getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.paint_rough_inone_appv1_0.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\"\276\002\n\020IV_struct_define\022\r\n\005P" +
+ "ress\030\001 \001(\005\022\017\n\007RunMode\030\002 \001(\005\022\030\n\020LeftCompe" +
+ "nsation\030\003 \001(\005\022\031\n\021RightCompensation\030\004 \001(\005" +
+ "\022\024\n\014CurrentAngle\030\005 \001(\005\022\026\n\016RobotMoveSpeed" +
+ "\030\006 \001(\005\022\023\n\013SystemError\030\007 \001(\005\022\026\n\016Left_Moto" +
+ "r_Err\030\010 \001(\005\022\027\n\017Right_Motor_Err\030\t \001(\005\022\022\n\n" +
+ "SBUS_State\030\n \001(\005\022\024\n\014CurrentSpeed\030\013 \001(\005\022\021" +
+ "\n\tTimeStamp\030\014 \001(\003\022\021\n\tIsRestart\030\r \001(\005\022\021\n\t" +
+ "IsWorking\030\016 \001(\005B0\n,com.example.paint_rou" +
+ "gh_inone_appv1_0.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[] { "Press", "RunMode", "LeftCompensation", "RightCompensation", "CurrentAngle", "RobotMoveSpeed", "SystemError", "LeftMotorErr", "RightMotorErr", "SBUSState", "CurrentSpeed", "TimeStamp", "IsRestart", "IsWorking", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/BspPV.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/BspPV.java
new file mode 100644
index 0000000..d3de2b4
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/BspPV.java
@@ -0,0 +1,1535 @@
+// 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.paint_rough_inone_appv1_0.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 {
+
+ /**
+ *
+ * 喷漆拉毛二合一项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ int getWorkMode();
+
+ /**
+ *
+ * 运行状态 1无 2 水平 3 竖直向左 4竖直向右 5自动模式水平
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ int getRunMode();
+
+ /**
+ *
+ * 0-30m/min
+ *
+ *
+ * int32 RobotSpeed = 3;
+ * @return The robotSpeed.
+ */
+ int getRobotSpeed();
+
+ /**
+ *
+ * 1-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 4;
+ * @return The laneChangeDistance.
+ */
+ int getLaneChangeDistance();
+
+ /**
+ *
+ * 自动模式下水平方向距离 0-200m
+ *
+ *
+ * double HorizontalDistanceMeters = 5;
+ * @return The horizontalDistanceMeters.
+ */
+ double getHorizontalDistanceMeters();
+
+ /**
+ *
+ * 竖直方向 0-200m
+ *
+ *
+ * double VerticalDistanceMeters = 6;
+ * @return The verticalDistanceMeters.
+ */
+ double getVerticalDistanceMeters();
+
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * double Vertical_Calibration = 7;
+ * @return The verticalCalibration.
+ */
+ double getVerticalCalibration();
+
+ /**
+ *
+ * 左补偿
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ int getLeftCompensation();
+
+ /**
+ *
+ * 右补偿
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ int getRightCompensation();
+
+ /**
+ *
+ * 压力设定
+ *
+ *
+ * int32 PressSet = 10;
+ * @return The pressSet.
+ */
+ int getPressSet();
+
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 11;
+ * @return The iVIsRestartNotified.
+ */
+ int getIVIsRestartNotified();
+
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 12;
+ * @return The timeStamp.
+ */
+ long getTimeStamp();
+ }
+ /**
+ * 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.paint_rough_inone_appv1_0.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.paint_rough_inone_appv1_0.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.class, com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int WORKMODE_FIELD_NUMBER = 1;
+ private int workMode_ = 0;
+ /**
+ *
+ * 喷漆拉毛二合一项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ @java.lang.Override
+ public int getWorkMode() {
+ return workMode_;
+ }
+
+ public static final int RUNMODE_FIELD_NUMBER = 2;
+ private int runMode_ = 0;
+ /**
+ *
+ * 运行状态 1无 2 水平 3 竖直向左 4竖直向右 5自动模式水平
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ @java.lang.Override
+ public int getRunMode() {
+ return runMode_;
+ }
+
+ public static final int ROBOTSPEED_FIELD_NUMBER = 3;
+ private int robotSpeed_ = 0;
+ /**
+ *
+ * 0-30m/min
+ *
+ *
+ * int32 RobotSpeed = 3;
+ * @return The robotSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+
+ public static final int LANECHANGEDISTANCE_FIELD_NUMBER = 4;
+ private int laneChangeDistance_ = 0;
+ /**
+ *
+ * 1-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 4;
+ * @return The laneChangeDistance.
+ */
+ @java.lang.Override
+ public int getLaneChangeDistance() {
+ return laneChangeDistance_;
+ }
+
+ public static final int HORIZONTALDISTANCEMETERS_FIELD_NUMBER = 5;
+ private double horizontalDistanceMeters_ = 0D;
+ /**
+ *
+ * 自动模式下水平方向距离 0-200m
+ *
+ *
+ * double HorizontalDistanceMeters = 5;
+ * @return The horizontalDistanceMeters.
+ */
+ @java.lang.Override
+ public double getHorizontalDistanceMeters() {
+ return horizontalDistanceMeters_;
+ }
+
+ public static final int VERTICALDISTANCEMETERS_FIELD_NUMBER = 6;
+ private double verticalDistanceMeters_ = 0D;
+ /**
+ *
+ * 竖直方向 0-200m
+ *
+ *
+ * double VerticalDistanceMeters = 6;
+ * @return The verticalDistanceMeters.
+ */
+ @java.lang.Override
+ public double getVerticalDistanceMeters() {
+ return verticalDistanceMeters_;
+ }
+
+ public static final int VERTICAL_CALIBRATION_FIELD_NUMBER = 7;
+ private double verticalCalibration_ = 0D;
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * double Vertical_Calibration = 7;
+ * @return The verticalCalibration.
+ */
+ @java.lang.Override
+ public double getVerticalCalibration() {
+ return verticalCalibration_;
+ }
+
+ public static final int LEFTCOMPENSATION_FIELD_NUMBER = 8;
+ private int leftCompensation_ = 0;
+ /**
+ *
+ * 左补偿
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ @java.lang.Override
+ public int getLeftCompensation() {
+ return leftCompensation_;
+ }
+
+ public static final int RIGHTCOMPENSATION_FIELD_NUMBER = 9;
+ private int rightCompensation_ = 0;
+ /**
+ *
+ * 右补偿
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ @java.lang.Override
+ public int getRightCompensation() {
+ return rightCompensation_;
+ }
+
+ public static final int PRESSSET_FIELD_NUMBER = 10;
+ private int pressSet_ = 0;
+ /**
+ *
+ * 压力设定
+ *
+ *
+ * int32 PressSet = 10;
+ * @return The pressSet.
+ */
+ @java.lang.Override
+ public int getPressSet() {
+ return pressSet_;
+ }
+
+ public static final int IV_ISRESTART_NOTIFIED_FIELD_NUMBER = 11;
+ private int iVIsRestartNotified_ = 0;
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 11;
+ * @return The iVIsRestartNotified.
+ */
+ @java.lang.Override
+ public int getIVIsRestartNotified() {
+ return iVIsRestartNotified_;
+ }
+
+ public static final int TIMESTAMP_FIELD_NUMBER = 12;
+ private long timeStamp_ = 0L;
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 12;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+
+ 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 (workMode_ != 0) {
+ output.writeInt32(1, workMode_);
+ }
+ if (runMode_ != 0) {
+ output.writeInt32(2, runMode_);
+ }
+ if (robotSpeed_ != 0) {
+ output.writeInt32(3, robotSpeed_);
+ }
+ if (laneChangeDistance_ != 0) {
+ output.writeInt32(4, laneChangeDistance_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(horizontalDistanceMeters_) != 0) {
+ output.writeDouble(5, horizontalDistanceMeters_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalDistanceMeters_) != 0) {
+ output.writeDouble(6, verticalDistanceMeters_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalCalibration_) != 0) {
+ output.writeDouble(7, verticalCalibration_);
+ }
+ if (leftCompensation_ != 0) {
+ output.writeInt32(8, leftCompensation_);
+ }
+ if (rightCompensation_ != 0) {
+ output.writeInt32(9, rightCompensation_);
+ }
+ if (pressSet_ != 0) {
+ output.writeInt32(10, pressSet_);
+ }
+ if (iVIsRestartNotified_ != 0) {
+ output.writeInt32(11, iVIsRestartNotified_);
+ }
+ if (timeStamp_ != 0L) {
+ output.writeInt64(12, timeStamp_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (workMode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, workMode_);
+ }
+ if (runMode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, runMode_);
+ }
+ if (robotSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, robotSpeed_);
+ }
+ if (laneChangeDistance_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, laneChangeDistance_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(horizontalDistanceMeters_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(5, horizontalDistanceMeters_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalDistanceMeters_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(6, verticalDistanceMeters_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalCalibration_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(7, verticalCalibration_);
+ }
+ if (leftCompensation_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(8, leftCompensation_);
+ }
+ if (rightCompensation_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(9, rightCompensation_);
+ }
+ if (pressSet_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(10, pressSet_);
+ }
+ if (iVIsRestartNotified_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(11, iVIsRestartNotified_);
+ }
+ if (timeStamp_ != 0L) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt64Size(12, timeStamp_);
+ }
+ 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.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define other = (com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define) obj;
+
+ if (getWorkMode()
+ != other.getWorkMode()) return false;
+ if (getRunMode()
+ != other.getRunMode()) return false;
+ if (getRobotSpeed()
+ != other.getRobotSpeed()) return false;
+ if (getLaneChangeDistance()
+ != other.getLaneChangeDistance()) return false;
+ if (java.lang.Double.doubleToLongBits(getHorizontalDistanceMeters())
+ != java.lang.Double.doubleToLongBits(
+ other.getHorizontalDistanceMeters())) return false;
+ if (java.lang.Double.doubleToLongBits(getVerticalDistanceMeters())
+ != java.lang.Double.doubleToLongBits(
+ other.getVerticalDistanceMeters())) return false;
+ if (java.lang.Double.doubleToLongBits(getVerticalCalibration())
+ != java.lang.Double.doubleToLongBits(
+ other.getVerticalCalibration())) return false;
+ if (getLeftCompensation()
+ != other.getLeftCompensation()) return false;
+ if (getRightCompensation()
+ != other.getRightCompensation()) return false;
+ if (getPressSet()
+ != other.getPressSet()) return false;
+ if (getIVIsRestartNotified()
+ != other.getIVIsRestartNotified()) return false;
+ if (getTimeStamp()
+ != other.getTimeStamp()) 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) + WORKMODE_FIELD_NUMBER;
+ hash = (53 * hash) + getWorkMode();
+ hash = (37 * hash) + RUNMODE_FIELD_NUMBER;
+ hash = (53 * hash) + getRunMode();
+ hash = (37 * hash) + ROBOTSPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSpeed();
+ hash = (37 * hash) + LANECHANGEDISTANCE_FIELD_NUMBER;
+ hash = (53 * hash) + getLaneChangeDistance();
+ hash = (37 * hash) + HORIZONTALDISTANCEMETERS_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getHorizontalDistanceMeters()));
+ hash = (37 * hash) + VERTICALDISTANCEMETERS_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVerticalDistanceMeters()));
+ hash = (37 * hash) + VERTICAL_CALIBRATION_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVerticalCalibration()));
+ hash = (37 * hash) + LEFTCOMPENSATION_FIELD_NUMBER;
+ hash = (53 * hash) + getLeftCompensation();
+ hash = (37 * hash) + RIGHTCOMPENSATION_FIELD_NUMBER;
+ hash = (53 * hash) + getRightCompensation();
+ hash = (37 * hash) + PRESSSET_FIELD_NUMBER;
+ hash = (53 * hash) + getPressSet();
+ hash = (37 * hash) + IV_ISRESTART_NOTIFIED_FIELD_NUMBER;
+ hash = (53 * hash) + getIVIsRestartNotified();
+ hash = (37 * hash) + TIMESTAMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ getTimeStamp());
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.models.BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.paint_rough_inone_appv1_0.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.paint_rough_inone_appv1_0.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.class, com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.paint_rough_inone_appv1_0.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;
+ workMode_ = 0;
+ runMode_ = 0;
+ robotSpeed_ = 0;
+ laneChangeDistance_ = 0;
+ horizontalDistanceMeters_ = 0D;
+ verticalDistanceMeters_ = 0D;
+ verticalCalibration_ = 0D;
+ leftCompensation_ = 0;
+ rightCompensation_ = 0;
+ pressSet_ = 0;
