getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.swingarmapp_sandblast.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_IV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_IV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_IV.proto\"\307\002\n\020IV_struct_define\022\030\n\020L" +
+ "eftCompensation\030\001 \001(\005\022\031\n\021RightCompensati" +
+ "on\030\002 \001(\005\022\035\n\025Robot_Move_Deri_Speed\030\003 \001(\005\022" +
+ "\022\n\nRobot_Gyro\030\004 \001(\005\022\027\n\017Distance_Sensor\030\005" +
+ " \001(\005\022\023\n\013SystemError\030\006 \001(\005\022\026\n\016Left_Motor_" +
+ "Err\030\007 \001(\005\022\027\n\017Right_Motor_Err\030\010 \001(\005\022\027\n\017Sw" +
+ "ing_Motor_Err\030\t \001(\005\022\021\n\tIs_Online\030\n \001(\005\022\024" +
+ "\n\014Spara_Data_1\030\013 \001(\005\022\024\n\014Spara_Data_2\030\014 \001" +
+ "(\005\022\024\n\014Spara_Data_3\030\r \001(\005B,\n(com.example." +
+ "swingarmapp_sandblast.modelsP\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_IV_struct_define_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_IV_struct_define_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_IV_struct_define_descriptor,
+ new java.lang.String[] { "LeftCompensation", "RightCompensation", "RobotMoveDeriSpeed", "RobotGyro", "DistanceSensor", "SystemError", "LeftMotorErr", "RightMotorErr", "SwingMotorErr", "IsOnline", "SparaData1", "SparaData2", "SparaData3", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/BspPV.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/BspPV.java
new file mode 100644
index 0000000..513be80
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/BspPV.java
@@ -0,0 +1,1906 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// NO CHECKED-IN PROTOBUF GENCODE
+// source: bsp_PV.proto
+// Protobuf Java Version: 4.27.2
+
+package com.example.swingarmapp_sandblast.models;
+
+public final class BspPV {
+ private BspPV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspPV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface PV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:PV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 操作模式 手动模式1 2 3 4 自动模式5 6 7
+ *
+ *
+ * int32 Robot_Operation_Mode = 1;
+ * @return The robotOperationMode.
+ */
+ int getRobotOperationMode();
+
+ /**
+ *
+ * 机器人移动速度
+ *
+ *
+ * int32 Robot_Move_Speed = 2;
+ * @return The robotMoveSpeed.
+ */
+ int getRobotMoveSpeed();
+
+ /**
+ *
+ * 换道距离
+ *
+ *
+ * int32 Robot_Change_Lane_Distance = 3;
+ * @return The robotChangeLaneDistance.
+ */
+ int getRobotChangeLaneDistance();
+
+ /**
+ *
+ * 摆臂速度
+ *
+ *
+ * int32 Robot_Swing_Speed = 4;
+ * @return The robotSwingSpeed.
+ */
+ int getRobotSwingSpeed();
+
+ /**
+ *
+ * 摆臂角度界面中的对称or非对称 1 对称 2 非对称
+ *
+ *
+ * int32 Robot_symmetricalOrNot = 5;
+ * @return The robotSymmetricalOrNot.
+ */
+ int getRobotSymmetricalOrNot();
+
+ /**
+ *
+ * 对称下的摆臂角度
+ *
+ *
+ * int32 Robot_Swing_Range_Angle = 6;
+ * @return The robotSwingRangeAngle.
+ */
+ int getRobotSwingRangeAngle();
+
+ /**
+ *
+ * 非对称条件下下 1左侧 2 右侧
+ *
+ *
+ * int32 Robot_asymmetricalAngleSetValue = 7;
+ * @return The robotAsymmetricalAngleSetValue.
+ */
+ int getRobotAsymmetricalAngleSetValue();
+
+ /**
+ *
+ * 后退设置模式 1 打退交替 2 边打边退
+ *
+ *
+ * int32 Robot_backMode = 8;
+ * @return The robotBackMode.
+ */
+ int getRobotBackMode();
+
+ /**
+ *
+ * 打退交替条件下的后退距离
+ *
+ *
+ * int32 Robot_Back_Distance = 9;
+ * @return The robotBackDistance.
+ */
+ int getRobotBackDistance();
+
+ /**
+ *
+ * 边打边退条件下的后退速度
+ *
+ *
+ * int32 Robot_Back_Speed = 10;
+ * @return The robotBackSpeed.
+ */
+ int getRobotBackSpeed();
+
+ /**
+ *
+ * 压力设置
+ *
+ *
+ * int32 Robot_Press_Set = 11;
+ * @return The robotPressSet.
+ */
+ int getRobotPressSet();
+
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * int32 Robot_Vertical_Adjust = 12;
+ * @return The robotVerticalAdjust.
+ */
+ int getRobotVerticalAdjust();
+
+ /**
+ *
+ * 自动模式下的作业长度
+ *
+ *
+ * int32 Robot_Length_Homework = 13;
+ * @return The robotLengthHomework.
+ */
+ int getRobotLengthHomework();
+
+ /**
+ *
+ * 自动模式下的作业宽度
+ *
+ *
+ * int32 Robot_Width_Homework = 14;
+ * @return The robotWidthHomework.
+ */
+ int getRobotWidthHomework();
+
+ /**
+ *
+ * 喷砂机编码1
+ *
+ *
+ * int32 Robot_SandBalst_Encode_One = 15;
+ * @return The robotSandBalstEncodeOne.
+ */
+ int getRobotSandBalstEncodeOne();
+
+ /**
+ *
+ * 喷砂机编码2
+ *
+ *
+ * int32 Robot_SandBalst_Encode_Two = 16;
+ * @return The robotSandBalstEncodeTwo.
+ */
+ int getRobotSandBalstEncodeTwo();
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class PV_struct_define extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:PV_struct_define)
+ PV_struct_defineOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ PV_struct_define.class.getName());
+ }
+ // Use PV_struct_define.newBuilder() to construct.
+ private PV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private PV_struct_define() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.swingarmapp_sandblast.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.swingarmapp_sandblast.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.class, com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOT_OPERATION_MODE_FIELD_NUMBER = 1;
+ private int robotOperationMode_ = 0;
+ /**
+ *
+ * 操作模式 手动模式1 2 3 4 自动模式5 6 7
+ *
+ *
+ * int32 Robot_Operation_Mode = 1;
+ * @return The robotOperationMode.
+ */
+ @java.lang.Override
+ public int getRobotOperationMode() {
+ return robotOperationMode_;
+ }
+
+ public static final int ROBOT_MOVE_SPEED_FIELD_NUMBER = 2;
+ private int robotMoveSpeed_ = 0;
+ /**
+ *
+ * 机器人移动速度
+ *
+ *
+ * int32 Robot_Move_Speed = 2;
+ * @return The robotMoveSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveSpeed() {
+ return robotMoveSpeed_;
+ }
+
+ public static final int ROBOT_CHANGE_LANE_DISTANCE_FIELD_NUMBER = 3;
+ private int robotChangeLaneDistance_ = 0;
+ /**
+ *
+ * 换道距离
+ *
+ *
+ * int32 Robot_Change_Lane_Distance = 3;
+ * @return The robotChangeLaneDistance.
+ */
+ @java.lang.Override
+ public int getRobotChangeLaneDistance() {
+ return robotChangeLaneDistance_;
+ }
+
+ public static final int ROBOT_SWING_SPEED_FIELD_NUMBER = 4;
+ private int robotSwingSpeed_ = 0;
+ /**
+ *
+ * 摆臂速度
+ *
+ *
+ * int32 Robot_Swing_Speed = 4;
+ * @return The robotSwingSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSwingSpeed() {
+ return robotSwingSpeed_;
+ }
+
+ public static final int ROBOT_SYMMETRICALORNOT_FIELD_NUMBER = 5;
+ private int robotSymmetricalOrNot_ = 0;
+ /**
+ *
+ * 摆臂角度界面中的对称or非对称 1 对称 2 非对称
+ *
+ *
+ * int32 Robot_symmetricalOrNot = 5;
+ * @return The robotSymmetricalOrNot.
+ */
+ @java.lang.Override
+ public int getRobotSymmetricalOrNot() {
+ return robotSymmetricalOrNot_;
+ }
+
+ public static final int ROBOT_SWING_RANGE_ANGLE_FIELD_NUMBER = 6;
+ private int robotSwingRangeAngle_ = 0;
+ /**
+ *
+ * 对称下的摆臂角度
+ *
+ *
+ * int32 Robot_Swing_Range_Angle = 6;
+ * @return The robotSwingRangeAngle.
+ */
+ @java.lang.Override
+ public int getRobotSwingRangeAngle() {
+ return robotSwingRangeAngle_;
+ }
+
+ public static final int ROBOT_ASYMMETRICALANGLESETVALUE_FIELD_NUMBER = 7;
+ private int robotAsymmetricalAngleSetValue_ = 0;
+ /**
+ *
+ * 非对称条件下下 1左侧 2 右侧
+ *
+ *
+ * int32 Robot_asymmetricalAngleSetValue = 7;
+ * @return The robotAsymmetricalAngleSetValue.
+ */
+ @java.lang.Override
+ public int getRobotAsymmetricalAngleSetValue() {
+ return robotAsymmetricalAngleSetValue_;
+ }
+
+ public static final int ROBOT_BACKMODE_FIELD_NUMBER = 8;
+ private int robotBackMode_ = 0;
+ /**
+ *
+ * 后退设置模式 1 打退交替 2 边打边退
+ *
+ *
+ * int32 Robot_backMode = 8;
+ * @return The robotBackMode.
+ */
+ @java.lang.Override
+ public int getRobotBackMode() {
+ return robotBackMode_;
+ }
+
+ public static final int ROBOT_BACK_DISTANCE_FIELD_NUMBER = 9;
+ private int robotBackDistance_ = 0;
+ /**
+ *
+ * 打退交替条件下的后退距离
+ *
+ *
+ * int32 Robot_Back_Distance = 9;
+ * @return The robotBackDistance.
+ */
+ @java.lang.Override
+ public int getRobotBackDistance() {
+ return robotBackDistance_;
+ }
+
+ public static final int ROBOT_BACK_SPEED_FIELD_NUMBER = 10;
+ private int robotBackSpeed_ = 0;
+ /**
+ *
+ * 边打边退条件下的后退速度
+ *
+ *
+ * int32 Robot_Back_Speed = 10;
+ * @return The robotBackSpeed.
+ */
+ @java.lang.Override
+ public int getRobotBackSpeed() {
+ return robotBackSpeed_;
+ }
+
+ public static final int ROBOT_PRESS_SET_FIELD_NUMBER = 11;
+ private int robotPressSet_ = 0;
+ /**
+ *
+ * 压力设置
+ *
+ *
+ * int32 Robot_Press_Set = 11;
+ * @return The robotPressSet.
+ */
+ @java.lang.Override
+ public int getRobotPressSet() {
+ return robotPressSet_;
+ }
+
+ public static final int ROBOT_VERTICAL_ADJUST_FIELD_NUMBER = 12;
+ private int robotVerticalAdjust_ = 0;
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * int32 Robot_Vertical_Adjust = 12;
+ * @return The robotVerticalAdjust.
+ */
+ @java.lang.Override
+ public int getRobotVerticalAdjust() {
+ return robotVerticalAdjust_;
+ }
+
+ public static final int ROBOT_LENGTH_HOMEWORK_FIELD_NUMBER = 13;
+ private int robotLengthHomework_ = 0;
+ /**
+ *
+ * 自动模式下的作业长度
+ *
+ *
+ * int32 Robot_Length_Homework = 13;
+ * @return The robotLengthHomework.
+ */
+ @java.lang.Override
+ public int getRobotLengthHomework() {
+ return robotLengthHomework_;
+ }
+
+ public static final int ROBOT_WIDTH_HOMEWORK_FIELD_NUMBER = 14;
+ private int robotWidthHomework_ = 0;
+ /**
+ *
+ * 自动模式下的作业宽度
+ *
+ *
+ * int32 Robot_Width_Homework = 14;
+ * @return The robotWidthHomework.
+ */
+ @java.lang.Override
+ public int getRobotWidthHomework() {
+ return robotWidthHomework_;
+ }
+
+ public static final int ROBOT_SANDBALST_ENCODE_ONE_FIELD_NUMBER = 15;
+ private int robotSandBalstEncodeOne_ = 0;
+ /**
+ *
+ * 喷砂机编码1
+ *
+ *
+ * int32 Robot_SandBalst_Encode_One = 15;
+ * @return The robotSandBalstEncodeOne.
+ */
+ @java.lang.Override
+ public int getRobotSandBalstEncodeOne() {
+ return robotSandBalstEncodeOne_;
+ }
+
+ public static final int ROBOT_SANDBALST_ENCODE_TWO_FIELD_NUMBER = 16;
+ private int robotSandBalstEncodeTwo_ = 0;
+ /**
+ *
+ * 喷砂机编码2
+ *
+ *
+ * int32 Robot_SandBalst_Encode_Two = 16;
+ * @return The robotSandBalstEncodeTwo.
