From 9cc3fe6cedae612a56ecbef341287d28ee616144 Mon Sep 17 00:00:00 2001
From: "DESKTOP-1PDT1EL\\10564" <1056470187@qq.com>
Date: Sat, 19 Sep 2026 11:30:01 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90paint2.02=E3=80=91app=E5=BC=B9?=
 =?UTF-8?q?=E7=AA=97=E6=9C=89=E6=95=B0=E6=8D=AE=E8=87=AA=E5=8A=A8=E5=85=B3?=
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 =?UTF-8?q?=E6=9D=A1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Paint_UDPV2_02/.gitignore                     |   1 +
 .../Core/FSM/Src/fsm_state_control.c          |   5 +-
 .../Debug/Core/FSM/Src/fsm_state_control.o    | Bin 2232748 -> 2232748 bytes
 .../Debug/Core/FSM/Src/fsm_state_control.su   |  26 ++--
 Paint_UDPV2_02/Debug/Paint_UDPV2_02.bin       | Bin 187208 -> 187208 bytes
 Paint_UDPV2_02/Debug/Paint_UDPV2_02.elf       | Bin 3470172 -> 3470172 bytes
 Paint_UDPV2_02/Debug/Paint_UDPV2_02.list      |  10 +-
 Paint_UDPV2_02/Debug/Paint_UDPV2_02.map       | 124 +++++++++---------
 .../8.2/executionHistory/executionHistory.bin | Bin 7047240 -> 7047240 bytes
 .../executionHistory/executionHistory.lock    | Bin 17 -> 17 bytes
 .../.gradle/8.2/fileHashes/fileHashes.bin     | Bin 1316725 -> 1316825 bytes
 .../.gradle/8.2/fileHashes/fileHashes.lock    | Bin 17 -> 17 bytes
 .../8.2/fileHashes/resourceHashesCache.bin    | Bin 68003 -> 68241 bytes
 .../buildOutputCleanup.lock                   | Bin 17 -> 17 bytes
 .../buildOutputCleanup/outputFiles.bin        | Bin 597263 -> 597317 bytes
 PaintingappV2.02/.gradle/file-system.probe    | Bin 8 -> 8 bytes
 PaintingappV2.02/.idea/vcs.xml                |   1 +
 .../paintingappv2_02/MainActivity.java        |  34 ++++-
 .../services/MyDataHelper.java                |   4 +-
 .../services/ReceiivedIVHandler.java          |   7 +-
 .../app/src/main/res/layout/activity_main.xml |   2 +-
 .../main/res/layout/dialog_custom_warning.xml |   2 +-
 版本记录.docx                             | Bin 14702 -> 14934 bytes
 23 files changed, 121 insertions(+), 95 deletions(-)
 create mode 100644 Paint_UDPV2_02/.gitignore

diff --git a/Paint_UDPV2_02/.gitignore b/Paint_UDPV2_02/.gitignore
new file mode 100644
index 0000000..3df573f
--- /dev/null
+++ b/Paint_UDPV2_02/.gitignore
@@ -0,0 +1 @@
+/Debug/
diff --git a/Paint_UDPV2_02/Core/FSM/Src/fsm_state_control.c b/Paint_UDPV2_02/Core/FSM/Src/fsm_state_control.c
index f32f395..1724c22 100644
--- a/Paint_UDPV2_02/Core/FSM/Src/fsm_state_control.c
+++ b/Paint_UDPV2_02/Core/FSM/Src/fsm_state_control.c
@@ -39,8 +39,11 @@ int CH13_S2_Value ;
 int32_t speed_selection=0; //旋钮速度0-30
 int paintOffCount=0; //5° 计数 超过1s 关枪
 uint8_t angle_protect_lock=0; //作业时角度偏差过5°，停车标记位
+
+
 int32_t power_on_lock = 0;   /*上电锁*/
 uint8_t error = 99;
+
 int32_t serial_udp_disconnect_count=0;//串口网口断联一段时间后(15s)变为手动固定速度
 
