException e) {
-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
-              .setUnfinishedMessage(builder.buildPartial());
-        }
-        return builder.buildPartial();
-      }
-    };
-
-    public static com.google.protobuf.Parser<PV_struct_define> parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser<PV_struct_define> getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.example.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 
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-      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)
-}
--- a/app/src/main/java/com/example/removemarineanimals/models/RobotData.java
+++ b/app/src/main/java/com/example/removemarineanimals/models/RobotData.java
@ -1,792 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: robot_data.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.removemarineanimals.models;
-
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-  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) {
-  }
-
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--- a/app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java
+++ b/app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java
@ -1,615 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: robot_RMACM.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.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 {
-
-    /**
-     * <pre>
-     * 灯光亮度
-     * </pre>
-     *
-     * <code>int32 LightBrightness = 1;</code>
-     * @return The lightBrightness.
-     */
-    int getLightBrightness();
-
-    /**
-     * <pre>
-     * 机器人速度
-     * </pre>
-     *
-     * <code>int32 Robot_Speed = 2;</code>
-     * @return The robotSpeed.
-     */
-    int getRobotSpeed();
-  }
-  /**
-   * <pre>
-   * Remove Marine Animal Command
-   * </pre>
-   *
-   * Protobuf type {@code RMACM}
-   */
-  public static final class RMACM extends
-      com.google.protobuf.GeneratedMessage implements
-      // @@protoc_insertion_point(message_implements:RMACM)
-      RMACMOrBuilder {
-  private static final long serialVersionUID = 0L;
-    static {
-      com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
-        com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
-        /* major= */ 4,
-        /* minor= */ 27,
-        /* patch= */ 2,
-        /* suffix= */ "",
-        RMACM.class.getName());
-    }
-    // Use RMACM.newBuilder() to construct.
-    private RMACM(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
-      super(builder);
-    }
-    private RMACM() {
-    }
-
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return RobotRMACM.internal_static_RMACM_descriptor;
-    }
-
-    @Override
-    protected FieldAccessorTable
-        internalGetFieldAccessorTable() {
-      return RobotRMACM.internal_static_RMACM_fieldAccessorTable
-          .ensureFieldAccessorsInitialized(
-              RMACM.class, Builder.class);
-    }
-
-    public static final int LIGHTBRIGHTNESS_FIELD_NUMBER = 1;
-    private int lightBrightness_ = 0;
-    /**
-     * <pre>
-     * 灯光亮度
-     * </pre>
-     *
-     * <code>int32 LightBrightness = 1;</code>
-     * @return The lightBrightness.
-     */
-    @Override
-    public int getLightBrightness() {
-      return lightBrightness_;
-    }
-
-    public static final int ROBOT_SPEED_FIELD_NUMBER = 2;
-    private int robotSpeed_ = 0;
-    /**
-     * <pre>
-     * 机器人速度
-     * </pre>
-     *
-     * <code>int32 Robot_Speed = 2;</code>
-     * @return The robotSpeed.
-     */
-    @Override
-    public int getRobotSpeed() {
-      return robotSpeed_;
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (lightBrightness_ != 0) {
-        output.writeInt32(1, lightBrightness_);
-      }
-      if (robotSpeed_ != 0) {
-        output.writeInt32(2, robotSpeed_);
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (lightBrightness_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(1, lightBrightness_);
-      }
-      if (robotSpeed_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(2, robotSpeed_);
-      }
-      size += getUnknownFields().getSerializedSize();
-      memoizedSize = size;
-      return size;
-    }
-
-    @Override
-    public boolean equals(final Object obj) {
-      if (obj == this) {
-       return true;
-      }
-      if (!(obj instanceof RMACM)) {
-        return super.equals(obj);
-      }
-      RMACM other = (RMACM) obj;
-
-      if (getLightBrightness()
-          != other.getLightBrightness()) return false;
-      if (getRobotSpeed()
-          != other.getRobotSpeed()) return false;
-      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
-      return true;
-    }
-
-    @Override
-    public int hashCode() {
-      if (memoizedHashCode != 0) {
-        return memoizedHashCode;
-      }
-      int hash = 41;
-      hash = (19 * hash) + getDescriptor().hashCode();
-      hash = (37 * hash) + LIGHTBRIGHTNESS_FIELD_NUMBER;
-      hash = (53 * hash) + getLightBrightness();
-      hash = (37 * hash) + ROBOT_SPEED_FIELD_NUMBER;
-      hash = (53 * hash) + getRobotSpeed();
-      hash = (29 * hash) + getUnknownFields().hashCode();
-      memoizedHashCode = hash;
-      return hash;
-    }
-
-    public static RMACM parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static RMACM parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static RMACM parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static RMACM parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static RMACM parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static RMACM parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static RMACM parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseWithIOException(PARSER, input);
-    }
-    public static RMACM parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-
-    public static RMACM parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseDelimitedWithIOException(PARSER, input);
-    }
-
-    public static RMACM parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
-    }
-    public static RMACM parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseWithIOException(PARSER, input);
-    }
-    public static RMACM parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessage
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-
-    @Override
-    public Builder newBuilderForType() { return newBuilder(); }
-    public static Builder newBuilder() {
-      return DEFAULT_INSTANCE.toBuilder();
-    }
-    public static Builder newBuilder(RMACM prototype) {
-      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
-    }
-    @Override
-    public Builder toBuilder() {
-      return this == DEFAULT_INSTANCE
-          ? new Builder() : new Builder().mergeFrom(this);
-    }
-
-    @Override
-    protected Builder newBuilderForType(
-        BuilderParent parent) {
-      Builder builder = new Builder(parent);
-      return builder;
-    }
-    /**
-     * <pre>
-     * Remove Marine Animal Command
-     * </pre>
-     *
-     * Protobuf type {@code RMACM}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessage.Builder<Builder> implements
-        // @@protoc_insertion_point(builder_implements:RMACM)
-        RMACMOrBuilder {
-      public static final com.google.protobuf.Descriptors.Descriptor
-          getDescriptor() {
-        return RobotRMACM.internal_static_RMACM_descriptor;
-      }
-
-      @Override
-      protected FieldAccessorTable
-          internalGetFieldAccessorTable() {
-        return RobotRMACM.internal_static_RMACM_fieldAccessorTable
-            .ensureFieldAccessorsInitialized(
-                RMACM.class, Builder.class);
-      }
-
-      // Construct using com.example.removemarineanimals.models.RobotRMACM.RMACM.newBuilder()
-      private Builder() {
-
-      }
-
-      private Builder(
-          BuilderParent parent) {
-        super(parent);
-
-      }
-      @Override
-      public Builder clear() {
-        super.clear();
-        bitField0_ = 0;
-        lightBrightness_ = 0;
-        robotSpeed_ = 0;
-        return this;
-      }
-
-      @Override
-      public com.google.protobuf.Descriptors.Descriptor
-          getDescriptorForType() {
-        return RobotRMACM.internal_static_RMACM_descriptor;
-      }
-
-      @Override
-      public RMACM getDefaultInstanceForType() {
-        return RMACM.getDefaultInstance();
-      }
-
-      @Override
-      public RMACM build() {
-        RMACM result = buildPartial();
-        if (!result.isInitialized()) {
-          throw newUninitializedMessageException(result);
-        }
-        return result;
-      }
-
-      @Override
-      public RMACM buildPartial() {
-        RMACM result = new RMACM(this);
-        if (bitField0_ != 0) { buildPartial0(result); }
-        onBuilt();
-        return result;
-      }
-
-      private void buildPartial0(RMACM result) {
-        int from_bitField0_ = bitField0_;
-        if (((from_bitField0_ & 0x00000001) != 0)) {
-          result.lightBrightness_ = lightBrightness_;
-        }
-        if (((from_bitField0_ & 0x00000002) != 0)) {
-          result.robotSpeed_ = robotSpeed_;
-        }
-      }
-
-      @Override
-      public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof RMACM) {
-          return mergeFrom((RMACM)other);
-        } else {
-          super.mergeFrom(other);
-          return this;
-        }
-      }
-
-      public Builder mergeFrom(RMACM other) {
-        if (other == RMACM.getDefaultInstance()) return this;
-        if (other.getLightBrightness() != 0) {
-          setLightBrightness(other.getLightBrightness());
-        }
-        if (other.getRobotSpeed() != 0) {
-          setRobotSpeed(other.getRobotSpeed());
-        }
-        this.mergeUnknownFields(other.getUnknownFields());
-        onChanged();
-        return this;
-      }
-
-      @Override
-      public final boolean isInitialized() {
-        return true;
-      }
-
-      @Override
-      public Builder mergeFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws java.io.IOException {
-        if (extensionRegistry == null) {
-          throw new NullPointerException();
-        }
-        try {
-          boolean done = false;
-          while (!done) {
-            int tag = input.readTag();
-            switch (tag) {
-              case 0:
-                done = true;
-                break;
-              case 8: {
-                lightBrightness_ = input.readInt32();
-                bitField0_ |= 0x00000001;
-                break;
-              } // case 8
-              case 16: {
-                robotSpeed_ = input.readInt32();
-                bitField0_ |= 0x00000002;
-                break;
-              } // case 16
-              default: {
-                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
-                  done = true; // was an endgroup tag
-                }
-                break;
-              } // default:
-            } // switch (tag)
-          } // while (!done)
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.unwrapIOException();
-        } finally {
-          onChanged();
-        } // finally
-        return this;
-      }
-      private int bitField0_;
-
-      private int lightBrightness_ ;
-      /**
-       * <pre>
-       * 灯光亮度
-       * </pre>
-       *
-       * <code>int32 LightBrightness = 1;</code>
-       * @return The lightBrightness.
-       */
-      @Override
-      public int getLightBrightness() {
-        return lightBrightness_;
-      }
-      /**
-       * <pre>
-       * 灯光亮度
-       * </pre>
-       *
-       * <code>int32 LightBrightness = 1;</code>
-       * @param value The lightBrightness to set.
-       * @return This builder for chaining.
-       */
-      public Builder setLightBrightness(int value) {
-
-        lightBrightness_ = value;
-        bitField0_ |= 0x00000001;
-        onChanged();
-        return this;
-      }
-      /**
-       * <pre>
-       * 灯光亮度
-       * </pre>
-       *
-       * <code>int32 LightBrightness = 1;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearLightBrightness() {
-        bitField0_ = (bitField0_ & ~0x00000001);
-        lightBrightness_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int robotSpeed_ ;
-      /**
-       * <pre>
-       * 机器人速度
-       * </pre>
-       *
-       * <code>int32 Robot_Speed = 2;</code>
-       * @return The robotSpeed.
