getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.washing02app.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\"\301\002\n\020IV_struct_define\022\024\n\014C" +
+ "urrentAngle\030\001 \001(\005\022\022\n\nSBUS_State\030\002 \001(\005\022\023\n" +
+ "\013SystemError\030\003 \001(\005\022\032\n\022LeftFrontMotor_Err" +
+ "\030\004 \001(\005\022\031\n\021LeftBackMotor_Err\030\005 \001(\005\022\033\n\023Rig" +
+ "htFrontMotor_Err\030\006 \001(\005\022\032\n\022RightBackMotor" +
+ "_Err\030\007 \001(\005\022\026\n\016SwingMotor_Err\030\010 \001(\005\022\025\n\rTi" +
+ "ltMotor_Err\030\t \001(\005\022\021\n\tIsWorking\030\n \001(\005\022\021\n\t" +
+ "TimeStamp\030\013 \001(\003\022\021\n\tIsRestart\030\014 \001(\005\022\026\n\016Ro" +
+ "botMoveSpeed\030\r \001(\005B#\n\037com.example.washin" +
+ "g02app.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[] { "CurrentAngle", "SBUSState", "SystemError", "LeftFrontMotorErr", "LeftBackMotorErr", "RightFrontMotorErr", "RightBackMotorErr", "SwingMotorErr", "TiltMotorErr", "IsWorking", "TimeStamp", "IsRestart", "RobotMoveSpeed", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/washing02app/models/BspPV.java b/app/src/main/java/com/example/washing02app/models/BspPV.java
new file mode 100644
index 0000000..877dabd
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/models/BspPV.java
@@ -0,0 +1,1162 @@
+// 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.washing02app.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 {
+
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ int getWorkMode();
+
+ /**
+ *
+ * 第一关节速度 °/s
+ *
+ *
+ * int32 JointSpeed1 = 2;
+ * @return The jointSpeed1.
+ */
+ int getJointSpeed1();
+
+ /**
+ *
+ * 第二关节速度 °/s
+ *
+ *
+ * int32 JointSpeed2 = 3;
+ * @return The jointSpeed2.
+ */
+ int getJointSpeed2();
+
+ /**
+ *
+ * 下压力设置
+ *
+ *
+ * int32 ForceSet = 4;
+ * @return The forceSet.
+ */
+ int getForceSet();
+
+ /**
+ *
+ * 左行补偿
+ *
+ *
+ * double LeftComp = 5;
+ * @return The leftComp.
+ */
+ double getLeftComp();
+
+ /**
+ *
+ * 右行补偿
+ *
+ *
+ * double RightComp = 6;
+ * @return The rightComp.
+ */
+ double getRightComp();
+
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 7;
+ * @return The iVIsRestartNotified.
+ */
+ int getIVIsRestartNotified();
+
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 8;
+ * @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.washing02app.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.washing02app.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.washing02app.models.BspPV.PV_struct_define.class, com.example.washing02app.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int WORKMODE_FIELD_NUMBER = 1;
+ private int workMode_ = 0;
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ @java.lang.Override
+ public int getWorkMode() {
+ return workMode_;
+ }
+
+ public static final int JOINTSPEED1_FIELD_NUMBER = 2;
+ private int jointSpeed1_ = 0;
+ /**
+ *
+ * 第一关节速度 °/s
+ *
+ *
+ * int32 JointSpeed1 = 2;
+ * @return The jointSpeed1.
+ */
+ @java.lang.Override
+ public int getJointSpeed1() {
+ return jointSpeed1_;
+ }
+
+ public static final int JOINTSPEED2_FIELD_NUMBER = 3;
+ private int jointSpeed2_ = 0;
+ /**
+ *
+ * 第二关节速度 °/s
+ *
+ *
+ * int32 JointSpeed2 = 3;
+ * @return The jointSpeed2.