 
@@ -428,7 +431,7 @@ void IV_control()
 	IV.Left_Motor_Err = GV.LeftMotor.Motor_Fault;
 	IV.Right_Motor_Err = GV.RightMotor.Motor_Fault;
 	IV.TimeStamp = SystemTimeMiliCount;
-	IV.STM_Version = 201;
+	IV.STM_Version = 202;
 }
 /* 测试喷枪控制* */
 void PaintGunControl()
diff --git a/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.o b/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.o
index b5eacdeb85d3e2a167ac51b55f34c574f0c5fdce..991503312e0ea4f8892f82855e5cfc94e4bc9e5d 100644
GIT binary patch
delta 2286
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delta 2258
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diff --git a/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.su b/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.su
index b98247e..ec3a3b8 100644
--- a/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.su
+++ b/Paint_UDPV2_02/Debug/Core/FSM/Src/fsm_state_control.su
@@ -1,13 +1,13 @@
-../Core/FSM/Src/fsm_state_control.c:47:6:Fsm_Init	8	static
-../Core/FSM/Src/fsm_state_control.c:66:6:GF_Dispatch	8	static
-../Core/FSM/Src/fsm_state_control.c:183:6:MoveControl	8	static
-../Core/FSM/Src/fsm_state_control.c:217:9:MotorErrorDetect	4	static
-../Core/FSM/Src/fsm_state_control.c:235:6:paintrobot_forwards	8	static
-../Core/FSM/Src/fsm_state_control.c:254:6:paintrobot_backwards	8	static
-../Core/FSM/Src/fsm_state_control.c:277:6:paint_joysticker_manual_control	16	static
-../Core/FSM/Src/fsm_state_control.c:315:6:serial_udp_disconnect_control	16	static
-../Core/FSM/Src/fsm_state_control.c:353:5:Move_Halt_AngleError	8	static
-../Core/FSM/Src/fsm_state_control.c:399:6:PV_Data_Reading	12	static
-../Core/FSM/Src/fsm_state_control.c:417:6:IV_control	16	static
-../Core/FSM/Src/fsm_state_control.c:434:6:PaintGunControl	8	static
-../Core/FSM/Src/fsm_state_control.c:456:6:AbnormalDetect	8	static
+../Core/FSM/Src/fsm_state_control.c:50:6:Fsm_Init	8	static
+../Core/FSM/Src/fsm_state_control.c:69:6:GF_Dispatch	8	static
+../Core/FSM/Src/fsm_state_control.c:186:6:MoveControl	8	static
+../Core/FSM/Src/fsm_state_control.c:220:9:MotorErrorDetect	4	static
+../Core/FSM/Src/fsm_state_control.c:238:6:paintrobot_forwards	8	static
+../Core/FSM/Src/fsm_state_control.c:257:6:paintrobot_backwards	8	static
+../Core/FSM/Src/fsm_state_control.c:280:6:paint_joysticker_manual_control	16	static
+../Core/FSM/Src/fsm_state_control.c:318:6:serial_udp_disconnect_control	16	static
+../Core/FSM/Src/fsm_state_control.c:356:5:Move_Halt_AngleError	8	static
+../Core/FSM/Src/fsm_state_control.c:402:6:PV_Data_Reading	12	static
+../Core/FSM/Src/fsm_state_control.c:420:6:IV_control	16	static
+../Core/FSM/Src/fsm_state_control.c:437:6:PaintGunControl	8	static
+../Core/FSM/Src/fsm_state_control.c:459:6:AbnormalDetect	8	static
diff --git a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.bin b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.bin
index e2104ad3120342dfcd15b7fb2af22e1472917fb8..2cfd435875d0d767ac0eb00cad72d1c91a708486 100644
GIT binary patch
delta 24
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delta 24
icmV+z0O$Y6whPF%3$XT|0m*~+pNIFK0k`*`0#Q4y$PF|A

diff --git a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.elf b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.elf
index 7fefeb5f11bbacc62cb38c04eaa3e60087a814cf..8645695d7bbad2a47240a9bdf4e91fdef2f3b3d0 100644
GIT binary patch
delta 1129
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delta 1128
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diff --git a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.list b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.list
index 24d3bae..d7b14d3 100644
--- a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.list
+++ b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.list
@@ -25,9 +25,9 @@ Idx Name          Size      VMA       LMA       File off  Algn
                   ALLOC
  10 .ARM.attributes 0000002e  00000000  00000000  00040208  2**0
                   CONTENTS, READONLY
- 11 .debug_info   0005e586  00000000  00000000  00040236  2**0
+ 11 .debug_info   0005e587  00000000  00000000  00040236  2**0
                   CONTENTS, READONLY, DEBUGGING, OCTETS
- 12 .debug_abbrev 0000d17d  00000000  00000000  0009e7bc  2**0
+ 12 .debug_abbrev 0000d17d  00000000  00000000  0009e7bd  2**0
                   CONTENTS, READONLY, DEBUGGING, OCTETS
  13 .debug_aranges 00003788  00000000  00000000  000ab940  2**3
                   CONTENTS, READONLY, DEBUGGING, OCTETS
@@ -23165,7 +23165,7 @@ void fsm_state_init(transition_t* p_this,transition_state_t* inti_state)
 	...
 
 08029728 <Fsm_Init>:
-uint8_t error = 99;
+
 int32_t serial_udp_disconnect_count=0;//串口网口断联一段时间后(15s)变为手动固定速度
 
 
@@ -24417,9 +24417,9 @@ void IV_control()
  8029fec:	4615      	mov	r5, r2
  8029fee:	4b0a      	ldr	r3, [pc, #40]	; (802a018 <IV_control+0xc8>)
  8029ff0:	e9c3 4508 	strd	r4, r5, [r3, #32]
-	IV.STM_Version = 201;
+	IV.STM_Version = 202;
  8029ff4:	4b08      	ldr	r3, [pc, #32]	; (802a018 <IV_control+0xc8>)
- 8029ff6:	22c9      	movs	r2, #201	; 0xc9
+ 8029ff6:	22ca      	movs	r2, #202	; 0xca
  8029ff8:	62da      	str	r2, [r3, #44]	; 0x2c
 }
  8029ffa:	bf00      	nop
diff --git a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.map b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.map
index 73ba9f8..f0db9d6 100644
--- a/Paint_UDPV2_02/Debug/Paint_UDPV2_02.map
+++ b/Paint_UDPV2_02/Debug/Paint_UDPV2_02.map
@@ -42654,7 +42654,7 @@ LOAD d:/st/stm32cubeide_1.10.1/stm32cubeide/plugins/com.st.stm32cube.ide.mcu.ext
 LOAD d:/st/stm32cubeide_1.10.1/stm32cubeide/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.10.3-2021.10.win32_1.0.0.202111181127/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+dp/hard\libm.a
 LOAD d:/st/stm32cubeide_1.10.1/stm32cubeide/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.10.3-2021.10.win32_1.0.0.202111181127/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+dp/hard\libgcc.a
 