-       */
-      @Override
-      public int getRobotSpeed() {
-        return robotSpeed_;
-      }
-      /**
-       * <pre>
-       * 机器人速度
-       * </pre>
-       *
-       * <code>int32 Robot_Speed = 2;</code>
-       * @param value The robotSpeed to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotSpeed(int value) {
-
-        robotSpeed_ = value;
-        bitField0_ |= 0x00000002;
-        onChanged();
-        return this;
-      }
-      /**
-       * <pre>
-       * 机器人速度
-       * </pre>
-       *
-       * <code>int32 Robot_Speed = 2;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotSpeed() {
-        bitField0_ = (bitField0_ & ~0x00000002);
-        robotSpeed_ = 0;
-        onChanged();
-        return this;
-      }
-
-      // @@protoc_insertion_point(builder_scope:RMACM)
-    }
-
-    // @@protoc_insertion_point(class_scope:RMACM)
-    private static final RMACM DEFAULT_INSTANCE;
-    static {
-      DEFAULT_INSTANCE = new RMACM();
-    }
-
-    public static RMACM getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static final com.google.protobuf.Parser<RMACM>
-        PARSER = new com.google.protobuf.AbstractParser<RMACM>() {
-      @Override
-      public RMACM parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
-        } catch (com.google.protobuf.UninitializedMessageException e) {
-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
-        } catch (java.io.IOException e) {
-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
-              .setUnfinishedMessage(builder.buildPartial());
-        }
-        return builder.buildPartial();
-      }
-    };
-
-    public static com.google.protobuf.Parser<RMACM> parser() {
-      return PARSER;
-    }
-
-    @Override
-    public com.google.protobuf.Parser<RMACM> getParserForType() {
-      return PARSER;
-    }
-
-    @Override
-    public RMACM getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  private static final com.google.protobuf.Descriptors.Descriptor
-    internal_static_RMACM_descriptor;
-  private static final 
-    com.google.protobuf.GeneratedMessage.FieldAccessorTable
-      internal_static_RMACM_fieldAccessorTable;
-
-  public static com.google.protobuf.Descriptors.FileDescriptor
-      getDescriptor() {
-    return descriptor;
-  }
-  private static  com.google.protobuf.Descriptors.FileDescriptor
-      descriptor;
-  static {
-    String[] descriptorData = {
-      "\n\021robot_RMACM.proto\"5\n\005RMACM\022\027\n\017LightBri" +
-      "ghtness\030\001 \001(\005\022\023\n\013Robot_Speed\030\002 \001(\005B*\n&co" +
-      "m.example.removemarineanimals.modelsP\000b\006" +
-      "proto3"
-    };
-    descriptor = com.google.protobuf.Descriptors.FileDescriptor
-      .internalBuildGeneratedFileFrom(descriptorData,
-        new com.google.protobuf.Descriptors.FileDescriptor[] {
-        });
-    internal_static_RMACM_descriptor =
-      getDescriptor().getMessageTypes().get(0);
-    internal_static_RMACM_fieldAccessorTable = new
-      com.google.protobuf.GeneratedMessage.FieldAccessorTable(
-        internal_static_RMACM_descriptor,
-        new String[] { "LightBrightness", "RobotSpeed", });
-    descriptor.resolveAllFeaturesImmutable();
-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/CustomProber.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/CustomProber.java
@ -1,23 +0,0 @@
-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);
-    }
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java
@ -1,17 +0,0 @@
-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()
-        );
-    }
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java
@ -1,72 +0,0 @@
-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;
-    }
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java
@ -1,54 +0,0 @@
-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);
-    }
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/RtspRecorder.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/RtspRecorder.java
@ -1,140 +0,0 @@
-//package com.example.removemarineanimals.services;
-//
-//import android.content.Context;
-//import android.graphics.Bitmap;
-//import android.graphics.Canvas;
-//import android.view.View;
-//import android.widget.Toast;
-//
-//import com.arthenica.ffmpegkit.FFmpegKit;
-//import com.arthenica.ffmpegkit.FFmpegSession;
-//import com.arthenica.ffmpegkit.ReturnCode;
-//import com.example.removemarineanimals.MainActivity;
-//
-//import java.io.File;
-//import java.io.FileOutputStream;
-//import java.io.IOException;
-//import java.text.SimpleDateFormat;
-//import java.util.Date;
-//
-//public class RtspRecorder {
-//    // 用于控制录制会话
-//    private MainActivity MainActivity;
-//    private static FFmpegSession recordingSession;
-//
-//    // 开始分段录制
-//    public static void startRecording(Context context, String rtspUrl)
-//    {
-//
-//        String outputPath ="storage/emulated/0/DCIM/" + "/record_%Y-%m-%d_%H-%M-%S.mp4";
-//        //String outputPath = context.getExternalFilesDir(null) + "/record_%Y-%m-%d_%H-%M-%S.mp4";
-//        String command = String.format(
-//                "-rtsp_transport tcp -i \"%s\" -c:v copy -f segment -segment_time 30 -reset_timestamps 1 -strftime 1 \"%s\"",
-//                rtspUrl, outputPath
-//        );
-//
-//        recordingSession = FFmpegKit.executeAsync(command, session -> {
-//            if (ReturnCode.isSuccess(session.getReturnCode())) {
-//                // 录制正常结束
-//            } else {
-//                // 录制异常终止
-//            }
-//        });
-//    }
-//
-//    // 停止录制
-//    public static void stopRecording() {
-//        if (recordingSession != null) {
-//            FFmpegKit.cancel(recordingSession.getSessionId());
-//            recordingSession = null;
-//        }
-//    }
-//
-//    // 实时截图（需手动调用）
-//    public static void takeSnapshot(Context context, String rtspUrl) {
-//        //String outputPath = context.getExternalFilesDir(null) + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
-//
-//        String outputPath =  "storage/emulated/0/DCIM/" + "/snapshot_%Y-%m-%d_%H-%M-%S.jpg";
-//
-//        String command = String.format(
-//                "-rtsp_transport tcp -i \"%s\" -frames:v 1 -strftime 1 \"%s\"",
-//                rtspUrl, outputPath
-//        );
-//        FFmpegSession session2 = FFmpegKit.executeAsync(command,session -> {
-//            if (ReturnCode.isSuccess(session.getReturnCode()))
-//            {
-//                // 截图成功
-//                Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
-//
-//            } else
-//            {
-//                // 截图失败
-//                Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
-//            }
-//        });
-//
-////
-////        if (ReturnCode.isSuccess(session.getReturnCode())) {
-////            // 截图成功
-////        } else {
-////            // 截图失败
-////        }
-//
-////        recordingSession = FFmpegKit.executeAsync(command, session -> {
-////            if (ReturnCode.isSuccess(session.getReturnCode()))
-////            {
-////                // 截图成功
-////                Toast.makeText(context, "截图成功", Toast.LENGTH_SHORT).show();
-////
-////            } else
-////            {
-////                // 截图失败
-////                Toast.makeText(context, "截图失败", Toast.LENGTH_SHORT).show();
-////            }
-////        });
-//
-//
-//    }
-//
-//    // 方法1：通过DrawingCache（适用于可见的View）
-//    public static Bitmap captureView(View view) {
-//        view.setDrawingCacheEnabled(true);
-//        view.buildDrawingCache();
-//        Bitmap bitmap = Bitmap.createBitmap(view.getDrawingCache());
-//        view.setDrawingCacheEnabled(false); // 释放缓存
-//        return bitmap;
-//    }
-//
-//    // 方法2：直接绘制到Bitmap（更可靠，适用于未显示的View）
-//    public static Bitmap captureViewManual(View view) {
-//
-////        view.measure(View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED), View.MeasureSpec.makeMeasureSpec(0, View.MeasureSpec.UNSPECIFIED));
-////        view.layout(0, 0, view.getMeasuredWidth(), view.getMeasuredHeight());
-////        view.buildDrawingCache();
-////        Bitmap bitmap = view.getDrawingCache();
-//
-//
-//        Bitmap bitmap = Bitmap.createBitmap(view.getWidth(), view.getHeight(), Bitmap.Config.ARGB_8888);
-//        Canvas canvas = new Canvas(bitmap);
-//        view.draw(canvas);
-//        return bitmap;
-//    }
-//
-//    public static void SnapPictureByView (View view)
-//    {
-//        // 保存到文件（需权限）
-//        Date dNow=new Date();
-//        SimpleDateFormat ft = new SimpleDateFormat ("yyyy-MM-dd hh-mm-ss");
-//        String path = "storage/emulated/0/DCIM/" + ft.format(dNow)+ ".png";
-//        File file = new File(path);
-//        try (FileOutputStream out = new FileOutputStream(file))
-//        {
-//           // Bitmap screenshot = captureView(view);
-//            Bitmap screenshot = captureViewManual(view);
-//            screenshot.compress(Bitmap.CompressFormat.PNG, 100, out);
-//        } catch (IOException e) {
-//            e.printStackTrace();
-//        }
-//    }
-//
-//}
--- a/app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java
@ -1,352 +0,0 @@
-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";
-
-
-    // <usb-device vendor-id="4292" product-id="60000" /> <!-- 0xea60: CP2102 and other CP210x single port devices -->
-    // <usb-device vendor-id="4292" product-id="60016" /> <!-- 0xea70: CP2105 -->
-    // <usb-device vendor-id="4292" product-id="60017" /> <!-- 0xea71: CP2108 -->
-
-
-    private int deviceId = 60000;
-    private int deviceId_test = 60000;
-    private int portNum;
-    private final int WRITE_WAIT_MILLIS = 500;
-    private final int READ_WAIT_MILLIS = 100;
-    private String PortNameContians = "SILICON";/**/
-    //    private static String PortNameContians="FTD";
-    private int baudRate = 57600;
-    private boolean withIoManager = true;
-
-    private BroadcastReceiver broadcastReceiver;
-    private Handler mainLooper;
-
-    private SerialInputOutputManager usbIoManager;
-    private UsbSerialPort usbSerialPort;
-    private UsbPermission usbPermission = UsbPermission.Unknown;
-    private boolean connected = false;
-
-    public void intialize() {
-
-        broadcastReceiver = new BroadcastReceiver() {
-            @Override
-            public void onReceive(Context context, Intent intent) {
-                if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
-                    usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
-                    connect();
-                }
-            }
-        };
-        mainLooper = new Handler(Looper.getMainLooper());
-        _receiveBufferlist = new ArrayList<Byte>();
-    }
-
-    /*
-     * Serial
-     */
-    @Override
-    public void onNewData(byte[] data) {
-        status("new data");
-        mainLooper.post(() -> {
-            receive(data);
-            // receive data
-        });
-    }
-
-    @Override
-    public void onRunError(Exception e) {
-        mainLooper.post(() -> {
-            status("connection lost: " + e.getMessage());
-            disconnect();
-        });
-    }
-
-    /*
-     * Serial + UI
-     */
-
-    public void connect() {
-
-        UsbDevice device = null;
-        UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
-        for (UsbDevice v : usbManager.getDeviceList().values()) {
-            status(v.getManufacturerName().toUpperCase());
-            if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
-                device = v;
-                break;
-            }
-        }
-
-        if (device == null) {
-            // _serialPortSwitch.setChecked(false);
-
-            status("找不到设备");
-            return;
-        }
-        UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
-        if (driver == null) {
-            driver = CustomProber.getCustomProber().probeDevice(device);
-        }
-        if (driver == null) {
-            // _serialPortSwitch.setChecked(false);
-            status("无驱动");
-            return;
-        }
-        if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
-        {
-            status("connection failed: not enough ports at device");
-            status("找不到设备");
-            return;
-        }
-        usbSerialPort = driver.getPorts().get(portNum);
-
-        UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
-        if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
-            usbPermission = UsbPermission.Requested;
-            int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
-            Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
-            intent.setPackage(MainActivity.getPackageName());
-            PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
-            usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
-            return;
-        }
-        if (usbConnection == null) {
-            if (!usbManager.hasPermission(driver.getDevice())) {
-                status("connection failed: permission denied");
-            } else {
-                status("connection failed: open failed");
-            }
-
-            return;
-        }
-
-        try {
-            usbSerialPort.open(usbConnection);
-            try {
-                usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
-                status("connected: ");