+ iVIsRestartNotified_ = 0;
+ timeStamp_ = 0L;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.paint_rough_inone_appv1_0.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define build() {
+ com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define buildPartial() {
+ com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define result = new com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.workMode_ = workMode_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.runMode_ = runMode_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.robotSpeed_ = robotSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.laneChangeDistance_ = laneChangeDistance_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.horizontalDistanceMeters_ = horizontalDistanceMeters_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.verticalDistanceMeters_ = verticalDistanceMeters_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.verticalCalibration_ = verticalCalibration_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.leftCompensation_ = leftCompensation_;
+ }
+ if (((from_bitField0_ & 0x00000100) != 0)) {
+ result.rightCompensation_ = rightCompensation_;
+ }
+ if (((from_bitField0_ & 0x00000200) != 0)) {
+ result.pressSet_ = pressSet_;
+ }
+ if (((from_bitField0_ & 0x00000400) != 0)) {
+ result.iVIsRestartNotified_ = iVIsRestartNotified_;
+ }
+ if (((from_bitField0_ & 0x00000800) != 0)) {
+ result.timeStamp_ = timeStamp_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define) {
+ return mergeFrom((com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define other) {
+ if (other == com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
+ if (other.getWorkMode() != 0) {
+ setWorkMode(other.getWorkMode());
+ }
+ if (other.getRunMode() != 0) {
+ setRunMode(other.getRunMode());
+ }
+ if (other.getRobotSpeed() != 0) {
+ setRobotSpeed(other.getRobotSpeed());
+ }
+ if (other.getLaneChangeDistance() != 0) {
+ setLaneChangeDistance(other.getLaneChangeDistance());
+ }
+ if (other.getHorizontalDistanceMeters() != 0D) {
+ setHorizontalDistanceMeters(other.getHorizontalDistanceMeters());
+ }
+ if (other.getVerticalDistanceMeters() != 0D) {
+ setVerticalDistanceMeters(other.getVerticalDistanceMeters());
+ }
+ if (other.getVerticalCalibration() != 0D) {
+ setVerticalCalibration(other.getVerticalCalibration());
+ }
+ if (other.getLeftCompensation() != 0) {
+ setLeftCompensation(other.getLeftCompensation());
+ }
+ if (other.getRightCompensation() != 0) {
+ setRightCompensation(other.getRightCompensation());
+ }
+ if (other.getPressSet() != 0) {
+ setPressSet(other.getPressSet());
+ }
+ if (other.getIVIsRestartNotified() != 0) {
+ setIVIsRestartNotified(other.getIVIsRestartNotified());
+ }
+ if (other.getTimeStamp() != 0L) {
+ setTimeStamp(other.getTimeStamp());
+ }
+ 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: {
+ workMode_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ runMode_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ robotSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ laneChangeDistance_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 41: {
+ horizontalDistanceMeters_ = input.readDouble();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 41
+ case 49: {
+ verticalDistanceMeters_ = input.readDouble();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 49
+ case 57: {
+ verticalCalibration_ = input.readDouble();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 57
+ case 64: {
+ leftCompensation_ = input.readInt32();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 64
+ case 72: {
+ rightCompensation_ = input.readInt32();
+ bitField0_ |= 0x00000100;
+ break;
+ } // case 72
+ case 80: {
+ pressSet_ = input.readInt32();
+ bitField0_ |= 0x00000200;
+ break;
+ } // case 80
+ case 88: {
+ iVIsRestartNotified_ = input.readInt32();
+ bitField0_ |= 0x00000400;
+ break;
+ } // case 88
+ case 96: {
+ timeStamp_ = input.readInt64();
+ bitField0_ |= 0x00000800;
+ break;
+ } // case 96
+ 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 workMode_ ;
+ /**
+ *
+ * 喷漆拉毛二合一项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ @java.lang.Override
+ public int getWorkMode() {
+ return workMode_;
+ }
+ /**
+ *
+ * 喷漆拉毛二合一项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @param value The workMode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setWorkMode(int value) {
+
+ workMode_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 喷漆拉毛二合一项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearWorkMode() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ workMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int runMode_ ;
+ /**
+ *
+ * 运行状态 1无 2 水平 3 竖直向左 4竖直向右 5自动模式水平
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ @java.lang.Override
+ public int getRunMode() {
+ return runMode_;
+ }
+ /**
+ *
+ * 运行状态 1无 2 水平 3 竖直向左 4竖直向右 5自动模式水平
+ *
+ *
+ * int32 RunMode = 2;
+ * @param value The runMode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRunMode(int value) {
+
+ runMode_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 运行状态 1无 2 水平 3 竖直向左 4竖直向右 5自动模式水平
+ *
+ *
+ * int32 RunMode = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRunMode() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ runMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int robotSpeed_ ;
+ /**
+ *
+ * 0-30m/min
+ *
+ *
+ * int32 RobotSpeed = 3;
+ * @return The robotSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+ /**
+ *
+ * 0-30m/min
+ *
+ *
+ * int32 RobotSpeed = 3;
+ * @param value The robotSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSpeed(int value) {
+
+ robotSpeed_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 0-30m/min
+ *
+ *
+ * int32 RobotSpeed = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ robotSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int laneChangeDistance_ ;
+ /**
+ *
+ * 1-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 4;
+ * @return The laneChangeDistance.
+ */
+ @java.lang.Override
+ public int getLaneChangeDistance() {
+ return laneChangeDistance_;
+ }
+ /**
+ *
+ * 1-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 4;
+ * @param value The laneChangeDistance to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLaneChangeDistance(int value) {
+
+ laneChangeDistance_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 1-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearLaneChangeDistance() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ laneChangeDistance_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private double horizontalDistanceMeters_ ;
+ /**
+ *
+ * 自动模式下水平方向距离 0-200m
+ *
+ *
+ * double HorizontalDistanceMeters = 5;
+ * @return The horizontalDistanceMeters.
+ */
+ @java.lang.Override
+ public double getHorizontalDistanceMeters() {
+ return horizontalDistanceMeters_;
+ }
+ /**
+ *
+ * 自动模式下水平方向距离 0-200m
+ *
+ *
+ * double HorizontalDistanceMeters = 5;
+ * @param value The horizontalDistanceMeters to set.
+ * @return This builder for chaining.
+ */
+ public Builder setHorizontalDistanceMeters(double value) {
+
+ horizontalDistanceMeters_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 自动模式下水平方向距离 0-200m
+ *
+ *
+ * double HorizontalDistanceMeters = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearHorizontalDistanceMeters() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ horizontalDistanceMeters_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double verticalDistanceMeters_ ;
+ /**
+ *
+ * 竖直方向 0-200m
+ *
+ *
+ * double VerticalDistanceMeters = 6;
+ * @return The verticalDistanceMeters.
+ */
+ @java.lang.Override
+ public double getVerticalDistanceMeters() {
+ return verticalDistanceMeters_;
+ }
+ /**
+ *
+ * 竖直方向 0-200m
+ *
+ *
+ * double VerticalDistanceMeters = 6;
+ * @param value The verticalDistanceMeters to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVerticalDistanceMeters(double value) {
+
+ verticalDistanceMeters_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 竖直方向 0-200m
+ *
+ *
+ * double VerticalDistanceMeters = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearVerticalDistanceMeters() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ verticalDistanceMeters_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double verticalCalibration_ ;
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * double Vertical_Calibration = 7;
+ * @return The verticalCalibration.
+ */
+ @java.lang.Override
+ public double getVerticalCalibration() {
+ return verticalCalibration_;
+ }
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * double Vertical_Calibration = 7;
+ * @param value The verticalCalibration to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVerticalCalibration(double value) {
+
+ verticalCalibration_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 竖直微调
+ *
+ *
+ * double Vertical_Calibration = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearVerticalCalibration() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ verticalCalibration_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private int leftCompensation_ ;
+ /**
+ *
+ * 左补偿
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ @java.lang.Override
+ public int getLeftCompensation() {
+ return leftCompensation_;
+ }
+ /**
+ *
+ * 左补偿
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @param value The leftCompensation to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLeftCompensation(int value) {
+
+ leftCompensation_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 左补偿
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return This builder for chaining.
+ */
+ public Builder clearLeftCompensation() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ leftCompensation_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rightCompensation_ ;
+ /**
+ *
+ * 右补偿
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ @java.lang.Override
+ public int getRightCompensation() {
+ return rightCompensation_;
+ }
+ /**
+ *
+ * 右补偿
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @param value The rightCompensation to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRightCompensation(int value) {
+
+ rightCompensation_ = value;
+ bitField0_ |= 0x00000100;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 右补偿
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return This builder for chaining.
+ */
+ public Builder clearRightCompensation() {
+ bitField0_ = (bitField0_ & ~0x00000100);
+ rightCompensation_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int pressSet_ ;
+ /**
+ *
+ * 压力设定
+ *
+ *
+ * int32 PressSet = 10;
+ * @return The pressSet.
+ */
+ @java.lang.Override
+ public int getPressSet() {
+ return pressSet_;
+ }
+ /**
+ *
+ * 压力设定
+ *
+ *
+ * int32 PressSet = 10;
+ * @param value The pressSet to set.
+ * @return This builder for chaining.
+ */
+ public Builder setPressSet(int value) {
+
+ pressSet_ = value;
+ bitField0_ |= 0x00000200;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 压力设定
+ *
+ *
+ * int32 PressSet = 10;
+ * @return This builder for chaining.
+ */
+ public Builder clearPressSet() {
+ bitField0_ = (bitField0_ & ~0x00000200);
+ pressSet_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int iVIsRestartNotified_ ;
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 11;
+ * @return The iVIsRestartNotified.
+ */
+ @java.lang.Override
+ public int getIVIsRestartNotified() {
+ return iVIsRestartNotified_;
+ }
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 11;
+ * @param value The iVIsRestartNotified to set.
+ * @return This builder for chaining.
+ */
+ public Builder setIVIsRestartNotified(int value) {
+
+ iVIsRestartNotified_ = value;
+ bitField0_ |= 0x00000400;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 11;
+ * @return This builder for chaining.
+ */
+ public Builder clearIVIsRestartNotified() {
+ bitField0_ = (bitField0_ & ~0x00000400);
+ iVIsRestartNotified_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private long timeStamp_ ;
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 12;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 12;
+ * @param value The timeStamp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setTimeStamp(long value) {
+
+ timeStamp_ = value;
+ bitField0_ |= 0x00000800;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 12;
+ * @return This builder for chaining.