-.debug_info     0x0000000000000000    0x5e586
+.debug_info     0x0000000000000000    0x5e587
  .debug_info    0x0000000000000000      0x528 ./Core/BASE/Protobuf/PSource/bsp_CV.pb.o
  .debug_info    0x0000000000000528      0x3e5 ./Core/BASE/Protobuf/PSource/bsp_Cmd.pb.o
  .debug_info    0x000000000000090d      0x392 ./Core/BASE/Protobuf/PSource/bsp_Error.pb.o
@@ -42696,67 +42696,67 @@ LOAD d:/st/stm32cubeide_1.10.1/stm32cubeide/plugins/com.st.stm32cube.ide.mcu.ext
  .debug_info    0x0000000000018f69     0x169d ./Core/BASE/Src/MSP/msp_WH_LTE_7S0.o
  .debug_info    0x000000000001a606      0xae2 ./Core/FSM/Src/change_line_control.o
  .debug_info    0x000000000001b0e8      0x195 ./Core/FSM/Src/fsm_state.o
- .debug_info    0x000000000001b27d      0xe3a ./Core/FSM/Src/fsm_state_control.o
- .debug_info    0x000000000001c0b7     0x16bc ./Core/FSM/Src/motors.o
- .debug_info    0x000000000001d773      0x28d ./Core/FSM/Src/motors_power_action.o
- .debug_info    0x000000000001da00      0x273 ./Core/FSM/Src/paint_gun_action.o
- .debug_info    0x000000000001dc73      0xe62 ./Core/FSM/Src/robot_move_actions.o
- .debug_info    0x000000000001ead5     0x120e ./Core/Src/adc.o
- .debug_info    0x000000000001fce3      0x867 ./Core/Src/dma.o
- .debug_info    0x000000000002054a     0x15d4 ./Core/Src/fdcan.o
- .debug_info    0x0000000000021b1e      0x6c5 ./Core/Src/gpio.o
- .debug_info    0x00000000000221e3     0x13fa ./Core/Src/i2c.o
- .debug_info    0x00000000000235dd      0x1fa ./Core/Src/iwdg.o
- .debug_info    0x00000000000237d7     0x2f94 ./Core/Src/main.o
- .debug_info    0x000000000002676b     0x1060 ./Core/Src/quadspi.o
- .debug_info    0x00000000000277cb      0x4a4 ./Core/Src/stm32h7xx_hal_msp.o
- .debug_info    0x0000000000027c6f     0x2886 ./Core/Src/stm32h7xx_it.o
- .debug_info    0x000000000002a4f5      0x6ee ./Core/Src/syscalls.o
- .debug_info    0x000000000002abe3      0x175 ./Core/Src/sysmem.o
- .debug_info    0x000000000002ad58      0xd07 ./Core/Src/system_stm32h7xx.o
- .debug_info    0x000000000002ba5f     0x1167 ./Core/Src/tim.o
- .debug_info    0x000000000002cbc6     0x18e3 ./Core/Src/usart.o
- .debug_info    0x000000000002e4a9       0x22 ./Core/Startup/startup_stm32h743vgtx.o
- .debug_info    0x000000000002e4cb      0x648 ./Drivers/BSP/Components/lan8742/lan8742.o
- .debug_info    0x000000000002eb13     0x15d7 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.o
- .debug_info    0x00000000000300ea     0x1f9c ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.o
- .debug_info    0x0000000000032086     0x116d ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.o
- .debug_info    0x00000000000331f3      0xcd5 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.o
- .debug_info    0x0000000000033ec8     0x2b55 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_eth.o
- .debug_info    0x0000000000036a1d     0x2dae ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.o
- .debug_info    0x00000000000397cb      0xd28 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.o
- .debug_info    0x000000000003a4f3     0x23b3 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.o
- .debug_info    0x000000000003c8a6      0xe39 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.o
- .debug_info    0x000000000003d6df      0x21e ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_iwdg.o
- .debug_info    0x000000000003d8fd     0x109d ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.o
- .debug_info    0x000000000003e99a     0x1392 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.o
- .debug_info    0x000000000003fd2c      0xf4a ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.o
- .debug_info    0x0000000000040c76     0x12b4 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.o
- .debug_info    0x0000000000041f2a     0x2dd1 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.o
- .debug_info    0x0000000000044cfb     0x18f4 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.o
- .debug_info    0x00000000000465ef     0x4c42 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.o
- .debug_info    0x000000000004b231     0x100b ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.o
- .debug_info    0x000000000004c23c      0x60e ./LWIP/App/lwip.o
- .debug_info    0x000000000004c84a     0x2fba ./LWIP/Target/ethernetif.o
- .debug_info    0x000000000004f804      0x3af ./Middlewares/Third_Party/LwIP/src/core/def.o
- .debug_info    0x000000000004fbb3      0x665 ./Middlewares/Third_Party/LwIP/src/core/inet_chksum.o
- .debug_info    0x0000000000050218       0xeb ./Middlewares/Third_Party/LwIP/src/core/init.o
- .debug_info    0x0000000000050303      0x516 ./Middlewares/Third_Party/LwIP/src/core/ip.o
- .debug_info    0x0000000000050819      0x590 ./Middlewares/Third_Party/LwIP/src/core/mem.o
- .debug_info    0x0000000000050da9      0x636 ./Middlewares/Third_Party/LwIP/src/core/memp.o
- .debug_info    0x00000000000513df      0xcde ./Middlewares/Third_Party/LwIP/src/core/netif.o
- .debug_info    0x00000000000520bd     0x18bc ./Middlewares/Third_Party/LwIP/src/core/pbuf.o
- .debug_info    0x0000000000053979     0x1ebf ./Middlewares/Third_Party/LwIP/src/core/tcp.o
- .debug_info    0x0000000000055838     0x162a ./Middlewares/Third_Party/LwIP/src/core/tcp_in.o
- .debug_info    0x0000000000056e62     0x1a8c ./Middlewares/Third_Party/LwIP/src/core/tcp_out.o
- .debug_info    0x00000000000588ee      0xd03 ./Middlewares/Third_Party/LwIP/src/core/timeouts.o
- .debug_info    0x00000000000595f1      0xf53 ./Middlewares/Third_Party/LwIP/src/core/udp.o
- .debug_info    0x000000000005a544      0xf08 ./Middlewares/Third_Party/LwIP/src/core/ipv4/etharp.o
- .debug_info    0x000000000005b44c      0x9c3 ./Middlewares/Third_Party/LwIP/src/core/ipv4/icmp.o
- .debug_info    0x000000000005be0f      0xa66 ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4.o