+ */
+ @java.lang.Override
+ public int getJointSpeed2() {
+ return jointSpeed2_;
+ }
+
+ public static final int FORCESET_FIELD_NUMBER = 4;
+ private int forceSet_ = 0;
+ /**
+ *
+ * 下压力设置
+ *
+ *
+ * int32 ForceSet = 4;
+ * @return The forceSet.
+ */
+ @java.lang.Override
+ public int getForceSet() {
+ return forceSet_;
+ }
+
+ public static final int LEFTCOMP_FIELD_NUMBER = 5;
+ private double leftComp_ = 0D;
+ /**
+ *
+ * 左行补偿
+ *
+ *
+ * double LeftComp = 5;
+ * @return The leftComp.
+ */
+ @java.lang.Override
+ public double getLeftComp() {
+ return leftComp_;
+ }
+
+ public static final int RIGHTCOMP_FIELD_NUMBER = 6;
+ private double rightComp_ = 0D;
+ /**
+ *
+ * 右行补偿
+ *
+ *
+ * double RightComp = 6;
+ * @return The rightComp.
+ */
+ @java.lang.Override
+ public double getRightComp() {
+ return rightComp_;
+ }
+
+ public static final int IV_ISRESTART_NOTIFIED_FIELD_NUMBER = 7;
+ private int iVIsRestartNotified_ = 0;
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 7;
+ * @return The iVIsRestartNotified.
+ */
+ @java.lang.Override
+ public int getIVIsRestartNotified() {
+ return iVIsRestartNotified_;
+ }
+
+ public static final int TIMESTAMP_FIELD_NUMBER = 8;
+ private long timeStamp_ = 0L;
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 8;
+ * @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 (jointSpeed1_ != 0) {
+ output.writeInt32(2, jointSpeed1_);
+ }
+ if (jointSpeed2_ != 0) {
+ output.writeInt32(3, jointSpeed2_);
+ }
+ if (forceSet_ != 0) {
+ output.writeInt32(4, forceSet_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(leftComp_) != 0) {
+ output.writeDouble(5, leftComp_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(rightComp_) != 0) {
+ output.writeDouble(6, rightComp_);
+ }
+ if (iVIsRestartNotified_ != 0) {
+ output.writeInt32(7, iVIsRestartNotified_);
+ }
+ if (timeStamp_ != 0L) {
+ output.writeInt64(8, 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 (jointSpeed1_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, jointSpeed1_);
+ }
+ if (jointSpeed2_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, jointSpeed2_);
+ }
+ if (forceSet_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, forceSet_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(leftComp_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(5, leftComp_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(rightComp_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(6, rightComp_);
+ }
+ if (iVIsRestartNotified_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(7, iVIsRestartNotified_);
+ }
+ if (timeStamp_ != 0L) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt64Size(8, 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.washing02app.models.BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.washing02app.models.BspPV.PV_struct_define other = (com.example.washing02app.models.BspPV.PV_struct_define) obj;
+
+ if (getWorkMode()
+ != other.getWorkMode()) return false;
+ if (getJointSpeed1()
+ != other.getJointSpeed1()) return false;
+ if (getJointSpeed2()
+ != other.getJointSpeed2()) return false;
+ if (getForceSet()
+ != other.getForceSet()) return false;
+ if (java.lang.Double.doubleToLongBits(getLeftComp())
+ != java.lang.Double.doubleToLongBits(
+ other.getLeftComp())) return false;
+ if (java.lang.Double.doubleToLongBits(getRightComp())
+ != java.lang.Double.doubleToLongBits(
+ other.getRightComp())) 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) + JOINTSPEED1_FIELD_NUMBER;
+ hash = (53 * hash) + getJointSpeed1();
+ hash = (37 * hash) + JOINTSPEED2_FIELD_NUMBER;
+ hash = (53 * hash) + getJointSpeed2();
+ hash = (37 * hash) + FORCESET_FIELD_NUMBER;
+ hash = (53 * hash) + getForceSet();
+ hash = (37 * hash) + LEFTCOMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getLeftComp()));
+ hash = (37 * hash) + RIGHTCOMP_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getRightComp()));
+ 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.washing02app.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.washing02app.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.washing02app.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.washing02app.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.washing02app.models.BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.washing02app.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.washing02app.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.washing02app.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.washing02app.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.washing02app.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.washing02app.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.washing02app.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.washing02app.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.washing02app.models.BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.washing02app.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.washing02app.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.washing02app.models.BspPV.PV_struct_define.class, com.example.washing02app.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.washing02app.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;