+ */
+ public Builder clearTimeStamp() {
+ bitField0_ = (bitField0_ & ~0x00000800);
+ timeStamp_ = 0L;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:PV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:PV_struct_define)
+ private static final com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.paint_rough_inone_appv1_0.models.BspPV.PV_struct_define();
+ }
+
+ public static com.example.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.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\"\276\002\n\020PV_struct_define\022\020\n\010W" +
+ "orkMode\030\001 \001(\005\022\017\n\007RunMode\030\002 \001(\005\022\022\n\nRobotS" +
+ "peed\030\003 \001(\005\022\032\n\022LaneChangeDistance\030\004 \001(\005\022 " +
+ "\n\030HorizontalDistanceMeters\030\005 \001(\001\022\036\n\026Vert" +
+ "icalDistanceMeters\030\006 \001(\001\022\034\n\024Vertical_Cal" +
+ "ibration\030\007 \001(\001\022\030\n\020LeftCompensation\030\010 \001(\005" +
+ "\022\031\n\021RightCompensation\030\t \001(\005\022\020\n\010PressSet\030" +
+ "\n \001(\005\022\035\n\025IV_IsRestart_Notified\030\013 \001(\005\022\021\n\t" +
+ "TimeStamp\030\014 \001(\003B0\n,com.example.paint_rou" +
+ "gh_inone_appv1_0.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[] { "WorkMode", "RunMode", "RobotSpeed", "LaneChangeDistance", "HorizontalDistanceMeters", "VerticalDistanceMeters", "VerticalCalibration", "LeftCompensation", "RightCompensation", "PressSet", "IVIsRestartNotified", "TimeStamp", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayIV.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayIV.java
new file mode 100644
index 0000000..3a3428d
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayIV.java
@@ -0,0 +1,50 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayPV.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayPV.java
new file mode 100644
index 0000000..3aff9c5
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/DisplayPV.java
@@ -0,0 +1,90 @@
+package com.example.paint_rough_inone_appv1_0.models;
+
+import androidx.databinding.BaseObservable;
+
+public class DisplayPV extends BaseObservable {
+
+ private int id;
+
+ private int laneChangeDistance;
+ private double horizontalDistance;
+ private double verticalDistance;
+ private double verticalAdjust;
+ private double leftCompensation;
+ private double rightCompensation;
+ private int pressSet;
+
+ public DisplayPV(int id, int laneChangeDistance, double horizontalDistance, double verticalDistance, double verticalAdjust, double leftCompensation, double rightCompensation ,int pressSet) {
+ this.id = id;
+ this.laneChangeDistance=laneChangeDistance;
+ this.horizontalDistance = horizontalDistance;
+ this.verticalDistance = verticalDistance;
+ this.verticalAdjust=verticalAdjust;
+ this.leftCompensation = leftCompensation;
+ this.rightCompensation=rightCompensation;
+ this.pressSet=pressSet;
+
+ }
+
+
+ public int getId() { return id; }
+ public void setId(int id) {
+ this.id = id;
+ }
+
+
+
+ public int getLaneChangeDistance() {
+ return laneChangeDistance;
+ }
+ public void setLaneChangeDistance(int laneChangeDistance) { this.laneChangeDistance = laneChangeDistance;}
+
+ public double getHorizontalDistance() {
+ return horizontalDistance;
+ }
+ public void setHorizontalDistance(double horizontalDistance) { this.horizontalDistance = horizontalDistance;}
+
+ public double getVerticalDistance() {
+ return verticalDistance;
+ }
+ public void setVerticalDistance(double verticalDistance) {
+ this.verticalDistance = verticalDistance;
+ }
+
+ public double getVerticalAdjust(){
+ return verticalAdjust;
+ }
+ public void setVerticalAdjust(double verticalAdjust) {
+ this.verticalAdjust = verticalAdjust;
+ }
+
+
+ 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 int getPressSet() {
+ return pressSet;
+ }
+ public void setPressSet(int pressSet) {
+ this.pressSet = pressSet;
+ }
+
+
+
+
+
+
+
+
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ErrorModel.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ErrorModel.java
new file mode 100644
index 0000000..ba4e381
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ErrorModel.java
@@ -0,0 +1,44 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ScrollBottomScrollView.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ScrollBottomScrollView.java
new file mode 100644
index 0000000..e1c142e
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/models/ScrollBottomScrollView.java
@@ -0,0 +1,43 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ConvertHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ConvertHelper.java
new file mode 100644
index 0000000..1a5357b
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ConvertHelper.java
@@ -0,0 +1,26 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/CustomProber.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/CustomProber.java
new file mode 100644
index 0000000..a499f1e
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/CustomProber.java
@@ -0,0 +1,22 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import com.hoho.android.usbserial.driver.FtdiSerialDriver;
+import com.hoho.android.usbserial.driver.ProbeTable;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+
+/**
+ * add devices here, that are not known to DefaultProber
+ *
+ * if the App should auto start for these devices, also
+ * add IDs to app/src/main/res/xml/device_filter.xml
+ */
+public class CustomProber {
+
+ public static UsbSerialProber getCustomProber() {
+ ProbeTable customTable = new ProbeTable();
+ customTable.addProduct(0x1234, 0x0001, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ customTable.addProduct(0x1234, 0x0002, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ return new UsbSerialProber(customTable);
+ }
+
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/DecimalDigitsInputFilter.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/DecimalDigitsInputFilter.java
new file mode 100644
index 0000000..9969a3b
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/DecimalDigitsInputFilter.java
@@ -0,0 +1,71 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ErrorDeocdeHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ErrorDeocdeHelper.java
new file mode 100644
index 0000000..a1f06c2
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ErrorDeocdeHelper.java
@@ -0,0 +1,42 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import com.example.paint_rough_inone_appv1_0.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="";
+ /*访问每个枚举变量*/
+ for (BspError.ComError err : BspError.ComError.values()) {
+
+ int bitPosiiton = err.ordinal();//返回枚举值序号
+ 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) {
+
+ if (err.toString().equals("Remote_Button_Reset_State")) {
+ ErrorResult = "未复位";
+ }
+ }
+ }
+ return ErrorResult;
+ }
+
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/LogUtil.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/LogUtil.java
new file mode 100644
index 0000000..f0f521f
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/LogUtil.java
@@ -0,0 +1,39 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ModbusCRC.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ModbusCRC.java
new file mode 100644
index 0000000..cc17dff
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ModbusCRC.java
@@ -0,0 +1,72 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+public class ModbusCRC {
+
+// /**
+// * 一个字节包含位的数量 8
+// */
+// private static final int BITS_OF_BYTE = 8;
+// /**
+// * 多项式
+// */
+// private static final int POLYNOMIAL = 0xA001;
+// /**
+// * 初始值
+// */
+// private static final int INITIAL_VALUE = 0xFFFF;
+//
+// /**
+// * CRC16 编码
+// *
+// * @param bytes 编码内容
+// * @return 编码结果
+// */
+// public static int crc16(byte[] bytes) {
+// int res = INITIAL_VALUE;
+// for (int data : bytes) {
+// res = res ^ data;
+// for (int i = 0; i < BITS_OF_BYTE; i++) {
+// res = (res & 0x0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
+// }
+// }
+// return revert(res);
+// }
+//
+// /**
+// * 翻转16位的高八位和低八位字节
+// *
+// * @param src 翻转数字
+// * @return 翻转结果
+// */
+// private static int revert(int src) {
+// int lowByte = (src & 0xFF00) >> 8;
+// int highByte = (src & 0x00FF) << 8;
+// return lowByte | highByte;
+// }
+
+
+ /**
+ * 计算 Modbus CRC 校验值
+ * @param data 要计算校验值的字节数组
+ * @return CRC 校验值，以 2 字节的数组形式返回
+ */
+ public static byte[] calculateCRC(byte[] data) {
+ int crc = 0xFFFF;
+ for (byte b : data) {
+ crc ^= (b & 0xFF);
+ for (int i = 0; i < 8; i++) {
+ if ((crc & 0x0001) != 0) {
+ crc >>= 1;
+ crc ^= 0xA001;
+ } else {
+ crc >>= 1;
+ }
+ }
+ }
+ // 将 CRC 结果拆分为两个字节
+ byte[] crcBytes = new byte[2];
+ crcBytes[0] = (byte) (crc & 0xFF);
+ crcBytes[1] = (byte) ((crc >> 8) & 0xFF);
+ return crcBytes;
+ }
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/MyDataHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/MyDataHelper.java
new file mode 100644
index 0000000..2783424
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/MyDataHelper.java
@@ -0,0 +1,368 @@
+package com.example.paint_rough_inone_appv1_0.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.paint_rough_inone_appv1_0.models.DisplayPV;
+import com.example.paint_rough_inone_appv1_0.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_PAINT = "paint";
+ public static final String COLUMN_LANE_CHANGE_DISTANCE = "laneChangeDistance";//换道距离
+ public static final String COLUMN_VERTICAL_ADJUST = "verticalAdjust";//Maintv_VerticalAdjustTo32 竖直微调
+ /*************************************************************************************************/
+ public static final String TABLE_NAME_ROUGH = "rough";
+
+ public static final String COLUMN_PRESS_SET = "pressSet";//Maintv_PressTo32 压力设定
+
+ public static final String COLUMN_HORIZONTAL_DISTANCE = "horizontalDistance";/*横向距离*/
+ public static final String COLUMN_VERTICAL_DISTANCE = "verticalDistance"; /*纵向距离*/
+ public static final String COLUMN_LEFT_COMPENSATION = "leftCompensation"; /*左补偿*/
+ public static final String COLUMN_RIGHT_COMPENSATION = "rightCompensation"; /*右补偿*/
+
+ /************************************************************************************************/
+ public static final String Error_TABLE_NAME_PAINT = "errorPaint";
+ public static final String Error_TABLE_NAME_ROUGH = "errorRough";
+ public static final String Error_COLUMN_TimeStamp = "timeID";
+ public static final String Error_COLUMN_ERROR_INFO = "errorInfo";
+
+ public MyDataHelper(@Nullable Context context) {
+ super(context, "bingbot.db", null, 9); //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_PAINT + " (" +
+ COLUMN_ID + " INTEGER PRIMARY KEY AUTOINCREMENT, " +
+ COLUMN_VERTICAL_ADJUST + " DOUBLE, " +
+ COLUMN_LANE_CHANGE_DISTANCE + " INTEGER);" ;
+ db.execSQL(sql); //执行sql语句
+
+ sql = "CREATE TABLE " + TABLE_NAME_ROUGH + " (" +
+ COLUMN_ID + " INTEGER PRIMARY KEY AUTOINCREMENT, " +
+ COLUMN_LEFT_COMPENSATION + " DOUBLE, " +
+ COLUMN_RIGHT_COMPENSATION + " DOUBLE, " +
+ COLUMN_HORIZONTAL_DISTANCE + " DOUBLE, " +
+ COLUMN_VERTICAL_DISTANCE + " DOUBLE, " +
+ COLUMN_VERTICAL_ADJUST + " DOUBLE, " +
+ COLUMN_PRESS_SET + " INTEGER, " +
+ COLUMN_LANE_CHANGE_DISTANCE + " INTEGER);" ;