- .debug_info    0x000000000005c875      0x715 ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4_addr.o
- .debug_info    0x000000000005cf8a      0xe7a ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4_frag.o
- .debug_info    0x000000000005de04      0x782 ./Middlewares/Third_Party/LwIP/src/netif/ethernet.o
+ .debug_info    0x000000000001b27d      0xe3b ./Core/FSM/Src/fsm_state_control.o
+ .debug_info    0x000000000001c0b8     0x16bc ./Core/FSM/Src/motors.o
+ .debug_info    0x000000000001d774      0x28d ./Core/FSM/Src/motors_power_action.o
+ .debug_info    0x000000000001da01      0x273 ./Core/FSM/Src/paint_gun_action.o
+ .debug_info    0x000000000001dc74      0xe62 ./Core/FSM/Src/robot_move_actions.o
+ .debug_info    0x000000000001ead6     0x120e ./Core/Src/adc.o
+ .debug_info    0x000000000001fce4      0x867 ./Core/Src/dma.o
+ .debug_info    0x000000000002054b     0x15d4 ./Core/Src/fdcan.o
+ .debug_info    0x0000000000021b1f      0x6c5 ./Core/Src/gpio.o
+ .debug_info    0x00000000000221e4     0x13fa ./Core/Src/i2c.o
+ .debug_info    0x00000000000235de      0x1fa ./Core/Src/iwdg.o
+ .debug_info    0x00000000000237d8     0x2f94 ./Core/Src/main.o
+ .debug_info    0x000000000002676c     0x1060 ./Core/Src/quadspi.o
+ .debug_info    0x00000000000277cc      0x4a4 ./Core/Src/stm32h7xx_hal_msp.o
+ .debug_info    0x0000000000027c70     0x2886 ./Core/Src/stm32h7xx_it.o
+ .debug_info    0x000000000002a4f6      0x6ee ./Core/Src/syscalls.o
+ .debug_info    0x000000000002abe4      0x175 ./Core/Src/sysmem.o
+ .debug_info    0x000000000002ad59      0xd07 ./Core/Src/system_stm32h7xx.o
+ .debug_info    0x000000000002ba60     0x1167 ./Core/Src/tim.o
+ .debug_info    0x000000000002cbc7     0x18e3 ./Core/Src/usart.o
+ .debug_info    0x000000000002e4aa       0x22 ./Core/Startup/startup_stm32h743vgtx.o
+ .debug_info    0x000000000002e4cc      0x648 ./Drivers/BSP/Components/lan8742/lan8742.o
+ .debug_info    0x000000000002eb14     0x15d7 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.o
+ .debug_info    0x00000000000300eb     0x1f9c ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.o
+ .debug_info    0x0000000000032087     0x116d ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.o
+ .debug_info    0x00000000000331f4      0xcd5 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.o
+ .debug_info    0x0000000000033ec9     0x2b55 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_eth.o
+ .debug_info    0x0000000000036a1e     0x2dae ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.o
+ .debug_info    0x00000000000397cc      0xd28 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.o
+ .debug_info    0x000000000003a4f4     0x23b3 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.o
+ .debug_info    0x000000000003c8a7      0xe39 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.o
+ .debug_info    0x000000000003d6e0      0x21e ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_iwdg.o
+ .debug_info    0x000000000003d8fe     0x109d ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.o
+ .debug_info    0x000000000003e99b     0x1392 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.o
+ .debug_info    0x000000000003fd2d      0xf4a ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.o
+ .debug_info    0x0000000000040c77     0x12b4 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.o
+ .debug_info    0x0000000000041f2b     0x2dd1 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.o
+ .debug_info    0x0000000000044cfc     0x18f4 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.o
+ .debug_info    0x00000000000465f0     0x4c42 ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.o
+ .debug_info    0x000000000004b232     0x100b ./Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.o
+ .debug_info    0x000000000004c23d      0x60e ./LWIP/App/lwip.o
+ .debug_info    0x000000000004c84b     0x2fba ./LWIP/Target/ethernetif.o
+ .debug_info    0x000000000004f805      0x3af ./Middlewares/Third_Party/LwIP/src/core/def.o
+ .debug_info    0x000000000004fbb4      0x665 ./Middlewares/Third_Party/LwIP/src/core/inet_chksum.o
+ .debug_info    0x0000000000050219       0xeb ./Middlewares/Third_Party/LwIP/src/core/init.o
+ .debug_info    0x0000000000050304      0x516 ./Middlewares/Third_Party/LwIP/src/core/ip.o
+ .debug_info    0x000000000005081a      0x590 ./Middlewares/Third_Party/LwIP/src/core/mem.o
+ .debug_info    0x0000000000050daa      0x636 ./Middlewares/Third_Party/LwIP/src/core/memp.o
+ .debug_info    0x00000000000513e0      0xcde ./Middlewares/Third_Party/LwIP/src/core/netif.o
+ .debug_info    0x00000000000520be     0x18bc ./Middlewares/Third_Party/LwIP/src/core/pbuf.o
+ .debug_info    0x000000000005397a     0x1ebf ./Middlewares/Third_Party/LwIP/src/core/tcp.o
+ .debug_info    0x0000000000055839     0x162a ./Middlewares/Third_Party/LwIP/src/core/tcp_in.o
+ .debug_info    0x0000000000056e63     0x1a8c ./Middlewares/Third_Party/LwIP/src/core/tcp_out.o
+ .debug_info    0x00000000000588ef      0xd03 ./Middlewares/Third_Party/LwIP/src/core/timeouts.o
+ .debug_info    0x00000000000595f2      0xf53 ./Middlewares/Third_Party/LwIP/src/core/udp.o
+ .debug_info    0x000000000005a545      0xf08 ./Middlewares/Third_Party/LwIP/src/core/ipv4/etharp.o
+ .debug_info    0x000000000005b44d      0x9c3 ./Middlewares/Third_Party/LwIP/src/core/ipv4/icmp.o
+ .debug_info    0x000000000005be10      0xa66 ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4.o
+ .debug_info    0x000000000005c876      0x715 ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4_addr.o
+ .debug_info    0x000000000005cf8b      0xe7a ./Middlewares/Third_Party/LwIP/src/core/ipv4/ip4_frag.o
+ .debug_info    0x000000000005de05      0x782 ./Middlewares/Third_Party/LwIP/src/netif/ethernet.o
 