-
-            } catch (UnsupportedOperationException e) {
-                status("unsupport setparameters");
-            }
-            if (withIoManager) {
-                usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
-                usbIoManager.setReadBufferSize(40960);
-                usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
-                usbIoManager.start();
-            }
-            //status("connected");
-            connected = true;
-            //   _serialPortSwitch.setChecked(true);
-            //switch set true
-
-        } catch (Exception e) {
-            status("connection failed: " + e.getMessage());
-            disconnect();
-        }
-    }
-
-    private void disconnect() {
-        connected = false;
-
-        if (usbIoManager != null) {
-            usbIoManager.setListener(null);
-            usbIoManager.stop();
-        }
-        usbIoManager = null;
-        try {
-            usbSerialPort.close();
-        } catch (IOException ignored) {
-
-        }
-        usbSerialPort = null;
-    }
-
-    List<Byte> _receiveBufferlist;
-
-    private static byte[] listTobyte(List<Byte> list) {
-        if (list == null || list.size() < 0) return null;
-        byte[] bytes = new byte[list.size()];
-        int i = 0;
-        Iterator<Byte> iterator = list.iterator();
-        while (iterator.hasNext()) {
-            bytes[i] = iterator.next();
-            i++;
-        }
-        return bytes;
-    }
-
-    boolean StartCountDown = false;
-
-    //    byte _receivedData
-    private void receive(byte[] data) {
-
-        status("read data");
-        for (int i = 0; i < data.length; i++) {
-            _receiveBufferlist.add(data[i]);
-        }
-
-        //decodeRceive(data);
-        if (StartCountDown == false)//从收到第一个数据开始计时
-        {
-            StartCountDown = true;
-            new CountDownTimer(50, 10) {
-                public void onTick(long millisUntilFinished) {
-
-
-                }
-
-
-                public void onFinish() {
-
-                    status("read  finished");
-                    try {
-
-                        decodeRceive(listTobyte(_receiveBufferlist));
-
-                    }
-                    catch (Exception ignored)
-                    {
-                        status(ignored.getMessage());
-                    }
-                    _receiveBufferlist.clear();
-                    StartCountDown = false;
-                }
-            }.start();
-        }
-
-
-    }
-
-    void status(String str) {
-//        SpannableStringBuilder spn = new SpannableStringBuilder(str+'\r'+'\n');
-//
-//        // spn.append(getTime());
-//
-//        spn.setSpan(new ForegroundColorSpan(MainActivity.getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
-//        receiveText.append(spn);
-        // mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
-
-
-        // com.example.removemarineanimals.MainActivity.mainBinding.message.setText(str);
-    }
-
-    private void decodeRceive(byte[] data) {
-        try {
-
-
-            byte[] crcbytes = new byte[data.length - 2];
-            System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
-            byte[] crc=ModbusCRC.calculateCRC(crcbytes);
-            // status(bytesToHex(data));
-
-            if(data[data.length-2]==(byte)(crc[1]&0xff) && data[data.length-1]==(byte)(crc[0] & 0xff))
-            {
-
-            }
-            if (data[0] == 0x55 && data[1] == 0x55) {
-                byte[] bytes = new byte[data.length - 2];
-                System.arraycopy(data, 2, bytes, 0, data.length - 2);
-                RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(bytes);
-                //RobotData.DataTrans _dataTrans = RobotDataHanlder.DeoodeDataFromRobot(data);
-                status("received data");
-                if (_dataTrans != null) {
-
-                    MainViewModel.mainBinding.rFAngleRoll.setText(String.valueOf(_dataTrans.getRFAngleRoll()));
-
-                }
-            }
-
-
-        } catch (Exception e) {
-
-        }
-    }
-
-
-    public void onStart() {
-
-        ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
-        status("onStart");
-
-    }
-
-    public void onStop() {
-        MainActivity.unregisterReceiver(broadcastReceiver);
-        status("onStop");
-    }
-
-
-    public void onResume() {
-
-        if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
-            mainLooper.post(this::connect);
-
-        }
-    }
-
-
-    public void onPause() {
-        if (connected) {
-            status("串口断开");
-            // _serialPortSwitch.setChecked(false);
-            disconnect();
-        }
-
-    }
-
-
-    public void SendData(byte[] data) {
-        if (connected) {
-            try {
-                usbSerialPort.write(data, WRITE_WAIT_MILLIS);
-            } catch (IOException e) {
-                status("Send Failed");
-                connected = false;
-            }
-        } else {
-            status("usb serialport disconnected");
-
-        }
-
-
-    }
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java
@ -1,27 +0,0 @@
-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();
-    }
-}
-
--- a/app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java
+++ b/app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java
@ -1,227 +0,0 @@
-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();
-    }
-
-}
--- a/app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java
+++ b/app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java
@ -1,77 +0,0 @@
-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<user> LiveUser;
-
-    public MainViewModel()
-    {
-//        LiveUser = new MutableLiveData<user>();
-//
-//        user u=LiveUser.getValue();
-//        if(u==null)
-//        {
-//            u=new user();
-//            u.setName("dddddd");
-//            LiveUser.setValue(u);
-//        }
-
-
-
-    }
-
-
-    //# region Video操作区域
-    int recordVideoState=0;
-
-    public void SnapVideo()
-    {
-
-
-    }
-
-    //#end region Video操作区域
-
-    void SetPage()
-    {
-
-
-    }
-
- public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-
- }
-
-
-
-
-
-
-
-}
--- a/app/src/main/java/generate_java.bat
+++ b/app/src/main/java/generate_java.bat
@ -1,6 +0,0 @@
-cd /d D:\Android_studio_workspace\RemoveMarineAnimals\app\src\main\java
-protoc --proto_path=. --java_out=. bsp_IV.proto
-protoc --proto_path=. --java_out=. bsp_PV.proto
-protoc --proto_path=. --java_out=. bsp_Error.proto
-pause
-
--- a/app/src/main/java/protoc.7z
+++ b/app/src/main/java/protoc.7z
--- a/app/src/main/java/protoc.exe
+++ b/app/src/main/java/protoc.exe
--- a/app/src/main/res/drawable/background.xml
+++ b/app/src/main/res/drawable/background.xml
@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- 设置透明背景色 -->
-    <!--        <solid android:color="@color/gainsboro" />-->
-    <solid android:color="#f2f3f4" />
-    <!-- 设置一个黑色边框 -->
-    <!--    <stroke-->
-    <!--        android:width="4px"-->
-    <!--        android:color="@color/deepskyblue" />-->
-    <!-- 设置四个圆角的半径 -->
-    <corners
-        android:bottomLeftRadius="8dp"
-        android:bottomRightRadius="8dp"
-        android:topLeftRadius="8dp"
-        android:topRightRadius="8dp" />
-    <!-- 设置一下边距,让空间大一点 -->
-    <!--    <padding-->
-    <!--        android:bottom="5dp"-->
-    <!--        android:left="5dp"-->
-    <!--        android:right="5dp"-->
-    <!--        android:top="5dp" />-->
-
-</shape>
-
--- a/app/src/main/res/drawable/blue_rounded_rectangle.xml
+++ b/app/src/main/res/drawable/blue_rounded_rectangle.xml
@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- 设置透明背景色 -->
-<!--        <solid android:color="@color/white" />-->
-    <solid android:color="#d6eaf8" />
-    <!-- 设置一个黑色边框 -->
-<!--    <stroke-->
-<!--        android:width="4px"-->
-<!--        android:color="@color/deepskyblue" />-->
-    <!-- 设置四个圆角的半径 -->
-    <corners
-        android:bottomLeftRadius="8dp"
-        android:bottomRightRadius="8dp"
-        android:topLeftRadius="8dp"
-        android:topRightRadius="8dp" />
-    <!-- 设置一下边距,让空间大一点 -->
-    <!--    <padding-->
-    <!--        android:bottom="5dp"-->
-    <!--        android:left="5dp"-->
-    <!--        android:right="5dp"-->
-    <!--        android:top="5dp" />-->
-
-</shape>
-
--- a/app/src/main/res/drawable/border.xml
+++ b/app/src/main/res/drawable/border.xml
@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android" >
-
-<!-- 设置一个黑色边框 -->
-<stroke android:width="4px" android:color="#000000"/>
-<!-- 渐变 -->
-
-<!-- 设置一下边距,让空间大一点 -->
-
-</shape>
--- a/app/src/main/res/drawable/borderblue.xml
+++ b/app/src/main/res/drawable/borderblue.xml
@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- 设置透明背景色 -->
-    <solid android:color="#87CEEB" />
-
-    <!-- 设置一个黑色边框 -->
-    <stroke
-        android:width="4px"
-        android:color="#000000" />
-    <!-- 设置四个圆角的半径 -->
-    <corners
-        android:bottomLeftRadius="10px"
-        android:bottomRightRadius="10px"
-        android:topLeftRadius="10px"
-        android:topRightRadius="10px" />
-    <!-- 设置一下边距,让空间大一点 -->
-<!--    <padding-->
-<!--        android:bottom="5dp"-->
-<!--        android:left="5dp"-->
-<!--        android:right="5dp"-->
-<!--        android:top="5dp" />-->
-
-</shape>
--- a/app/src/main/res/drawable/dash_line.xml
+++ b/app/src/main/res/drawable/dash_line.xml
@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="line">
-    <stroke
-        android:color="#ffffff"
-        android:dashWidth="10dp"
-       />
-    <!--width：线条的高度
-    color：颜色
-     android:dashGap="8dp"
-    dashWidth：破折线的宽度
-    dashGap：破折线间空隙的宽度
-    如果这里设置了width，xml中android:layout_height的值必须比它大。不设置就默认为0
-    -->
-</shape>
--- a/app/src/main/res/drawable/ic_launcher_background.xml
+++ b/app/src/main/res/drawable/ic_launcher_background.xml
@ -1,170 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<vector xmlns:android="http://schemas.android.com/apk/res/android"
-    android:width="108dp"
-    android:height="108dp"
-    android:viewportWidth="108"
-    android:viewportHeight="108">
-    <path
-        android:fillColor="#3DDC84"
-        android:pathData="M0,0h108v108h-108z" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M9,0L9,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,0L19,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M29,0L29,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M39,0L39,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M49,0L49,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M59,0L59,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M69,0L69,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M79,0L79,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M89,0L89,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M99,0L99,108"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,9L108,9"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,19L108,19"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,29L108,29"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,39L108,39"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,49L108,49"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,59L108,59"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,69L108,69"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,79L108,79"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,89L108,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M0,99L108,99"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,29L89,29"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,39L89,39"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,49L89,49"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,59L89,59"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,69L89,69"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M19,79L89,79"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M29,19L29,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M39,19L39,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M49,19L49,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M59,19L59,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M69,19L69,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-    <path
-        android:fillColor="#00000000"
-        android:pathData="M79,19L79,89"
-        android:strokeWidth="0.8"
-        android:strokeColor="#33FFFFFF" />
-</vector>
--- a/app/src/main/res/drawable/ic_launcher_foreground.xml
+++ b/app/src/main/res/drawable/ic_launcher_foreground.xml
@ -1,30 +0,0 @@
-<vector xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:aapt="http://schemas.android.com/aapt"
-    android:width="108dp"
-    android:height="108dp"
-    android:viewportWidth="108"
-    android:viewportHeight="108">
-    <path android:pathData="M31,63.928c0,0 6.4,-11 12.1,-13.1c7.2,-2.6 26,-1.4 26,-1.4l38.1,38.1L107,108.928l-32,-1L31,63.928z">
-        <aapt:attr name="android:fillColor">
-            <gradient
-                android:endX="85.84757"
-                android:endY="92.4963"
-                android:startX="42.9492"
-                android:startY="49.59793"
-                android:type="linear">
-                <item
-                    android:color="#44000000"
-                    android:offset="0.0" />
-                <item