+ db.execSQL(sql); //执行sql语句
+
+
+ sql = "CREATE TABLE " + Error_TABLE_NAME_PAINT + "(" + Error_COLUMN_TimeStamp + " INTEGER PRIMARY KEY ,"
+ + Error_COLUMN_ERROR_INFO + " STRING " + ")";
+ db.execSQL(sql); //创建喷漆错误表
+
+ sql = "CREATE TABLE " + Error_TABLE_NAME_ROUGH + "(" + Error_COLUMN_TimeStamp + " INTEGER PRIMARY KEY ,"
+ + Error_COLUMN_ERROR_INFO + " STRING " + ")";
+ db.execSQL(sql); //创建拉毛错误表
+ }
+
+ @Override
+ public void onUpgrade(SQLiteDatabase db, int oldVersion, int newVersion) {
+ db.execSQL("DROP TABLE IF EXISTS " + TABLE_NAME_PAINT); // 喷漆表
+ db.execSQL("DROP TABLE IF EXISTS " + TABLE_NAME_ROUGH); //拉毛表
+ db.execSQL("DROP TABLE IF EXISTS " + Error_TABLE_NAME_PAINT); //喷漆错误表
+ db.execSQL("DROP TABLE IF EXISTS " + Error_TABLE_NAME_ROUGH); //拉毛错误表
+ onCreate(db);
+ }
+
+ //增 删 改 查
+ public String addOrUpdateDisplayDataPaint(DisplayPV pv) {
+ ContentValues cv = new ContentValues(); //键值对的类
+ cv.put(COLUMN_ID, pv.getId());
+ cv.put(COLUMN_LANE_CHANGE_DISTANCE, pv.getLaneChangeDistance());
+ cv.put(COLUMN_VERTICAL_ADJUST, pv.getVerticalAdjust());
+ 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_PAINT, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ sqliteDatabase.close();
+ if (insert == -1) {
+ return "failed";
+ }
+ return "success";
+ }
+ //增 删 改 查
+ public String addOrUpdateDisplayDataRough(DisplayPV pv) {
+ ContentValues cv = new ContentValues(); //键值对的类
+ cv.put(COLUMN_ID, pv.getId());
+ cv.put(COLUMN_LANE_CHANGE_DISTANCE, pv.getLaneChangeDistance());
+ cv.put(COLUMN_HORIZONTAL_DISTANCE, pv.getHorizontalDistance());
+ cv.put(COLUMN_VERTICAL_DISTANCE, pv.getVerticalDistance());
+ cv.put(COLUMN_VERTICAL_ADJUST, pv.getVerticalAdjust());
+
+ cv.put(COLUMN_LEFT_COMPENSATION, pv.getLeftCompensation());
+ cv.put(COLUMN_RIGHT_COMPENSATION, pv.getRightCompensation());
+ cv.put(COLUMN_PRESS_SET, pv.getPressSet());
+
+
+
+ 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_ROUGH, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ sqliteDatabase.close();
+ if (insert == -1) {
+ return "failed";
+ }
+ return "success";
+ }
+
+// 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 IntializeDataBasePaint() {
+
+ for (int i = 1; i < 6; i++) {
+ List list = getDisplayDataPaint(i); //从数据库中读
+ if (list.size() == 0) {
+ DisplayPV pv = new DisplayPV(i, 0, 0, 0, 0, 0, 0,0);
+ addOrUpdateDisplayDataPaint(pv);//一行一行添加
+ }
+ }
+ }
+
+ public void IntializeDataBaseRough() {
+
+ for (int i = 1; i < 6; i++) {
+ List list = getDisplayDataRough(i); //从数据库中读
+ if (list.size() == 0) {
+ DisplayPV pv = new DisplayPV(i, 0, 0, 0, 0, 0, 0,0);
+ addOrUpdateDisplayDataRough(pv);//一行一行添加
+ }
+ }
+ }
+
+ public List getDisplayDataPaint(int id) { //初始化
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + TABLE_NAME_PAINT + " 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 _verticalAdjustIndex = cursor.getColumnIndex(COLUMN_VERTICAL_ADJUST);
+ while (cursor.moveToNext()) {
+
+ DisplayPV pv = new DisplayPV(cursor.getInt(idIndex), cursor.getInt(_laneChangeDistanceIndex),
+ 0,0, cursor.getDouble(_verticalAdjustIndex),0,0,0
+ );
+ list.add(pv);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+
+ public List getDisplayDataRough(int id) { //初始化
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + TABLE_NAME_ROUGH + " 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 _verticalAdjustIndex = cursor.getColumnIndex(COLUMN_VERTICAL_ADJUST);
+ int _pressSetIndex = cursor.getColumnIndex(COLUMN_PRESS_SET);
+ int _leftCompensationIndex=cursor.getColumnIndex(COLUMN_LEFT_COMPENSATION);
+ int _rightCompensationIndex=cursor.getColumnIndex(COLUMN_RIGHT_COMPENSATION);
+ int _horizontalDistanceIndex=cursor.getColumnIndex(COLUMN_HORIZONTAL_DISTANCE);
+ int _verticalDistanceIndex=cursor.getColumnIndex(COLUMN_VERTICAL_DISTANCE);
+
+ while (cursor.moveToNext()) {
+
+ DisplayPV pv = new DisplayPV(cursor.getInt(idIndex), cursor.getInt(_laneChangeDistanceIndex),
+ cursor.getDouble(_horizontalDistanceIndex), cursor.getDouble(_verticalDistanceIndex), cursor.getDouble(_verticalAdjustIndex),cursor.getDouble(_leftCompensationIndex), cursor.getDouble(_rightCompensationIndex),
+ cursor.getInt(_pressSetIndex)
+ );
+
+ list.add(pv);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+ public String AddOrUpdateErrorModelPaint(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_PAINT, 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 AddOrUpdateErrorModelRough(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_ROUGH, 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 DeleteAllErrorModelsPaint() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(Error_TABLE_NAME_PAINT, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+ public String DeleteAllErrorModelRough() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(Error_TABLE_NAME_ROUGH, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public List GetAllErrorModelsPaint() {
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + Error_TABLE_NAME_PAINT;
+ 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;
+
+ }
+
+ public List GetAllErrorModelsRough() {
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + Error_TABLE_NAME_ROUGH;
+ 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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/PopupHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/PopupHelper.java
new file mode 100644
index 0000000..fefaf49
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/PopupHelper.java
@@ -0,0 +1,736 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import android.app.Dialog;
+import android.text.InputFilter;
+import android.text.method.ScrollingMovementMethod;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.ScrollView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.paint_rough_inone_appv1_0.RoughActivity;
+import com.example.paint_rough_inone_appv1_0.models.ErrorModel;
+import com.example.paint_rough_inone_appv1_0.models.ScrollBottomScrollView;
+import com.example.paint_rough_inone_appv1_0.PaintActivity;
+import com.example.paint_rough_inone_appv1_0.R;
+import com.example.paint_rough_inone_appv1_0.models.DisplayPV;
+
+import java.util.List;
+
+public class PopupHelper {
+
+ private PaintActivity paintActivity;
+ private RoughActivity roughActivity;
+
+
+ String result="1";
+
+
+
+ public PopupHelper(PaintActivity paintActivity)
+ {
+ this.paintActivity = paintActivity;
+
+ }
+ public PopupHelper(RoughActivity roughActivity)
+ {
+ this.roughActivity = roughActivity;
+ }
+
+ //喷漆手动模式弹窗
+ public void Paint_ManualModePopup(View.OnClickListener context) { //手动模式弹窗
+ Dialog dialog = new Dialog(paintActivity);
+
+ dialog.setContentView(R.layout.paint_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_Paint);
+ Button confirmButton = dialog.findViewById(R.id.manualModeApply_Paint);
+
+ //获取按钮组
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.manualModeSelectorGroup_Paint);
+
+ //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)
+ {
+ paintActivity._Manual_Mode_Call_Value = radioButton.getText().toString();
+ }
+ }
+ });
+
+ //下次进来保证是选中状态或者未选中
+ String ii= paintActivity.mainBinding.manualModeDisplay.getText().toString();
+ switch (ii)
+ {
+ case "无": { radioGroup.check(R.id.rb_one_paint);
+ break;
+ }
+ case "竖直\n向左": { radioGroup.check(R.id.rb_two_paint);
+ break;
+ }
+ case "竖直\n向右": { radioGroup.check(R.id.rb_three_paint);
+ 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
+ paintActivity.mainBinding.manualModeDisplay.setText(paintActivity._Manual_Mode_Call_Value);
+ Toast.makeText(paintActivity, "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(paintActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+
+ // 显示弹窗
+ dialog.show();
+
+ }
+
+ //拉毛手动模式弹窗
+ public void Rough_ManualModePopup(View.OnClickListener context) { //手动模式弹窗
+ Dialog dialog = new Dialog(roughActivity);
+
+ dialog.setContentView(R.layout.rough_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_Rough);
+ Button confirmButton = dialog.findViewById(R.id.manualModeApply_Rough);
+
+ //获取按钮组
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.manualModeSelectorGroup_Rough);
+
+ //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)
+ {
+ roughActivity._Manual_Mode_Call_Value = radioButton.getText().toString();
+ }
+ }
+ });
+
+ //下次进来保证是选中状态或者未选中
+ String ii= roughActivity.mainBinding.manualModeDisplay.getText().toString();
+ switch (ii)
+ {
+ case "无": { radioGroup.check(R.id.rb_one_rough);
+ break;
+ }
+ case "水平": { radioGroup.check(R.id.rb_two_rough);
+ break;
+ }
+ case "竖直\n向左": { radioGroup.check(R.id.rb_three_rough);
+ break;
+ }
+ case "竖直\n向右": { radioGroup.check(R.id.rb_four_rough);
+ 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
+ roughActivity.mainBinding.manualModeDisplay.setText(roughActivity._Manual_Mode_Call_Value);
+ //失能自动模式
+ roughActivity._Auto_Mode_Call_Value="未启用";
+ roughActivity.mainBinding.autoModeDisplay.setText("未启用");
+ Toast.makeText(roughActivity, "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(roughActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+
+ // 显示弹窗
+ dialog.show();
+
+ }
+
+
+ //拉毛自动模式弹窗
+ public void Rough_AutoModePopup(View.OnClickListener context) {
+ Dialog dialog = new Dialog(roughActivity);
+
+ dialog.setContentView(R.layout.rough_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_Rough);
+ Button confirmButton = dialog.findViewById(R.id.autoModeApply_Rough);
+ EditText HorizontalDistance_Edit=dialog.findViewById(R.id.HorizontalDistance_input);
+ EditText VerticalDistance_Edit=dialog.findViewById(R.id.VerticalDistance_input);
+
+ HorizontalDistance_Edit.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
+ VerticalDistance_Edit.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
+
+ /*进入显示文本*/
+ HorizontalDistance_Edit.setText(roughActivity.HorizontalDistance);
+ VerticalDistance_Edit.setText(roughActivity.VerticalDistance);
+
+
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.autoModeSelectorGroup_Rough);
+ //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){
+ roughActivity._Auto_Mode_Call_Value = radioButton.getText().toString();
+ }
+
+ }
+ });
+
+ String ii= roughActivity.mainBinding.autoModeDisplay.getText().toString();
+ switch (ii)
+ {
+
+ case "水平": { radioGroup.check(R.id.rb_autoHorizontal);
+ break;
+ }
+ default:
+ radioGroup.clearCheck();//清除选中，此时触发radioGroup事件，自动模式值被改为未启用
+ 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
+ roughActivity.mainBinding.autoModeDisplay.setText(roughActivity._Auto_Mode_Call_Value);
+ //失能手动模式
+ roughActivity._Manual_Mode_Call_Value="未启用";
+ roughActivity.mainBinding.manualModeDisplay.setText("未启用");
+ Toast.makeText(roughActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ }
+
+ //检查作业宽度 长度 范围
+ double value1=0; double value2=0;
+ try {
+ value1=Double.parseDouble(String.valueOf(HorizontalDistance_Edit.getText()));
+ value2=Double.parseDouble(String.valueOf(VerticalDistance_Edit.getText()));
+ }
+ catch(Exception e)
+ {
+ Toast.makeText(roughActivity, "输入不能为空", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ if(value1>=0 && value1<=50)
+ {
+ roughActivity.HorizontalDistance=String.valueOf(value1);
+
+ }else{