+ */
+ @java.lang.Override
+ public int getRobotSandBalstEncodeTwo() {
+ return robotSandBalstEncodeTwo_;
+ }
+
+ 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 (robotOperationMode_ != 0) {
+ output.writeInt32(1, robotOperationMode_);
+ }
+ if (robotMoveSpeed_ != 0) {
+ output.writeInt32(2, robotMoveSpeed_);
+ }
+ if (robotChangeLaneDistance_ != 0) {
+ output.writeInt32(3, robotChangeLaneDistance_);
+ }
+ if (robotSwingSpeed_ != 0) {
+ output.writeInt32(4, robotSwingSpeed_);
+ }
+ if (robotSymmetricalOrNot_ != 0) {
+ output.writeInt32(5, robotSymmetricalOrNot_);
+ }
+ if (robotSwingRangeAngle_ != 0) {
+ output.writeInt32(6, robotSwingRangeAngle_);
+ }
+ if (robotAsymmetricalAngleSetValue_ != 0) {
+ output.writeInt32(7, robotAsymmetricalAngleSetValue_);
+ }
+ if (robotBackMode_ != 0) {
+ output.writeInt32(8, robotBackMode_);
+ }
+ if (robotBackDistance_ != 0) {
+ output.writeInt32(9, robotBackDistance_);
+ }
+ if (robotBackSpeed_ != 0) {
+ output.writeInt32(10, robotBackSpeed_);
+ }
+ if (robotPressSet_ != 0) {
+ output.writeInt32(11, robotPressSet_);
+ }
+ if (robotVerticalAdjust_ != 0) {
+ output.writeInt32(12, robotVerticalAdjust_);
+ }
+ if (robotLengthHomework_ != 0) {
+ output.writeInt32(13, robotLengthHomework_);
+ }
+ if (robotWidthHomework_ != 0) {
+ output.writeInt32(14, robotWidthHomework_);
+ }
+ if (robotSandBalstEncodeOne_ != 0) {
+ output.writeInt32(15, robotSandBalstEncodeOne_);
+ }
+ if (robotSandBalstEncodeTwo_ != 0) {
+ output.writeInt32(16, robotSandBalstEncodeTwo_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (robotOperationMode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, robotOperationMode_);
+ }
+ if (robotMoveSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, robotMoveSpeed_);
+ }
+ if (robotChangeLaneDistance_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, robotChangeLaneDistance_);
+ }
+ if (robotSwingSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, robotSwingSpeed_);
+ }
+ if (robotSymmetricalOrNot_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(5, robotSymmetricalOrNot_);
+ }
+ if (robotSwingRangeAngle_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(6, robotSwingRangeAngle_);
+ }
+ if (robotAsymmetricalAngleSetValue_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(7, robotAsymmetricalAngleSetValue_);
+ }
+ if (robotBackMode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(8, robotBackMode_);
+ }
+ if (robotBackDistance_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(9, robotBackDistance_);
+ }
+ if (robotBackSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(10, robotBackSpeed_);
+ }
+ if (robotPressSet_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(11, robotPressSet_);
+ }
+ if (robotVerticalAdjust_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(12, robotVerticalAdjust_);
+ }
+ if (robotLengthHomework_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(13, robotLengthHomework_);
+ }
+ if (robotWidthHomework_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(14, robotWidthHomework_);
+ }
+ if (robotSandBalstEncodeOne_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(15, robotSandBalstEncodeOne_);
+ }
+ if (robotSandBalstEncodeTwo_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(16, robotSandBalstEncodeTwo_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define other = (com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define) obj;
+
+ if (getRobotOperationMode()
+ != other.getRobotOperationMode()) return false;
+ if (getRobotMoveSpeed()
+ != other.getRobotMoveSpeed()) return false;
+ if (getRobotChangeLaneDistance()
+ != other.getRobotChangeLaneDistance()) return false;
+ if (getRobotSwingSpeed()
+ != other.getRobotSwingSpeed()) return false;
+ if (getRobotSymmetricalOrNot()
+ != other.getRobotSymmetricalOrNot()) return false;
+ if (getRobotSwingRangeAngle()
+ != other.getRobotSwingRangeAngle()) return false;
+ if (getRobotAsymmetricalAngleSetValue()
+ != other.getRobotAsymmetricalAngleSetValue()) return false;
+ if (getRobotBackMode()
+ != other.getRobotBackMode()) return false;
+ if (getRobotBackDistance()
+ != other.getRobotBackDistance()) return false;
+ if (getRobotBackSpeed()
+ != other.getRobotBackSpeed()) return false;
+ if (getRobotPressSet()
+ != other.getRobotPressSet()) return false;
+ if (getRobotVerticalAdjust()
+ != other.getRobotVerticalAdjust()) return false;
+ if (getRobotLengthHomework()
+ != other.getRobotLengthHomework()) return false;
+ if (getRobotWidthHomework()
+ != other.getRobotWidthHomework()) return false;
+ if (getRobotSandBalstEncodeOne()
+ != other.getRobotSandBalstEncodeOne()) return false;
+ if (getRobotSandBalstEncodeTwo()
+ != other.getRobotSandBalstEncodeTwo()) 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_OPERATION_MODE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotOperationMode();
+ hash = (37 * hash) + ROBOT_MOVE_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotMoveSpeed();
+ hash = (37 * hash) + ROBOT_CHANGE_LANE_DISTANCE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotChangeLaneDistance();
+ hash = (37 * hash) + ROBOT_SWING_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSwingSpeed();
+ hash = (37 * hash) + ROBOT_SYMMETRICALORNOT_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSymmetricalOrNot();
+ hash = (37 * hash) + ROBOT_SWING_RANGE_ANGLE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSwingRangeAngle();
+ hash = (37 * hash) + ROBOT_ASYMMETRICALANGLESETVALUE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotAsymmetricalAngleSetValue();
+ hash = (37 * hash) + ROBOT_BACKMODE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotBackMode();
+ hash = (37 * hash) + ROBOT_BACK_DISTANCE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotBackDistance();
+ hash = (37 * hash) + ROBOT_BACK_SPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotBackSpeed();
+ hash = (37 * hash) + ROBOT_PRESS_SET_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotPressSet();
+ hash = (37 * hash) + ROBOT_VERTICAL_ADJUST_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotVerticalAdjust();
+ hash = (37 * hash) + ROBOT_LENGTH_HOMEWORK_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotLengthHomework();
+ hash = (37 * hash) + ROBOT_WIDTH_HOMEWORK_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotWidthHomework();
+ hash = (37 * hash) + ROBOT_SANDBALST_ENCODE_ONE_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSandBalstEncodeOne();
+ hash = (37 * hash) + ROBOT_SANDBALST_ENCODE_TWO_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSandBalstEncodeTwo();
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:PV_struct_define)
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.swingarmapp_sandblast.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.swingarmapp_sandblast.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.class, com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ robotOperationMode_ = 0;
+ robotMoveSpeed_ = 0;
+ robotChangeLaneDistance_ = 0;
+ robotSwingSpeed_ = 0;
+ robotSymmetricalOrNot_ = 0;
+ robotSwingRangeAngle_ = 0;
+ robotAsymmetricalAngleSetValue_ = 0;
+ robotBackMode_ = 0;
+ robotBackDistance_ = 0;
+ robotBackSpeed_ = 0;
+ robotPressSet_ = 0;
+ robotVerticalAdjust_ = 0;
+ robotLengthHomework_ = 0;
+ robotWidthHomework_ = 0;
+ robotSandBalstEncodeOne_ = 0;
+ robotSandBalstEncodeTwo_ = 0;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.swingarmapp_sandblast.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define build() {
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define buildPartial() {
+ com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define result = new com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.robotOperationMode_ = robotOperationMode_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.robotMoveSpeed_ = robotMoveSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.robotChangeLaneDistance_ = robotChangeLaneDistance_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.robotSwingSpeed_ = robotSwingSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.robotSymmetricalOrNot_ = robotSymmetricalOrNot_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.robotSwingRangeAngle_ = robotSwingRangeAngle_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.robotAsymmetricalAngleSetValue_ = robotAsymmetricalAngleSetValue_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.robotBackMode_ = robotBackMode_;
+ }
+ if (((from_bitField0_ & 0x00000100) != 0)) {
+ result.robotBackDistance_ = robotBackDistance_;
+ }
+ if (((from_bitField0_ & 0x00000200) != 0)) {
+ result.robotBackSpeed_ = robotBackSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000400) != 0)) {
+ result.robotPressSet_ = robotPressSet_;
+ }
+ if (((from_bitField0_ & 0x00000800) != 0)) {
+ result.robotVerticalAdjust_ = robotVerticalAdjust_;
+ }
+ if (((from_bitField0_ & 0x00001000) != 0)) {
+ result.robotLengthHomework_ = robotLengthHomework_;
+ }
+ if (((from_bitField0_ & 0x00002000) != 0)) {
+ result.robotWidthHomework_ = robotWidthHomework_;
+ }
+ if (((from_bitField0_ & 0x00004000) != 0)) {
+ result.robotSandBalstEncodeOne_ = robotSandBalstEncodeOne_;
+ }
+ if (((from_bitField0_ & 0x00008000) != 0)) {
+ result.robotSandBalstEncodeTwo_ = robotSandBalstEncodeTwo_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define) {
+ return mergeFrom((com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define other) {
+ if (other == com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
+ if (other.getRobotOperationMode() != 0) {
+ setRobotOperationMode(other.getRobotOperationMode());
+ }
+ if (other.getRobotMoveSpeed() != 0) {
+ setRobotMoveSpeed(other.getRobotMoveSpeed());
+ }
+ if (other.getRobotChangeLaneDistance() != 0) {
+ setRobotChangeLaneDistance(other.getRobotChangeLaneDistance());
+ }
+ if (other.getRobotSwingSpeed() != 0) {
+ setRobotSwingSpeed(other.getRobotSwingSpeed());
+ }
+ if (other.getRobotSymmetricalOrNot() != 0) {
+ setRobotSymmetricalOrNot(other.getRobotSymmetricalOrNot());
+ }
+ if (other.getRobotSwingRangeAngle() != 0) {
+ setRobotSwingRangeAngle(other.getRobotSwingRangeAngle());
+ }
+ if (other.getRobotAsymmetricalAngleSetValue() != 0) {
+ setRobotAsymmetricalAngleSetValue(other.getRobotAsymmetricalAngleSetValue());
+ }
+ if (other.getRobotBackMode() != 0) {
+ setRobotBackMode(other.getRobotBackMode());
+ }
+ if (other.getRobotBackDistance() != 0) {
+ setRobotBackDistance(other.getRobotBackDistance());
+ }
+ if (other.getRobotBackSpeed() != 0) {
+ setRobotBackSpeed(other.getRobotBackSpeed());
+ }
+ if (other.getRobotPressSet() != 0) {
+ setRobotPressSet(other.getRobotPressSet());
+ }
+ if (other.getRobotVerticalAdjust() != 0) {
+ setRobotVerticalAdjust(other.getRobotVerticalAdjust());
+ }
+ if (other.getRobotLengthHomework() != 0) {
+ setRobotLengthHomework(other.getRobotLengthHomework());
+ }
+ if (other.getRobotWidthHomework() != 0) {
+ setRobotWidthHomework(other.getRobotWidthHomework());
+ }
+ if (other.getRobotSandBalstEncodeOne() != 0) {
+ setRobotSandBalstEncodeOne(other.getRobotSandBalstEncodeOne());
+ }
+ if (other.getRobotSandBalstEncodeTwo() != 0) {
+ setRobotSandBalstEncodeTwo(other.getRobotSandBalstEncodeTwo());
+ }
+ 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: {
+ robotOperationMode_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ robotMoveSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ robotChangeLaneDistance_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ robotSwingSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 40: {
+ robotSymmetricalOrNot_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 40
+ case 48: {
+ robotSwingRangeAngle_ = input.readInt32();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 48
+ case 56: {
+ robotAsymmetricalAngleSetValue_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 56
+ case 64: {
+ robotBackMode_ = input.readInt32();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 64
+ case 72: {
+ robotBackDistance_ = input.readInt32();
+ bitField0_ |= 0x00000100;
+ break;
+ } // case 72
+ case 80: {
+ robotBackSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000200;
+ break;
+ } // case 80
+ case 88: {
+ robotPressSet_ = input.readInt32();
+ bitField0_ |= 0x00000400;
+ break;
+ } // case 88
+ case 96: {
+ robotVerticalAdjust_ = input.readInt32();
+ bitField0_ |= 0x00000800;
+ break;
+ } // case 96
+ case 104: {
+ robotLengthHomework_ = input.readInt32();
+ bitField0_ |= 0x00001000;
+ break;
+ } // case 104
+ case 112: {
+ robotWidthHomework_ = input.readInt32();
+ bitField0_ |= 0x00002000;
+ break;
+ } // case 112
+ case 120: {
+ robotSandBalstEncodeOne_ = input.readInt32();
+ bitField0_ |= 0x00004000;
+ break;
+ } // case 120
+ case 128: {
+ robotSandBalstEncodeTwo_ = input.readInt32();
+ bitField0_ |= 0x00008000;
+ break;
+ } // case 128
+ 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 robotOperationMode_ ;
+ /**
+ *
+ * 操作模式 手动模式1 2 3 4 自动模式5 6 7
+ *
+ *
+ * int32 Robot_Operation_Mode = 1;
+ * @return The robotOperationMode.
+ */
+ @java.lang.Override
+ public int getRobotOperationMode() {
+ return robotOperationMode_;
+ }
+ /**
+ *
+ * 操作模式 手动模式1 2 3 4 自动模式5 6 7
+ *
+ *
+ * int32 Robot_Operation_Mode = 1;
+ * @param value The robotOperationMode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotOperationMode(int value) {
+
+ robotOperationMode_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 操作模式 手动模式1 2 3 4 自动模式5 6 7
+ *
+ *
+ * int32 Robot_Operation_Mode = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotOperationMode() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotOperationMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotMoveSpeed_ ;
+ /**
+ *
+ * 机器人移动速度
+ *
+ *
+ * int32 Robot_Move_Speed = 2;
+ * @return The robotMoveSpeed.
+ */
+ @java.lang.Override
+ public int getRobotMoveSpeed() {
+ return robotMoveSpeed_;
+ }
+ /**
+ *
+ * 机器人移动速度
+ *
+ *
+ * int32 Robot_Move_Speed = 2;
+ * @param value The robotMoveSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotMoveSpeed(int value) {
+
+ robotMoveSpeed_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 机器人移动速度
+ *
+ *
+ * int32 Robot_Move_Speed = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotMoveSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ robotMoveSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotChangeLaneDistance_ ;
+ /**
+ *
+ * 换道距离
+ *
+ *
+ * int32 Robot_Change_Lane_Distance = 3;
+ * @return The robotChangeLaneDistance.
+ */
+ @java.lang.Override
+ public int getRobotChangeLaneDistance() {
+ return robotChangeLaneDistance_;
+ }
+ /**
+ *
+ * 换道距离
+ *
+ *
+ * int32 Robot_Change_Lane_Distance = 3;
+ * @param value The robotChangeLaneDistance to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotChangeLaneDistance(int value) {
+
+ robotChangeLaneDistance_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 换道距离
+ *
+ *
+ * int32 Robot_Change_Lane_Distance = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotChangeLaneDistance() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ robotChangeLaneDistance_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSwingSpeed_ ;
+ /**
+ *
+ * 摆臂速度
+ *
+ *
+ * int32 Robot_Swing_Speed = 4;
+ * @return The robotSwingSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSwingSpeed() {
+ return robotSwingSpeed_;
+ }
+ /**
+ *
+ * 摆臂速度
+ *
+ *
+ * int32 Robot_Swing_Speed = 4;
+ * @param value The robotSwingSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSwingSpeed(int value) {
+
+ robotSwingSpeed_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 摆臂速度
+ *
+ *
+ * int32 Robot_Swing_Speed = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSwingSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ robotSwingSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSymmetricalOrNot_ ;
+ /**
+ *
+ * 摆臂角度界面中的对称or非对称 1 对称 2 非对称
+ *
+ *
+ * int32 Robot_symmetricalOrNot = 5;
+ * @return The robotSymmetricalOrNot.
+ */
+ @java.lang.Override
+ public int getRobotSymmetricalOrNot() {
+ return robotSymmetricalOrNot_;
+ }
+ /**
+ *
+ * 摆臂角度界面中的对称or非对称 1 对称 2 非对称
+ *
+ *
+ * int32 Robot_symmetricalOrNot = 5;
+ * @param value The robotSymmetricalOrNot to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSymmetricalOrNot(int value) {
+
+ robotSymmetricalOrNot_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 摆臂角度界面中的对称or非对称 1 对称 2 非对称
+ *
+ *
+ * int32 Robot_symmetricalOrNot = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSymmetricalOrNot() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ robotSymmetricalOrNot_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSwingRangeAngle_ ;
+ /**
+ *
+ * 对称下的摆臂角度
+ *
+ *
+ * int32 Robot_Swing_Range_Angle = 6;
+ * @return The robotSwingRangeAngle.