 .debug_abbrev   0x0000000000000000     0xd17d
  .debug_abbrev  0x0000000000000000      0x126 ./Core/BASE/Protobuf/PSource/bsp_CV.pb.o
diff --git a/PaintingappV2.02/.gradle/8.2/executionHistory/executionHistory.bin b/PaintingappV2.02/.gradle/8.2/executionHistory/executionHistory.bin
index 9b3c327ddd501137e59301e99029d1d55357c074..c678a57aac4a7ca510288268bc1ad070fa86b0cd 100644
GIT binary patch
delta 6115
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diff --git a/PaintingappV2.02/.gradle/8.2/executionHistory/executionHistory.lock b/PaintingappV2.02/.gradle/8.2/executionHistory/executionHistory.lock
index 6f260b0d6f6d174331e27087cc8ee51538bc0d52..8d7cea5805e93d3cb660c10ddbbc8a790d6a9756 100644
GIT binary patch
literal 17
VcmZR+wqcp?&Fdj13}7I36aYSF1&{y$

literal 17
VcmZR+wqcp?&Fdj13}7JE1pq!Q1yuk5

diff --git a/PaintingappV2.02/.gradle/8.2/fileHashes/fileHashes.bin b/PaintingappV2.02/.gradle/8.2/fileHashes/fileHashes.bin
index 8653b4f6e21fa65c458c4f36093ce2c8f73b1a46..575b96d5d88c62c571b22db64bf7ce4ab20d893d 100644
GIT binary patch
delta 2904
zcmb_e2~ZPR8YbbABa-e85P}k51i4H&WKfZ7!ljZd2#N|b;-D)ij-cXz3aFqc%N2L!
z7q6hASwQiK*o%~it0I>osDmiWAi8*svWkv~ILzxqt9EN=Yqx5t`bl@b?|uLAzSo_%
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z%ZTy}-7-L@SI(RV{>_+3n7?vwz(p1BQO&$NH=SN=&SNUi?uS>+d{^+%#V3e!dMdY!
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zFeQ$6^@eP|-<1Yiiwh1bW0*D+lfeH2Iw+#Kn)0zZk<pJ#j_<ryF};^X?cnR}e35XE
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zo<7$7%r(uNMJGesA!KjcV!7Ru`w4~K;a-0lb>Cdeq7LAC7@=!n^`$H2V-ekd3_fMU
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zh38}GqGc?a0I#AE`b$>if|)hnG_^#j>dx-0O<>U#@T!s!3GWWgOD7MWZ=GlHpnkt$
z0%I>_7&@gYRMfLRpOO4G!#6^v?k5jxqCOQB449v;NO)^;m&@<>-HuIEHh$lK;(Q0I
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nk65&xE^pG%FJs4BcS*uBNlPN$`q)~wyfI3FWBiIb*OFfWMY%V_