-                    android:color="#00000000"
-                    android:offset="1.0" />
-            </gradient>
-        </aapt:attr>
-    </path>
-    <path
-        android:fillColor="#FFFFFF"
-        android:fillType="nonZero"
-        android:pathData="M65.3,45.828l3.8,-6.6c0.2,-0.4 0.1,-0.9 -0.3,-1.1c-0.4,-0.2 -0.9,-0.1 -1.1,0.3l-3.9,6.7c-6.3,-2.8 -13.4,-2.8 -19.7,0l-3.9,-6.7c-0.2,-0.4 -0.7,-0.5 -1.1,-0.3C38.8,38.328 38.7,38.828 38.9,39.228l3.8,6.6C36.2,49.428 31.7,56.028 31,63.928h46C76.3,56.028 71.8,49.428 65.3,45.828zM43.4,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2c-0.3,-0.7 -0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C45.3,56.528 44.5,57.328 43.4,57.328L43.4,57.328zM64.6,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2s-0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C66.5,56.528 65.6,57.328 64.6,57.328L64.6,57.328z"
-        android:strokeWidth="1"
-        android:strokeColor="#00000000" />
-</vector>
--- a/app/src/main/res/drawable/message_rounded_rectangle.xml
+++ b/app/src/main/res/drawable/message_rounded_rectangle.xml
@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-
-    <!-- 设置透明背景色 -->
-    <solid android:color="#f6ddcc" />
-    <!-- 设置一个黑色边框 -->
-    <!--    <stroke-->
-    <!--        android:width="4px"-->
-    <!--        android:color="@color/" />-->
-    <!-- 设置四个圆角的半径 -->
-    <corners
-        android:bottomLeftRadius="8dp"
-        android:bottomRightRadius="8dp"
-        android:topLeftRadius="8dp"
-        android:topRightRadius="8dp" />
-    <!-- 设置一下边距,让空间大一点 -->
-    <!--    <padding-->
-    <!--        android:bottom="5dp"-->
-    <!--        android:left="5dp"-->
-    <!--        android:right="5dp"-->
-    <!--        android:top="5dp" />-->
-
-</shape>
-
--- a/app/src/main/res/drawable/squrelogo.png
+++ b/app/src/main/res/drawable/squrelogo.png
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@ -1,757 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<layout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
-    tools:context=".MainActivity">
-
-    <data>
-        <variable
-            name="vm"
-            type="com.example.removemarineanimals.viewmodels.MainViewModel" />
-    </data>
-
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        android:background="@drawable/background"
-        android:orientation="vertical">
-
-        <!--medium view-->
-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="0dp"
-            android:layout_weight="1"
-            android:orientation="horizontal"
-            tools:ignore="UselessParent">
-
-            <!--左侧信息区域-->
-            <LinearLayout
-                android:id="@+id/messageRounded"
-                android:layout_width="148dp"
-                android:layout_height="match_parent"
-                android:layout_marginVertical="8dp"
-                android:layout_marginStart="8dp"
-                android:background="@drawable/message_rounded_rectangle"
-                android:orientation="horizontal">
-
-                <GridLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="match_parent"
-                    android:layout_gravity="center"
-                    android:columnCount="1"
-                    android:orientation="vertical"
-                    android:rowCount="9">
-
-                    <!--机器人作业状态-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="状    态"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvRobotError"
-                            android:layout_width="0dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="center"
-                            android:text="xxx"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-
-                    <!--机器人当前角度-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="角    度"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/rF_Angle_Roll"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold"
-                            tools:ignore="RtlHardcoded" />
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="left|center_horizontal"
-                            android:text="°"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="电    流"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvRobotCurrent"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="left|center_horizontal"
-                            android:text="A"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-
-
-                    </LinearLayout>
-
-                    <!--机器人打磨压力常数-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="压    力"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvForce"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="left|center_horizontal"
-                            android:text="N"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-
-                    <!--机器人打磨压力常数-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="气    压"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvDynamometer"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="left|center_horizontal"
-                            android:text="Pa"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-                    <!--机器人左补偿-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="左补偿"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvRobotLeftCompensation"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold"/>
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="left|center_horizontal"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:text="°"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-
-                    <!--机器人右补偿-->
-                    <LinearLayout
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1"
-                        android:gravity="center"
-                        android:orientation="horizontal">
-
-                        <TextView
-                            android:layout_width="45dp"
-                            android:layout_height="wrap_content"
-                            android:layout_marginHorizontal="5dp"
-                            android:text="右补偿"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:id="@+id/tvRobotRightCompensation"
-                            android:layout_width="wrap_content"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="right"
-                            android:text="0"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:textStyle="bold" />
-
-                        <TextView
-                            android:layout_width="10dp"
-                            android:layout_height="wrap_content"
-                            android:layout_margin="1dp"
-                            android:layout_weight="1"
-                            android:gravity="start|center_horizontal"
-                            android:textColor="@color/midnightblue"
-                            android:textSize="14sp"
-                            android:text="°"
-                            android:textStyle="bold" />
-                    </LinearLayout>
-
-                    <!--左电机错误信息-->
-                    <FrameLayout
-                        android:id="@+id/mainViewErrMessageFrameLayout"
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:gravity="center"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="45dp"
-                                android:layout_height="wrap_content"
-                                android:layout_marginHorizontal="5dp"
-                                android:text="左电机"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="14sp"
-                                android:textStyle="bold" />
-
-                            <TextView
-                                android:id="@+id/tvLeftError"
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_margin="1dp"
-                                android:layout_weight="1"
-                                android:gravity="center"
-                                android:text="xxx"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="14sp"
-                                android:textStyle="bold" />
-
-                        </LinearLayout>
-                    </FrameLayout>
-                    <!--右电机错误信息-->
-                    <FrameLayout
-                        android:id="@+id/main"
-                        android:layout_width="match_parent"
-                        android:layout_height="0dp"
-                        android:layout_rowWeight="1">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:gravity="center"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="45dp"
-                                android:layout_height="wrap_content"
-                                android:layout_marginHorizontal="5dp"
-                                android:text="右电机"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="14sp"
-                                android:textStyle="bold" />
-
-                            <TextView
-                                android:id="@+id/tvRightError"
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_margin="1dp"
-                                android:layout_weight="1"
-                                android:gravity="center"
-                                android:text="xxx"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="14sp"
-                                android:textStyle="bold" />
-                        </LinearLayout>
-                    </FrameLayout>
-                </GridLayout>
-            </LinearLayout>
-
-            <!--参数设定区域-->
-            <LinearLayout
-                android:id="@+id/setLayout"
-                android:layout_width="match_parent"
-                android:layout_height="match_parent"
-                android:layout_margin="4dp"
-                android:orientation="vertical"
-                tools:ignore="Suspicious0dp">
-                <!-- 第一行：左右换道 -->
-                <LinearLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="0dp"
-                    android:layout_weight="1"
-                    android:orientation="horizontal"
-                    android:gravity="center"
-                    android:layout_margin="4dp">
-
-                    <Button
-                        android:id="@+id/btnLeftLaneChange"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_marginHorizontal="4dp"
-                        android:layout_weight="1"
-                        android:gravity="center"
-                        android:text="@string/change_left"
-                        android:background="@drawable/blue_rounded_rectangle"
-                        android:textColor="@color/deepskyblue"
-                        android:textSize="30sp"
-                        android:textStyle="bold"/>
-
-                    <Button
-                        android:id="@+id/btnRightLaneChange"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_weight="1"
-                        android:layout_marginHorizontal="4dp"
-                        android:text="@string/change_right"
-                        android:background="@drawable/blue_rounded_rectangle"
-                        android:textColor="@color/deepskyblue"
-                        android:textSize="30sp"
-                        android:textStyle="bold"/>
-                </LinearLayout>
-
-                <!--第二行：速度-->
-                <LinearLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="0dp"
-                    android:layout_weight="1">
-                    <!--移动速度-->
-                    <FrameLayout
-                        android:id="@+id/mainViewRobotSpeedFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="40dp"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:layout_marginHorizontal="8dp"
-                                android:text="手动速度"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="18sp"
-                                android:textStyle="bold" />
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:orientation="horizontal">
-
-                                <EditText
-                                    android:id="@+id/tvRobotManualSpeed"
-                                    android:layout_width="120dp"
-                                    android:layout_height="wrap_content"
-                                    android:layout_marginStart="27dp"
-                                    android:background="@null"
-                                    android:gravity="center"
-                                    android:imeOptions="actionDone"
-                                    android:inputType="numberDecimal"
-                                    android:text="10"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="35sp"
-                                    android:textStyle="bold" />
-
-                                <TextView
-                                    android:layout_width="wrap_content"
-                                    android:layout_height="match_parent"
-                                    android:layout_marginStart="-25dp"
-                                    android:layout_weight="1"
-                                    android:gravity="center"
-                                    android:text="m/min"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="25sp" />
-                            </LinearLayout>
-                        </LinearLayout>
-                    </FrameLayout>
-                    <!--自动速度-->