+ jointSpeed1_ = 0;
+ jointSpeed2_ = 0;
+ forceSet_ = 0;
+ leftComp_ = 0D;
+ rightComp_ = 0D;
+ iVIsRestartNotified_ = 0;
+ timeStamp_ = 0L;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.washing02app.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.washing02app.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return com.example.washing02app.models.BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.washing02app.models.BspPV.PV_struct_define build() {
+ com.example.washing02app.models.BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.washing02app.models.BspPV.PV_struct_define buildPartial() {
+ com.example.washing02app.models.BspPV.PV_struct_define result = new com.example.washing02app.models.BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.washing02app.models.BspPV.PV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.workMode_ = workMode_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.jointSpeed1_ = jointSpeed1_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.jointSpeed2_ = jointSpeed2_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.forceSet_ = forceSet_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.leftComp_ = leftComp_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.rightComp_ = rightComp_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.iVIsRestartNotified_ = iVIsRestartNotified_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.timeStamp_ = timeStamp_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.washing02app.models.BspPV.PV_struct_define) {
+ return mergeFrom((com.example.washing02app.models.BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.washing02app.models.BspPV.PV_struct_define other) {
+ if (other == com.example.washing02app.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
+ if (other.getWorkMode() != 0) {
+ setWorkMode(other.getWorkMode());
+ }
+ if (other.getJointSpeed1() != 0) {
+ setJointSpeed1(other.getJointSpeed1());
+ }
+ if (other.getJointSpeed2() != 0) {
+ setJointSpeed2(other.getJointSpeed2());
+ }
+ if (other.getForceSet() != 0) {
+ setForceSet(other.getForceSet());
+ }
+ if (other.getLeftComp() != 0D) {
+ setLeftComp(other.getLeftComp());
+ }
+ if (other.getRightComp() != 0D) {
+ setRightComp(other.getRightComp());
+ }
+ 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: {
+ jointSpeed1_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ jointSpeed2_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ forceSet_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 41: {
+ leftComp_ = input.readDouble();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 41
+ case 49: {
+ rightComp_ = input.readDouble();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 49
+ case 56: {
+ iVIsRestartNotified_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 56
+ case 64: {
+ timeStamp_ = input.readInt64();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 64
+ 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_ ;
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return The workMode.
+ */
+ @java.lang.Override
+ public int getWorkMode() {
+ return workMode_;
+ }
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * 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;
+ }
+ /**
+ *
+ * 洗舱项目
+ *
+ *
+ * int32 WorkMode = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearWorkMode() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ workMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int jointSpeed1_ ;
+ /**
+ *
+ * 第一关节速度 °/s
+ *
+ *
+ * int32 JointSpeed1 = 2;
+ * @return The jointSpeed1.
+ */
+ @java.lang.Override
+ public int getJointSpeed1() {
+ return jointSpeed1_;
+ }
+ /**
+ *
+ * 第一关节速度 °/s
+ *
+ *
+ * int32 JointSpeed1 = 2;
+ * @param value The jointSpeed1 to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointSpeed1(int value) {
+
+ jointSpeed1_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 第一关节速度 °/s
+ *
+ *
+ * int32 JointSpeed1 = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearJointSpeed1() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ jointSpeed1_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int jointSpeed2_ ;
+ /**
+ *
+ * 第二关节速度 °/s
+ *
+ *
+ * int32 JointSpeed2 = 3;
+ * @return The jointSpeed2.