+ Toast.makeText(roughActivity, "请输入0-50的数字", Toast.LENGTH_SHORT).show();
+ HorizontalDistance_Edit.setText("0.0");
+ return;
+ }
+ if(value2>=0 && value2<=50)
+ {
+ roughActivity.VerticalDistance=String.valueOf(value2);
+
+ }else{
+ Toast.makeText(roughActivity, "请输入0-50的数字", Toast.LENGTH_SHORT).show();
+ VerticalDistance_Edit.setText("0.0");
+ return;
+ }
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(roughActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ /*显示弹窗*/
+ dialog.show();
+
+ }
+
+
+
+
+ public void ParametersCallPopup_Paint(View.OnClickListener context,MyDataHelper myDataHelper ) {
+ Dialog dialog = new Dialog(paintActivity);
+ dialog.setContentView(R.layout.parameters_call_paint); // 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.parametersExitPaint);
+ Button confirmButton = dialog.findViewById(R.id.parametersApplyPaint);
+ Button saveButton=dialog.findViewById(R.id.parametersSavebtnPaint);
+ Button clearButton=dialog.findViewById(R.id.parametersClearBtnPaint);
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.parameters_call_group_paint);
+
+
+ Integer ii= ConvertHelper.convertEditTextToInt(paintActivity.mainBinding.MaintvParameterCallTo32);
+
+ switch (ii)
+ {
+ case 1: { radioGroup.check(R.id.rb_paraOnePaint);
+ break;
+ }
+ case 2: { radioGroup.check(R.id.rb_paraTwoPaint);
+ break;
+ }
+ case 3: { radioGroup.check(R.id.rb_paraThreePaint);
+ break;
+ }
+ case 4: { radioGroup.check(R.id.rb_paraFourPaint);
+ break;
+ }
+ case 5: { radioGroup.check(R.id.rb_paraFivePaint);
+ break;
+ }
+ default:
+ radioGroup.clearCheck();
+ 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) {
+ try {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ result = radioButton.getText().toString();
+ // mainActivity._parameters_Call_Value = result;
+ }
+ catch (Exception e) {
+ /* 按钮都未选中*/
+ }
+ }
+ });
+ //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) {
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(paintActivity, "未选中参数，无法保存", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(paintActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(paintActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ double verticalAdjust = Double.parseDouble(paintActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+
+ // 把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,0,0, verticalAdjust,0,0, 0 );
+ myDataHelper.addOrUpdateDisplayDataPaint(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) {
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(paintActivity, "未选中参数，无法清除", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ paintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(1));
+ paintActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(0));
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(paintActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(paintActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ double verticalAdjust =Double.parseDouble(paintActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+ //把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,0,0, verticalAdjust,0, 0, 0 );
+ myDataHelper.addOrUpdateDisplayDataPaint(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 -> {
+
+ /*未选中时设为无*/
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(paintActivity, "未使用预设参数", Toast.LENGTH_SHORT).show();
+ paintActivity.mainBinding.MaintvParameterCallTo32.setText("无");
+ return;
+ }
+ paintActivity._parameters_Call_Value = result;
+ paintActivity.mainBinding.MaintvParameterCallTo32.setText(paintActivity._parameters_Call_Value);//把主界面 调用值显示 改了
+
+ //读取数据
+ int paraIndex = Integer.parseInt(paintActivity._parameters_Call_Value);
+ List pvList = paintActivity.myDataHelper.getDisplayDataPaint(paraIndex);//从数据库中读，，并对其他控件进行赋值
+ paintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(pvList.get(0).getLaneChangeDistance()));
+ paintActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(pvList.get(0).getVerticalAdjust()));
+ //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 ParametersCallPopup_Rough(View.OnClickListener context,MyDataHelper myDataHelper ) {
+ Dialog dialog = new Dialog(roughActivity);
+ dialog.setContentView(R.layout.parameters_call_rough); // 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.parametersExitRough);
+ Button confirmButton = dialog.findViewById(R.id.parametersApplyRough);
+ Button saveButton=dialog.findViewById(R.id.parametersSavebtnRough);
+ Button clearButton=dialog.findViewById(R.id.parametersClearBtnRough);
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.parameters_call_group_rough);
+
+
+ Integer ii= ConvertHelper.convertEditTextToInt(roughActivity.mainBinding.MaintvParameterCallTo32);
+
+ switch (ii)
+ {
+ case 1: { radioGroup.check(R.id.rb_paraOneRough);
+ break;
+ }
+ case 2: { radioGroup.check(R.id.rb_paraTwoRough);
+ break;
+ }
+ case 3: { radioGroup.check(R.id.rb_paraThreeRough);
+ break;
+ }
+ case 4: { radioGroup.check(R.id.rb_paraFourRough);
+ break;
+ }
+ case 5: { radioGroup.check(R.id.rb_paraFiveRough);
+ break;
+ }
+ default:
+ radioGroup.clearCheck();
+ break;
+ }
+
+ dialog.show(); // 显示弹窗
+
+ //参数调用值更新
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ try {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ result = radioButton.getText().toString();
+ // mainActivity._parameters_Call_Value = result;
+ } catch (Exception e) {
+ //**/
+ }
+ }
+ });
+ //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) {
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(roughActivity, "未选中参数，无法保存", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(roughActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(roughActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ double verticalAdjust = Double.parseDouble(roughActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+ double horizontalDistance = Double.parseDouble(roughActivity.HorizontalDistance);
+ double verticalDistance = Double.parseDouble(roughActivity.VerticalDistance);
+ double leftCompensation=Double.parseDouble(roughActivity.mainBinding.tvLCompensationFrom32.getText().toString());
+ double rightCompensation=Double.parseDouble(roughActivity.mainBinding.tvRCopmpensationFrom32.getText().toString());
+ int pressSet=Integer.parseInt(roughActivity.mainBinding.MaintvPressTo32.getText().toString());
+ //把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,horizontalDistance,verticalDistance,verticalAdjust ,leftCompensation,rightCompensation, pressSet );
+ myDataHelper.addOrUpdateDisplayDataRough(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) {
+
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(roughActivity, "未选中参数，无法清除", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ roughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(1));
+ roughActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(0));
+ roughActivity.mainBinding.MaintvPressTo32.setText(String.valueOf(0));
+ roughActivity.mainBinding.tvLCompensationFrom32.setText(String.valueOf(0));
+ roughActivity.mainBinding.tvRCopmpensationFrom32.setText(String.valueOf(0));
+ roughActivity.HorizontalDistance=String.valueOf(0);
+ roughActivity.VerticalDistance=String.valueOf(0);
+ //获取界面参数以写进数据库
+ int paraIndex = Integer.parseInt(roughActivity.mainBinding.MaintvParameterCallTo32.getText().toString());
+ int laneChangeDistance = Integer.parseInt(roughActivity.mainBinding.MaintvLaneChangeDistanceTo32.getText().toString());
+ double verticalAdjust = Double.parseDouble(roughActivity.mainBinding.MaintvVerticalAdjustTo32.getText().toString());
+ double horizontalDistance = Double.parseDouble(roughActivity.HorizontalDistance);
+ double verticalDistance = Double.parseDouble(roughActivity.VerticalDistance);
+ double leftCompensation=Double.parseDouble(roughActivity.mainBinding.tvLCompensationFrom32.getText().toString());
+ double rightCompensation=Double.parseDouble(roughActivity.mainBinding.tvRCopmpensationFrom32.getText().toString());
+ int pressSet=Integer.parseInt(roughActivity.mainBinding.MaintvPressTo32.getText().toString());
+
+ //把界面中的值放进PV类的变量中
+ DisplayPV displayPV = new DisplayPV(paraIndex, laneChangeDistance,horizontalDistance,verticalDistance,verticalAdjust ,leftCompensation,rightCompensation, pressSet );
+ myDataHelper.addOrUpdateDisplayDataRough(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 -> {
+
+ /*未选中时设为无*/
+ int selectedId = radioGroup.getCheckedRadioButtonId();
+ if (selectedId == -1) {
+ Toast.makeText(roughActivity, "未使用预设参数", Toast.LENGTH_SHORT).show();
+ roughActivity.mainBinding.MaintvParameterCallTo32.setText("无");
+ return;
+ }
+ roughActivity._parameters_Call_Value = result;
+ roughActivity.mainBinding.MaintvParameterCallTo32.setText(roughActivity._parameters_Call_Value);//把主界面 调用值显示 改了
+
+ //读取数据
+ int paraIndex = Integer.parseInt(roughActivity._parameters_Call_Value);
+ List pvList = roughActivity.myDataHelper.getDisplayDataRough(paraIndex);//从数据库中读，，并对其他控件进行赋值
+
+ roughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setText(String.valueOf(pvList.get(0).getLaneChangeDistance()));
+ roughActivity.mainBinding.MaintvVerticalAdjustTo32.setText(String.valueOf(pvList.get(0).getVerticalAdjust()));
+ roughActivity.HorizontalDistance=String.valueOf(pvList.get(0).getHorizontalDistance());
+ roughActivity.VerticalDistance=String.valueOf(pvList.get(0).getVerticalDistance());
+ roughActivity.mainBinding.tvLCompensationFrom32.setText(String.valueOf(pvList.get(0).getLeftCompensation()));
+ roughActivity.mainBinding.tvRCopmpensationFrom32.setText(String.valueOf(pvList.get(0).getRightCompensation()));
+ roughActivity.mainBinding.MaintvPressTo32.setText(String.valueOf(pvList.get(0).getPressSet()));
+ //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_Paint(View.OnClickListener context)
+ {
+ Dialog dialog = new Dialog(paintActivity);
+
+ dialog.setContentView(R.layout.log_item_paint); // 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_Paint);
+ ScrollBottomScrollView LogScrollView = dialog.findViewById(R.id.popUpErrorLogScrollview_Paint);
+ List list = paintActivity.myDataHelper.GetAllErrorModelsPaint(); //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
+ }
+
+ public void RobotErrorListPopUp_Rough(View.OnClickListener context)
+ {
+ Dialog dialog = new Dialog(roughActivity);
+
+ dialog.setContentView(R.layout.log_item_rough); // 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_Rough);
+ ScrollBottomScrollView LogScrollView = dialog.findViewById(R.id.popUpErrorLogScrollview_Rough);
+ List list = roughActivity.myDataHelper.GetAllErrorModelsRough(); //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
+ }
+
+
+
+} //根类
+
+
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ReceiivedIVHandler.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ReceiivedIVHandler.java
new file mode 100644
index 0000000..27ac5b3
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ReceiivedIVHandler.java
@@ -0,0 +1,373 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import static com.example.paint_rough_inone_appv1_0.services.ErrorDeocdeHelper.ErrorDeocde;
+
+import android.graphics.Color;
+import android.view.Gravity;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.paint_rough_inone_appv1_0.R;