-                    <FrameLayout
-                        android:id="@+id/mainViewAutoSpeedFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="40dp"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:layout_marginHorizontal="8dp"
-                                android:text="自动速度"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="18sp"
-                                android:textStyle="bold" />
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:orientation="horizontal">
-
-                                <EditText
-                                    android:id="@+id/tvRobotAutoSpeed"
-                                    android:layout_width="120dp"
-                                    android:layout_height="match_parent"
-                                    android:layout_marginStart="27dp"
-                                    android:background="@null"
-                                    android:gravity="center"
-                                    android:imeOptions="actionDone"
-                                    android:inputType="numberDecimal"
-                                    android:text="10"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="35sp"
-                                    android:textStyle="bold" />
-                                <TextView
-                                    android:layout_width="wrap_content"
-                                    android:layout_height="match_parent"
-                                    android:layout_weight="1"
-                                    android:layout_marginStart="-25dp"
-                                    android:gravity="center"
-                                    android:text="m/min"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="25sp" />
-                            </LinearLayout>
-                        </LinearLayout>
-                    </FrameLayout>
-                </LinearLayout>
-                <!--第三行-->
-                <LinearLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="0dp"
-                    android:layout_weight="1">
-                    <!--压力设定-->
-                    <FrameLayout
-                        android:id="@+id/mainViewEndPressureFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="40dp"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:layout_marginHorizontal="8dp"
-                                android:text="压力设定"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="18sp"
-                                android:textStyle="bold" />
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:orientation="horizontal">
-
-                                <EditText
-                                    android:id="@+id/tvRobotForce"
-                                    android:layout_width="112dp"
-                                    android:layout_height="wrap_content"
-                                    android:layout_marginStart="40dp"
-                                    android:background="@null"
-                                    android:gravity="center"
-                                    android:imeOptions="actionDone"
-                                    android:inputType="number"
-                                    android:text="300"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="35sp"
-                                    android:textStyle="bold" />
-
-                                <TextView
-                                    android:layout_width="wrap_content"
-                                    android:layout_height="match_parent"
-                                    android:layout_marginStart="-15dp"
-                                    android:layout_weight="1"
-                                    android:gravity="center"
-                                    android:text="N"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="25sp" />
-                            </LinearLayout>
-                        </LinearLayout>
-                    </FrameLayout>
-                    <!--换道幅宽-->
-                    <FrameLayout
-                        android:id="@+id/mainViewLaneChangeWidthFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="40dp"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:layout_marginHorizontal="8dp"
-                                android:text="换道幅宽"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="18sp"
-                                android:textStyle="bold" />
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:orientation="horizontal">
-
-                                <EditText
-                                    android:id="@+id/tvRobotChgLength"
-                                    android:layout_width="120dp"
-                                    android:layout_height="wrap_content"
-                                    android:layout_marginStart="40dp"
-                                    android:background="@null"
-                                    android:imeOptions="actionDone"
-                                    android:inputType="number"
-                                    android:gravity="center"
-                                    android:text="40"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="35sp"
-                                    android:textStyle="bold" />
-
-                                <TextView
-                                    android:layout_width="wrap_content"
-                                    android:layout_height="match_parent"
-                                    android:gravity="center"
-                                    android:layout_marginStart="-25dp"
-                                    android:text="mm"
-                                    android:textColor="@color/deepskyblue"
-                                    android:textSize="25sp" />
-                            </LinearLayout>
-                        </LinearLayout>
-                    </FrameLayout>
-                </LinearLayout>
-                <!--第四行-->
-                <LinearLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="0dp"
-                    android:layout_weight="1">
-
-                    <FrameLayout
-                        android:id="@+id/mainViewCurrentFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <TextView
-                                android:layout_width="40dp"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:layout_marginHorizontal="8dp"
-                                android:text="留置"
-                                android:textColor="@color/midnightblue"
-                                android:textSize="18sp"
-                                android:textStyle="bold" />
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_gravity="center"
-                                android:orientation="horizontal">
-
-                            </LinearLayout>
-                        </LinearLayout>
-                    </FrameLayout>
-
-                    <FrameLayout
-                        android:id="@+id/mainViewVerticalCalibrationFrameLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="match_parent"
-                        android:layout_gravity="center"
-                        android:layout_margin="4dp"
-                        android:layout_weight="1"
-                        android:background="@drawable/blue_rounded_rectangle">
-
-                        <LinearLayout
-                            android:layout_width="match_parent"
-                            android:layout_height="match_parent"
-                            android:layout_gravity="fill"
-                            android:orientation="horizontal">
-
-                            <Button
-                                android:id="@+id/btnShowLogs"
-                                android:layout_width="0dp"
-                                android:layout_height="match_parent"
-                                android:layout_weight="1"
-                                android:layout_marginHorizontal="4dp"
-                                android:background="@drawable/blue_rounded_rectangle"
-                                android:text="@string/log"
-                                android:gravity="center"
-                                android:textColor="@color/deepskyblue"
-                                android:textSize="30sp"
-                                android:textStyle="bold"/>
-
-                        </LinearLayout>
-                    </FrameLayout>
-                </LinearLayout>
-            </LinearLayout>
-        </LinearLayout>
-    </LinearLayout>
-</layout>
--- a/app/src/main/res/layout/dialog_logs.xml
+++ b/app/src/main/res/layout/dialog_logs.xml
@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<ScrollView xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="wrap_content"
-    android:padding="16dp">
-
-    <TextView
-        android:id="@+id/tv_logs_content"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:textSize="14sp"
-        android:textColor="#000000"
-        android:scrollbars="vertical" />
-
-</ScrollView>
--- a/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml
+++ b/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
-    <background android:drawable="@drawable/ic_launcher_background" />
-    <foreground android:drawable="@drawable/ic_launcher_foreground" />
-    <monochrome android:drawable="@drawable/ic_launcher_foreground" />
-</adaptive-icon>
--- a/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml
+++ b/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml
@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
-    <background android:drawable="@drawable/ic_launcher_background" />
-    <foreground android:drawable="@drawable/ic_launcher_foreground" />
-    <monochrome android:drawable="@drawable/ic_launcher_foreground" />
-</adaptive-icon>
--- a/app/src/main/res/mipmap-hdpi/ic_launcher.webp
+++ b/app/src/main/res/mipmap-hdpi/ic_launcher.webp
--- a/app/src/main/res/mipmap-hdpi/ic_launcher_round.webp
+++ b/app/src/main/res/mipmap-hdpi/ic_launcher_round.webp
--- a/app/src/main/res/mipmap-mdpi/ic_launcher.webp
+++ b/app/src/main/res/mipmap-mdpi/ic_launcher.webp
--- a/app/src/main/res/mipmap-mdpi/ic_launcher_round.webp
+++ b/app/src/main/res/mipmap-mdpi/ic_launcher_round.webp
--- a/app/src/main/res/mipmap-xhdpi/ic_launcher.webp
+++ b/app/src/main/res/mipmap-xhdpi/ic_launcher.webp
--- a/app/src/main/res/mipmap-xhdpi/ic_launcher_round.webp
+++ b/app/src/main/res/mipmap-xhdpi/ic_launcher_round.webp
--- a/app/src/main/res/mipmap-xxhdpi/ic_launcher.webp
+++ b/app/src/main/res/mipmap-xxhdpi/ic_launcher.webp
--- a/app/src/main/res/mipmap-xxhdpi/ic_launcher_round.webp
+++ b/app/src/main/res/mipmap-xxhdpi/ic_launcher_round.webp
--- a/app/src/main/res/mipmap-xxxhdpi/ic_launcher.webp
+++ b/app/src/main/res/mipmap-xxxhdpi/ic_launcher.webp
--- a/app/src/main/res/mipmap-xxxhdpi/ic_launcher_round.webp
+++ b/app/src/main/res/mipmap-xxxhdpi/ic_launcher_round.webp
--- a/app/src/main/res/values-night/themes.xml
+++ b/app/src/main/res/values-night/themes.xml
@ -1,16 +0,0 @@
-<resources xmlns:tools="http://schemas.android.com/tools">
-    <!-- Base application theme. -->
-    <style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.NoActionBar">
-        <!-- Primary brand color. -->
-        <item name="colorPrimary">@color/blue</item>
-        <item name="colorPrimaryVariant">@color/purple_200</item>
-        <item name="colorOnPrimary">@color/black</item>
-        <!-- Secondary brand color. -->
-        <item name="colorSecondary">@color/blue</item>
-        <item name="colorSecondaryVariant">@color/blueviolet</item>
-        <item name="colorOnSecondary">@color/black</item>
-        <!-- Status bar color. -->
-        <item name="android:statusBarColor">?attr/colorPrimaryVariant</item>
-        <!-- Customize your theme here. -->
-    </style>
-</resources>
--- a/app/src/main/res/values/colors.xml
+++ b/app/src/main/res/values/colors.xml
@ -1,157 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-    <color name="black">#FF000000</color>
-    <color name="white">#FFFFFFFF</color>
-    <color name="purple_200">#FFFFFFFF</color>
-
-    <color name="colorPrimary">#3F51B5</color><!--首要颜色-->
-    <color name="colorPrimaryDark">#303F9F</color><!--首要颜色暗色-->
-    <color name="colorAccent">#FF4081</color><!--色彩强调-->
-
-
-    <color name="snow">#fffafa</color><!--雪白色 -->
-    <color name="floralwhite">#fffaf0</color><!--花白色 -->
-    <color name="blanchedalmond">#ffebcd</color><!--杏白色 -->
-    <color name="ghostwhite">#f8f8ff</color><!--幽灵白 -->
-    <color name="whitesmoke">#f5f5f5</color><!--烟白色 -->
-    <color name="antiquewhite">#faebd7</color><!--古董白 -->
-    <color name="navajowhite">#ffdead</color><!--纳瓦白 -->
-    <color name="grey">#808080</color><!--灰色 -->
-    <color name="gainsboro">#dcdcdc</color><!--淡灰色 -->
-    <color name="lightgrey">#d3d3d3</color><!--亮灰色 -->
-    <color name="darkgrey">#a9a9a9</color><!--暗灰色 -->
-    <color name="dimgrey">#696969</color><!--暗灰色 -->
-    <color name="slategrey">#708090</color><!--灰石色 -->
-    <color name="lightslategrey">#778899</color><!--亮蓝灰 -->
-    <color name="darkslategrey">#2f4f4f</color><!--暗瓦灰色 -->
-    <color name="silver">#c0c0c0</color><!--银色 -->
-
-    <color name="red">#ff0000</color><!--红色 -->
-    <color name="darkred">#8b0000</color><!--暗红色 -->