+ */
+ @java.lang.Override
+ public int getJointSpeed2() {
+ return jointSpeed2_;
+ }
+ /**
+ *
+ * 第二关节速度 °/s
+ *
+ *
+ * int32 JointSpeed2 = 3;
+ * @param value The jointSpeed2 to set.
+ * @return This builder for chaining.
+ */
+ public Builder setJointSpeed2(int value) {
+
+ jointSpeed2_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 第二关节速度 °/s
+ *
+ *
+ * int32 JointSpeed2 = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearJointSpeed2() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ jointSpeed2_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int forceSet_ ;
+ /**
+ *
+ * 下压力设置
+ *
+ *
+ * int32 ForceSet = 4;
+ * @return The forceSet.
+ */
+ @java.lang.Override
+ public int getForceSet() {
+ return forceSet_;
+ }
+ /**
+ *
+ * 下压力设置
+ *
+ *
+ * int32 ForceSet = 4;
+ * @param value The forceSet to set.
+ * @return This builder for chaining.
+ */
+ public Builder setForceSet(int value) {
+
+ forceSet_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 下压力设置
+ *
+ *
+ * int32 ForceSet = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearForceSet() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ forceSet_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private double leftComp_ ;
+ /**
+ *
+ * 左行补偿
+ *
+ *
+ * double LeftComp = 5;
+ * @return The leftComp.
+ */
+ @java.lang.Override
+ public double getLeftComp() {
+ return leftComp_;
+ }
+ /**
+ *
+ * 左行补偿
+ *
+ *
+ * double LeftComp = 5;
+ * @param value The leftComp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLeftComp(double value) {
+
+ leftComp_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 左行补偿
+ *
+ *
+ * double LeftComp = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearLeftComp() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ leftComp_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private double rightComp_ ;
+ /**
+ *
+ * 右行补偿
+ *
+ *
+ * double RightComp = 6;
+ * @return The rightComp.
+ */
+ @java.lang.Override
+ public double getRightComp() {
+ return rightComp_;
+ }
+ /**
+ *
+ * 右行补偿
+ *
+ *
+ * double RightComp = 6;
+ * @param value The rightComp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRightComp(double value) {
+
+ rightComp_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 右行补偿
+ *
+ *
+ * double RightComp = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearRightComp() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ rightComp_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ private int iVIsRestartNotified_ ;
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 7;
+ * @return The iVIsRestartNotified.
+ */
+ @java.lang.Override
+ public int getIVIsRestartNotified() {
+ return iVIsRestartNotified_;
+ }
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 7;
+ * @param value The iVIsRestartNotified to set.
+ * @return This builder for chaining.
+ */
+ public Builder setIVIsRestartNotified(int value) {
+
+ iVIsRestartNotified_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 是否接收到IV restart flag
+ *
+ *
+ * int32 IV_IsRestart_Notified = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearIVIsRestartNotified() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ iVIsRestartNotified_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private long timeStamp_ ;
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 8;
+ * @return The timeStamp.
+ */
+ @java.lang.Override
+ public long getTimeStamp() {
+ return timeStamp_;
+ }
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 8;
+ * @param value The timeStamp to set.
+ * @return This builder for chaining.
+ */
+ public Builder setTimeStamp(long value) {
+
+ timeStamp_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ *
+ *
+ * int64 TimeStamp = 8;
+ * @return This builder for chaining.