+ */
+ @java.lang.Override
+ public int getRobotSwingRangeAngle() {
+ return robotSwingRangeAngle_;
+ }
+ /**
+ *
+ * 对称下的摆臂角度
+ *
+ *
+ * int32 Robot_Swing_Range_Angle = 6;
+ * @param value The robotSwingRangeAngle to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSwingRangeAngle(int value) {
+
+ robotSwingRangeAngle_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 对称下的摆臂角度
+ *
+ *
+ * int32 Robot_Swing_Range_Angle = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSwingRangeAngle() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ robotSwingRangeAngle_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotAsymmetricalAngleSetValue_ ;
+ /**
+ *
+ * 非对称条件下下 1左侧 2 右侧
+ *
+ *
+ * int32 Robot_asymmetricalAngleSetValue = 7;
+ * @return The robotAsymmetricalAngleSetValue.
+ */
+ @java.lang.Override
+ public int getRobotAsymmetricalAngleSetValue() {
+ return robotAsymmetricalAngleSetValue_;
+ }
+ /**
+ *
+ * 非对称条件下下 1左侧 2 右侧
+ *
+ *
+ * int32 Robot_asymmetricalAngleSetValue = 7;
+ * @param value The robotAsymmetricalAngleSetValue to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotAsymmetricalAngleSetValue(int value) {
+
+ robotAsymmetricalAngleSetValue_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 非对称条件下下 1左侧 2 右侧
+ *
+ *
+ * int32 Robot_asymmetricalAngleSetValue = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotAsymmetricalAngleSetValue() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ robotAsymmetricalAngleSetValue_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotBackMode_ ;
+ /**
+ *
+ * 后退设置模式 1 打退交替 2 边打边退
+ *
+ *
+ * int32 Robot_backMode = 8;
+ * @return The robotBackMode.
+ */
+ @java.lang.Override
+ public int getRobotBackMode() {
+ return robotBackMode_;
+ }
+ /**
+ *
+ * 后退设置模式 1 打退交替 2 边打边退
+ *
+ *
+ * int32 Robot_backMode = 8;
+ * @param value The robotBackMode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotBackMode(int value) {
+
+ robotBackMode_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 后退设置模式 1 打退交替 2 边打边退
+ *
+ *
+ * int32 Robot_backMode = 8;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotBackMode() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ robotBackMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotBackDistance_ ;
+ /**
+ *
+ * 打退交替条件下的后退距离
+ *
+ *
+ * int32 Robot_Back_Distance = 9;
+ * @return The robotBackDistance.
+ */
+ @java.lang.Override
+ public int getRobotBackDistance() {
+ return robotBackDistance_;
+ }
+ /**
+ *
+ * 打退交替条件下的后退距离
+ *
+ *
+ * int32 Robot_Back_Distance = 9;
+ * @param value The robotBackDistance to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotBackDistance(int value) {
+
+ robotBackDistance_ = value;
+ bitField0_ |= 0x00000100;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 打退交替条件下的后退距离
+ *
+ *
+ * int32 Robot_Back_Distance = 9;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotBackDistance() {
+ bitField0_ = (bitField0_ & ~0x00000100);
+ robotBackDistance_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotBackSpeed_ ;
+ /**
+ *
+ * 边打边退条件下的后退速度
+ *
+ *
+ * int32 Robot_Back_Speed = 10;
+ * @return The robotBackSpeed.
+ */
+ @java.lang.Override
+ public int getRobotBackSpeed() {
+ return robotBackSpeed_;
+ }
+ /**
+ *
+ * 边打边退条件下的后退速度
+ *
+ *
+ * int32 Robot_Back_Speed = 10;
+ * @param value The robotBackSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotBackSpeed(int value) {
+
+ robotBackSpeed_ = value;
+ bitField0_ |= 0x00000200;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 边打边退条件下的后退速度
+ *
+ *
+ * int32 Robot_Back_Speed = 10;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotBackSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000200);
+ robotBackSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotPressSet_ ;
+ /**
+ *
+ * 压力设置
+ *
+ *
+ * int32 Robot_Press_Set = 11;
+ * @return The robotPressSet.
+ */
+ @java.lang.Override
+ public int getRobotPressSet() {
+ return robotPressSet_;
+ }
+ /**
+ *
+ * 压力设置
+ *
+ *
+ * int32 Robot_Press_Set = 11;
+ * @param value The robotPressSet to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotPressSet(int value) {
+
+ robotPressSet_ = value;
+ bitField0_ |= 0x00000400;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 压力设置
+ *
+ *
+ * int32 Robot_Press_Set = 11;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotPressSet() {
+ bitField0_ = (bitField0_ & ~0x00000400);
+ robotPressSet_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotVerticalAdjust_ ;
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * int32 Robot_Vertical_Adjust = 12;
+ * @return The robotVerticalAdjust.
+ */
+ @java.lang.Override
+ public int getRobotVerticalAdjust() {
+ return robotVerticalAdjust_;
+ }
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * int32 Robot_Vertical_Adjust = 12;
+ * @param value The robotVerticalAdjust to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotVerticalAdjust(int value) {
+
+ robotVerticalAdjust_ = value;
+ bitField0_ |= 0x00000800;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * int32 Robot_Vertical_Adjust = 12;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotVerticalAdjust() {
+ bitField0_ = (bitField0_ & ~0x00000800);
+ robotVerticalAdjust_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotLengthHomework_ ;
+ /**
+ *
+ * 自动模式下的作业长度
+ *
+ *
+ * int32 Robot_Length_Homework = 13;
+ * @return The robotLengthHomework.
+ */
+ @java.lang.Override
+ public int getRobotLengthHomework() {
+ return robotLengthHomework_;
+ }
+ /**
+ *
+ * 自动模式下的作业长度
+ *
+ *
+ * int32 Robot_Length_Homework = 13;
+ * @param value The robotLengthHomework to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotLengthHomework(int value) {
+
+ robotLengthHomework_ = value;
+ bitField0_ |= 0x00001000;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 自动模式下的作业长度
+ *
+ *
+ * int32 Robot_Length_Homework = 13;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotLengthHomework() {
+ bitField0_ = (bitField0_ & ~0x00001000);
+ robotLengthHomework_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotWidthHomework_ ;
+ /**
+ *
+ * 自动模式下的作业宽度
+ *
+ *
+ * int32 Robot_Width_Homework = 14;
+ * @return The robotWidthHomework.
+ */
+ @java.lang.Override
+ public int getRobotWidthHomework() {
+ return robotWidthHomework_;
+ }
+ /**
+ *
+ * 自动模式下的作业宽度
+ *
+ *
+ * int32 Robot_Width_Homework = 14;
+ * @param value The robotWidthHomework to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotWidthHomework(int value) {
+
+ robotWidthHomework_ = value;
+ bitField0_ |= 0x00002000;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 自动模式下的作业宽度
+ *
+ *
+ * int32 Robot_Width_Homework = 14;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotWidthHomework() {
+ bitField0_ = (bitField0_ & ~0x00002000);
+ robotWidthHomework_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSandBalstEncodeOne_ ;
+ /**
+ *
+ * 喷砂机编码1
+ *
+ *
+ * int32 Robot_SandBalst_Encode_One = 15;
+ * @return The robotSandBalstEncodeOne.
+ */
+ @java.lang.Override
+ public int getRobotSandBalstEncodeOne() {
+ return robotSandBalstEncodeOne_;
+ }
+ /**
+ *
+ * 喷砂机编码1
+ *
+ *
+ * int32 Robot_SandBalst_Encode_One = 15;
+ * @param value The robotSandBalstEncodeOne to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSandBalstEncodeOne(int value) {
+
+ robotSandBalstEncodeOne_ = value;
+ bitField0_ |= 0x00004000;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 喷砂机编码1
+ *
+ *
+ * int32 Robot_SandBalst_Encode_One = 15;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSandBalstEncodeOne() {
+ bitField0_ = (bitField0_ & ~0x00004000);
+ robotSandBalstEncodeOne_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSandBalstEncodeTwo_ ;
+ /**
+ *
+ * 喷砂机编码2
+ *
+ *
+ * int32 Robot_SandBalst_Encode_Two = 16;
+ * @return The robotSandBalstEncodeTwo.
+ */
+ @java.lang.Override
+ public int getRobotSandBalstEncodeTwo() {
+ return robotSandBalstEncodeTwo_;
+ }
+ /**
+ *
+ * 喷砂机编码2
+ *
+ *
+ * int32 Robot_SandBalst_Encode_Two = 16;
+ * @param value The robotSandBalstEncodeTwo to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSandBalstEncodeTwo(int value) {
+
+ robotSandBalstEncodeTwo_ = value;
+ bitField0_ |= 0x00008000;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 喷砂机编码2
+ *
+ *
+ * int32 Robot_SandBalst_Encode_Two = 16;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSandBalstEncodeTwo() {
+ bitField0_ = (bitField0_ & ~0x00008000);
+ robotSandBalstEncodeTwo_ = 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.swingarmapp_sandblast.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define();
+ }
+
+ public static com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public PV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.swingarmapp_sandblast.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_PV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_PV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_PV.proto\"\377\003\n\020PV_struct_define\022\034\n\024R" +
+ "obot_Operation_Mode\030\001 \001(\005\022\030\n\020Robot_Move_" +
+ "Speed\030\002 \001(\005\022\"\n\032Robot_Change_Lane_Distanc" +
+ "e\030\003 \001(\005\022\031\n\021Robot_Swing_Speed\030\004 \001(\005\022\036\n\026Ro" +
+ "bot_symmetricalOrNot\030\005 \001(\005\022\037\n\027Robot_Swin" +
+ "g_Range_Angle\030\006 \001(\005\022\'\n\037Robot_asymmetrica" +
+ "lAngleSetValue\030\007 \001(\005\022\026\n\016Robot_backMode\030\010" +
+ " \001(\005\022\033\n\023Robot_Back_Distance\030\t \001(\005\022\030\n\020Rob" +
+ "ot_Back_Speed\030\n \001(\005\022\027\n\017Robot_Press_Set\030\013" +
+ " \001(\005\022\035\n\025Robot_Vertical_Adjust\030\014 \001(\005\022\035\n\025R" +
+ "obot_Length_Homework\030\r \001(\005\022\034\n\024Robot_Widt" +
+ "h_Homework\030\016 \001(\005\022\"\n\032Robot_SandBalst_Enco" +
+ "de_One\030\017 \001(\005\022\"\n\032Robot_SandBalst_Encode_T" +
+ "wo\030\020 \001(\005B,\n(com.example.swingarmapp_sand" +
+ "blast.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[] { "RobotOperationMode", "RobotMoveSpeed", "RobotChangeLaneDistance", "RobotSwingSpeed", "RobotSymmetricalOrNot", "RobotSwingRangeAngle", "RobotAsymmetricalAngleSetValue", "RobotBackMode", "RobotBackDistance", "RobotBackSpeed", "RobotPressSet", "RobotVerticalAdjust", "RobotLengthHomework", "RobotWidthHomework", "RobotSandBalstEncodeOne", "RobotSandBalstEncodeTwo", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayIV.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayIV.java
new file mode 100644
index 0000000..69fa3b9
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayIV.java
@@ -0,0 +1,50 @@
+package com.example.swingarmapp_sandblast.models;
+
+import androidx.databinding.BaseObservable;
+
+public class DisplayIV extends BaseObservable {
+ private double leftCompensation;
+ private double rightCompensation;
+ private double currentAngle;
+
+ public double getLeftCompensation() {
+ return leftCompensation;
+ }
+
+ public void setLeftCompensation(double leftCompensation) {
+ this.leftCompensation = leftCompensation;
+ }
+
+ public double getRightCompensation() {
+ return rightCompensation;
+ }
+
+ public void setRightCompensation(double rightCompensation) {
+ this.rightCompensation = rightCompensation;
+ }
+
+ public double getCurrentAngle() {
+ return currentAngle;
+ }
+
+ public void setCurrentAngle(double currentAngle) {
+ this.currentAngle = currentAngle;
+ }
+
+ public double getRobotMoveSpeed() {
+ return robotMoveSpeed;
+ }
+
+ public void setRobotMoveSpeed(double robotMoveSpeed) {
+ this.robotMoveSpeed = robotMoveSpeed;
+ }
+
+ private double robotMoveSpeed;
+
+ public DisplayIV(double leftCompensation, double rightCompensation, double currentAngle, double robotMoveSpeed) {
+ this.leftCompensation = leftCompensation;
+ this.rightCompensation = rightCompensation;
+ this.currentAngle = currentAngle;
+ this.robotMoveSpeed = robotMoveSpeed;
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayPV.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayPV.java
new file mode 100644
index 0000000..eddab05
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplayPV.java
@@ -0,0 +1,119 @@
+package com.example.swingarmapp_sandblast.models;
+
+import androidx.databinding.BaseObservable;
+
+public class DisplayPV extends BaseObservable {
+
+ private int id;
+
+ private int moveSpeed;
+ private int laneChangeDistance;
+ private int swingArmSpeed;
+ private int swingArmAngle;
+
+ private double backDistance;
+ private double backSpeedValue;
+ private int pressSet;
+
+ private double verticalAdjust;
+
+ private int workLength;
+ private int workWidth;
+
+
+
+ public DisplayPV(int id, int laneChangeDistance, int swingArmSpeed, int swingArmAngle, double backDistance, double backSpeedValue, int pressSet,double verticalAdjust ,int workLength,int workWidth) {
+ this.id = id;
+ this.laneChangeDistance=laneChangeDistance;
+ this.swingArmSpeed = swingArmSpeed;
+ this.swingArmAngle = swingArmAngle;
+ this.backDistance = backDistance;
+ this.backSpeedValue=backSpeedValue;
+ this.pressSet=pressSet;
+ this.verticalAdjust=verticalAdjust;
+ this.workLength=workLength;
+ this.workWidth=workWidth;
+
+ }
+
+
+ public int getId() { return id; }
+ public void setId(int id) {
+ this.id = id;
+ }
+
+
+
+
+// public int getMoveSpeed()
+// {
+// return moveSpeed;
+// }
+// public void setMoveSpeed(int moveSpeed){ this.moveSpeed=moveSpeed;}
+
+ public int getLaneChangeDistance() {
+ return laneChangeDistance;
+ }
+ public void setLaneChangeDistance(int laneChangeDistance) { this.laneChangeDistance = laneChangeDistance;}
+
+ public int getSwingArmSpeed() {
+ return swingArmSpeed;
+ }
+ public void setSwingArmSpeed(int swingArmSpeed) { this.swingArmSpeed = swingArmSpeed;}
+
+ public int getSwingArmAngle() {
+ return swingArmAngle;
+ }
+ public void setSwingArmAngle(int swingArmAngle) {