-    <color name="crimson">#dc143c</color><!--暗深红色 -->
-    <color name="darkmagenta">#8b008b</color><!--暗洋红 -->
-    <color name="fuchsia">#ff00ff</color><!--紫红色 -->
-    <color name="tomato">#ff6347</color><!--西红柿色 -->
-    <color name="lightcoral">#f08080</color><!--亮珊瑚色 -->
-    <color name="darksalmon">#e9967a</color><!--暗肉色 -->
-    <color name="peachpuff">#ffdab9</color><!--桃色 -->
-    <color name="plum">#dda0dd</color><!--洋李色 -->
-    <color name="pink">#ffc0cb</color><!--粉红色 -->
-    <color name="lightpink">#ffb6c1</color><!--亮粉红色 -->
-    <color name="deeppink">#ff1493</color><!--深粉红色 -->
-    <color name="hotpink">#ff69b4</color><!--热粉红色 -->
-    <color name="lavenderblush">#fff0f5</color><!--淡紫红 -->
-    <color name="indianred">#cd5c5c</color><!--印第安红 -->
-    <color name="rosybrown">#bc8f8f</color><!--褐玫瑰红 -->
-    <color name="firebrick">#b22222</color><!--红砖色 -->
-    <color name="maroon">#800000</color><!--粟色 -->
-    <color name="honeydew">#f0fff0</color><!--蜜色 -->
-    <color name="orangered">#ff4500</color><!--红橙色 -->
-    <color name="orange">#ffa500</color><!--橙色 -->
-    <color name="limegreen">#32cd32</color><!--橙绿色 -->
-    <color name="lime">#00ff00</color><!--酸橙色 -->
-    <color name="yellow">#ffff00</color><!--黄色 -->
-    <color name="wheat">#f5deb3</color><!--浅黄色 -->
-    <color name="khaki">#f0e68c</color><!--黄褐色 -->
-    <color name="burlywood">#deb887</color><!--实木色 -->
-    <color name="bisque">#ffe4c4</color><!--桔黄色 -->
-    <color name="lightyellow">#ffffe0</color><!--亮黄色 -->
-    <color name="darkgoldenrod">#b8860b</color><!--暗金黄色 -->
-    <color name="darkorange">#ff8c00</color><!--暗桔黄色 -->
-    <color name="lightgoldenrodyellow">#fafad2</color><!--亮金黄色 -->
-    <color name="lemonchiffon">#fffacd</color><!--柠檬绸色 -->
-    <color name="cornsilk">#fff8dc</color><!--米绸色 -->
-    <color name="seaShell">#fff5ee</color><!--海贝色 -->
-    <color name="papayawhip">#ffefd5</color><!--番木色 -->
-    <color name="mistyrose">#ffe4e1</color><!--浅玫瑰色 -->
-    <color name="moccasin">#ffe4b5</color><!--鹿皮色 -->
-    <color name="ivory">#fffff0</color><!--象牙色 -->
-    <color name="gold">#ffd700</color><!--金色 -->
-    <color name="goldenrod">#daa520</color><!--金麒麟色 -->
-    <color name="lightsalmon">#ffa07a</color><!--亮肉色 -->
-    <color name="coral">#ff7f50</color><!--珊瑚色 -->
-    <color name="mintcream">#f5fffa</color><!--薄荷色 -->
-    <color name="beige">#f5f5dc</color><!--米色 -->
-    <color name="sandybrown">#f4a460</color><!--沙褐色 -->
-    <color name="oldlace">#fdf5e6</color><!--老花色 -->
-    <color name="linen">#faf0e6</color><!--亚麻色 -->
-    <color name="salmon">#fa8072</color><!--鲜肉色 -->
-    <color name="thistle">#d8bfd8</color><!--蓟色 -->
-    <color name="tan">#d2b48c</color><!--茶色 -->
-    <color name="chocolate">#d2691e</color><!--巧可力色 -->
-    <color name="peru">#cd853f</color><!--秘鲁色 -->
-    <color name="darkkhaki">#bdb76b</color><!--暗黄褐色 -->
-    <color name="palegoldenrod">#eee8aa</color><!--苍麒麟色 -->
-    <color name="brown">#a52a2a</color><!--褐色 -->
-    <color name="saddlebrown">#8b4513</color><!--重褐色 -->
-    <color name="sienna">#a0522d</color><!--赭色 -->
-    <color name="olive">#808000</color><!--橄榄色 -->
-    <color name="chartreuse">#7fff00</color><!--黄绿色 -->
-    <color name="greenyellow">#adff2f</color><!--黄绿色 -->
-    <color name="green">#008000</color><!--绿色 -->
-    <color name="darkgreen">#006400</color><!--暗绿色 -->
-    <color name="darkolivegreen">#556b2f</color><!--暗橄榄绿 -->
-    <color name="olivedrab">#6b8e23</color><!--深绿褐色 -->
-    <color name="lawngreen">#7cfc00</color><!--草绿色 -->
-    <color name="forestgreen">#228b22</color><!--森林绿 -->
-    <color name="aquamarine">#7fffd4</color><!--碧绿色 -->
-    <color name="paleturquoise">#afeeee</color><!--苍宝石绿 -->
-    <color name="palegreen">#98fb98</color><!--苍绿色 -->
-    <color name="mediumturquoise">#48d1cc</color><!--中绿宝石 -->
-    <color name="mediumaquamarine">#66cdaa</color><!--中绿色 -->
-    <color name="aqua">#00ffff</color><!--浅绿色 -->
-    <color name="springgreen">#00ff7f</color><!--春绿色 -->
-    <color name="mediumspringgreen">#00fa9a</color><!--中春绿色 -->
-    <color name="darkturquoise">#00ced1</color><!--暗宝石绿 -->
-    <color name="seagreen">#2e8b57</color><!--海绿色 -->
-    <color name="lightgreen">#90ee90</color><!--亮绿色 -->
-    <color name="darkseagreen">#8fbc8f</color><!--暗海兰色 -->
-    <color name="turquoise">#40e0d0</color><!--青绿色 -->
-    <color name="cyan">#00ffff</color><!--青色 -->
-    <color name="darkcyan">#008b8b</color><!--暗青色 -->
-    <color name="lightcyan">#e0ffff</color><!--亮青色 -->
-    <color name="teal">#008080</color><!--水鸭色 -->
-    <color name="indigo">#4b0082</color><!--靛青色 -->
-    <color name="blue">#0000ff</color><!--蓝色 -->
-    <color name="darkblue">#00008b</color><!--暗蓝色 -->
-    <color name="mediumblue">#0000cd</color><!--中兰色 -->
-    <color name="midnightblue">#191970</color><!--中灰兰色 -->
-    <color name="navy">#000080</color><!--海军色 -->
-    <color name="royalblue">#4169e1</color><!--皇家蓝 -->
-    <color name="azure">#f0ffff</color><!--天蓝色 -->
-    <color name="skyblue">#87ceeb</color><!--天蓝色 -->
-    <color name="deepskyblue">#00bfff</color><!--深天蓝色 -->
-    <color name="lightskyblue">#87cefa</color><!--亮天蓝色 -->
-    <color name="lightseagreen">#20b2aa</color><!--亮海蓝色 -->
-    <color name="lightblue">#add8e6</color><!--亮蓝色 -->
-    <color name="powderblue">#b0e0e6</color><!--粉蓝色 -->
-    <color name="aliceblue">#f0f8ff</color><!--艾利斯兰 -->
-    <color name="mediumslateblue">#7b68ee</color><!--中暗蓝色 -->
-    <color name="slateblue">#6a5acd</color><!--石蓝色 -->
-    <color name="darkslateblue">#483d8b</color><!--暗灰蓝色 -->
-    <color name="mediumseagreen">#3cb371</color><!--中海蓝 -->
-    <color name="steelblue">#4682b4</color><!--钢兰色 -->
-    <color name="lightsteelblue">#b0c4de</color><!--亮钢兰色 -->
-    <color name="cornflowerblue">#6495ed</color><!--菊兰色 -->
-    <color name="dodgerblue">#1e90ff</color><!--闪兰色 -->
-    <color name="cadetblue">#5f9ea0</color><!--军兰色 -->
-    <color name="blueviolet">#8a2be2</color><!--紫罗兰蓝色 -->
-    <color name="purple">#800080</color><!--紫色 -->
-    <color name="lavender">#e6e6fa</color><!--淡紫色 -->
-    <color name="orchid">#da70d6</color><!--淡紫色 -->
-    <color name="mediumpurple">#9370db</color><!--中紫色 -->
-    <color name="darkorchid">#9932cc</color><!--暗紫色 -->
-    <color name="violet">#ee82ee</color><!--紫罗兰色 -->
-    <color name="mediumvioletred">#c71585</color><!--中紫罗兰色 -->
-    <color name="palevioletred">#db7093</color><!--苍紫罗兰色 -->
-    <color name="darkviolet">#9400d3</color><!--暗紫罗兰色 -->
-    <color name="mediumorchid">#ba55d3</color><!--中粉紫色 -->
-    <color name="trasnparent">#00000000</color><!--中粉紫色 -->
-    <color name="button_normal">#4A4A4A</color>
-    <color name="button_active">#1E88E5</color>
-    <color name="button_border">#666666</color>
-<!--    <color name="button_active_border">#0D47A1</color>-->
-    <color name="gray">#CCCCCC</color>
-    <color name="deep_midnightblue">#0d0d5e</color>
-    <color name="light_gray">#cccccc</color>
-</resources>
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@ -1,7 +0,0 @@
-<resources>
-    <string name="app_name">五轮 2510</string>
-    <string name="icons">&#xe658;</string>
-    <string name="log">查看日志</string>
-    <string name="change_left">左换道</string>
-    <string name="change_right">右换道</string>
-</resources>
--- a/app/src/main/res/values/themes.xml
+++ b/app/src/main/res/values/themes.xml
@ -1,25 +0,0 @@
-<resources xmlns:tools="http://schemas.android.com/tools">
-    <!-- Base application theme. -->
-<!--    <style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.DarkActionBar">-->
-    <style name="Theme.RemoveMarineAnimals" parent="Theme.MaterialComponents.DayNight.NoActionBar">
-        <!-- Primary brand color. -->
-        <item name="colorPrimary">@color/blue</item>
-        <item name="colorPrimaryVariant">@color/blue</item>
-        <item name="colorOnPrimary">@color/white</item>
-        <!-- Secondary brand color. -->
-        <item name="colorSecondary">@color/aliceblue</item>
-        <item name="colorSecondaryVariant">@color/blueviolet</item>
-        <item name="colorOnSecondary">@color/black</item>
-        <!-- Status bar color. -->
-        <item name="android:statusBarColor">?attr/colorPrimaryVariant</item>
-        <!-- Customize your theme here. -->
-        <item name="buttonStyle">@style/MyButtonStyle</item>
-        <item name="materialButtonStyle">@style/MyButtonStyle</item>
-    </style>
-
-    <style name="MyButtonStyle" parent="Widget.MaterialComponents.Button">
-        <item name="backgroundTint">@null</item> <!-- 禁用背景着色 -->
-        <item name="android:background">@drawable/blue_rounded_rectangle</item> <!-- 设置默认背景 -->
-        <item name="android:textColor">@color/white</item> <!-- 设置文本颜色 -->
-    </style>
-</resources>
--- a/app/src/main/res/xml/backup_rules.xml
+++ b/app/src/main/res/xml/backup_rules.xml
@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?><!--
-   Sample backup rules file; uncomment and customize as necessary.
-   See https://developer.android.com/guide/topics/data/autobackup
-   for details.
-   Note: This file is ignored for devices older that API 31
-   See https://developer.android.com/about/versions/12/backup-restore
-->
-<full-backup-content>
-    <!--
-   <include domain="sharedpref" path="."/>
-   <exclude domain="sharedpref" path="device.xml"/>
-->
-</full-backup-content>
--- a/app/src/main/res/xml/data_extraction_rules.xml
+++ b/app/src/main/res/xml/data_extraction_rules.xml
@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?><!--
-   Sample data extraction rules file; uncomment and customize as necessary.
-   See https://developer.android.com/about/versions/12/backup-restore#xml-changes
-   for details.
-->
-<data-extraction-rules>
-    <cloud-backup>
-        <!-- TODO: Use <include> and <exclude> to control what is backed up.
-        <include .../>
-        <exclude .../>
-        -->
-    </cloud-backup>
-    <!--
-    <device-transfer>
-        <include .../>
-        <exclude .../>
-    </device-transfer>
-    -->
-</data-extraction-rules>
--- a/app/src/main/res/xml/device_filter.xml
+++ b/app/src/main/res/xml/device_filter.xml
@ -1,38 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-    <!-- 0x0403 / 0x60??: FTDI -->
-    <usb-device vendor-id="1027" product-id="24577" /> <!-- 0x6001: FT232R -->
-    <usb-device vendor-id="1027" product-id="24592" /> <!-- 0x6010: FT2232H -->
-    <usb-device vendor-id="1027" product-id="24593" /> <!-- 0x6011: FT4232H -->
-    <usb-device vendor-id="1027" product-id="24596" /> <!-- 0x6014: FT232H -->
-    <usb-device vendor-id="1027" product-id="24597" /> <!-- 0x6015: FT230X, FT231X, FT234XD -->
-
-    <!-- 0x10C4 / 0xEA??: Silabs CP210x -->
-    <usb-device vendor-id="4292" product-id="60000" /> <!-- 0xea60: CP2102 and other CP210x single port devices -->
-    <usb-device vendor-id="4292" product-id="60016" /> <!-- 0xea70: CP2105 -->
-    <usb-device vendor-id="4292" product-id="60017" /> <!-- 0xea71: CP2108 -->
-
-    <!-- 0x067B / 0x23?3: Prolific PL2303x -->
-    <usb-device vendor-id="1659" product-id="8963" /> <!-- 0x2303: PL2303HX, HXD, TA, ... -->
-    <usb-device vendor-id="1659" product-id="9123" /> <!-- 0x23a3: PL2303GC -->
-    <usb-device vendor-id="1659" product-id="9139" /> <!-- 0x23b3: PL2303GB -->
-    <usb-device vendor-id="1659" product-id="9155" /> <!-- 0x23c3: PL2303GT -->
-    <usb-device vendor-id="1659" product-id="9171" /> <!-- 0x23d3: PL2303GL -->
-    <usb-device vendor-id="1659" product-id="9187" /> <!-- 0x23e3: PL2303GE -->
-    <usb-device vendor-id="1659" product-id="9203" /> <!-- 0x23f3: PL2303GS -->
-
-    <!-- 0x1a86 / 0x?523: Qinheng CH34x -->
-    <usb-device vendor-id="6790" product-id="21795" /> <!-- 0x5523: CH341A -->
-    <usb-device vendor-id="6790" product-id="29987" /> <!-- 0x7523: CH340 -->
-
-    <!-- CDC driver -->
-    <usb-device vendor-id="9025" />                   <!-- 0x2341 / ......: Arduino -->
-    <usb-device vendor-id="5824" product-id="1155" /> <!-- 0x16C0 / 0x0483: Teensyduino  -->
-    <usb-device vendor-id="1003" product-id="8260" /> <!-- 0x03EB / 0x2044: Atmel Lufa -->
-    <usb-device vendor-id="7855" product-id="4"    /> <!-- 0x1eaf / 0x0004: Leaflabs Maple -->
-    <usb-device vendor-id="3368" product-id="516"  /> <!-- 0x0d28 / 0x0204: ARM mbed -->
-    <usb-device vendor-id="1155" product-id="22336" /><!-- 0x0483 / 0x5740: ST CDC -->
-    <usb-device vendor-id="11914" product-id="5"   /> <!-- 0x2E8A / 0x0005: Raspberry Pi Pico Micropython -->
-    <usb-device vendor-id="11914" product-id="10"  /> <!-- 0x2E8A / 0x000A: Raspberry Pi Pico SDK -->
-    <usb-device vendor-id="6790" product-id="21972" /><!-- 0x1A86 / 0x55D4: Qinheng CH9102F -->
-</resources>
--- a/app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java
+++ b/app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java
@ -1,17 +0,0 @@
-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 <a href="http://d.android.com/tools/testing">Testing documentation</a>
- */
-public class ExampleUnitTest {
-    @Test
-    public void addition_isCorrect() {
-        assertEquals(4, 2 + 2);
-    }
-}
--- a/build.gradle
+++ b/build.gradle
@ -1,5 +0,0 @@
-// Top-level build file where you can add configuration options common to all sub-projects/modules.