+ */
+ public Builder clearTimeStamp() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ 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.washing02app.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.washing02app.models.BspPV.PV_struct_define();
+ }
+
+ public static com.example.washing02app.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.washing02app.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\"\267\001\n\020PV_struct_define\022\020\n\010W" +
+ "orkMode\030\001 \001(\005\022\023\n\013JointSpeed1\030\002 \001(\005\022\023\n\013Jo" +
+ "intSpeed2\030\003 \001(\005\022\020\n\010ForceSet\030\004 \001(\005\022\020\n\010Lef" +
+ "tComp\030\005 \001(\001\022\021\n\tRightComp\030\006 \001(\001\022\035\n\025IV_IsR" +
+ "estart_Notified\030\007 \001(\005\022\021\n\tTimeStamp\030\010 \001(\003" +
+ "B#\n\037com.example.washing02app.modelsP\000b\006p" +
+ "roto3"
+ };
+ 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", "JointSpeed1", "JointSpeed2", "ForceSet", "LeftComp", "RightComp", "IVIsRestartNotified", "TimeStamp", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/washing02app/models/DisplayIV.java b/app/src/main/java/com/example/washing02app/models/DisplayIV.java
new file mode 100644
index 0000000..444b7ba
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/models/DisplayIV.java
@@ -0,0 +1,50 @@
+package com.example.washing02app.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/washing02app/models/DisplayPV.java b/app/src/main/java/com/example/washing02app/models/DisplayPV.java
new file mode 100644
index 0000000..3e95e0c
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/models/DisplayPV.java
@@ -0,0 +1,38 @@
+package com.example.washing02app.models;
+
+import androidx.databinding.BaseObservable;
+
+public class DisplayPV extends BaseObservable {
+
+ private int id;
+
+ private int laneChangeDistance;
+ private double verticalAdjust;
+
+ public DisplayPV(int id, int laneChangeDistance, double verticalAdjust) {
+ this.id = id;
+ this.laneChangeDistance=laneChangeDistance;
+ this.verticalAdjust=verticalAdjust;
+ }
+
+
+ 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 getVerticalAdjust(){
+ return verticalAdjust;
+ }
+ public void setVerticalAdjust(int verticalAdjust) {
+ this.verticalAdjust = verticalAdjust;
+ }
+
+
+}
diff --git a/app/src/main/java/com/example/washing02app/models/ErrorModel.java b/app/src/main/java/com/example/washing02app/models/ErrorModel.java
new file mode 100644
index 0000000..c31132f
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/models/ErrorModel.java
@@ -0,0 +1,44 @@
+package com.example.washing02app.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/washing02app/models/ScrollBottomScrollView.java b/app/src/main/java/com/example/washing02app/models/ScrollBottomScrollView.java
new file mode 100644
index 0000000..1e2ea38
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/models/ScrollBottomScrollView.java
@@ -0,0 +1,43 @@
+package com.example.washing02app.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/washing02app/services/ConvertHelper.java b/app/src/main/java/com/example/washing02app/services/ConvertHelper.java
new file mode 100644
index 0000000..8d09432
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/ConvertHelper.java
@@ -0,0 +1,26 @@
+package com.example.washing02app.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/washing02app/services/CustomProber.java b/app/src/main/java/com/example/washing02app/services/CustomProber.java
new file mode 100644
index 0000000..a6456ac
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/CustomProber.java
@@ -0,0 +1,22 @@
+package com.example.washing02app.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/washing02app/services/DecimalDigitsInputFilter.java b/app/src/main/java/com/example/washing02app/services/DecimalDigitsInputFilter.java