delta 1706
zcmY*Y3rrMO6y2Hq;O-*Kht*~Lp_ZsnaKTnFkqSWp8-ztoKcW?D)YjN4wW-BYthE6(
zvbbsG)C%&8O#wj!>l95<T4PtSAlim%sFE6NX&aX%qOKp>J2PnFBscTUdH0@s=Ds&q
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zM0@xUOLdX&s7`$l(_;!jwukrFujbzH)`tZbu(y|fBHsAAU#DX#D6t+1=XnXMe&xon
zzNzq?=NyPP3gajBUpw1v6q^z^_Pt<#6rTUhNd9q6I2AiCn?-E8pp;did=Zz1`Ioup
z<PR_K{@Ks)GV!zZPsC*scQJ<QqQM2|GzrnlDiutCAlbJxM+TK<{8Id}=Wu6O)NgmS
zjss~Z>*gHtngF3P#h#I~KRmoEKdFDHdhLeKg|v~JX~^+%4)eh4n!89;Rxu*J_i|&*
z1IsnefE`N$MR<v02eO};*1&2l<>|D>AjBy&+1C#bUtx}JPdgm6tG&!}ENrA%7Op!5
z35$KCe!E*O4Xi>;E6rm&adJYYU`+{IyQ+6xUU_NXL3Ys(9rMz2M~V-s`Qvuif{!zb
z*nEMrvEII?1N6u>2ZRI@W^g<W7D(iH2kSckZ%nWxFRl=tm(UVHTZ7Zk6~Q~uc9MLS
z-Yc7taW{G8%`0=`O3L2fuC*E*LVF}t58i<<ijKJZln|m!dr<bC5^5P-jUt^pxyq)4
zy|WFYJ4Z`!T(*cZ*D8dL><@jQ6=$7Ri-)$NJ&&$gaVR6o6{m%FV@c8f6XIh@!{32T
z>N^aT^tRkRtA4Ag+kzawUc~KK-p2ZWMpizj9J_xKit;&0PCvls8_+q2x1r^pu*OjB
zVp0%xU%47CCJt@0*eGKKE#pzSlUg6TuQ+irFQID-E8)_8Az6V*xPFMAsdq68(Dq({
zgotw9MkpEiej!^)n1}y9qw+Jv%lrdjEQ5b5loVYG5+2fVPOMbXBCIT+G^d7MMzMlE
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z0RN=$lD(tg6?4;sb~iu$quxUEj#Ty1x|mu_NabhBv*W~?94v2C92(Z)odt}9y&Bqp
zERg$F73mAWEG2UT8Y)KR3WJ0x$JDx6@V!cCnTFnkuU3>$pd!5=ZRMo$orb;uKi??f
zZ!L3<hQ>GXHjB%!O8bT=<or&5csh~tUv*-50Cu&gUFM>qg&Z$y7Wc%W;grf%Aghto
zqf1nUBdP)ugv3XJh-@PDE@K}Kjt!CQy%Wa=M0!rV_0_p8f23_axl<d1F%Nrhk=e6a
z?oG7b5|#hKcoPG}Pg-BUIXlypXLlxqx`SIYN=K@Cltygfi*S1lB9?=<SzV^-ntz>B
KUh$_G>i8c(R&-4O

diff --git a/PaintingappV2.02/.gradle/8.2/fileHashes/fileHashes.lock b/PaintingappV2.02/.gradle/8.2/fileHashes/fileHashes.lock
index edb6b6349ae20748e0e97fdf723b7bec75dccc31..1688d0ec8ae1ad783c5e6ee3158d5cccdc445056 100644
GIT binary patch
literal 17
VcmZRsyYOVYT6n%V0~oAY4*)jA1xWw^