-plugins {
-    id 'com.android.application' version '8.2.2' apply false
-    id 'com.android.library' version '8.2.2' apply false
-}
--- a/gradle.properties
+++ b/gradle.properties
@ -1,21 +0,0 @@
-# Project-wide Gradle settings.
-# IDE (e.g. Android Studio) users:
-# Gradle settings configured through the IDE *will override*
-# any settings specified in this file.
-# For more details on how to configure your build environment visit
-# http://www.gradle.org/docs/current/userguide/build_environment.html
-# Specifies the JVM arguments used for the daemon process.
-# The setting is particularly useful for tweaking memory settings.
-org.gradle.jvmargs=-Xmx2048m -Dfile.encoding=UTF-8
-# When configured, Gradle will run in incubating parallel mode.
-# This option should only be used with decoupled projects. More details, visit
-# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
-# org.gradle.parallel=true
-# AndroidX package structure to make it clearer which packages are bundled with the
-# Android operating system, and which are packaged with your app's APK
-# https://developer.android.com/topic/libraries/support-library/androidx-rn
-android.useAndroidX=true
-# Enables namespacing of each library's R class so that its R class includes only the
-# resources declared in the library itself and none from the library's dependencies,
-# thereby reducing the size of the R class for that library
-android.nonTransitiveRClass=true
--- a/gradle/wrapper/gradle-wrapper.jar
+++ b/gradle/wrapper/gradle-wrapper.jar
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@ -1,6 +0,0 @@
-#Wed Feb 05 16:51:00 CST 2025
-distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.2-bin.zip
-zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
--- a/185
+++ b/185
@ -1,185 +0,0 @@
-#!/usr/bin/env sh
-
-#
-# Copyright 2015 the original author or authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-##############################################################################
-##
-##  Gradle start up script for UN*X
-##
-##############################################################################
-
-# Attempt to set APP_HOME
-# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
-done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
-
-APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-
-# Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
-
-warn () {
-    echo "$*"
-}
-
-die () {
-    echo
-    echo "$*"
-    echo
-    exit 1
-}
-
-# OS specific support (must be 'true' or 'false').
-cygwin=false
-msys=false
-darwin=false
-nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
-esac
-
-CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
-
-
-# Determine the Java command to use to start the JVM.
-if [ -n "$JAVA_HOME" ] ; then
-    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
-        # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
-    else
-        JAVACMD="$JAVA_HOME/bin/java"
-    fi
-    if [ ! -x "$JAVACMD" ] ; then
-        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
-
-Please set the JAVA_HOME variable in your environment to match the
-location of your Java installation."
-    fi
-else
-    JAVACMD="java"
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-
-Please set the JAVA_HOME variable in your environment to match the
-location of your Java installation."
-fi
-
-# Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
-fi
-
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
-
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
-
-exec "$JAVACMD" "$@"
--- a/gradlew.bat
+++ b/gradlew.bat
@ -1,89 +0,0 @@
-@rem
-@rem Copyright 2015 the original author or authors.
-@rem
-@rem Licensed under the Apache License, Version 2.0 (the "License");
-@rem you may not use this file except in compliance with the License.
-@rem You may obtain a copy of the License at
-@rem
-@rem      https://www.apache.org/licenses/LICENSE-2.0
-@rem
-@rem Unless required by applicable law or agreed to in writing, software
-@rem distributed under the License is distributed on an "AS IS" BASIS,
-@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-@rem See the License for the specific language governing permissions and
-@rem limitations under the License.
-@rem
-
-@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
-
-set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Resolve any "." and ".." in APP_HOME to make it shorter.
-for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto execute
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
-
-:end
-@rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
--- a/proto/BspIV.java
+++ b/proto/BspIV.java
@ -1,729 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_IV.proto
-// Protobuf Java Version: 4.27.2
-
-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 {
-
-    /**
-     * <pre>
-     * 洗舱项目
-     * </pre>
-     *
-     * <code>int32 Robot_Move_Speed = 1;</code>
-     * @return The robotMoveSpeed.
-     */
-    int getRobotMoveSpeed();
-
-    /**
-     * <code>int32 Robot_Swing_Speed = 2;</code>
-     * @return The robotSwingSpeed.
-     */
-    int getRobotSwingSpeed();
-
-    /**
-     * <code>int32 Robot_Tilt_Speed = 3;</code>
-     * @return The robotTiltSpeed.
-     */
-    int getRobotTiltSpeed();
-
-    /**
-     * <code>int32 Robot_Tilt_Current = 4;</code>
-     * @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;
-    /**
-     * <pre>
-     * 洗舱项目
-     * </pre>
-     *
-     * <code>int32 Robot_Move_Speed = 1;</code>
-     * @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;
-    /**
-     * <code>int32 Robot_Swing_Speed = 2;</code>
-     * @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;
-    /**
-     * <code>int32 Robot_Tilt_Speed = 3;</code>
-     * @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;
-    /**
-     * <code>int32 Robot_Tilt_Current = 4;</code>
-     * @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);
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-
-    @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<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(
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-      }
-
-      // 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;
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-              default: {
-                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
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-          onChanged();
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-        return this;
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-      private int bitField0_;
-
-      private int robotMoveSpeed_ ;
-      /**
-       * <pre>
-       * 洗舱项目
-       * </pre>
-       *
-       * <code>int32 Robot_Move_Speed = 1;</code>
-       * @return The robotMoveSpeed.
-       */
-      @java.lang.Override
-      public int getRobotMoveSpeed() {
-        return robotMoveSpeed_;
-      }
-      /**
-       * <pre>
-       * 洗舱项目
-       * </pre>
-       *
-       * <code>int32 Robot_Move_Speed = 1;</code>
-       * @param value The robotMoveSpeed to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotMoveSpeed(int value) {
-
-        robotMoveSpeed_ = value;
-        bitField0_ |= 0x00000001;
-        onChanged();
-        return this;
-      }
-      /**
-       * <pre>
-       * 洗舱项目
-       * </pre>
-       *
-       * <code>int32 Robot_Move_Speed = 1;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotMoveSpeed() {
-        bitField0_ = (bitField0_ & ~0x00000001);
-        robotMoveSpeed_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int robotSwingSpeed_ ;
-      /**
-       * <code>int32 Robot_Swing_Speed = 2;</code>
-       * @return The robotSwingSpeed.
-       */
-      @java.lang.Override
-      public int getRobotSwingSpeed() {
-        return robotSwingSpeed_;
-      }
-      /**
-       * <code>int32 Robot_Swing_Speed = 2;</code>
-       * @param value The robotSwingSpeed to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotSwingSpeed(int value) {
-
-        robotSwingSpeed_ = value;
-        bitField0_ |= 0x00000002;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_Swing_Speed = 2;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotSwingSpeed() {
-        bitField0_ = (bitField0_ & ~0x00000002);
-        robotSwingSpeed_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int robotTiltSpeed_ ;
-      /**
-       * <code>int32 Robot_Tilt_Speed = 3;</code>
-       * @return The robotTiltSpeed.
-       */
-      @java.lang.Override
-      public int getRobotTiltSpeed() {
-        return robotTiltSpeed_;
-      }
-      /**
-       * <code>int32 Robot_Tilt_Speed = 3;</code>
-       * @param value The robotTiltSpeed to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotTiltSpeed(int value) {
-
-        robotTiltSpeed_ = value;
-        bitField0_ |= 0x00000004;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_Tilt_Speed = 3;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotTiltSpeed() {
-        bitField0_ = (bitField0_ & ~0x00000004);
-        robotTiltSpeed_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int robotTiltCurrent_ ;
-      /**
-       * <code>int32 Robot_Tilt_Current = 4;</code>
-       * @return The robotTiltCurrent.
-       */
-      @java.lang.Override
-      public int getRobotTiltCurrent() {
-        return robotTiltCurrent_;
-      }
-      /**
-       * <code>int32 Robot_Tilt_Current = 4;</code>
-       * @param value The robotTiltCurrent to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotTiltCurrent(int value) {
-
-        robotTiltCurrent_ = value;
-        bitField0_ |= 0x00000008;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_Tilt_Current = 4;</code>
-       * @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<IV_struct_define>
-        PARSER = new com.google.protobuf.AbstractParser<IV_struct_define>() {
-      @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<IV_struct_define> parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser<IV_struct_define> 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[] {
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-    internal_static_IV_struct_define_descriptor =
-      getDescriptor().getMessageTypes().get(0);
-    internal_static_IV_struct_define_fieldAccessorTable = new
-      com.google.protobuf.GeneratedMessage.FieldAccessorTable(
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-        new java.lang.String[] { "RobotMoveSpeed", "RobotSwingSpeed", "RobotTiltSpeed", "RobotTiltCurrent", });
-    descriptor.resolveAllFeaturesImmutable();
-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}
--- a/proto/BspPV.java
+++ b/proto/BspPV.java
@ -1,564 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: bsp_PV.proto
-// Protobuf Java Version: 4.27.2
-
-public final class BspPV {
-  private BspPV() {}
-  static {
-    com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
-      com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
-      /* major= */ 4,
-      /* minor= */ 27,
-      /* patch= */ 2,
-      /* suffix= */ "",
-      BspPV.class.getName());
-  }
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistryLite registry) {
-  }
-
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistry registry) {
-    registerAllExtensions(
-        (com.google.protobuf.ExtensionRegistryLite) registry);
-  }
-  public interface PV_struct_defineOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:PV_struct_define)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * <code>int32 Robot_Tilt_TargetCurrent = 1;</code>
-     * @return The robotTiltTargetCurrent.
-     */
-    int getRobotTiltTargetCurrent();
-
-    /**
-     * <code>int32 CurrentModeValue = 2;</code>
-     * @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;
-    /**
-     * <code>int32 Robot_Tilt_TargetCurrent = 1;</code>
-     * @return The robotTiltTargetCurrent.
-     */
-    @java.lang.Override
-    public int getRobotTiltTargetCurrent() {
-      return robotTiltTargetCurrent_;
-    }
-
-    public static final int CURRENTMODEVALUE_FIELD_NUMBER = 2;
-    private int currentModeValue_ = 0;
-    /**
-     * <code>int32 CurrentModeValue = 2;</code>
-     * @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<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_ ;
-      /**
-       * <code>int32 Robot_Tilt_TargetCurrent = 1;</code>
-       * @return The robotTiltTargetCurrent.
-       */
-      @java.lang.Override
-      public int getRobotTiltTargetCurrent() {
-        return robotTiltTargetCurrent_;
-      }
-      /**
-       * <code>int32 Robot_Tilt_TargetCurrent = 1;</code>
-       * @param value The robotTiltTargetCurrent to set.
-       * @return This builder for chaining.
-       */
-      public Builder setRobotTiltTargetCurrent(int value) {
-
-        robotTiltTargetCurrent_ = value;
-        bitField0_ |= 0x00000001;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 Robot_Tilt_TargetCurrent = 1;</code>
-       * @return This builder for chaining.
-       */
-      public Builder clearRobotTiltTargetCurrent() {
-        bitField0_ = (bitField0_ & ~0x00000001);
-        robotTiltTargetCurrent_ = 0;
-        onChanged();
-        return this;
-      }
-
-      private int currentModeValue_ ;
-      /**
-       * <code>int32 CurrentModeValue = 2;</code>
-       * @return The currentModeValue.
-       */
-      @java.lang.Override
-      public int getCurrentModeValue() {
-        return currentModeValue_;
-      }
-      /**
-       * <code>int32 CurrentModeValue = 2;</code>
-       * @param value The currentModeValue to set.
-       * @return This builder for chaining.