+import com.example.paint_rough_inone_appv1_0.models.BspIV;
+import com.example.paint_rough_inone_appv1_0.models.ErrorModel;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+import java.util.Objects;
+
+public class ReceiivedIVHandler {
+ static String errorLastPaint = "";
+ static String errorLastRough = "";
+ public static int receiveMeasurePaint = 0;
+ public static int receiveMeasureRough = 0;
+ private static final int Buttons_Not_Reset = 0;
+ private static final int Not_Intialized = 1;
+ private static final int Move_Halt = 2;
+ private static final int Move_Forward = 3;
+ private static final int Move_Backward = 4;
+ private static final int Move_TurnLeft = 5;
+ private static final int Move_TurnRight = 6;
+ private static final int Emergency_Stop = 7;
+ private static final int Upper_Computer_TakenOver = 8;
+ private static final int Sbus_Not_Online = 9;
+ private static final int Android_Down = 10;
+
+ private static final int Cruise_Ahead = 11;
+ private static final int Cruise_Back = 12;
+
+ public static void midToast(String str, int showTime, com.example.paint_rough_inone_appv1_0.MainActivity MainActivity) {
+ Toast toast = Toast.makeText(MainActivity, str, showTime);
+ toast.setGravity(Gravity.CENTER_VERTICAL | Gravity.CENTER_HORIZONTAL, 0, 0); //设置显示位置
+ TextView v = (TextView) toast.getView().findViewById(android.R.id.message);
+ v.setTextColor(Color.YELLOW); //设置字体颜色
+ toast.show();
+ }
+
+ public static BspIV.IV_struct_define _toReceiveIV = BspIV.IV_struct_define.newBuilder().build();//上一次有效数据
+ public static BspIV.IV_struct_define _toReceiveIV_Variable = BspIV.IV_struct_define.newBuilder().build();//最新数据
+
+ public static void HandleDataPaint(com.example.paint_rough_inone_appv1_0.PaintActivity PaintActivity, byte[] data) {
+ try {
+ receiveMeasurePaint = 0;
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc = ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+
+ if (data[data.length - 2] == (byte) (crc[1] & 0xff) && data[data.length - 1] == (byte) (crc[0] & 0xff)) {
+
+ if ((data[0] == 0x55) && (data[1] == 0x55)) {
+
+ byte[] bytes = new byte[data.length - 4];
+ System.arraycopy(data, 2, bytes, 0, data.length - 4);
+
+
+ try {
+ _toReceiveIV_Variable = BspIV.IV_struct_define.parseFrom(bytes);//单片机新数据到来
+ if (_toReceiveIV_Variable != null) {
+
+ if (_toReceiveIV_Variable.getIsRestart() == 1)//单片机重启 将收到的时间戳归0
+ {
+ _toReceiveIV = _toReceiveIV.toBuilder().setTimeStamp(0).build();
+ // MainActivity._toSendPV=MainActivity._toSendPV.toBuilder().setIVIsRestartNotified(1).build();
+ }
+ //新数据的时间大于上次时间 将新数据赋值给上次数据
+ if (_toReceiveIV_Variable.getTimeStamp() >= _toReceiveIV.getTimeStamp()) {
+ _toReceiveIV = _toReceiveIV_Variable;
+ }
+
+ }
+
+
+ if (_toReceiveIV != null) {
+
+ PaintActivity.runOnUiThread(() -> {
+
+ PaintActivity.mainBinding.tvSpeedFrom32.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ PaintActivity.mainBinding.tvAngleFrom32.setText(String.valueOf((double) _toReceiveIV.getCurrentAngle() / 100));
+ PaintActivity.mainBinding.tvCurrentSpeedFrom32.setText(String.valueOf(_toReceiveIV.getCurrentSpeed()));
+
+ if (_toReceiveIV.getSBUSState() == 0) {
+ PaintActivity.mainBinding.tvSignal.setText("断开");
+ } else if (_toReceiveIV.getSBUSState() == 1) {
+ PaintActivity.mainBinding.tvSignal.setText("已连接");
+ }
+ /******************************硬件错误*****************************/
+ int errorInt = _toReceiveIV.getSystemError();//硬件错误
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(_toReceiveIV.getLeftMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getRightMotorErr());
+ if (errorInt != 0 || _toReceiveIV.getLeftMotorErr() != 0 || _toReceiveIV.getRightMotorErr() != 0) {
+ if (!Objects.equals(errorLastPaint, errorString)) {
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ PaintActivity.myDataHelper.AddOrUpdateErrorModelPaint(em);
+
+ if (Objects.equals(errorString2, "未复位")) {
+ PaintActivity.mainBinding.mainViewErrMessageTxViewPaint.setText(String.valueOf(errorString2));
+ }
+ else {
+ PaintActivity.mainBinding.mainViewErrMessageTxViewPaint.setText("有");
+ PaintActivity.mainBinding.messageRoundedPaint.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+
+ }
+ errorLastPaint = errorString;
+ }
+ }
+ else {
+ errorLastPaint = errorString;
+ PaintActivity.mainBinding.mainViewErrMessageTxViewPaint.setText("无");
+ PaintActivity.mainBinding.messageRoundedPaint.setBackgroundResource(R.drawable.orange_rounded_rectangle);
+ }
+ if (_toReceiveIV.getIsWorking() == 1) {
+ PaintActivity.mainBinding.rightSend.setEnabled(false);
+ PaintActivity.mainBinding.rightSend.setAlpha(0.5f);
+
+ PaintActivity.mainBinding.setManualModeBtnPaint.setEnabled(false);
+ PaintActivity.mainBinding.setManualModeBtnPaint.setAlpha(0.5f);
+
+ PaintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setEnabled(false);
+ PaintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setAlpha(0.5f);
+
+ PaintActivity.mainBinding.MaintvVerticalAdjustTo32.setEnabled(false);
+ PaintActivity.mainBinding.MaintvVerticalAdjustTo32.setAlpha(0.5f);
+
+ PaintActivity.mainBinding.setcallParametersBtnPaint.setEnabled(false);
+ PaintActivity.mainBinding.setcallParametersBtnPaint.setAlpha(0.5f);
+
+
+
+
+ }
+ else {
+ PaintActivity.mainBinding.rightSend.setEnabled(true);
+ PaintActivity.mainBinding.rightSend.setAlpha(1.0f);
+
+
+ PaintActivity.mainBinding.setManualModeBtnPaint.setEnabled(true);
+ PaintActivity.mainBinding.setManualModeBtnPaint.setAlpha(1.0f);
+
+ PaintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setEnabled(true);
+ PaintActivity.mainBinding.MaintvLaneChangeDistanceTo32.setAlpha(1.0f);
+
+ PaintActivity.mainBinding.MaintvVerticalAdjustTo32.setEnabled(true);
+ PaintActivity.mainBinding.MaintvVerticalAdjustTo32.setAlpha(1.0f);
+
+ PaintActivity.mainBinding.setcallParametersBtnPaint.setEnabled(true);
+ PaintActivity.mainBinding.setcallParametersBtnPaint.setAlpha(1.0f);
+
+ }
+
+ });
+
+ } else {
+
+ }
+
+ }
+ catch (InvalidProtocolBufferException ex) {
+ }
+ }
+ else{
+
+ }
+ }
+ else {
+ //status("crc failed");
+ }
+
+ }
+ catch(Exception e){
+
+ }
+ }
+
+
+ public static void HandleDataRough (com.example.paint_rough_inone_appv1_0.RoughActivity RoughActivity,byte[] data) {
+ try {
+ receiveMeasureRough = 0;//接收置0
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc = ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+
+ if (data[data.length - 2] == (byte) (crc[1] & 0xff) && data[data.length - 1] == (byte) (crc[0] & 0xff)) {
+
+ if ((data[0] == 0x55) && (data[1] == 0x55)) {
+
+ byte[] bytes = new byte[data.length - 4];
+ System.arraycopy(data, 2, bytes, 0, data.length - 4);
+
+
+ try {
+ _toReceiveIV_Variable = BspIV.IV_struct_define.parseFrom(bytes);//单片机新数据到来
+ if (_toReceiveIV_Variable != null) {
+
+ if (_toReceiveIV_Variable.getIsRestart() == 1)//单片机重启 将收到的时间戳归0
+ {
+ _toReceiveIV = _toReceiveIV.toBuilder().setTimeStamp(0).build();
+ }
+ //新数据的时间大于上次时间 将新数据赋值给上次数据
+ if (_toReceiveIV_Variable.getTimeStamp() >= _toReceiveIV.getTimeStamp()) {
+ _toReceiveIV = _toReceiveIV_Variable;
+ }
+ }
+
+ if (_toReceiveIV != null) {
+
+ RoughActivity.runOnUiThread(() -> {
+ RoughActivity.mainBinding.tvCurrentSpeedFrom32.setText(String.valueOf(_toReceiveIV.getCurrentSpeed()));
+ RoughActivity.mainBinding.tvSpeedFrom32.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ RoughActivity.mainBinding.tvLCompensationFrom32.setText(String.valueOf((double) _toReceiveIV.getLeftCompensation() / 100));
+ RoughActivity.mainBinding.tvRCopmpensationFrom32.setText(String.valueOf((double) _toReceiveIV.getRightCompensation() / 100));
+ RoughActivity.mainBinding.tvPressFrom32.setText(String.valueOf(_toReceiveIV.getPress()));
+ RoughActivity.mainBinding.tvAngleFrom32.setText(String.valueOf((double) _toReceiveIV.getCurrentAngle() / 100));
+ if (_toReceiveIV.getSBUSState() == 0) {
+ RoughActivity.mainBinding.tvSignal.setText("断开");
+ } else if (_toReceiveIV.getSBUSState() == 1) {
+ RoughActivity.mainBinding.tvSignal.setText("已连接");
+ }
+
+ /******************************硬件错误*****************************/
+ int errorInt = _toReceiveIV.getSystemError();//硬件错误
+ String errorString2 = ErrorDeocde(errorInt); //未复位 null
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(_toReceiveIV.getLeftMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getRightMotorErr());
+ if (errorInt != 0 || _toReceiveIV.getLeftMotorErr() != 0 || _toReceiveIV.getRightMotorErr() != 0) {
+ if (!Objects.equals(errorLastRough, errorString)) { /*错误变了才显示*/
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+
+ RoughActivity.myDataHelper.AddOrUpdateErrorModelRough(em);
+
+ if (Objects.equals(errorString2, "未复位")) {
+ RoughActivity.mainBinding.mainViewErrMessageTxViewRough.setText(String.valueOf(errorString2));
+ } else {
+ RoughActivity.mainBinding.mainViewErrMessageTxViewRough.setText("有");
+ RoughActivity.mainBinding.errorBackgroundRough.setBackgroundColor(Color.RED);
+ }
+
+ errorLastRough = errorString;//错误码的二进制位
+ }
+
+ } else {
+ errorLastRough = errorString;//错误码的二进制位
+ RoughActivity.mainBinding.mainViewErrMessageTxViewRough.setText("无");
+ RoughActivity.mainBinding.errorBackgroundRough.setBackgroundColor(Color.TRANSPARENT);
+ }
+ if (_toReceiveIV.getIsWorking() == 1) {
+
+ RoughActivity.mainBinding.rightSend.setEnabled(false);
+ RoughActivity.mainBinding.rightSend.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.setManualModeBtn.setEnabled(false);
+ RoughActivity.mainBinding.setManualModeBtn.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.setAutoModeBtn.setEnabled(false);
+ RoughActivity.mainBinding.setAutoModeBtn.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setEnabled(false);
+ RoughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.MaintvVerticalAdjustTo32.setEnabled(false);
+ RoughActivity.mainBinding.MaintvVerticalAdjustTo32.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.MaintvPressTo32.setEnabled(false);
+ RoughActivity.mainBinding.MaintvPressTo32.setAlpha(0.5f);
+
+ RoughActivity.mainBinding.setcallParametersBtn.setEnabled(false);
+ RoughActivity.mainBinding.setcallParametersBtn.setAlpha(0.5f);
+
+
+
+ }
+ else {
+
+ RoughActivity.mainBinding.rightSend.setEnabled(true);
+ RoughActivity.mainBinding.rightSend.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.setManualModeBtn.setEnabled(true);
+ RoughActivity.mainBinding.setManualModeBtn.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.setAutoModeBtn.setEnabled(true);
+ RoughActivity.mainBinding.setAutoModeBtn.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setEnabled(true);
+ RoughActivity.mainBinding.MaintvLaneChangeDistanceTo32.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.MaintvVerticalAdjustTo32.setEnabled(true);
+ RoughActivity.mainBinding.MaintvVerticalAdjustTo32.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.MaintvPressTo32.setEnabled(true);
+ RoughActivity.mainBinding.MaintvPressTo32.setAlpha(1.0f);
+
+ RoughActivity.mainBinding.setcallParametersBtn.setEnabled(true);
+ RoughActivity.mainBinding.setcallParametersBtn.setAlpha(1.0f);
+
+
+ }
+
+ });
+
+
+ } else { //_toReceiveIV == null
+ }
+
+ }
+ catch (InvalidProtocolBufferException ex) {
+ }
+ }
+ else{ //前两个数据不对
+
+ }