+ this.swingArmAngle = swingArmAngle;
+ }
+
+
+ public double getBackDistance() {
+ return backDistance;
+ }
+ public void setBackDistance(int backDistance) {
+ this.backDistance = backDistance;
+ }
+
+ public double getBackSpeedValue() {
+ return backSpeedValue;
+ }
+ public void setBackSpeedValue(int backSpeedValue) {
+ this.backSpeedValue = backSpeedValue;
+ }
+
+ public int getPressSet() {
+ return pressSet;
+ }
+ public void setPressSet(int pressSet) {
+ this.pressSet = pressSet;
+ }
+
+
+ public double getVerticalAdjust() {
+ return verticalAdjust;
+ }
+ public void setVerticalAdjust(int verticalAdjust) {
+ this.verticalAdjust = verticalAdjust;
+ }
+
+
+
+ public int getWorkLength() {
+ return workLength;
+ }
+ public void setWorkLength(int workLength) {
+ this.workLength = workLength;
+ }
+
+ public int getWorkWidth() {
+ return workWidth;
+ }
+ public void setWorkWidth(int workWidth) {
+ this.workLength = workWidth;
+ }
+
+
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplaySandBlast.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplaySandBlast.java
new file mode 100644
index 0000000..816158c
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/DisplaySandBlast.java
@@ -0,0 +1,30 @@
+package com.example.swingarmapp_sandblast.models;
+
+public class DisplaySandBlast {
+ private int id;
+ private int sand_encodeone;
+ private int sand_encodetwo;
+
+ public DisplaySandBlast(int id , int sandEncodeOne,int sandEncodeTwo){
+
+ this.id=id;
+ this.sand_encodeone=sandEncodeOne;
+ this.sand_encodetwo=sandEncodeTwo;
+ }
+
+ public int getId() { return id; }
+ public void setId(int id) {
+ this.id = id;
+ }
+
+ public int getsand_encodeone() { return sand_encodeone; }
+ public void setsand_encodeone(int sandEncodeOne) {
+ this.sand_encodeone = sandEncodeOne;
+ }
+
+ public int getsand_encodetwo() { return sand_encodetwo; }
+ public void setsand_encodetwo(int sand_encodetwo) {
+ this.sand_encodeone = sand_encodetwo;
+ }
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ErrorModel.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ErrorModel.java
new file mode 100644
index 0000000..baa51d2
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ErrorModel.java
@@ -0,0 +1,44 @@
+package com.example.swingarmapp_sandblast.models;
+
+public class ErrorModel {
+
+ public ErrorModel(long timeID, String errorInfo) {
+ this.timeID = timeID;
+ this.errorInfo = errorInfo;
+ }
+ private long timeID;
+
+
+ public void setDateTimeBJ(String dateTimeUTC) {
+ this.dateTimeBJ = dateTimeUTC;
+ }
+
+ private String errorInfo;
+
+ public String getDateTimeBJ() {
+ return dateTimeBJ;
+ }
+
+ private String dateTimeBJ;
+
+
+ @Override
+ public String toString() {
+ return String.valueOf(dateTimeBJ + errorInfo);
+ }
+ public void setTimeID(long timeID) {
+ this.timeID = timeID;
+ }
+
+ public void setErrorInfo(String errorInfo) {
+ this.errorInfo = errorInfo;
+ }
+
+ public long getTimeID() {
+ return timeID;
+ }
+
+ public String getErrorInfo() {
+ return errorInfo;
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ScrollBottomScrollView.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ScrollBottomScrollView.java
new file mode 100644
index 0000000..fdd0850
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/models/ScrollBottomScrollView.java
@@ -0,0 +1,43 @@
+package com.example.swingarmapp_sandblast.models;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.View;
+import android.widget.ScrollView;
+
+public class ScrollBottomScrollView extends ScrollView {
+
+ private OnScrollBottomListener listener;
+ private int calCount;
+
+ public interface OnScrollBottomListener {
+ void scrollToBottom();
+ }
+
+ public void onScrollViewScrollToBottom(OnScrollBottomListener l) {
+ listener = l;
+ }
+
+ public void unRegisterOnScrollViewScrollToBottom() {
+ listener = null;
+ }
+
+ public ScrollBottomScrollView(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ @Override
+ protected void onScrollChanged(int l, int t, int oldl, int oldt) {
+ View view = this.getChildAt(0);
+ if (this.getHeight() + this.getScrollY() == view.getHeight()) {
+ calCount++;
+ if (calCount == 1) {
+ if (listener != null) {
+ listener.scrollToBottom();
+ }
+ }
+ } else {
+ calCount = 0;
+ }
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ConvertHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ConvertHelper.java
new file mode 100644
index 0000000..0f911d4
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ConvertHelper.java
@@ -0,0 +1,26 @@
+package com.example.swingarmapp_sandblast.services;
+
+import android.widget.EditText;
+import android.widget.TextView;
+
+public class ConvertHelper {
+
+ public static int convertEditTextToInt(TextView editText) {
+ // 获取 EditText 中的文本
+ String input = editText.getText().toString().trim();
+ try {
+ // 尝试将字符串转换为整数
+ return Integer.parseInt(input);
+ } catch (NumberFormatException e) {
+ // 输入不是有效的整数格式，返回 -1 表示转换失败
+ return -1;
+ }
+ }
+
+ public static boolean isEditTextNullOrEmpty(EditText editText) {
+
+ String str = String.valueOf(editText.getText());
+
+ return str == null || str.isEmpty();
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/CustomProber.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/CustomProber.java
new file mode 100644
index 0000000..c817235
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/CustomProber.java
@@ -0,0 +1,22 @@
+package com.example.swingarmapp_sandblast.services;
+
+import com.hoho.android.usbserial.driver.FtdiSerialDriver;
+import com.hoho.android.usbserial.driver.ProbeTable;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+
+/**
+ * add devices here, that are not known to DefaultProber
+ *
+ * if the App should auto start for these devices, also
+ * add IDs to app/src/main/res/xml/device_filter.xml
+ */
+public class CustomProber {
+
+ public static UsbSerialProber getCustomProber() {
+ ProbeTable customTable = new ProbeTable();
+ customTable.addProduct(0x1234, 0x0001, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ customTable.addProduct(0x1234, 0x0002, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ return new UsbSerialProber(customTable);
+ }
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/DecimalDigitsInputFilter.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/DecimalDigitsInputFilter.java
new file mode 100644
index 0000000..8d64171
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/DecimalDigitsInputFilter.java
@@ -0,0 +1,71 @@
+package com.example.swingarmapp_sandblast.services;
+
+import android.text.InputFilter;
+import android.text.Spanned;
+
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+/*
+ 自定义 InputFilter 类，用于限制输入格式
+ 支持整数、负数和最多一位小数的输入
+ 使用方法：editText.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()});
+*/
+public class DecimalDigitsInputFilter implements InputFilter {
+ // 最终验证的正则表达式
+ private final Pattern mFinalPattern;
+ // 中间状态允许的正则表达式
+ private final Pattern mIntermediatePattern;
+
+ public DecimalDigitsInputFilter() {
+ // 最终验证：必须是完整的数字格式
+ mFinalPattern = Pattern.compile("^-?(0|[1-9]\\d*)(\\.\\d)?$");
+
+ // 中间状态：允许临时的不完整格式（如 "-"、"0."、"-2."）
+ mIntermediatePattern = Pattern.compile("^-?(0|[1-9]\\d*)?(\\.)?$");
+ }
+
+ @Override
+ public CharSequence filter(CharSequence source, int start, int end, Spanned dest, int dstart, int dend) {
+ // 处理删除操作
+ if (end - start == 0) {
+ return null;
+ }
+
+ // 拼接新的输入内容
+ String newText = dest.toString().substring(0, dstart) +
+ source.toString().substring(start, end) +
+ dest.toString().substring(dend);
+
+ // 允许空字符串或单独的负号
+ if (newText.isEmpty() || newText.equals("-")) {
+ return null;
+ }
+
+ // 防止前导零（除非是 0 或 0.x）
+ if (newText.startsWith("0") && newText.length() > 1 &&
+ !newText.startsWith("0.") && !newText.equals("0")) {
+ return "";
+ }
+
+ // 防止多个负号
+ if (newText.indexOf('-') > 0) {
+ return "";
+ }
+
+ // 防止多个小数点
+ if (newText.indexOf('.') != newText.lastIndexOf('.')) {
+ return "";
+ }
+
+ // 检查是否匹配最终模式或中间模式
+ Matcher finalMatcher = mFinalPattern.matcher(newText);
+ Matcher intermediateMatcher = mIntermediatePattern.matcher(newText);
+
+ if (finalMatcher.matches() || intermediateMatcher.matches()) {
+ return null; // 匹配成功，允许输入
+ }
+
+ return ""; // 匹配失败，阻止输入
+ }
+}
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ErrorDeocdeHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ErrorDeocdeHelper.java
new file mode 100644
index 0000000..f4a17f7
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ErrorDeocdeHelper.java
@@ -0,0 +1,78 @@
+package com.example.swingarmapp_sandblast.services;
+
+import com.example.swingarmapp_sandblast.models.BspError;
+
+public class ErrorDeocdeHelper {
+
+ //private static Map flagMap = new HashMap<>();
+
+// public static void AddMap(String errorName, Integer bitPosition)
+// {
+// flagMap.put(errorName,bitPosition);
+// }
+ private static String ErrorResult;
+ private static String addErrorResult;
+ public static String ErrorDeocde(int data)
+ {
+ ErrorResult="";
+ // 循环遍历 Map
+// for (Map.Entry entry : flagMap.entrySet()) {
+// String key = entry.getKey();
+// int bitPosiiton = entry.getValue();
+//
+// // 使用左移操作生成要检查的标志位
+// int bitToCheck = 1 << bitPosiiton;
+//
+// // 判断该位置是否有对应的标志位
+// if ((data & bitToCheck) != 0)
+// {
+// ErrorResult+=key+":\t 错误！ ";
+// } else
+// {
+//
+// }
+// }
+
+//
+ for (BspError.ComError err : BspError.ComError.values()) {
+
+
+ int bitPosiiton = err.ordinal();//返回枚举值
+ if (err.toString().equals("UNRECOGNIZED")) continue;
+ if (err.toString().equals("TL720D"))
+ addErrorResult = " 作业模式已切换至手动";
+ else
+ addErrorResult = " ";
+
+ // 使用左移操作生成要检查的标志位
+ int bitToCheck = 1 << bitPosiiton;
+
+// // 判断该位置是否有对应的标志位
+// if ((data & bitToCheck) != 0)
+// {
+//
+// ErrorResult+=err.toString()+addErrorResult+"\t";
+// } else
+// {
+//
+// }
+
+
+ // 判断该位置是否有对应的标志位
+ if ((data & bitToCheck) != 0) {
+
+ // ErrorResult += String.valueOf(bitPosiiton);
+
+ if (err.toString().equals("MK32_InitialState")) {
+ ErrorResult = "未复位";
+ }
+// else
+// {
+// ErrorResult += err.toString()+addErrorResult+"\t";
+// }
+ }
+ }
+ return ErrorResult;
+ }
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/LogUtil.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/LogUtil.java
new file mode 100644
index 0000000..a9e219b
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/LogUtil.java
@@ -0,0 +1,39 @@
+package com.example.swingarmapp_sandblast.services;
+
+import android.util.Log;
+
+public class LogUtil {
+ private String TAG;
+ private boolean isRelease = false;
+ private boolean isDebug;
+
+ public LogUtil(Class c, boolean isDebug) {
+ this.TAG = c.getName();
+ this.isDebug = isDebug;
+ }
+
+ public void d(String msg) {
+ if (!isRelease && isDebug) {
+ Log.d(TAG, "--------->" + msg);
+ }
+ }
+
+ public void i(String msg) {
+ if (!isRelease && isDebug) {
+ Log.i(TAG, "--------->" + msg);
+ }
+ }
+
+ public void w(String msg) {
+ if (!isRelease && isDebug) {
+ Log.w(TAG, "--------->" + msg);
+ }
+ }
+
+ public void e(String msg) {
+ if (!isRelease && isDebug) {
+ Log.e(TAG, "--------->" + msg);
+ }
+ }
+}
+
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ModbusCRC.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ModbusCRC.java
new file mode 100644
index 0000000..586e77a
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/ModbusCRC.java
@@ -0,0 +1,72 @@
+package com.example.swingarmapp_sandblast.services;
+
+public class ModbusCRC {
+
+// /**
+// * 一个字节包含位的数量 8
+// */
+// private static final int BITS_OF_BYTE = 8;
+// /**
+// * 多项式
+// */
+// private static final int POLYNOMIAL = 0xA001;
+// /**
+// * 初始值
+// */
+// private static final int INITIAL_VALUE = 0xFFFF;
+//
+// /**
+// * CRC16 编码
+// *
+// * @param bytes 编码内容
+// * @return 编码结果
+// */
+// public static int crc16(byte[] bytes) {
+// int res = INITIAL_VALUE;
+// for (int data : bytes) {
+// res = res ^ data;
+// for (int i = 0; i < BITS_OF_BYTE; i++) {
+// res = (res & 0x0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
+// }
+// }
+// return revert(res);
+// }
+//
+// /**
+// * 翻转16位的高八位和低八位字节
+// *
+// * @param src 翻转数字
+// * @return 翻转结果
+// */
+// private static int revert(int src) {
+// int lowByte = (src & 0xFF00) >> 8;
+// int highByte = (src & 0x00FF) << 8;
+// return lowByte | highByte;
+// }
+
+
+ /**
+ * 计算 Modbus CRC 校验值
+ * @param data 要计算校验值的字节数组
+ * @return CRC 校验值，以 2 字节的数组形式返回
+ */
+ public static byte[] calculateCRC(byte[] data) {
+ int crc = 0xFFFF;
+ for (byte b : data) {
+ crc ^= (b & 0xFF);
+ for (int i = 0; i < 8; i++) {
+ if ((crc & 0x0001) != 0) {
+ crc >>= 1;
+ crc ^= 0xA001;
+ } else {
+ crc >>= 1;
+ }
+ }
+ }
+ // 将 CRC 结果拆分为两个字节
+ byte[] crcBytes = new byte[2];
+ crcBytes[0] = (byte) (crc & 0xFF);
+ crcBytes[1] = (byte) ((crc >> 8) & 0xFF);
+ return crcBytes;
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/MyDataHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/MyDataHelper.java
new file mode 100644
index 0000000..45a8407
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/MyDataHelper.java
@@ -0,0 +1,304 @@
+package com.example.swingarmapp_sandblast.services;
+
+import android.content.ContentValues;
+import android.content.Context;
+import android.database.Cursor;
+import android.database.SQLException;
+import android.database.sqlite.SQLiteDatabase;//具体进行数据库、数据表的一个操作
+import android.database.sqlite.SQLiteOpenHelper;//用来创建数据库和对数据库进行版本管理
+import android.util.Log;
+
+import androidx.annotation.Nullable;
+
+import com.example.swingarmapp_sandblast.models.DisplayPV;
+import com.example.swingarmapp_sandblast.models.DisplaySandBlast;
+import com.example.swingarmapp_sandblast.models.ErrorModel;
+
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.TimeZone;
+
+public class MyDataHelper extends SQLiteOpenHelper {
+ //定义字段