new file mode 100644
index 0000000..27e0cff
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/DecimalDigitsInputFilter.java
@@ -0,0 +1,71 @@
+package com.example.washing02app.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/washing02app/services/ErrorDeocdeHelper.java b/app/src/main/java/com/example/washing02app/services/ErrorDeocdeHelper.java
new file mode 100644
index 0000000..2e7bf61
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/ErrorDeocdeHelper.java
@@ -0,0 +1,58 @@
+package com.example.washing02app.services;
+import com.example.washing02app.models.BspError;
+
+public class ErrorDeocdeHelper {
+
+ //private static Map flagMap = new HashMap<>();
+
+// public static void AddMap(String errorName, Integer bitPosition)
+// {
+// flagMap.put(errorName,bitPosition);
+// }
+ private static String ErrorResult;
+ private static String addErrorResult;
+ public static String ErrorDeocde(int data)
+ {
+ ErrorResult="";
+
+ // 循环遍历 Map
+ for (BspError.ComError err : BspError.ComError.values()) {
+
+ int bitPosiiton = err.ordinal();
+// if (err.toString().equals("UNRECOGNIZED")) continue;
+// if (err.toString().equals("TL720D"))
+// addErrorResult = " 作业模式已切换至手动";
+// else
+// addErrorResult = " ";
+//
+// if (err.toString().equals("MK32_InitialState"))
+// addErrorResult = " 遥控器按键未复位";
+// else
+// addErrorResult = " ";
+
+
+ // 使用左移操作生成要检查的标志位
+ int bitToCheck = 1 << bitPosiiton;
+
+ // 判断该位置是否有对应的标志位
+ if ((data & bitToCheck) != 0)
+ {
+
+ // ErrorResult += String.valueOf(bitPosiiton);
+
+ if (err.toString().equals("Remote_Button_Reset_State"))
+ {
+ ErrorResult = "未复位" ;
+ }
+// else
+// {
+// ErrorResult += err.toString()+addErrorResult+"\t";
+// }
+ }
+ }
+ return ErrorResult;
+ }
+
+
+
+}
diff --git a/app/src/main/java/com/example/washing02app/services/LineOverlayView.java b/app/src/main/java/com/example/washing02app/services/LineOverlayView.java
new file mode 100644
index 0000000..4a44b0a
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/LineOverlayView.java
@@ -0,0 +1,57 @@
+package com.example.washing02app.services;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.View;
+
+public class LineOverlayView extends View {
+
+ private Paint paint;
+
+ // 两条线的位置（百分比）
+ private float line1Percent = 0.3f;
+ private float line2Percent = 0.7f;
+
+ public LineOverlayView(Context context) {
+ super(context);
+ init();
+ }
+
+ public LineOverlayView(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ init();
+ }
+
+ private void init() {
+ paint = new Paint();
+ paint.setColor(Color.RED);
+ paint.setStrokeWidth(5);
+ paint.setAntiAlias(true);
+ }
+
+ @Override
+ protected void onDraw(Canvas canvas) {
+ super.onDraw(canvas);
+
+ int width = getWidth();
+ int height = getHeight();
+
+ float y1 = height * line1Percent;
+ float y2 = height * line2Percent;
+
+ // 第一条水平线
+ canvas.drawLine(0, y1, width, y1, paint);
+
+ // 第二条水平线
+ canvas.drawLine(0, y2, width, y2, paint);
+ }
+
+ public void setLinePosition(float p1, float p2) {
+ line1Percent = p1;
+ line2Percent = p2;
+ invalidate();
+ }
+}
diff --git a/app/src/main/java/com/example/washing02app/services/LogUtil.java b/app/src/main/java/com/example/washing02app/services/LogUtil.java
new file mode 100644
index 0000000..e23ae6d
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/LogUtil.java
@@ -0,0 +1,39 @@
+package com.example.washing02app.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/washing02app/services/ModbusCRC.java b/app/src/main/java/com/example/washing02app/services/ModbusCRC.java
new file mode 100644
index 0000000..8fe247b
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/ModbusCRC.java
@@ -0,0 +1,72 @@
+package com.example.washing02app.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/washing02app/services/MyDataHelper.java b/app/src/main/java/com/example/washing02app/services/MyDataHelper.java