+ }
+ else { //status("crc failed");
+ }
+
+ }
+ catch (Exception e) {
+
+ }
+
+ } //函数头结尾
+
+
+
+
+ /*
+ 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
+ */
+ static 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();
+ }
+ static 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);
+ }
+
+
+ }
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/RobotDataHanlder.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/RobotDataHanlder.java
new file mode 100644
index 0000000..080fa5c
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/RobotDataHanlder.java
@@ -0,0 +1,63 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import com.example.paint_rough_inone_appv1_0.models.BspIV;
+import com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ToggleRadioButton.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ToggleRadioButton.java
new file mode 100644
index 0000000..bc8432a
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ToggleRadioButton.java
@@ -0,0 +1,53 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.ViewParent;
+import android.widget.RadioGroup;
+
+import androidx.appcompat.widget.AppCompatRadioButton;
+
+/**********自己的raidobutton按钮类*************/
+public class ToggleRadioButton extends AppCompatRadioButton {
+ public ToggleRadioButton(Context context) {
+ super(context);
+ }
+
+ public ToggleRadioButton(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ public ToggleRadioButton(Context context, AttributeSet attrs, int defStyleAttr) {
+ super(context, attrs, defStyleAttr);
+ }
+
+
+ @Override
+ public boolean performClick() {
+ // 获取当前选中状态
+ boolean wasChecked = isChecked();
+
+ // 先让父类处理点击事件（这会触发正常的选中逻辑）
+ boolean result = super.performClick();
+
+ // 如果点击前已经是选中状态，说明用户想要取消选中
+ if (wasChecked) {
+ setChecked(false);
+ // 需要手动清除RadioGroup的选择状态
+ clearSelectionInParent();
+ }
+
+ return result;
+ }
+
+ /**
+ * 清除父RadioGroup中的选择状态
+ */
+ private void clearSelectionInParent() {
+ ViewParent parent = getParent();
+ if (parent instanceof RadioGroup) {
+ ((RadioGroup) parent).clearCheck();
+ }
+
+ }
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/USBSerialPortHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/USBSerialPortHelper.java
new file mode 100644
index 0000000..dea2e56
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/USBSerialPortHelper.java
@@ -0,0 +1,528 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+
+import static com.example.paint_rough_inone_appv1_0.services.ErrorDeocdeHelper.ErrorDeocde;
+
+import android.app.Activity;
+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.paint_rough_inone_appv1_0.BuildConfig;
+import com.example.paint_rough_inone_appv1_0.MainActivity;
+import com.example.paint_rough_inone_appv1_0.PaintActivity;
+import com.example.paint_rough_inone_appv1_0.RoughActivity;
+import com.example.paint_rough_inone_appv1_0.models.BspIV;
+import com.example.paint_rough_inone_appv1_0.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 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 {
+
+ private Activity mActivity;
+ private PaintActivity activityPaint;
+ private RoughActivity activityRough;
+ public USBSerialPortHelper(PaintActivity activityPaint, RoughActivity activityRough, MainActivity mainActivity)
+ {
+ if(activityPaint!=null) {
+ this.mActivity = activityPaint;
+ this.activityPaint=activityPaint;
+ }
+ if(activityRough!=null) {
+ this.mActivity = activityRough;
+ this.activityRough=activityRough;
+ }
+ if(mainActivity!=null) {
+ this.mActivity = mainActivity;
+ }
+ }
+
+
+
+ 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;
+ BspIV.IV_struct_define _toReceiveIV1;
+ 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) mActivity.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(mActivity.getPackageName());
+ PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(mActivity, 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();
+ }
+ }
+
+ public 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);
+ _toReceiveIV1=_toReceiveIV;
+ if (_toReceiveIV!=null)
+ {
+ PaintParaShow();
+ RoughParaShow();
+ int errorInt = _toReceiveIV.getSystemError();//硬件错误
+ activityErrorShow( errorInt, _toReceiveIV.getLeftMotorErr(), _toReceiveIV.getRightMotorErr());
+
+
+
+ }else
+ {
+ // status("null");
+ }
+
+
+
+
+
+ }else
+ {
+
+ }
+
+ }else
+ {
+ //status("crc failed");
+ }
+
+
+
+
+ } catch (Exception e) {
+
+ }
+ }
+
+ public void activityErrorShow(int errorInt,int leftmotorErr,int rightmotorError)
+ {
+ if(activityPaint!=null)
+ {
+
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(leftmotorErr);
+ errorString += " " + toHex4Digits(rightmotorError);
+
+
+ if(errorInt !=0 ||leftmotorErr!=0 ||rightmotorError!=0 )
+ {
+ if(!Objects.equals(errorLast, errorString)){
+
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ activityPaint.myDataHelper.AddOrUpdateErrorModelPaint(em);
+
+ if(Objects.equals(errorString2, "未复位"))
+ {
+ activityPaint.mainBinding.mainViewErrMessageTxViewPaint.setText(String.valueOf(errorString2));
+ }
+ else
+ {
+ activityPaint.mainBinding.mainViewErrMessageTxViewPaint.setText("有");
+ }
+
+ errorLast = errorString;
+ }
+ }
+ else
+ {
+ activityPaint.mainBinding.mainViewErrMessageTxViewPaint.setText("无");
+ }
+ }
+ if(activityRough!=null)
+ {
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(leftmotorErr);
+ errorString += " " + toHex4Digits(rightmotorError);
+
+
+ if(errorInt !=0 ||leftmotorErr!=0 ||rightmotorError!=0 )
+ {
+ if(!Objects.equals(errorLast, errorString)){
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ activityPaint.myDataHelper.AddOrUpdateErrorModelPaint(em);
+
+ if(Objects.equals(errorString2, "未复位"))
+ {
+ activityRough.mainBinding.mainViewErrMessageTxViewRough.setText(String.valueOf(errorString2));
+ }
+ else
+ {
+ activityRough.mainBinding.mainViewErrMessageTxViewRough.setText("有");
+ }
+
+ errorLast = errorString;
+ }
+ }
+ else
+ {
+ activityRough.mainBinding.mainViewErrMessageTxViewRough.setText("无");
+ }
+ }
+
+
+
+ }
+
+
+ public void PaintParaShow()
+ {
+ if(activityPaint!=null)
+ {
+ activityPaint.mainBinding.tvSpeedFrom32.setText(String.valueOf(_toReceiveIV1.getRobotMoveSpeed()));
+ activityPaint.mainBinding.tvAngleFrom32.setText(String.valueOf((double)_toReceiveIV1.getCurrentAngle()/100));
+
+ if(_toReceiveIV1.getSBUSState()==0)
+ {
+ activityPaint.mainBinding.tvSignal.setText("断开");
+ }
+ else if(_toReceiveIV1.getSBUSState()==1)
+ {
+ activityPaint.mainBinding.tvSignal.setText("已连接");
+ }
+ }
+ }
+ public void RoughParaShow()
+ {
+ if(activityRough!=null)
+ {
+ activityRough.mainBinding.tvSpeedFrom32.setText(String.valueOf(_toReceiveIV1.getRobotMoveSpeed()));
+ activityRough.mainBinding.tvAngleFrom32.setText(String.valueOf((double)_toReceiveIV1.getCurrentAngle()/100));
+ activityRough.mainBinding.tvLCompensationFrom32.setText( String.valueOf((double)_toReceiveIV1.getLeftCompensation()/10) );
+ activityRough.mainBinding.tvRCopmpensationFrom32.setText( String.valueOf((double)_toReceiveIV1.getRightCompensation()/10) );
+
+ if(_toReceiveIV1.getSBUSState()==0)
+ {
+ activityRough.mainBinding.tvSignal.setText("断开");
+ }
+ else if(_toReceiveIV1.getSBUSState()==1)
+ {
+ activityRough.mainBinding.tvSignal.setText("已连接");
+ }
+ }
+ }
+ 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(mActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
+ //status("onStart");
+
+ }
+
+ public void onStop() {
+ mActivity.unregisterReceiver(broadcastReceiver);
+ // status("onStop");
+ }
+
+
+ public void onResume() {
+
+ if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
+ mainLooper.post(this::connect);
+
+ }
+ }
+
+
+ public void onPause() {
+ if (connected) {
+ // status("串口断开");
+ // _serialPortSwitch.setChecked(false);
+ disconnect();
+ }
+ }
+ public void SendData(byte[] data) {
+ if (connected) {
+ try {
+ usbSerialPort.write(data, WRITE_WAIT_MILLIS);
+ } catch (IOException e)
+ {
+ // status("Send Failed");
+ connected = false;
+ }
+ }
+ else {
+ //status("usb serialport disconnected");
+
+ }
+
+
+ }
+
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/VideoPlayerHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/VideoPlayerHelper.java
new file mode 100644
index 0000000..9160135
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/VideoPlayerHelper.java
@@ -0,0 +1,27 @@
+package com.example.paint_rough_inone_appv1_0.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/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ttySerialPortHelper.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ttySerialPortHelper.java
new file mode 100644
index 0000000..48fa5f7
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/services/ttySerialPortHelper.java
@@ -0,0 +1,85 @@
+package com.example.paint_rough_inone_appv1_0.services;
+
+import android.util.Log;
+
+
+import com.example.paint_rough_inone_appv1_0.IVDataReceivedEvent;
+
+import org.greenrobot.eventbus.EventBus;
+
+import android_serialport_api.SerialPortFinder;
+import tp.xmaihh.serialport.SerialHelper;
+import tp.xmaihh.serialport.bean.ComBean;
+
+public class ttySerialPortHelper {
+
+ private static final String TAG = "ttySerialPortHelper";
+
+ private static SerialHelper serialHelper;
+ private static SerialPortFinder serialPortFinder;
+
+ final String[] ports = serialPortFinder.getAllDevicesPath();
+ final String[] botes = new String[]{"0", "50", "75", "110", "134", "150", "200", "300", "600", "1200", "1800", "2400", "4800", "9600", "19200", "38400", "57600", "115200", "230400", "460800", "500000", "576000", "921600", "1000000", "1152000", "1500000", "2000000", "2500000", "3000000", "3500000", "4000000", "CUSTOM"};
+ final String[] databits = new String[]{"8", "7", "6", "5"};
+ final String[] paritys = new String[]{"NONE", "ODD", "EVEN", "SPACE", "MARK"};
+ final String[] stopbits = new String[]{"1", "2"};
+ final String[] flowcons = new String[]{"NONE", "RTS/CTS", "XON/XOFF"};
+
+
+
+ public static void Open()
+ {
+
+ try {
+
+ serialHelper = new SerialHelper("dev/ttyHS0", 115200)//MK32
+ // serialHelper = new SerialHelper("/dev/ttyHS3", 115200) //UR7
+ {
+
+ @Override
+ protected void onDataReceived(ComBean comBean) {
+
+ byte[] receivedData=comBean.bRec;
+ EventBus.getDefault().post(new IVDataReceivedEvent.IVReceived(receivedData));
+ }
+ };
+ serialHelper.open();
+ }
+ catch (Exception exception)
+ {
+ Log.d(TAG,"Data Received");
+ }
+
+ }
+ private static int index =0;
+
+
+ public static void SendData(byte[] data) {
+
+ serialHelper.send( data); // 发送byte[]
+ }
+
+ //55 66 01 01 00 00 00 42 06 31 80
+
+
+ public static byte[] getAllChData_4Hz=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x02,(byte)(0xB5&0xff),(byte)(0xC0&0xff)};
+ public static byte[] getAllChData_5Hz=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x03,(byte)(0x94&0xff),(byte)(0xD0&0xff)};
+ public static byte[] getAllChData_10Hz=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x04,(byte)(0x73&0xff),(byte)(0xA0&0xff)};
+ public static byte[] getAllChData_20Hz=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x05,(byte)(0x52&0xff),(byte)(0xb0&0xff)};
+ public static byte[] getAllChData_50Hz=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x06,(byte)(0x31&0xff),(byte)(0x80&0xff)};