literal 17
VcmZRsyYOVYT6n%V0~oB#1pqdH1qJ{B

diff --git a/PaintingappV2.02/.gradle/8.2/fileHashes/resourceHashesCache.bin b/PaintingappV2.02/.gradle/8.2/fileHashes/resourceHashesCache.bin
index afa9ca77eac964ace89a6064cd985469f5915e03..aeb52fee720d77c4714a3fc8ae81f5581e0e025d 100644
GIT binary patch
delta 408
zcmZ2HnPuWsmJKEnj1`+rB?4FkCO*ipdH!$qeg+U=<l@|1D>IRUe@RsQf}{r#P{I7o
ztg4xu{CxA4EN^`u0u|JroT~Rg;O-%T<S9KLbRmMAi#OZqKjLOm4&2;m{l9@RYjfkC
zLMDFW_BLfj>F-dDzMEg}`@kpQx!3vBv+u!ApgNy#zIe8PSD>`k$4<b^Apt6SbhG8{
zUrbC&j2jgN_%`>x5tE&~G@8HOUHF-t^xZx+y;*gC)idq@70Vd|2}vLp1YrSY?X$j%
z*fv{>a20KfZk)9QQw8tmz=Z-0W=;E|<@sOnZv2I*;x@O2TY2bjhwaucH)bEooPtnc
z1+(VdPyQ)~f2jC~?oC~@dB$dOgc6vF#*>r3IbS*SW0$6&WungmqsbqegoRIAi?MC4
Q`d9uXa$SY>zgCbg02rHk{r~^~

delta 81
zcmV-X0IvU$l?0=c1h6z10d%u97*GVWog9e>vpywY36r)i*R!QB+6w|A@srid<g*1l
ndw>CFvw^&E0<#Lg=MJ+8&S(v@iQDo50wKAvAy^KxjqDa3N=G6z

diff --git a/PaintingappV2.02/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/PaintingappV2.02/.gradle/buildOutputCleanup/buildOutputCleanup.lock
index 3c9bb0fbac96d6241f430e0096f35ac5b1622a0d..a342621a08168a0bc55dd9573f63ad411b1870db 100644
GIT binary patch
literal 17
VcmZQJ44t_2YvtSd3}6s;4gfiz1>OJv

literal 17
VcmZQJ44t_2YvtSd3}6rz3;;PL1!DjJ

diff --git a/PaintingappV2.02/.gradle/buildOutputCleanup/outputFiles.bin b/PaintingappV2.02/.gradle/buildOutputCleanup/outputFiles.bin
index 70cd80801bf67978975588eaa92f9dee3f5c6899..f0ec6bb284570e6baa13d7eb73290216e5f4e550 100644
GIT binary patch
delta 159
zcmeC*rE+waO2Zb$IVy|>+vln<8cOr;s9}{qTKtaz1UO}lw;#1<^k!t7xLwnc@y7v1
z<LydJOdr|!<!>L~q+0C{RmH!Zi<9ZHDC5oPT$9;D+r8zPwtLGn3(RJe-5#@xc_Kgm
x<wu$3z2<UI<%-*%oMcw!W<1%haFrQ|S%8=oh}nRceY?U{j`!}<H^?%Y0RV_kGI#(0

delta 116
zcmX@QOQnC8O2Zb$IVz0$+vln<8cJ_}X3yxv$XGdD_Xzvh?e`oRoewY?ZC7Gq`pC9j
zo0I93DC5EDpC+;AwtLGnZTFUE7MRT_vpr@P^F;pbtf!czxEVK2Uv9;*wSDhZW*}w(
SVpbq#17h~=d#`c?xdQ;zpe<7X

diff --git a/PaintingappV2.02/.gradle/file-system.probe b/PaintingappV2.02/.gradle/file-system.probe
index 7f9828a245700d5e7f896b2f10b7f4698e14277d..510490f30cd5f52ccd006c0dd86e232702000e02 100644
GIT binary patch
literal 8
PcmZQzU|g_$qGc=q2#f-N

literal 8
PcmZQzU|g`c_w{1{3K|2T

diff --git a/PaintingappV2.02/.idea/vcs.xml b/PaintingappV2.02/.idea/vcs.xml
index 94a25f7..288b36b 100644
--- a/PaintingappV2.02/.idea/vcs.xml
+++ b/PaintingappV2.02/.idea/vcs.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
     <mapping directory="$PROJECT_DIR$" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/MainActivity.java b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/MainActivity.java
index 3ebeac9..8ba5a95 100644
--- a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/MainActivity.java
+++ b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/MainActivity.java
@@ -44,6 +44,8 @@ public class MainActivity extends AppCompatActivity {
 
     public static BspPV.PV_struct_define _toSendPV;
 
+
+    private AlertDialog techWarningDialog;
     Timer timer = new Timer();
 
     public MyDataHelper myDataHelper = new MyDataHelper(this);
@@ -467,21 +469,41 @@ public class MainActivity extends AppCompatActivity {
                 isAlarmDialogShowed = true;
             }
         }
+        else {
+            // 未超时 → 取消弹窗，恢复状态（只执行一次）
+                dismissTechWarningDialog();   // 关闭弹窗
+                isAlarmDialogShowed = false;
+
+        }
     }
-    // 科技蓝警告弹窗
+    // 通讯失败开启弹窗
     private void showTechWarningDialog() {
+
+        // 防止重复弹
+        if (techWarningDialog != null && techWarningDialog.isShowing()) {
+            return;
+        }
         View dialogView = getLayoutInflater().inflate(R.layout.dialog_custom_warning, null);
 
-        AlertDialog dialog = new AlertDialog.Builder(MainActivity.this)
+         techWarningDialog = new AlertDialog.Builder(MainActivity.this)
                 .setView(dialogView)
                 .setCancelable(false)
                 .create();
 