-       */
-      public Builder setCurrentModeValue(int value) {
-
-        currentModeValue_ = value;
-        bitField0_ |= 0x00000002;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>int32 CurrentModeValue = 2;</code>
-       * @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<PV_struct_define>
-        PARSER = new com.google.protobuf.AbstractParser<PV_struct_define>() {
-      @java.lang.Override
-      public PV_struct_define parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
-        } catch (com.google.protobuf.UninitializedMessageException e) {
-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
-        } catch (java.io.IOException e) {
-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
-              .setUnfinishedMessage(builder.buildPartial());
-        }
-        return builder.buildPartial();
-      }
-    };
-
-    public static com.google.protobuf.Parser<PV_struct_define> parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser<PV_struct_define> getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public 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)
-}
--- a/proto/RobotData.cs
+++ b/proto/RobotData.cs
@ -1,363 +0,0 @@
-// <auto-generated>
-//     Generated by the protocol buffer compiler.  DO NOT EDIT!
-//     source: robot_data.proto
-// </auto-generated>
-#pragma warning disable 1591, 0612, 3021, 8981
-#region Designer generated code
-
-using pb = global::Google.Protobuf;
-using pbc = global::Google.Protobuf.Collections;
-using pbr = global::Google.Protobuf.Reflection;
-using scg = global::System.Collections.Generic;
-/// <summary>Holder for reflection information generated from robot_data.proto</summary>
-public static partial class RobotDataReflection {
-
-  #region Descriptor
-  /// <summary>File descriptor for robot_data.proto</summary>
-  public static pbr::FileDescriptor Descriptor {
-    get { return descriptor; }
-  }
-  private static pbr::FileDescriptor descriptor;
-
-  static RobotDataReflection() {
-    byte[] descriptorData = global::System.Convert.FromBase64String(
-        string.Concat(
-          "ChByb2JvdF9kYXRhLnByb3RvImIKCURhdGFUcmFucxIVCg1SRl9BbmdsZV9S",
-          "b2xsGAEgASgFEhYKDlJGX0FuZ2xlX1BpdGNoGAIgASgFEhQKDFJGX0FuZ2xl",
-          "X1lhdxgDIAEoBRIQCghSRl9EZXB0aBgEIAEoBUIqCiZjb20uZXhhbXBsZS5y",
-          "ZW1vdmVtYXJpbmVhbmltYWxzLm1vZGVsc1AAYgZwcm90bzM="));
-    descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-        new pbr::FileDescriptor[] { },
-        new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] {
-          new pbr::GeneratedClrTypeInfo(typeof(global::DataTrans), global::DataTrans.Parser, new[]{ "RFAngleRoll", "RFAnglePitch", "RFAngleYaw", "RFDepth" }, null, null, null, null)
-        }));
-  }
-  #endregion
-
-}
-#region Messages
-[global::System.Diagnostics.DebuggerDisplayAttribute("{ToString(),nq}")]
-public sealed partial class DataTrans : pb::IMessage<DataTrans>
-#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
-    , pb::IBufferMessage
-#endif
-{
-  private static readonly pb::MessageParser<DataTrans> _parser = new pb::MessageParser<DataTrans>(() => new DataTrans());
-  private pb::UnknownFieldSet _unknownFields;
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public static pb::MessageParser<DataTrans> Parser { get { return _parser; } }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public static pbr::MessageDescriptor Descriptor {
-    get { return global::RobotDataReflection.Descriptor.MessageTypes[0]; }
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  pbr::MessageDescriptor pb::IMessage.Descriptor {
-    get { return Descriptor; }
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public DataTrans() {
-    OnConstruction();
-  }
-
-  partial void OnConstruction();
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public DataTrans(DataTrans other) : this() {
-    rFAngleRoll_ = other.rFAngleRoll_;
-    rFAnglePitch_ = other.rFAnglePitch_;
-    rFAngleYaw_ = other.rFAngleYaw_;
-    rFDepth_ = other.rFDepth_;
-    _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public DataTrans Clone() {
-    return new DataTrans(this);
-  }
-
-  /// <summary>Field number for the "RF_Angle_Roll" field.</summary>
-  public const int RFAngleRollFieldNumber = 1;
-  private int rFAngleRoll_;
-  /// <summary>
-  ///横滚角
-  /// </summary>
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public int RFAngleRoll {
-    get { return rFAngleRoll_; }
-    set {
-      rFAngleRoll_ = value;
-    }
-  }
-
-  /// <summary>Field number for the "RF_Angle_Pitch" field.</summary>
-  public const int RFAnglePitchFieldNumber = 2;
-  private int rFAnglePitch_;
-  /// <summary>
-  ///俯仰角
-  /// </summary>
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public int RFAnglePitch {
-    get { return rFAnglePitch_; }
-    set {
-      rFAnglePitch_ = value;
-    }
-  }
-
-  /// <summary>Field number for the "RF_Angle_Yaw" field.</summary>
-  public const int RFAngleYawFieldNumber = 3;
-  private int rFAngleYaw_;
-  /// <summary>
-  ///航向角
-  /// </summary>
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public int RFAngleYaw {
-    get { return rFAngleYaw_; }
-    set {
-      rFAngleYaw_ = value;
-    }
-  }
-
-  /// <summary>Field number for the "RF_Depth" field.</summary>
-  public const int RFDepthFieldNumber = 4;
-  private int rFDepth_;
-  /// <summary>
-  ///海洋深度
-  /// </summary>
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public int RFDepth {
-    get { return rFDepth_; }
-    set {
-      rFDepth_ = value;
-    }
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public override bool Equals(object other) {
-    return Equals(other as DataTrans);
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public bool Equals(DataTrans other) {
-    if (ReferenceEquals(other, null)) {
-      return false;
-    }
-    if (ReferenceEquals(other, this)) {
-      return true;
-    }
-    if (RFAngleRoll != other.RFAngleRoll) return false;
-    if (RFAnglePitch != other.RFAnglePitch) return false;
-    if (RFAngleYaw != other.RFAngleYaw) return false;
-    if (RFDepth != other.RFDepth) return false;
-    return Equals(_unknownFields, other._unknownFields);
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public override int GetHashCode() {
-    int hash = 1;
-    if (RFAngleRoll != 0) hash ^= RFAngleRoll.GetHashCode();
-    if (RFAnglePitch != 0) hash ^= RFAnglePitch.GetHashCode();
-    if (RFAngleYaw != 0) hash ^= RFAngleYaw.GetHashCode();
-    if (RFDepth != 0) hash ^= RFDepth.GetHashCode();
-    if (_unknownFields != null) {
-      hash ^= _unknownFields.GetHashCode();
-    }
-    return hash;
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public override string ToString() {
-    return pb::JsonFormatter.ToDiagnosticString(this);
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public void WriteTo(pb::CodedOutputStream output) {
-  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
-    output.WriteRawMessage(this);
-  #else
-    if (RFAngleRoll != 0) {
-      output.WriteRawTag(8);
-      output.WriteInt32(RFAngleRoll);
-    }
-    if (RFAnglePitch != 0) {
-      output.WriteRawTag(16);
-      output.WriteInt32(RFAnglePitch);
-    }
-    if (RFAngleYaw != 0) {
-      output.WriteRawTag(24);
-      output.WriteInt32(RFAngleYaw);
-    }
-    if (RFDepth != 0) {
-      output.WriteRawTag(32);
-      output.WriteInt32(RFDepth);
-    }
-    if (_unknownFields != null) {
-      _unknownFields.WriteTo(output);
-    }
-  #endif
-  }
-
-  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) {
-    if (RFAngleRoll != 0) {
-      output.WriteRawTag(8);
-      output.WriteInt32(RFAngleRoll);
-    }
-    if (RFAnglePitch != 0) {
-      output.WriteRawTag(16);
-      output.WriteInt32(RFAnglePitch);
-    }
-    if (RFAngleYaw != 0) {
-      output.WriteRawTag(24);
-      output.WriteInt32(RFAngleYaw);
-    }
-    if (RFDepth != 0) {
-      output.WriteRawTag(32);
-      output.WriteInt32(RFDepth);
-    }
-    if (_unknownFields != null) {
-      _unknownFields.WriteTo(ref output);
-    }
-  }
-  #endif
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public int CalculateSize() {
-    int size = 0;
-    if (RFAngleRoll != 0) {
-      size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAngleRoll);
-    }
-    if (RFAnglePitch != 0) {
-      size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAnglePitch);
-    }
-    if (RFAngleYaw != 0) {
-      size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFAngleYaw);
-    }
-    if (RFDepth != 0) {
-      size += 1 + pb::CodedOutputStream.ComputeInt32Size(RFDepth);
-    }
-    if (_unknownFields != null) {
-      size += _unknownFields.CalculateSize();
-    }
-    return size;
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public void MergeFrom(DataTrans other) {
-    if (other == null) {
-      return;
-    }
-    if (other.RFAngleRoll != 0) {
-      RFAngleRoll = other.RFAngleRoll;
-    }
-    if (other.RFAnglePitch != 0) {
-      RFAnglePitch = other.RFAnglePitch;
-    }
-    if (other.RFAngleYaw != 0) {
-      RFAngleYaw = other.RFAngleYaw;
-    }
-    if (other.RFDepth != 0) {
-      RFDepth = other.RFDepth;
-    }
-    _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
-  }
-
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  public void MergeFrom(pb::CodedInputStream input) {
-  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
-    input.ReadRawMessage(this);
-  #else
-    uint tag;
-    while ((tag = input.ReadTag()) != 0) {
-    if ((tag & 7) == 4) {
-      // Abort on any end group tag.
-      return;
-    }
-    switch(tag) {
-        default:
-          _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input);
-          break;
-        case 8: {
-          RFAngleRoll = input.ReadInt32();
-          break;
-        }
-        case 16: {
-          RFAnglePitch = input.ReadInt32();
-          break;
-        }
-        case 24: {
-          RFAngleYaw = input.ReadInt32();
-          break;
-        }
-        case 32: {
-          RFDepth = input.ReadInt32();
-          break;
-        }
-      }
-    }
-  #endif
-  }
-
-  #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
-  [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-  [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)]
-  void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) {
-    uint tag;
-    while ((tag = input.ReadTag()) != 0) {
-    if ((tag & 7) == 4) {
-      // Abort on any end group tag.
-      return;
-    }
-    switch(tag) {
-        default:
-          _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input);
-          break;
-        case 8: {
-          RFAngleRoll = input.ReadInt32();
-          break;
-        }
-        case 16: {
-          RFAnglePitch = input.ReadInt32();
-          break;
-        }
-        case 24: {
-          RFAngleYaw = input.ReadInt32();
-          break;
-        }
-        case 32: {
-          RFDepth = input.ReadInt32();
-          break;
-        }
-      }
-    }
-  }
-  #endif
-
-}
-
-#endregion
-
-
-#endregion Designer generated code
--- a/proto/bsp_IV.proto
+++ b/proto/bsp_IV.proto
@ -1,10 +0,0 @@
-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;
-
-};
--- a/proto/bsp_PV.proto
+++ b/proto/bsp_PV.proto
@ -1,6 +0,0 @@
-syntax = "proto3";
-message PV_struct_define{
- 
-	  int32 Robot_Tilt_TargetCurrent= 1;
-	  int32 CurrentModeValue=2;
-};
--- a/proto/com/example/removemarineanimals/models/RobotData.java
+++ b/proto/com/example/removemarineanimals/models/RobotData.java
@ -1,792 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// NO CHECKED-IN PROTOBUF GENCODE
-// source: robot_data.proto
-// Protobuf Java Version: 4.27.2
-
-package com.example.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());
-  }
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-      return PARSER;
-    }
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-    @java.lang.Override
-    public com.example.removemarineanimals.models.RobotData.DataTrans getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
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-  static {
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-      "\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"
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-    internal_static_DataTrans_fieldAccessorTable = new
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-    descriptor.resolveAllFeaturesImmutable();
-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}