+ public static final String COLUMN_ID = "id";//参数调用
+ public static final String TABLE_NAME = "information";
+
+ public static final String COLUMN_LANE_CHANGE_DISTANCE = "laneChangeDistance";//换道距离
+ public static final String COLUMN_SWING_ARM_SPEED = "swingArmSpeed";//Maintv_swingArmSpeedTo32摆臂速度
+ public static final String COLUMN_SWING_ARM_ANGLE = "swingArmAngle";//Maintv_swingArmAngleTo32摆臂角度
+
+ public static final String COLUMN_BACK_DISTANCE = "backDistance";//Maintv_BackDistanceTo32后退距离
+ public static final String COLUMN_BACK_SPEED = "backSpeed";//Maintv_BackSpeedTo32后退速度
+
+ public static final String COLUMN_PRESS_SET = "pressSet";//Maintv_PressTo32 压力设定
+ public static final String COLUMN_VERTICAL_ADJUST = "verticalAdjust";//Maintv_VerticalAdjustTo32 竖直微调
+ public static final String COLUMN_WORK_LENGTH = "workLength";//Maintv_WorkLenthTo32作业长度
+ public static final String COLUMN_WORK_WIDTH = "workWidth";//Maintv_WorkWidthTo32作业宽度
+
+
+ public static final String Error_TABLE_NAME = "error";
+ public static final String Error_COLUMN_TimeStamp = "timeID";
+
+ public static final String Error_COLUMN_ERROR_INFO = "errorInfo";
+
+ /*****************************************/
+ public static final String SAND_TABLE_NAME = "sandblast";
+ public static final String SAND_COLUMN_ENCODEONE = "encode1";
+
+ public static final String SAND_COLUMN_ENCODETWO = "encode2";
+
+
+
+ public MyDataHelper(@Nullable Context context) {
+ super(context, "bingbot.db", null, 6); //数据库名称为 bingbot.db，数据库版本为 1。存放两个表
+ }
+
+ @Override
+ public void onCreate(SQLiteDatabase db) {
+
+
+ //INTEGER前加空格
+ String sql = "CREATE TABLE " + TABLE_NAME + " (" +
+ COLUMN_ID + " INTEGER PRIMARY KEY AUTOINCREMENT, " +
+ COLUMN_PRESS_SET + " INTEGER, " +
+ COLUMN_VERTICAL_ADJUST + " DOUBLE, " +
+ COLUMN_SWING_ARM_ANGLE + " INTEGER, " +
+ COLUMN_SWING_ARM_SPEED + " INTEGER, " +
+ COLUMN_BACK_DISTANCE + " DOUBLE, " +
+ COLUMN_LANE_CHANGE_DISTANCE + " INTEGER, " +
+ COLUMN_WORK_LENGTH + " INTEGER, " +
+ COLUMN_WORK_WIDTH + " INTEGER, " +
+ COLUMN_BACK_SPEED + " DOUBLE);";
+
+ db.execSQL(sql); //执行sql语句
+ // Log.d("DB_DEBUG", "表创建成功，列名包含: moveSpeed");
+ sql = "CREATE TABLE " + Error_TABLE_NAME + "(" + Error_COLUMN_TimeStamp + " INTEGER PRIMARY KEY ,"
+ + Error_COLUMN_ERROR_INFO + " STRING " + ")";
+
+ db.execSQL(sql); //创建错误表
+
+ /*******创建喷砂机编码表*********/
+ sql = "CREATE TABLE " + SAND_TABLE_NAME + "(" + COLUMN_ID + " INTEGER PRIMARY KEY ,"+ SAND_COLUMN_ENCODEONE + " INTEGER, "
+ + SAND_COLUMN_ENCODETWO + " INTEGER " + ")";
+
+ db.execSQL(sql); //创建错误表
+
+ }
+
+ @Override
+ public void onUpgrade(SQLiteDatabase db, int oldVersion, int newVersion) {
+ db.execSQL("DROP TABLE IF EXISTS " + TABLE_NAME);
+ db.execSQL("DROP TABLE IF EXISTS " + Error_TABLE_NAME);
+ onCreate(db);
+ }
+
+ //增 删 改 查
+ public String addOrUpdateDisplayData(DisplayPV pv) {
+ ContentValues cv = new ContentValues(); //键值对的类
+ cv.put(COLUMN_ID, pv.getId());
+ cv.put(COLUMN_BACK_SPEED, pv.getBackSpeedValue());
+ cv.put(COLUMN_LANE_CHANGE_DISTANCE, pv.getLaneChangeDistance());
+ cv.put(COLUMN_SWING_ARM_SPEED, pv.getSwingArmSpeed());
+ cv.put(COLUMN_SWING_ARM_ANGLE, pv.getSwingArmAngle());
+ cv.put(COLUMN_BACK_DISTANCE, pv.getBackDistance());
+ cv.put(COLUMN_PRESS_SET, pv.getPressSet());
+ cv.put(COLUMN_VERTICAL_ADJUST, pv.getVerticalAdjust());
+ cv.put(COLUMN_WORK_LENGTH, pv.getWorkLength());
+ cv.put(COLUMN_WORK_WIDTH, pv.getWorkWidth());
+
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();//获取数据库实例以实现增上查改等，如果没有就新建 并把sqliteDatabase作为参数传给oncreate方法
+ long insert = sqliteDatabase.insertWithOnConflict(TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ sqliteDatabase.close();
+ if (insert == -1) {
+ return "failed";
+ }
+ return "success";
+ }
+
+ public String addOrUpdateDisplayData_SandBlast(DisplaySandBlast dsb) {
+ ContentValues cv = new ContentValues(); //键值对的类
+ cv.put(COLUMN_ID, 1);
+ cv.put(SAND_COLUMN_ENCODEONE, dsb.getsand_encodeone());
+ cv.put(SAND_COLUMN_ENCODETWO, dsb.getsand_encodetwo());
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();//获取数据库实例以实现增上查改等，如果没有就新建 并把sqliteDatabase作为参数传给oncreate方法
+ long insert = sqliteDatabase.insertWithOnConflict(SAND_TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ sqliteDatabase.close();
+ if (insert == -1) {
+ return "failed";
+ }
+ return "success";
+ }
+ public List getDisplayData_sandBalst() { //初始化
+
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + SAND_TABLE_NAME + " WHERE " + COLUMN_ID + " = " + String.valueOf(1);
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();//获取可写数据库实例
+
+
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null); //按id查询
+
+ int idIndex = cursor.getColumnIndex(COLUMN_ID);
+ int _sandEncodeOneIndex = cursor.getColumnIndex(SAND_COLUMN_ENCODEONE);
+ int _sandEncodeTwoIndex = cursor.getColumnIndex(SAND_COLUMN_ENCODETWO);
+
+
+ while (cursor.moveToNext()) {
+
+ DisplaySandBlast dsb = new DisplaySandBlast(cursor.getInt(idIndex), cursor.getInt(_sandEncodeOneIndex),
+ cursor.getInt(_sandEncodeTwoIndex)
+ );
+
+ list.add(dsb);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+ public String deleteAll() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(TABLE_NAME, null, null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public void IntializeDataBase() {
+
+ for (int i = 1; i < 6; i++) {
+ List list = getDisplayData(i); //从数据库中读
+ if (list.size() == 0) {
+ DisplayPV pv = new DisplayPV(i, 0, 0, 0, 0, 0, 0,0, 0, 0);
+ addOrUpdateDisplayData(pv);//一行一行添加
+ }
+ }
+ List list_dsb = getDisplayData_sandBalst(); //从数据库中读
+ if (list_dsb.size() == 0) {
+ DisplaySandBlast dsb = new DisplaySandBlast(1, 0, 0);
+ addOrUpdateDisplayData_SandBlast(dsb);//一行一行添加
+ }
+ }
+
+
+ public List getDisplayData(int id) { //初始化
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + TABLE_NAME + " WHERE " + COLUMN_ID + " = " + String.valueOf(id);
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();//获取可写数据库实例
+
+
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null); //按id查询
+
+ int idIndex = cursor.getColumnIndex(COLUMN_ID);
+ int _laneChangeDistanceIndex = cursor.getColumnIndex(COLUMN_LANE_CHANGE_DISTANCE);
+ int _swingArmSpeedIndex = cursor.getColumnIndex(COLUMN_SWING_ARM_SPEED);
+ int _swingArmAngleIndex = cursor.getColumnIndex(COLUMN_SWING_ARM_ANGLE);
+ int _backDistanceIndex = cursor.getColumnIndex(COLUMN_BACK_DISTANCE);
+ int _backSpeedValue= cursor.getColumnIndex(COLUMN_BACK_SPEED);
+ int _pressSetIndex = cursor.getColumnIndex(COLUMN_PRESS_SET);
+ int _verticalAdjustIndex = cursor.getColumnIndex(COLUMN_VERTICAL_ADJUST);
+ int _workLengthIndex = cursor.getColumnIndex(COLUMN_WORK_LENGTH);
+ int _workWidthIndex = cursor.getColumnIndex(COLUMN_WORK_WIDTH);
+
+ while (cursor.moveToNext()) {
+
+ DisplayPV pv = new DisplayPV(cursor.getInt(idIndex), cursor.getInt(_laneChangeDistanceIndex),
+ cursor.getInt(_swingArmSpeedIndex), cursor.getInt(_swingArmAngleIndex), cursor.getInt(_backDistanceIndex),cursor.getInt(_backSpeedValue), cursor.getInt(_pressSetIndex),
+ cursor.getInt(_verticalAdjustIndex), cursor.getInt(_workLengthIndex), cursor.getInt(_workWidthIndex)
+ );
+
+ list.add(pv);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+
+
+ public String AddOrUpdateErrorModel(ErrorModel em) {
+ ContentValues cv = new ContentValues();
+ cv.put(Error_COLUMN_TimeStamp, em.getTimeID());
+ cv.put(Error_COLUMN_ERROR_INFO, em.getErrorInfo());
+
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();
+ long insert = sqliteDatabase.insertWithOnConflict(Error_TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ if (insert == -1) {
+ // 插入失败，按时间戳删除最早的100行
+ try {
+ // 开始事务
+ sqliteDatabase.beginTransaction();
+
+ String deleteQuery = "DELETE FROM error WHERE timeID IN (SELECT timeID FROM error ORDER BY timeID ASC LIMIT 100)";
+ sqliteDatabase.execSQL(deleteQuery);
+ // 标记事务成功
+ sqliteDatabase.setTransactionSuccessful();
+
+ Log.d("DB_OPERATION", "插入失败，已按时间戳删除最早的100行数据");
+ } catch (SQLException e) {
+ Log.e("DB_ERROR", "删除时发生错误: " + e.getMessage());
+ } finally {
+ // 结束事务（若setTransactionSuccessful()被调用则提交，否则回滚）
+ sqliteDatabase.endTransaction();
+ }
+ sqliteDatabase.close();
+ return "failed";
+ }
+ sqliteDatabase.close();
+ return "success";
+ }
+
+ public String DeleteAllErrorModels() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(Error_TABLE_NAME, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public List GetAllErrorModels() {
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + Error_TABLE_NAME;
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+
+
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null);
+
+ int _time_id_Index = cursor.getColumnIndex(Error_COLUMN_TimeStamp);
+
+ int _error_Index = cursor.getColumnIndex(Error_COLUMN_ERROR_INFO);
+
+ while (cursor.moveToNext()) {
+
+ ErrorModel em = new ErrorModel(cursor.getLong(_time_id_Index), cursor.getString(_error_Index));
+
+ Date date = new Date(em.getTimeID()); // 将时间戳转换为Date对象
+ // 创建SimpleDateFormat实例，并设置时区为UTC
+ SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ sdf.setTimeZone(TimeZone.getTimeZone("Asia/Shanghai")); // 设置为UTC时区
+ // 格式化日期
+ String utcTime = sdf.format(date);
+ // System.out.println("UTC时间: " + utcTime);
+ em.setDateTimeBJ(utcTime);
+
+ list.add(em);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/PopupHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/PopupHelper.java
new file mode 100644
index 0000000..c3b8e9e
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/PopupHelper.java
@@ -0,0 +1,754 @@
+package com.example.swingarmapp_sandblast.services;
+
+import android.app.Dialog;
+import android.content.Context;
+import android.graphics.Color;
+import android.text.InputFilter;
+import android.text.method.ScrollingMovementMethod;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.inputmethod.InputMethodManager;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.LinearLayout;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.ScrollView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.core.content.ContextCompat;
+
+import com.example.swingarmapp_sandblast.models.ErrorModel;
+import com.example.swingarmapp_sandblast.models.ScrollBottomScrollView;
+import com.example.swingarmapp_sandblast.MainActivity;
+import com.example.swingarmapp_sandblast.R;
+import com.example.swingarmapp_sandblast.models.DisplayPV;
+
+import java.util.List;
+
+public class PopupHelper {
+
+ private MainActivity mainActivity;
+ private LinearLayout inputContainer, buttonsContainer;
+ private EditText inputEditText;
+ private Button buttonA, buttonB;
+ private TextView statusText;
+
+
+ String result="1";
+ private EditText firstEditText;
+ private EditText secondEditText;
+
+ public PopupHelper(MainActivity mainActivity)
+ {
+ this.mainActivity = mainActivity;
+
+ }
+
+
+ //手动模式弹窗
+ public void ManualModePopup(View.OnClickListener context) { //手动模式弹窗
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.manualmodepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.manualModeCancel);
+ Button confirmButton = dialog.findViewById(R.id.manualModeApply);
+
+ //获取按钮组
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.manualModeSelectorGroup);
+
+ //4种模式
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ if (radioButton != null)
+ {
+ mainActivity._Manual_Mode_Call_Value = radioButton.getText().toString();
+ }
+ }
+ });
+
+ //下次进来保证是选中状态或者未远中
+ String ii= mainActivity.mainBinding.manualModeDisplay.getText().toString();
+ switch (ii)
+ {
+ case "无": { radioGroup.check(R.id.rb_one);
+ break;
+ }
+ case "水平": { radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case "平面": { radioGroup.check(R.id.rb_three);
+ break;
+ }
+ case "竖直向左": { radioGroup.check(R.id.rb_four);
+ break;
+ }
+ default:
+
+ radioGroup.clearCheck();
+ break;
+
+ }
+
+
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> { //手动模式弹窗确认
+ if (radioGroup.getCheckedRadioButtonId() != -1) { //有按钮选中时按确定 更新值
+ mainActivity.mainBinding.manualModeDisplay.setText(mainActivity._Manual_Mode_Call_Value);
+
+ mainActivity._Auto_Mode_Call_Value="未启用";
+ mainActivity.mainBinding.autoModeDisplay.setText("未启用");
+ //读取数据库，并对其他控件进行赋值
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ }
+
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+ //自动模式弹窗
+ public void AutoModePopup(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.automodepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.autoModeCancel);
+ Button confirmButton = dialog.findViewById(R.id.autoModeApply);
+ EditText workLength_Edit=dialog.findViewById(R.id.worklength_input);
+ EditText workWidth_Edit=dialog.findViewById(R.id.workwidth_input);
+
+ workLength_Edit.setText(mainActivity.workLength);
+ workWidth_Edit.setText(mainActivity.workWidth);
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.autoModeSelectorGroup);
+
+ //2种模式
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ if(radioButton!=null){
+ mainActivity._Auto_Mode_Call_Value = radioButton.getText().toString();
+ }
+
+ }
+ });
+
+ String ii= mainActivity.mainBinding.autoModeDisplay.getText().toString();
+ switch (ii)
+ {
+
+ case "水平": { radioGroup.check(R.id.rb_five);
+ break;
+ }
+ case "平面": { radioGroup.check(R.id.rb_six);
+ break;
+ }
+ default:
+ radioGroup.clearCheck();//清除选中
+ break;
+
+ }
+
+
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ if (radioGroup.getCheckedRadioButtonId() != -1) { //有按钮选中时按确定 更新值
+ mainActivity.mainBinding.autoModeDisplay.setText(mainActivity._Auto_Mode_Call_Value);
+ //失能手动模式
+ mainActivity._Manual_Mode_Call_Value="未启用";
+ mainActivity.mainBinding.manualModeDisplay.setText("未启用");
+
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ }
+
+ //检查作业宽度 长度 范围
+ int value1=0; int value2=0;
+ try {
+ value1=Integer.parseInt(String.valueOf(workLength_Edit.getText()));