-        if (dialog.getWindow() != null) {
-            dialog.getWindow().setBackgroundDrawableResource(android.R.color.transparent);
+        if (techWarningDialog.getWindow() != null) {
+            techWarningDialog.getWindow().setBackgroundDrawableResource(android.R.color.transparent);
+        }
+        techWarningDialog.show();
+        dialogView.findViewById(R.id.btn_confirm).setOnClickListener(v -> {
+            techWarningDialog.dismiss();
+        } );
+    }
+    //通讯恢复自动关闭弹窗
+    private void dismissTechWarningDialog() {
+        if (techWarningDialog != null && techWarningDialog.isShowing()) {
+            techWarningDialog.dismiss();
         }
-        dialog.show();
-        dialogView.findViewById(R.id.btn_confirm).setOnClickListener(v -> dialog.dismiss());
+        techWarningDialog = null; // 置空，避免内存泄漏/复用旧引用
     }
     @Override
     protected void onStart() {
diff --git a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/MyDataHelper.java b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/MyDataHelper.java
index d6e17d0..10840c1 100644
--- a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/MyDataHelper.java
+++ b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/MyDataHelper.java
@@ -151,13 +151,13 @@ public class MyDataHelper extends SQLiteOpenHelper {
             cursor.close();
 
             //数据超过 500 条，就删除最早的 200 条
-            if (count > 100) {
+            if (count > 50) {
                 sqliteDatabase.beginTransaction();
                 String deleteQuery = "DELETE FROM " + Error_TABLE_NAME
                         + " WHERE " + Error_COLUMN_Iime_ID
                         + " IN (SELECT " + Error_COLUMN_Iime_ID
                         + " FROM " + Error_TABLE_NAME
-                        + " ORDER BY " + Error_COLUMN_Iime_ID + " ASC LIMIT 50)";
+                        + " ORDER BY " + Error_COLUMN_Iime_ID + " ASC LIMIT 25)";
                 sqliteDatabase.execSQL(deleteQuery);
                 sqliteDatabase.setTransactionSuccessful();
                 sqliteDatabase.endTransaction();
diff --git a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/ReceiivedIVHandler.java b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/ReceiivedIVHandler.java
index 1131b5b..1501145 100644
--- a/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/ReceiivedIVHandler.java
+++ b/PaintingappV2.02/app/src/main/java/com/example/paintingappv2_02/services/ReceiivedIVHandler.java
@@ -22,8 +22,8 @@ public class ReceiivedIVHandler {
     // 心跳检测相关
     public static long lastReceiveTime = System.currentTimeMillis();           // 最后一次收到数据的时间
     public static final long TIME_OUT = 5000;     // 超时时间：2秒没收到数据就算离线
-    public static boolean isAlarmDialogShowed = false;   // 防止弹窗重复弹出
 
+    public static boolean isAlarmDialogShowed =false;
     public static void midToast(String str, int showTime, com.example.paintingappv2_02.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
@@ -52,8 +52,7 @@ public class ReceiivedIVHandler {
 
 
                     try {
-                            lastReceiveTime = System.currentTimeMillis();
-                            isAlarmDialogShowed = false; // 收到数据，重置弹窗标记
+                        lastReceiveTime = System.currentTimeMillis();
                         _toReceiveIV_Variable = BspIV.IV_struct_define.parseFrom(bytes);//单片机新数据到来
 
                         if (_toReceiveIV_Variable != null) {
@@ -258,7 +257,7 @@ public class ReceiivedIVHandler {
             }
 
             sb.append(motorName)
-                    .append(":")
+                    .append(":0x")
                     .append(errorCode);
         }
     }
diff --git a/PaintingappV2.02/app/src/main/res/layout/activity_main.xml b/PaintingappV2.02/app/src/main/res/layout/activity_main.xml
index 79780b7..38e4f8f 100644
--- a/PaintingappV2.02/app/src/main/res/layout/activity_main.xml
+++ b/PaintingappV2.02/app/src/main/res/layout/activity_main.xml
@@ -59,7 +59,7 @@
                             android:layout_height="match_parent"
                             android:layout_weight="2"
                             android:gravity="center"
-                            android:text="2.01"
+                            android:text="2.02"
                             android:textColor="@color/navy_blue"
                             android:textSize="20sp"
                             android:textStyle="bold" />
diff --git a/PaintingappV2.02/app/src/main/res/layout/dialog_custom_warning.xml b/PaintingappV2.02/app/src/main/res/layout/dialog_custom_warning.xml
index 26f2497..ca92dd0 100644
--- a/PaintingappV2.02/app/src/main/res/layout/dialog_custom_warning.xml
+++ b/PaintingappV2.02/app/src/main/res/layout/dialog_custom_warning.xml
@@ -39,7 +39,7 @@
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:layout_marginTop="16dp"
-            android:text="设备受干扰或未通电，请断电后重启机器人"
+            android:text="设备受干扰或未通电，请等待一会！"
             android:textSize="15sp"
             android:textColor="#B0BEC5"
             android:gravity="center"/>
diff --git a/版本记录.docx b/版本记录.docx
index 4dc9889b1f9b45451fe295c7a4a9af7b393d7003..778fa404b5c94dd8afda87a20d5238b060aac8c3 100644
GIT binary patch
delta 4517
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