+
+
+ public static byte[] stopgetAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x00,(byte)(0xf7&0xff),(byte)(0xe0&0xff)};
+ public static void sendTxt(String sTxt)
+ {
+ serialHelper.sendTxt( sTxt); // 发送byte[]
+ }
+//serialHelper.send(byte[] bOutArray); // 发送byte[]
+//serialHelper.sendHex(String sHex); // 发送Hex
+//serialHelper.sendTxt(String sTxt); // 发送ASCII
+ public static void onDestroy() {
+
+ serialHelper.close();
+ }
+
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/DataExchangeService.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/DataExchangeService.java
new file mode 100644
index 0000000..5b7dcc1
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/DataExchangeService.java
@@ -0,0 +1,185 @@
+package com.example.paint_rough_inone_appv1_0.viewmodels;
+
+import android.app.Service;
+import android.content.Intent;
+import android.os.Binder;
+import android.os.IBinder;
+import android.util.Log;
+
+import com.example.paint_rough_inone_appv1_0.IVDataReceivedEvent;
+import com.example.paint_rough_inone_appv1_0.models.BspPV;
+import com.example.paint_rough_inone_appv1_0.services.ModbusCRC;
+import com.example.paint_rough_inone_appv1_0.services.USBSerialPortHelper;
+import com.example.paint_rough_inone_appv1_0.services.ttySerialPortHelper;
+
+import org.greenrobot.eventbus.EventBus;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.util.logging.Handler;
+
+public class DataExchangeService extends Service {
+
+ //USB 串口服务
+ public USBSerialPortHelper serialPortHelper;
+ private static final String TAG = "UDPMyService";
+ // 服务中存储的数据
+ private static BspPV.PV_struct_define _toSendPV;
+
+ // 绑定服务通信接口
+ public class ServiceBinder extends Binder {
+ DataExchangeService getService() {
+ return DataExchangeService.this;
+ }
+ }
+ private final IBinder binder = new ServiceBinder();
+ @Override
+ public IBinder onBind(Intent intent) {
+ Log.d(TAG, "服务被绑定");
+ return binder;
+ }
+ //首次启动时，会执行 onCreate() → onStartCommand()；
+ @Override
+ public int onStartCommand(Intent intent, int flags, int startId) {
+ Log.d(TAG, "服务已启动");
+ //Intialize("192.168.18.30", 8006, 9006);
+ Intialize("192.168.144.98", 8006, 9006);
+
+ _toSendPV = BspPV.PV_struct_define.newBuilder()
+ .setWorkMode(0)
+ .build();
+
+
+ ttySerialPortHelper.Open();//启动串口
+ // 模拟后台任务
+ return START_STICKY;
+ }
+
+ //UDP Region
+ private static Thread receiveThread;
+ private static Thread sendThread;
+ private static boolean running = false;
+ private static boolean send_running = false;
+ private static DatagramSocket sendSocket;
+ private static DatagramSocket receiveSocket;
+ private static Handler handler;// = new Handler(Looper.getMainLooper());
+ private static String target_ip;
+ private static int target_port;
+ private static int listening_port;
+
+ public static void Intialize(String targetip, int targetPort, int listentingPort) {
+ try {
+
+ target_ip = targetip;
+ target_port = targetPort;
+ listening_port = listentingPort; //本地监听端口
+ sendSocket = new DatagramSocket(10000);// 创建发送套接字（绑定本地端口 10000）
+ //sendSocket.setBroadcast(true);
+ receiveSocket = new DatagramSocket(listening_port);// 创建接收套接字（绑定指定监听端口)
+ receiveSocket.setBroadcast(true);// 允许接收广播数据
+ running = true;
+
+ receiveThread = new Thread(() -> {
+ byte[] buffer = new byte[1024];// 数据缓冲区
+ DatagramPacket packet = new DatagramPacket(buffer, buffer.length);//将数据打包成网络传输的数据包。
+
+ while (running) {
+ try {
+ receiveSocket.receive(packet);// 阻塞等待接收数据
+ byte[] receivedArray = new byte[packet.getLength()];// 提取有效数据（剔除缓冲区冗余部分）
+ System.arraycopy(packet.getData(), 0, receivedArray, 0, receivedArray.length);
+ // 通过 EventBus 发送事件，通知其他组件（如 Activity）
+ EventBus.getDefault().post(new IVDataReceivedEvent.IVReceived(receivedArray));
+ } catch (IOException e) {
+ if (running) {
+
+ }
+ }
+ }
+ });
+ receiveThread.start();
+
+ send_running=true;
+ sendThread= new Thread(() -> {
+
+ while (send_running) {
+ try {
+ Thread.sleep(200);
+ SendPV(_toSendPV);
+
+ } catch (Exception e) {
+
+ }
+ }
+ });
+ sendThread.start();
+
+
+ } catch (IOException e) {
+ // tvOutput.setText("Socket error: " + e.getMessage());
+ }
+ }
+ public static void SendRawData(byte[] buffer) {
+
+ new Thread(() ->
+ {
+ DatagramSocket socket = null;
+ try {
+ InetAddress address = InetAddress.getByName(target_ip);
+ DatagramPacket packet = new DatagramPacket(buffer, buffer.length, address, target_port);
+ sendSocket.send(packet);
+ } catch (Exception e) {
+
+
+ }
+ }).start();
+
+
+ ttySerialPortHelper.SendData(buffer);
+ }
+
+ private static void SendPV(BspPV.PV_struct_define toSendPV) {
+ byte[] byteArray = toSendPV.toByteArray();
+ byte[] sendbyteArray = new byte[byteArray.length + 4];
+ byte[] sendbyteArray3 = new byte[byteArray.length + 6];
+ if (byteArray.length != 0) {
+ System.arraycopy(byteArray, 0, sendbyteArray, 4, byteArray.length);
+ }
+ sendbyteArray[0] = (byte) 0x55;
+ sendbyteArray[1] = (byte) 0x55;
+ sendbyteArray[2] = (byte) 0x01;
+ sendbyteArray[3] = (byte) 0x01;
+ byte[] byteArray2 = ModbusCRC.calculateCRC(sendbyteArray);
+ System.arraycopy(sendbyteArray, 0, sendbyteArray3, 0, sendbyteArray.length);
+ System.arraycopy(byteArray2, 0, sendbyteArray3, sendbyteArray3.length - 2, 2);
+ SendRawData(sendbyteArray3);
+ }
+
+ // 供Activity调用的方法
+ public BspPV.PV_struct_define getPVData() {
+ return _toSendPV;
+ }
+
+ public void setPVData(BspPV.PV_struct_define newPV) {
+ _toSendPV = newPV;
+ //SendPV(_toSendPV);
+ // Log.d(TAG, "服务数据已更新: ");
+ }
+ @Override
+ public void onDestroy() {
+ super.onDestroy();
+ Log.d(TAG, "服务已停止");
+ running = false;
+ send_running=false;
+ //receiveThread.destroy();
+ if (receiveSocket != null && !receiveSocket.isClosed()) {
+ receiveSocket.close();
+ }
+ if (sendSocket != null && !sendSocket.isClosed()) {
+ sendSocket.close();
+ }
+
+ }
+}
diff --git a/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/MainViewModel.java b/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/MainViewModel.java
new file mode 100644
index 0000000..0caeac1
--- /dev/null
+++ b/app/src/main/java/com/example/paint_rough_inone_appv1_0/viewmodels/MainViewModel.java
@@ -0,0 +1,11 @@
+package com.example.paint_rough_inone_appv1_0.viewmodels;
+
+import androidx.lifecycle.ViewModel;
+
+public class MainViewModel extends ViewModel {
+
+ public MainViewModel() {
+
+ }
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/generate_java.bat b/app/src/main/java/generate_java.bat
new file mode 100644
index 0000000..97deb24
--- /dev/null
+++ b/app/src/main/java/generate_java.bat
@@ -0,0 +1,2 @@
+ protoc --java_out . *.proto
+ pause
diff --git a/app/src/main/java/protoc.exe b/app/src/main/java/protoc.exe
new file mode 100644
index 0000000..f1ffb02
Binary files /dev/null and b/app/src/main/java/protoc.exe differ
diff --git a/app/src/main/res/drawable/background.xml b/app/src/main/res/drawable/background.xml
new file mode 100644
index 0000000..9c77c74
--- /dev/null
+++ b/app/src/main/res/drawable/background.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/bgr.png b/app/src/main/res/drawable/bgr.png
new file mode 100644
index 0000000..4d6154f
Binary files /dev/null and b/app/src/main/res/drawable/bgr.png differ
diff --git a/app/src/main/res/drawable/blue_rounded_rectangle.xml b/app/src/main/res/drawable/blue_rounded_rectangle.xml
new file mode 100644
index 0000000..81841b0
--- /dev/null
+++ b/app/src/main/res/drawable/blue_rounded_rectangle.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/border.xml b/app/src/main/res/drawable/border.xml
new file mode 100644
index 0000000..4f76948
--- /dev/null
+++ b/app/src/main/res/drawable/border.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/border_active.xml b/app/src/main/res/drawable/border_active.xml
new file mode 100644
index 0000000..5919263
--- /dev/null
+++ b/app/src/main/res/drawable/border_active.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/border_inactive.xml b/app/src/main/res/drawable/border_inactive.xml
new file mode 100644
index 0000000..093780c
--- /dev/null
+++ b/app/src/main/res/drawable/border_inactive.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/borderblue.xml b/app/src/main/res/drawable/borderblue.xml
new file mode 100644
index 0000000..fb261fd
--- /dev/null
+++ b/app/src/main/res/drawable/borderblue.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/borderbluegreen.xml b/app/src/main/res/drawable/borderbluegreen.xml
new file mode 100644
index 0000000..25d3346
--- /dev/null
+++ b/app/src/main/res/drawable/borderbluegreen.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/borderlog.xml b/app/src/main/res/drawable/borderlog.xml
new file mode 100644
index 0000000..1a1b34c
--- /dev/null
+++ b/app/src/main/res/drawable/borderlog.xml
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/borderorange.xml b/app/src/main/res/drawable/borderorange.xml
new file mode 100644
index 0000000..eef56c3
--- /dev/null
+++ b/app/src/main/res/drawable/borderorange.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/borderwhite.xml b/app/src/main/res/drawable/borderwhite.xml
new file mode 100644
index 0000000..e013ef8
--- /dev/null
+++ b/app/src/main/res/drawable/borderwhite.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/button_active.xml b/app/src/main/res/drawable/button_active.xml
new file mode 100644
index 0000000..28f66f6
--- /dev/null
+++ b/app/src/main/res/drawable/button_active.xml
@@ -0,0 +1,18 @@
+
+
+ -
+
+
+
+
+
+
+
+
+ -
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/button_inactive.xml b/app/src/main/res/drawable/button_inactive.xml
new file mode 100644
index 0000000..146bfd1
--- /dev/null
+++ b/app/src/main/res/drawable/button_inactive.xml
@@ -0,0 +1,11 @@
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/buttonborderwhite.xml b/app/src/main/res/drawable/buttonborderwhite.xml
new file mode 100644
index 0000000..ec98fab
--- /dev/null
+++ b/app/src/main/res/drawable/buttonborderwhite.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/container_active.xml b/app/src/main/res/drawable/container_active.xml
new file mode 100644
index 0000000..dc691f7
--- /dev/null
+++ b/app/src/main/res/drawable/container_active.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/container_inactive.xml b/app/src/main/res/drawable/container_inactive.xml
new file mode 100644
index 0000000..edcae41
--- /dev/null
+++ b/app/src/main/res/drawable/container_inactive.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/dash_line.xml b/app/src/main/res/drawable/dash_line.xml
new file mode 100644
index 0000000..c83a8c5
--- /dev/null
+++ b/app/src/main/res/drawable/dash_line.xml
@@ -0,0 +1,14 @@
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/res/drawable/ic_launcher_background.xml b/app/src/main/res/drawable/ic_launcher_background.xml
new file mode 100644
index 0000000..07d5da9
--- /dev/null
+++ b/app/src/main/res/drawable/ic_launcher_background.xml
@@ -0,0 +1,170 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/ic_launcher_foreground.xml b/app/src/main/res/drawable/ic_launcher_foreground.xml
new file mode 100644
index 0000000..2b068d1
--- /dev/null
+++ b/app/src/main/res/drawable/ic_launcher_foreground.xml
@@ -0,0 +1,30 @@
+
+
+
+
+