+ value2=Integer.parseInt(String.valueOf(workWidth_Edit.getText()));
+ }
+ catch(Exception e)
+ {
+ Toast.makeText(mainActivity, "输入不能为空", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ if(value1>=0 && value1<=50)
+ {
+ mainActivity.workLength=String.valueOf(value1);
+
+ }else{
+ Toast.makeText(mainActivity, "请输入0-50的数字", Toast.LENGTH_SHORT).show();
+ workLength_Edit.setText("0");
+ return;
+ }
+ if(value2>=0 && value2<=50)
+ {
+ mainActivity.workWidth=String.valueOf(value2);
+
+ }else{
+ Toast.makeText(mainActivity, "请输入0-50的数字", Toast.LENGTH_SHORT).show();
+ workWidth_Edit.setText("0");
+ return;
+ }
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void SwingArmPopup() {
+ Dialog dialog = new Dialog(mainActivity);
+ dialog.setContentView(R.layout.swingarmanglepopup);
+ dialog.setCancelable(true);
+ // 初始化控件
+ LinearLayout inputContainer = dialog.findViewById(R.id.inputContainer);//对称
+ LinearLayout buttonContainer = dialog.findViewById(R.id.buttonContainer);//非对称
+ EditText editAngle = dialog.findViewById(R.id.EditAngleTo32);
+ RadioGroup radioGroup = dialog.findViewById(R.id.radioGroup);
+ RadioButton btn_left = dialog.findViewById(R.id.btn_left);
+ RadioButton btn_right = dialog.findViewById(R.id.btn_right);
+
+ Button confirmBtn=dialog.findViewById(R.id.swingArmAngleApply);
+ Button cancleBtn=dialog.findViewById(R.id.swingArmAngleCancel);
+
+
+ //主界面值传过来
+ editAngle.setText( mainActivity.mainBinding.MaintvSwingArmAngleTo32.getText());
+ // 设置对称点击事件
+ inputContainer.setOnClickListener(v -> {
+ mainActivity.symmetricalOrNot=1;// 1对称 2非对称
+
+ if (!mainActivity.isInputGroupActive) {
+ mainActivity.isInputGroupActive = true;
+ updateUIState(editAngle, radioGroup, inputContainer, buttonContainer);
+ }
+ });
+
+ // 设置非对称点击事件
+ buttonContainer.setOnClickListener(v -> {
+ mainActivity.symmetricalOrNot=2;
+ if (mainActivity.isInputGroupActive) {
+ mainActivity.isInputGroupActive = false;
+ updateUIState(editAngle, radioGroup, buttonContainer, inputContainer);
+ }
+ });
+
+ //长按 和松手事件
+ btn_left.setOnTouchListener(new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View view, MotionEvent motionEvent) {
+ switch (motionEvent.getAction()) {
+ case MotionEvent.ACTION_DOWN:
+ // 按下时设置为蓝色
+ view.setBackgroundColor(ContextCompat.getColor(mainActivity, R.color.blue_green));
+
+ // 按钮按下事件
+ view.setAlpha(0.7f); // 按下时降低透明度，提供视觉反馈
+ mainActivity.asymmetricalAngleSetValue=1;
+ return true;
+
+ case MotionEvent.ACTION_UP:
+ case MotionEvent.ACTION_CANCEL:
+ // 松开或取消时设置为灰色
+ view.setBackgroundColor(ContextCompat.getColor(mainActivity, R.color.gray));
+ view.setBackgroundColor(Color.TRANSPARENT);
+ // 按钮松开或取消事件
+ view.setAlpha(1.0f); // 恢复透明度
+ mainActivity.asymmetricalAngleSetValue=0;
+ return true;
+ }
+
+ return true;
+ }
+ });
+
+ btn_right.setOnTouchListener(new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View view, MotionEvent motionEvent) {
+ switch (motionEvent.getAction()) {
+ case MotionEvent.ACTION_DOWN:
+ // 按下时设置为蓝色
+ view.setBackgroundColor(ContextCompat.getColor(mainActivity, R.color.blue_green));
+
+ // 按钮按下事件
+ view.setAlpha(0.7f); // 按下时降低透明度，提供视觉反馈
+ mainActivity.asymmetricalAngleSetValue=2;
+ return true;
+
+ case MotionEvent.ACTION_UP:
+ case MotionEvent.ACTION_CANCEL:
+ // 松开或取消时设置为灰色
+ view.setBackgroundColor(ContextCompat.getColor(mainActivity, R.color.gray));
+ view.setBackgroundColor(Color.TRANSPARENT);
+ // 按钮松开或取消事件
+ view.setAlpha(1.0f); // 恢复透明度
+ mainActivity.asymmetricalAngleSetValue=0;
+ return true;
+ }
+
+ return true;
+
+ }
+ });
+
+
+ confirmBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+ //检查对称角度输入范围
+ String swingArmAngle_Edit=editAngle.getText().toString();
+ if(swingArmAngle_Edit.equals(""))
+ {
+ Toast.makeText(mainActivity, "左侧角度输入不应为空", Toast.LENGTH_SHORT).show();
+ return;
+ }
+ int _tempValue = Integer.parseInt(swingArmAngle_Edit);
+ if (_tempValue <= 150 && _tempValue > 0)
+ {
+ mainActivity.mainBinding.MaintvSwingArmAngleTo32.setText(swingArmAngle_Edit);
+ Toast.makeText(mainActivity, "左侧角度设置成功"+_tempValue, Toast.LENGTH_SHORT).show();
+ } else
+ {
+ Toast.makeText(mainActivity, "左侧输入数据不应大于150或者小于=0", Toast.LENGTH_SHORT).show();
+ editAngle.setText("0");
+ return;
+ }
+ /**************************************/
+ dialog.dismiss();
+
+ }
+ });
+ cancleBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+
+ dialog.dismiss();
+ }
+ });
+
+
+ // 初始状态设置
+ if(mainActivity.isInputGroupActive)
+ {
+ updateUIState(editAngle, radioGroup, inputContainer, buttonContainer);
+ }
+ else {
+ updateUIState(editAngle, radioGroup, buttonContainer, inputContainer);
+ }
+
+
+ dialog.show();
+ }
+ public void BackSetPopup() {
+ Dialog dialog = new Dialog(mainActivity);
+ dialog.setContentView(R.layout.backsetpopup);
+ dialog.setCancelable(true);
+
+ // 初始化控件
+ LinearLayout firstInputContainer = dialog.findViewById(R.id.firstInputContainer);
+ LinearLayout secondInputContainer = dialog.findViewById(R.id.secondInputContainer);
+ firstEditText = dialog.findViewById(R.id.firstEditText);
+ secondEditText = dialog.findViewById(R.id.secondEditText);
+ Button confirmButton= dialog.findViewById(R.id.backDistanceApply);
+ Button cancleButton= dialog.findViewById(R.id.backDistanceCancel);
+ firstEditText.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
+ secondEditText.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
+ //界面值传过来
+ firstEditText.setText(mainActivity.mainBinding.MaintvBackDistanceTo32.getText());
+ secondEditText.setText(mainActivity.backSpeedSetValue);
+ // 设置第一个打退交替点击事件
+ firstInputContainer.setOnClickListener(v -> {
+ mainActivity.backMode=1;
+ if (! mainActivity.isFirstInputActive) {
+ mainActivity.isFirstInputActive = true;
+ updateUIState2(firstEditText, secondEditText,
+ firstInputContainer, secondInputContainer);
+ }
+ });
+
+ // 设置边打边退点击事件
+ secondInputContainer.setOnClickListener(v -> {
+ mainActivity.backMode=2;
+ if ( mainActivity.isFirstInputActive) {
+ mainActivity.isFirstInputActive = false;
+ updateUIState2(secondEditText, firstEditText,
+ secondInputContainer, firstInputContainer);
+ }
+ });
+
+
+ //确定按钮点击事件
+ confirmButton.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+ //检查后退距离输入范围
+ String backDistance_Edit= firstEditText.getText().toString();
+ if(backDistance_Edit.equals(""))
+ {
+ Toast.makeText(mainActivity, "左侧输入不应为空", Toast.LENGTH_SHORT).show();
+ //dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ double _tempValue = Double.parseDouble(backDistance_Edit);
+
+ if (_tempValue <= 100 && _tempValue >= 0)
+ {
+ mainActivity.mainBinding.MaintvBackDistanceTo32.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "左侧设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "左侧输入数据不应大于100或者小于=0", Toast.LENGTH_SHORT).show();
+ firstEditText.setText("0.1");
+ return;
+ }
+ /**************************************/
+ //检查后退速度输入范围
+ String backDistance_Edit1= secondEditText.getText().toString();
+ if(backDistance_Edit1.equals(""))
+ {
+ Toast.makeText(mainActivity, "右侧输入不应为空", Toast.LENGTH_SHORT).show();
+ return;
+ }
+ double _tempValue1 = Double.parseDouble(backDistance_Edit1);
+ if (_tempValue1 <= 20 && _tempValue1 >= 0)
+ {
+ mainActivity.backSpeedSetValue=String.valueOf(_tempValue1) ;
+ Toast.makeText(mainActivity, "右侧设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "右侧输入数据不应大于20或者小于=0", Toast.LENGTH_SHORT).show();
+ secondEditText.setText("");
+ return;
+ }
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ }
+ });
+
+ //取消按钮点击事件
+ cancleButton.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+
+ dialog.dismiss();
+ }
+ });
+ // 初始状态设置 确定再次进入 按钮保持选中状态
+ if(mainActivity.isFirstInputActive)
+ {
+ updateUIState2(firstEditText, secondEditText,
+ firstInputContainer, secondInputContainer);
+
+ }
+ else {
+ updateUIState2(secondEditText, firstEditText,
+ secondInputContainer, firstInputContainer);
+
+ }
+
+ dialog.show();
+
+
+ }
+
+ public void ParametersCallPopup(View.OnClickListener context,MyDataHelper myDataHelper ) {
+ Dialog dialog = new Dialog(mainActivity);
+ dialog.setContentView(R.layout.parameters_call); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button exitButton = dialog.findViewById(R.id.parametersExit);
+ Button confirmButton = dialog.findViewById(R.id.parametersApply);
+ Button saveButton=dialog.findViewById(R.id.parametersSavebtn);
+ Button clearButton=dialog.findViewById(R.id.parametersClearBtn);
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.parameters_call_group);
+
+
+ Integer ii= ConvertHelper.convertEditTextToInt(mainActivity.mainBinding.MaintvParameterCallTo32);
+
+ switch (ii)
+ {
+ case 1: { radioGroup.check(R.id.rb_one);
+ break;
+ }
+ case 2: { radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case 3: { radioGroup.check(R.id.rb_three);
+ break;
+ }
+ case 4: { radioGroup.check(R.id.rb_four);
+ break;
+ }
+ case 5: { radioGroup.check(R.id.rb_five);
+ break;
+ }
+ }
+
+ dialog.show(); // 显示弹窗
+ //调用值更新
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ result = radioButton.getText().toString();
+ // mainActivity._parameters_Call_Value = result;
+ }
+ });
+ //保存按钮 获取界面参数 存入数据库
+ saveButton.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(mainActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(mainActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ int swingArmSpeed = Integer.parseInt(mainActivity.mainBinding.MaintvSwingArmSpeedTo32.getText().toString());
+ int swingArmAngle = Integer.parseInt(mainActivity.mainBinding.MaintvSwingArmAngleTo32.getText().toString());
+ double backDistance = Double.parseDouble(mainActivity.mainBinding.MaintvBackDistanceTo32.getText().toString());
+ double backSpeed = Double.parseDouble(mainActivity.backSpeedSetValue);
+ int pressSet = Integer.parseInt(mainActivity.mainBinding.MaintvPressTo32.getText().toString());
+ double verticalAdjust = Double.parseDouble(mainActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+ int workLength = Integer.parseInt(mainActivity.workLength);
+ int workWidth = Integer.parseInt(mainActivity.workWidth);
+
+ //把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,swingArmSpeed,swingArmAngle, backDistance,backSpeed,pressSet, verticalAdjust, workLength,workWidth );
+ myDataHelper.addOrUpdateDisplayData(displayPV); //创建数据库的实例在这里 PV传进去保存到数据库
+ Toast.makeText(dialog.getContext(), "保存成功", Toast.LENGTH_SHORT).show();
+ }
+ });
+
+ //清除按钮 界面显示设为默认值 并存入数据库
+ clearButton.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View view) {
+ mainActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(1));
+ mainActivity.mainBinding.MaintvSwingArmSpeedTo32.setText(String.valueOf(1));
+ mainActivity.mainBinding.MaintvSwingArmAngleTo32.setText(String.valueOf(1));
+ mainActivity.mainBinding.MaintvBackDistanceTo32.setText(String.valueOf(1));
+ mainActivity.backSpeedSetValue=String.valueOf(1.0);
+ mainActivity.mainBinding.MaintvPressTo32.setText(String.valueOf(1));
+ mainActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(1));
+ mainActivity.workLength=String.valueOf(1);
+ mainActivity.workWidth=String.valueOf(1);
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(mainActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(mainActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ int swingArmSpeed = Integer.parseInt(mainActivity.mainBinding.MaintvSwingArmSpeedTo32.getText().toString());
+ int swingArmAngle = Integer.parseInt(mainActivity.mainBinding.MaintvSwingArmAngleTo32.getText().toString());
+ double backDistance = Double.parseDouble(mainActivity.mainBinding.MaintvBackDistanceTo32.getText().toString());
+ double backSpeed =Double.parseDouble(mainActivity.backSpeedSetValue);
+ int pressSet =Integer.parseInt(mainActivity.mainBinding.MaintvPressTo32.getText().toString());
+ double verticalAdjust =Double.parseDouble(mainActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+ int workLength = Integer.parseInt(mainActivity.workLength);
+ int workWidth = Integer.parseInt(mainActivity.workWidth);
+ //把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,swingArmSpeed,swingArmAngle, backDistance,backSpeed, pressSet, verticalAdjust, workLength,workWidth );
+ myDataHelper.addOrUpdateDisplayData(displayPV); //创建数据库的实例在这里 PV传进去保存到数据库
+ Toast.makeText(dialog.getContext(), "清除成功", Toast.LENGTH_SHORT).show();
+ }
+ });
+
+ // 使用按钮 点击事件 //把主界面 调用值显示 改了 并从数据库中读赋值给界面
+ confirmButton.setOnClickListener(v -> {
+ mainActivity._parameters_Call_Value = result;
+ mainActivity.mainBinding.MaintvParameterCallTo32.setText(mainActivity._parameters_Call_Value);//把主界面 调用值显示 改了
+
+ //读取数据
+ int paraIndex = Integer.parseInt(mainActivity._parameters_Call_Value);
+ List pvList = mainActivity.myDataHelper.getDisplayData(paraIndex);//从数据库中读，，并对其他控件进行赋值
+ mainActivity.backSpeedSetValue=String.valueOf(pvList.get(0).getBackSpeedValue());
+ mainActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(pvList.get(0).getLaneChangeDistance()));
+ mainActivity.mainBinding.MaintvSwingArmSpeedTo32.setText(String.valueOf(pvList.get(0).getSwingArmSpeed()));
+ mainActivity.mainBinding.MaintvSwingArmAngleTo32.setText(String.valueOf(pvList.get(0).getSwingArmAngle()));
+ mainActivity.mainBinding.MaintvBackDistanceTo32.setText(String.valueOf(pvList.get(0).getBackDistance()));
+ mainActivity.mainBinding.MaintvPressTo32.setText(String.valueOf(pvList.get(0).getPressSet()));
+ mainActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(pvList.get(0).getVerticalAdjust()));
+ mainActivity.workLength=String.valueOf(pvList.get(0).getWorkLength());
+ mainActivity.workWidth=String.valueOf(pvList.get(0).getWorkWidth());
+
+ //读取数据库，并对其他控件进行赋值
+ Toast.makeText(dialog.getContext(), "调用成功", Toast.LENGTH_SHORT).show();
+
+ // dialog.dismiss(); // 关闭弹窗
+ });
+
+
+
+ // 退出按钮点击事件
+ exitButton.setOnClickListener(v -> {
+ Toast.makeText(dialog.getContext(), "点击了退出", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+
+
+ }
+
+
+ public void RobotErrorListPopUp(View.OnClickListener context)
+ {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.log_item); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ TextView LogText = dialog.findViewById(R.id.popUpErrorLogTextView);
+ ScrollBottomScrollView LogScrollView = dialog.findViewById(R.id.popUpErrorLogScrollview);
+ List list = mainActivity.myDataHelper.GetAllErrorModels(); //读取错误表
+ LogText.setMovementMethod(ScrollingMovementMethod.getInstance());
+
+ final int[] firstDisplay = {1};
+ final int[] display = {2};
+ final int[] displayOver = {0};
+ int displayNum = 25;
+ LogScrollView.post(new Runnable() {
+ @Override
+ public void run() {
+ if(firstDisplay[0] == 1){
+ //滑动顶部
+ LogScrollView.fullScroll(ScrollView.FOCUS_UP);
+ firstDisplay[0] = 0;
+ }
+ }
+ });
+
+ LogScrollView.onScrollViewScrollToBottom(new ScrollBottomScrollView.OnScrollBottomListener() {
+ @Override
+ public void scrollToBottom() {
+ //请求数据
+ if (!list.isEmpty()) {
+ if(list.size()>displayNum * display[0]) {
+ for(int i = list.size() - displayNum * (display[0]-1); i-- > list.size() - displayNum * display[0];){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ display[0] ++;
+ }
+ else{
+ if(displayOver[0]==0){
+ for(int i = list.size() - displayNum * (display[0]-1); i-- > 0;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ displayOver[0]=1;
+ }
+ }
+ }
+ }
+ }});
+
+ if (!list.isEmpty()) {
+
+ if(list.size()>displayNum) {
+
+ for(int i = list.size(); i-- > list.size() - displayNum;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ }
+ else{
+ for(int i = list.size(); i-- > 0;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ }
+
+ }
+// String list3 = mainActivity.myDataHelper.DeleteAllErrorModels();
+
+ dialog.show(); // 显示弹窗
+ }
+
+
+
+
+ // 更新后退距离UI状态的辅助方法
+ private void updateUIState2(EditText activeEditText, EditText inactiveEditText,
+ View activeContainer, View inactiveContainer) {
+ // 更新输入框状态
+ activeEditText.setEnabled(true);
+ activeEditText.requestFocus();
+
+ inactiveEditText.setEnabled(false);
+ inactiveEditText.clearFocus();
+
+ // 显示/隐藏软键盘
+ InputMethodManager imm = (InputMethodManager) mainActivity.getSystemService(Context.INPUT_METHOD_SERVICE);
+ imm.showSoftInput(activeEditText, InputMethodManager.SHOW_IMPLICIT);
+ imm.hideSoftInputFromWindow(inactiveEditText.getWindowToken(), 0);
+
+
+
+ // 更新容器样式
+ activeContainer.setBackgroundResource(R.drawable.container_active);
+ inactiveContainer.setBackgroundResource(R.drawable.container_inactive);
+ }
+
+ // 更新摆臂角度UI状态的辅助方法
+ private void updateUIState(EditText editText, RadioGroup radioGroup,
+ View activeContainer, View inactiveContainer) {
+ // 更新输入框状态
+ editText.setEnabled(mainActivity.isInputGroupActive); //
+ if (mainActivity.isInputGroupActive) {
+ editText.requestFocus();
+ // 显示软键盘
+ InputMethodManager imm = (InputMethodManager) mainActivity.getSystemService(Context.INPUT_METHOD_SERVICE);
+ imm.showSoftInput(editText, InputMethodManager.SHOW_IMPLICIT);
+ } else {
+ // 隐藏软键盘
+ InputMethodManager imm = (InputMethodManager) mainActivity.getSystemService(Context.INPUT_METHOD_SERVICE);
+ imm.hideSoftInputFromWindow(editText.getWindowToken(), 0);
+ }
+
+ // 更新按钮组状态 true失能 fasle 使能 全部未选中
+ radioGroup.setEnabled(!mainActivity.isInputGroupActive);
+ for (int i = 0; i < radioGroup.getChildCount(); i++) {
+ radioGroup.getChildAt(i).setEnabled(!mainActivity.isInputGroupActive);
+ }
+
+ // 重置按钮选择状态
+ if (!mainActivity.isInputGroupActive) {
+ radioGroup.clearCheck();
+ }
+
+
+ // 更新容器样式
+ activeContainer.setBackgroundResource(R.drawable.container_active);
+ // activeContainer.setBackgroundResource(R.drawable.container_inactive);
+ inactiveContainer.setBackgroundResource(R.drawable.container_inactive);
+ }
+
+} //根类
+
+
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/RobotDataHanlder.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/RobotDataHanlder.java
new file mode 100644
index 0000000..783620c
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/RobotDataHanlder.java
@@ -0,0 +1,63 @@
+package com.example.swingarmapp_sandblast.services;
+
+import com.example.swingarmapp_sandblast.models.BspIV;
+import com.example.swingarmapp_sandblast.models.BspPV;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+public class RobotDataHanlder {
+
+
+ public static void test()
+ {
+ //byte[] data=hexToByteArray("080110830118313A04B1CBBACF");
+ byte[] data=hexToByteArray("100A180A28013A32B1CBBACF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000");
+
+
+
+ }
+ public static void DeoodeDataFromRobot(byte[] data)
+ {
+ try
+ {
+ if(data[0]==0x55&&data[1]==0x55)
+ {
+ if (data[2]==0x01)
+ {
+ BspIV.IV_struct_define iv = BspIV.IV_struct_define.parseFrom(data);
+ }else if(data[2]==0x02)
+ {
+ BspPV.PV_struct_define pv = BspPV.PV_struct_define.parseFrom(data);
+ }
+ }
+ } catch (InvalidProtocolBufferException e)
+ {
+
+ }
+
+
+ }
+
+ public static byte[] hexToByteArray(String inHex){
+ int hexlen = inHex.length();
+ byte[] result;
+ if (hexlen % 2 == 1){
+ //奇数
+ hexlen++;
+ result = new byte[(hexlen/2)];
+ inHex="0"+inHex;
+ }else {
+ //偶数
+ result = new byte[(hexlen/2)];
+ }
+ int j=0;
+ for (int i = 0; i < hexlen; i+=2){
+ result[j]=hexToByte(inHex.substring(i,i+2));
+ j++;
+ }
+ return result;
+ }
+ public static byte hexToByte(String inHex){
+ return (byte)Integer.parseInt(inHex,16);
+ }
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/USBSerialPortHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/USBSerialPortHelper.java
new file mode 100644
index 0000000..499b334
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/USBSerialPortHelper.java
@@ -0,0 +1,451 @@
+package com.example.swingarmapp_sandblast.services;
+
+
+import static com.example.swingarmapp_sandblast.services.ErrorDeocdeHelper.ErrorDeocde;
+
+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.swingarmapp_sandblast.BuildConfig;
+import com.example.swingarmapp_sandblast.MainActivity;
+import com.example.swingarmapp_sandblast.models.ErrorModel;
+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 com.example.swingarmapp_sandblast.models.BspIV;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Objects;
+
+public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
+
+
+ public USBSerialPortHelper(MainActivity mainActivity)
+ {
+ this.MainActivity=mainActivity;
+ }
+
+ private MainActivity MainActivity;
+ //sserial port part start
+
+ private enum UsbPermission {Unknown, Requested, Granted, Denied}
+
+ private final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
+
+
+ //
+ //
+ //
+
+
+ private int deviceId = 60000;
+ private int deviceId_test = 60000;
+ private int portNum;
+ private final int WRITE_WAIT_MILLIS = 500;
+ private final int READ_WAIT_MILLIS = 100;
+ private String PortNameContians = "SILICON";/**/
+ // private static String PortNameContians="FTD";
+ private int baudRate = 57600;
+ private boolean withIoManager = true;
+
+ private BroadcastReceiver broadcastReceiver;
+ private Handler mainLooper;
+
+ private SerialInputOutputManager usbIoManager;
+ private UsbSerialPort usbSerialPort;
+ private UsbPermission usbPermission = UsbPermission.Unknown;
+ private boolean connected = false;
+
+ String errorLast = "";
+
+ public void intialize() {
+
+ broadcastReceiver = new BroadcastReceiver() {
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
+ usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
+ connect();
+ }
+ }
+ };
+ mainLooper = new Handler(Looper.getMainLooper());
+ _receiveBufferlist = new ArrayList();
+ }
+
+ /*
+ * Serial
+ */
+ @Override
+ public void onNewData(byte[] data) {
+ // status("new data");
+ mainLooper.post(() -> {
+ receive(data);
+ // receive data
+ });
+ }
+
+ @Override
+ public void onRunError(Exception e) {
+ mainLooper.post(() -> {
+ // status("connection lost: " + e.getMessage());
+ disconnect();
+ });
+ }
+
+ /*
+ * Serial + UI
+ */
+
+ public void connect() {
+
+ UsbDevice device = null;
+ UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
+ for (UsbDevice v : usbManager.getDeviceList().values()) {
+ // status(v.getManufacturerName().toUpperCase());
+ if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+ device = v;
+ break;
+ }
+ }
+
+ if (device == null) {
+ // _serialPortSwitch.setChecked(false);
+
+ // status("找不到设备");
+ return;
+ }
+ UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
+ if (driver == null) {
+ driver = CustomProber.getCustomProber().probeDevice(device);
+ }
+ if (driver == null) {
+ // _serialPortSwitch.setChecked(false);
+ // status("无驱动");
+ return;
+ }
+ if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
+ {
+ //status("connection failed: not enough ports at device");
+ //status("找不到设备");
+ return;
+ }
+ usbSerialPort = driver.getPorts().get(portNum);
+
+ UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
+ if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
+ usbPermission = UsbPermission.Requested;
+ int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
+ Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
+ intent.setPackage(MainActivity.getPackageName());
+ PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
+ usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
+ return;
+ }
+ if (usbConnection == null) {
+ if (!usbManager.hasPermission(driver.getDevice())) {
+ // status("connection failed: permission denied");
+ } else {
+ // status("connection failed: open failed");
+ }
+
+ return;
+ }
+
+ try {
+ usbSerialPort.open(usbConnection);
+ try {
+ usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
+ // status("connected: ");
+
+ } catch (UnsupportedOperationException e) {
+ //status("unsupport setparameters");
+ }
+ if (withIoManager) {
+ usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
+ usbIoManager.setReadBufferSize(40960);
+ usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
+ usbIoManager.start();
+ }
+ //status("connected");
+ connected = true;
+ // _serialPortSwitch.setChecked(true);
+ //switch set true
+
+ } catch (Exception e) {
+ // status("connection failed: " + e.getMessage());
+ disconnect();
+ }
+ }
+
+ private void disconnect() {
+ connected = false;
+
+ if (usbIoManager != null) {
+ usbIoManager.setListener(null);
+ usbIoManager.stop();
+ }
+ usbIoManager = null;
+ try {
+ usbSerialPort.close();
+ } catch (IOException ignored) {
+
+ }
+ usbSerialPort = null;
+ }
+
+ List _receiveBufferlist;
+
+ private static byte[] listTobyte(List list) {
+ if (list == null || list.size() < 0) return null;
+ byte[] bytes = new byte[list.size()];
+ int i = 0;
+ Iterator iterator = list.iterator();
+ while (iterator.hasNext()) {
+ bytes[i] = iterator.next();
+ i++;
+ }
+ return bytes;
+ }
+
+ boolean StartCountDown = false;
+
+ // byte _receivedData
+ private void receive(byte[] data) {
+
+ // status("read data");
+ for (int i = 0; i < data.length; i++) {
+ _receiveBufferlist.add(data[i]);
+ }
+
+ //decodeRceive(data);
+ if (StartCountDown == false)//从收到第一个数据开始计时
+ {
+ StartCountDown = true;
+ new CountDownTimer(400, 200) {
+ public void onTick(long millisUntilFinished) {
+
+ }
+ public void onFinish() {
+
+ // status("read finished");
+ decodeRceive(listTobyte(_receiveBufferlist));
+ _receiveBufferlist.clear();
+ StartCountDown = false;
+ }
+ }.start();
+ }
+ }
+
+
+ /*
+ 逐位检查并构建二进制字符串
+ */
+ String unsignedIntToBinary(int value) {
+ StringBuilder sb = new StringBuilder(32);
+ for (int i = 7; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ }
+ return sb.toString();
+ }
+ /*
+ 逐位检查并构建二进制字符串 每4位添加一个分隔符
+ */
+ String unsignedIntToBinaryWithSeparator(int value) {
+ StringBuilder sb = new StringBuilder(35);
+ for (int i = 11; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ if (i % 4 == 0 && i != 0) {
+ sb.append(' '); // 每4位添加一个分隔符
+ }
+ }
+ return sb.toString();
+ }
+ String toHex4Digits(int value) {
+ char[] hexChars = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
+ int low16Bits = value & 0xFFFF;
+
+ char[] result = new char[4];
+ result[0] = hexChars[(low16Bits >> 12) & 0xF];
+ result[1] = hexChars[(low16Bits >> 8) & 0xF];
+ result[2] = hexChars[(low16Bits >> 4) & 0xF];
+ result[3] = hexChars[low16Bits & 0xF];
+
+ return new String(result);
+ }
+
+ private void decodeRceive(byte[] data) {
+ try {
+
+ // String dataReceived = bytesToHex(data);
+ //status(dataReceived);
+ // if ((data[0] == 0xFE) && (data[1] == 0xFE))
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc=ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+ // status(String.valueOf(crc[0]+" "+ String.valueOf(crc[1])));
+ 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.tvSpeedFrom32.setText(String.valueOf((double)_toReceiveIV.getRobotMoveDeriSpeed()/10));
+
+ MainActivity.mainBinding.tvAngleFrom32.setText(String.valueOf((double)_toReceiveIV.getRobotGyro()/100));
+ MainActivity.mainBinding.tvHeightFrom32.setText(String.valueOf((double)_toReceiveIV.getDistanceSensor()/10));
+
+ MainActivity.mainBinding.tvLCompensationFrom32.setText(String.valueOf((double)_toReceiveIV.getLeftCompensation()/100));
+
+ MainActivity.mainBinding.tvRCopmpensationFrom32.setText(String.valueOf(((double) _toReceiveIV.getRightCompensation()/100)));
+
+//
+ if(_toReceiveIV.getIsOnline()==0)
+ {
+ MainActivity.mainBinding.tvSignal.setText("断开");
+ }
+ else if(_toReceiveIV.getIsOnline()==1)
+ {
+ MainActivity.mainBinding.tvSignal.setText("已连接");
+ }
+
+ int errorInt = _toReceiveIV.getSystemError();//硬件错误
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(_toReceiveIV.getLeftMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getRightMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getSwingMotorErr());
+
+ if(errorInt !=0 || _toReceiveIV.getLeftMotorErr()!=0 ||_toReceiveIV.getRightMotorErr()!=0 ||_toReceiveIV.getSwingMotorErr()!=0)
+ {
+ if(!Objects.equals(errorLast, errorString)){
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ MainActivity.myDataHelper.AddOrUpdateErrorModel(em);
+
+ if(Objects.equals(errorString2, "未复位"))
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText(String.valueOf(errorString2));
+ }
+ else
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("有");
+ }
+
+ errorLast = errorString;
+ }
+ }
+ else
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("无");
+ }
+
+
+
+
+ }else
+ {
+ // status("null");
+ }
+
+
+
+
+
+ }else
+ {
+
+ }
+
+ }else
+ {
+ //status("crc failed");
+ }
+
+
+
+
+ } catch (Exception e) {
+
+ }
+ }
+
+ public static String bytesToHex(byte[] bytes) {
+ StringBuilder result = new StringBuilder();
+ for (byte b : bytes) {
+ result.append(String.format("%02X ", b & 0xFF));
+ }
+ return result.toString();
+ }
+
+ public void onStart() {
+
+ ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
+ //status("onStart");
+
+ }
+
+ public void onStop() {
+ MainActivity.unregisterReceiver(broadcastReceiver);
+ // status("onStop");
+ }
+
+
+ public void onResume() {
+
+ if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
+ mainLooper.post(this::connect);
+
+ }
+ }
+
+
+ public void onPause() {
+ if (connected) {
+ // status("串口断开");
+ // _serialPortSwitch.setChecked(false);
+ disconnect();
+ }
+ }
+ public void SendData(byte[] data) {
+ if (connected) {
+ try {
+ usbSerialPort.write(data, WRITE_WAIT_MILLIS);
+ } catch (IOException e)
+ {
+ // status("Send Failed");
+ connected = false;
+ }
+ }
+ else {
+ //status("usb serialport disconnected");
+
+ }
+
+
+ }
+
+}
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/VideoPlayerHelper.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/VideoPlayerHelper.java
new file mode 100644
index 0000000..ba62290
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/services/VideoPlayerHelper.java
@@ -0,0 +1,27 @@
+package com.example.swingarmapp_sandblast.services;
+
+
+import cn.nodemedia.NodePlayer;
+import cn.nodemedia.NodePlayerView;
+
+public class VideoPlayerHelper {
+
+
+
+ public static void startVedio(NodePlayerView nodePlayerView, NodePlayer nodePlayer,String address ){
+
+
+ nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
+ nodePlayerView.setUIViewContentMode(NodePlayerView.UIViewContentMode.ScaleToFill);//设置视频画面缩放模式
+ //nodePlayer=new NodePlayer(this);
+ nodePlayer.setPlayerView(nodePlayerView);//设置播放视图
+ //设置RTSP流使用的传输协议,支持的模式有:
+ nodePlayer.setRtspTransport(NodePlayer.RTSP_TRANSPORT_TCP);//设置传输
+ nodePlayer.setInputUrl(address);
+ nodePlayer.setVideoEnable(true);//设置视频启用
+ nodePlayer.setBufferTime(100);//设置缓冲时间
+ nodePlayer.setMaxBufferTime(200);//设置最大缓冲时间
+ nodePlayer.start();
+ }
+}
+
diff --git a/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/viewmodels/MainViewModel.java b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/viewmodels/MainViewModel.java
new file mode 100644
index 0000000..081ec7f
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/com/example/swingarmapp_sandblast/viewmodels/MainViewModel.java
@@ -0,0 +1,11 @@
+package com.example.swingarmapp_sandblast.viewmodels;
+
+import androidx.lifecycle.ViewModel;
+
+public class MainViewModel extends ViewModel {
+
+ public MainViewModel() {
+
+ }
+
+}
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/java/generate_java.bat b/swingarmapp_sandblast/app/src/main/java/generate_java.bat
new file mode 100644
index 0000000..97deb24
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/java/generate_java.bat
@@ -0,0 +1,2 @@
+ protoc --java_out . *.proto
+ pause
diff --git a/swingarmapp_sandblast/app/src/main/java/protoc.exe b/swingarmapp_sandblast/app/src/main/java/protoc.exe
new file mode 100644
index 0000000..f1ffb02
Binary files /dev/null and b/swingarmapp_sandblast/app/src/main/java/protoc.exe differ
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/background.xml b/swingarmapp_sandblast/app/src/main/res/drawable/background.xml
new file mode 100644
index 0000000..9c77c74
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/background.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/bgr.png b/swingarmapp_sandblast/app/src/main/res/drawable/bgr.png
new file mode 100644
index 0000000..4d6154f
Binary files /dev/null and b/swingarmapp_sandblast/app/src/main/res/drawable/bgr.png differ
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/blue_rounded_rectangle.xml b/swingarmapp_sandblast/app/src/main/res/drawable/blue_rounded_rectangle.xml
new file mode 100644
index 0000000..a973af9
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/blue_rounded_rectangle.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/border.xml b/swingarmapp_sandblast/app/src/main/res/drawable/border.xml
new file mode 100644
index 0000000..4f76948
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/border.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/border_active.xml b/swingarmapp_sandblast/app/src/main/res/drawable/border_active.xml
new file mode 100644
index 0000000..5919263
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/border_active.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/border_inactive.xml b/swingarmapp_sandblast/app/src/main/res/drawable/border_inactive.xml
new file mode 100644
index 0000000..093780c
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/border_inactive.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/borderblue.xml b/swingarmapp_sandblast/app/src/main/res/drawable/borderblue.xml
new file mode 100644
index 0000000..b234be6
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/borderblue.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/borderbluegreen.xml b/swingarmapp_sandblast/app/src/main/res/drawable/borderbluegreen.xml
new file mode 100644
index 0000000..25d3346
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/borderbluegreen.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/borderlog.xml b/swingarmapp_sandblast/app/src/main/res/drawable/borderlog.xml
new file mode 100644
index 0000000..1a1b34c
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/borderlog.xml
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/borderorange.xml b/swingarmapp_sandblast/app/src/main/res/drawable/borderorange.xml
new file mode 100644
index 0000000..eef56c3
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/borderorange.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/borderwhite.xml b/swingarmapp_sandblast/app/src/main/res/drawable/borderwhite.xml
new file mode 100644
index 0000000..e013ef8
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/borderwhite.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/button_active.xml b/swingarmapp_sandblast/app/src/main/res/drawable/button_active.xml
new file mode 100644
index 0000000..28f66f6
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/button_active.xml
@@ -0,0 +1,18 @@
+
+
+ -
+
+
+
+
+
+
+
+
+ -
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/button_inactive.xml b/swingarmapp_sandblast/app/src/main/res/drawable/button_inactive.xml
new file mode 100644
index 0000000..146bfd1
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/button_inactive.xml
@@ -0,0 +1,11 @@
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/buttonborderwhite.xml b/swingarmapp_sandblast/app/src/main/res/drawable/buttonborderwhite.xml
new file mode 100644
index 0000000..ec98fab
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/buttonborderwhite.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/container_active.xml b/swingarmapp_sandblast/app/src/main/res/drawable/container_active.xml
new file mode 100644
index 0000000..dc691f7
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/container_active.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/container_inactive.xml b/swingarmapp_sandblast/app/src/main/res/drawable/container_inactive.xml
new file mode 100644
index 0000000..edcae41
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/container_inactive.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/dash_line.xml b/swingarmapp_sandblast/app/src/main/res/drawable/dash_line.xml
new file mode 100644
index 0000000..c83a8c5
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/dash_line.xml
@@ -0,0 +1,14 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_background.xml b/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_background.xml
new file mode 100644
index 0000000..07d5da9
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_background.xml
@@ -0,0 +1,170 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_foreground.xml b/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_foreground.xml
new file mode 100644
index 0000000..2b068d1
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/drawable/ic_launcher_foreground.xml
@@ -0,0 +1,30 @@
+
+
+
+
+ - 手动操作
+ - 竖直操作
+ - 水平操作
+
+
+ - 1
+ - 2
+ - 3
+ - 4
+ - 5
+ - 6
+ - 7
+ - 8
+ - 9
+ - 10
+
+
+
+ - 1
+ - 2
+ - 3
+ - 4
+ - 5
+ - 6
+ - 7
+ - 8
+ - 9
+ - 10
+
+ 20
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/values/themes.xml b/swingarmapp_sandblast/app/src/main/res/values/themes.xml
new file mode 100644
index 0000000..a645915
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/values/themes.xml
@@ -0,0 +1,17 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/xml/backup_rules.xml b/swingarmapp_sandblast/app/src/main/res/xml/backup_rules.xml
new file mode 100644
index 0000000..fa0f996
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/xml/backup_rules.xml
@@ -0,0 +1,13 @@
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/xml/check_boxs.xml b/swingarmapp_sandblast/app/src/main/res/xml/check_boxs.xml
new file mode 100644
index 0000000..df2d64a
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/xml/check_boxs.xml
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/xml/data_extraction_rules.xml b/swingarmapp_sandblast/app/src/main/res/xml/data_extraction_rules.xml
new file mode 100644
index 0000000..9ee9997
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/xml/data_extraction_rules.xml
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/swingarmapp_sandblast/app/src/main/res/xml/device_filter.xml b/swingarmapp_sandblast/app/src/main/res/xml/device_filter.xml
new file mode 100644
index 0000000..b2a252c
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/main/res/xml/device_filter.xml
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/swingarmapp_sandblast/app/src/test/java/com/example/swingarmapp_sandblast/ExampleUnitTest.java b/swingarmapp_sandblast/app/src/test/java/com/example/swingarmapp_sandblast/ExampleUnitTest.java
new file mode 100644
index 0000000..9d1d62f
--- /dev/null
+++ b/swingarmapp_sandblast/app/src/test/java/com/example/swingarmapp_sandblast/ExampleUnitTest.java
@@ -0,0 +1,17 @@
+package com.example.swingarmapp_sandblast;
+
+import org.junit.Test;
+
+import static org.junit.Assert.*;
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * @see Testing documentation
+ */
+public class ExampleUnitTest {
+ @Test
+ public void addition_isCorrect() {
+ assertEquals(4, 2 + 2);
+ }
+}
\ No newline at end of file
diff --git a/swingarmapp_sandblast/build.gradle b/swingarmapp_sandblast/build.gradle
new file mode 100644
index 0000000..b99ec97
--- /dev/null
+++ b/swingarmapp_sandblast/build.gradle
@@ -0,0 +1,4 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+plugins {
+id 'com.android.application' version '8.8.0' apply false
+}
\ No newline at end of file
diff --git a/swingarmapp_sandblast/gradle.properties b/swingarmapp_sandblast/gradle.properties
new file mode 100644
index 0000000..3e927b1
--- /dev/null
+++ b/swingarmapp_sandblast/gradle.properties
@@ -0,0 +1,21 @@
+# 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
\ No newline at end of file
diff --git a/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.jar b/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..e708b1c
Binary files /dev/null and b/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.properties b/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..ab0fcbf
--- /dev/null
+++ b/swingarmapp_sandblast/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,6 @@
+#Wed Feb 05 16:42:57 CST 2025
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/swingarmapp_sandblast/gradlew b/swingarmapp_sandblast/gradlew
new file mode 100644
index 0000000..4f906e0
--- /dev/null
+++ b/swingarmapp_sandblast/gradlew
@@ -0,0 +1,185 @@
+#!/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 "$JAVACMD" "$@"
diff --git a/swingarmapp_sandblast/gradlew.bat b/swingarmapp_sandblast/gradlew.bat
new file mode 100644
index 0000000..107acd3
--- /dev/null
+++ b/swingarmapp_sandblast/gradlew.bat
@@ -0,0 +1,89 @@
+@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
diff --git a/swingarmapp_sandblast/settings.gradle b/swingarmapp_sandblast/settings.gradle
new file mode 100644
index 0000000..be3882d
--- /dev/null
+++ b/swingarmapp_sandblast/settings.gradle
@@ -0,0 +1,18 @@
+pluginManagement {
+ repositories {
+ google()
+ mavenCentral()
+ gradlePluginPortal()
+ }
+}
+dependencyResolutionManagement {
+ repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
+ repositories {
+ google()
+ mavenCentral()
+ maven { url 'https://jitpack.io' }
+ }
+}
+
+rootProject.name = "SwingArmAPP_SandBlast"
+include ':app'
diff --git a/swingarmapp_sandblast/备注.txt b/swingarmapp_sandblast/备注.txt
new file mode 100644
index 0000000..3bc9537
--- /dev/null
+++ b/swingarmapp_sandblast/备注.txt
@@ -0,0 +1,2 @@
+修改新的摆臂界面---2025.5.29
+摆臂加喷砂机版本
\ No newline at end of file
diff --git a/备注.txt b/备注.txt
new file mode 100644
index 0000000..3bc9537
--- /dev/null
+++ b/备注.txt
@@ -0,0 +1,2 @@
+修改新的摆臂界面---2025.5.29
+摆臂加喷砂机版本
\ No newline at end of file