new file mode 100644
index 0000000..a935876
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/MyDataHelper.java
@@ -0,0 +1,222 @@
+package com.example.washing02app.services;
+
+import android.annotation.SuppressLint;
+import android.content.ContentValues;
+import android.content.Context;
+import android.database.Cursor;
+import android.database.sqlite.SQLiteDatabase;
+import android.database.sqlite.SQLiteOpenHelper;
+import android.util.Log;
+
+import androidx.annotation.Nullable;
+
+import com.example.washing02app.models.DisplayPV;
+import com.example.washing02app.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 {
+ public static final String COLUMN_ID = "id";
+ public static final String TABLE_NAME = "information";
+
+ public static final String COLUMN_LANCE_CHANGE_DISTANCE = "lanceChangeDistance";
+ public static final String COLUMN_VERTICAL_CALIBRATION = "verticalCalibration";
+
+
+
+ public static final String Error_TABLE_NAME = "error";
+ public static final String Error_COLUMN_Iime_ID = "timeID";
+ public static final String Error_COLUMN_ERROR_INFO = "errorInfo";
+
+ List robotErrorList = new ArrayList<>() ;
+
+ public MyDataHelper(@Nullable Context context) {
+ super(context, "bingRobot.db", null, 2);
+ }
+
+ @SuppressLint("SQLiteString")
+ @Override
+ public void onCreate(SQLiteDatabase db) {
+
+ String sql = "CREATE TABLE " + TABLE_NAME + "(" + COLUMN_ID + " INTEGER PRIMARY KEY ," +
+ COLUMN_LANCE_CHANGE_DISTANCE + " INTEGER," +
+ COLUMN_VERTICAL_CALIBRATION + " DOUBLE" +
+ ")";
+ db.execSQL(sql);
+
+
+ sql = "CREATE TABLE " + Error_TABLE_NAME + "(" + Error_COLUMN_Iime_ID + " INTEGER PRIMARY KEY ," +
+ Error_COLUMN_ERROR_INFO + " STRING " + ")";
+ db.execSQL(sql);
+
+ }
+
+ @Override
+ public void onUpgrade(SQLiteDatabase db, int oldVersion, int newVersion) {
+ db.execSQL("DROP TABLE IF EXISTS " + TABLE_NAME);
+ db.execSQL("DROP TABLE IF EXISTS " + Error_TABLE_NAME);
+ onCreate(db);
+ }
+
+ //增 删 改 查
+ public String addOrUpdateDisplayData(DisplayPV pv) {
+ ContentValues cv = new ContentValues();
+ cv.put(COLUMN_ID, pv.getId());
+
+ cv.put(COLUMN_LANCE_CHANGE_DISTANCE, pv.getLaneChangeDistance());
+ cv.put(COLUMN_VERTICAL_CALIBRATION, pv.getVerticalAdjust());
+
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();
+ long insert = sqliteDatabase.insertWithOnConflict(TABLE_NAME, 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 IntializeDataBase() {
+
+ for (int i = 1; i < 6; i++) {
+ List list = getDisplayData(i);
+ if (list.isEmpty()) {
+ DisplayPV pv = new DisplayPV(i, 1, 0);
+ addOrUpdateDisplayData(pv);
+ }
+ }
+
+ }
+
+ public List getDisplayData(int id) {
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + TABLE_NAME + " WHERE " + COLUMN_ID + " = " + String.valueOf(id);
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+
+
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null);
+
+
+ int idIndex = cursor.getColumnIndex(COLUMN_ID);
+ int _laneChangeDistanceIndex = cursor.getColumnIndex(COLUMN_LANCE_CHANGE_DISTANCE);
+ int _vertical_calibraton = cursor.getColumnIndex(COLUMN_VERTICAL_CALIBRATION);
+
+ while (cursor.moveToNext()) {
+
+ DisplayPV pv = new DisplayPV(cursor.getInt(idIndex),
+ cursor.getInt(_laneChangeDistanceIndex), cursor.getDouble(_vertical_calibraton)
+ );
+
+ list.add(pv);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+
+ public String AddOrUpdateErrorModel(ErrorModel em) {
+ ContentValues cv = new ContentValues();
+ cv.put(Error_COLUMN_Iime_ID, em.getTimeID());
+ cv.put(Error_COLUMN_ERROR_INFO, em.getErrorInfo());
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();
+ long insert = sqliteDatabase.insertWithOnConflict(Error_TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ // ===================== 核心逻辑 =====================
+ // 数据太多 → 删200行
+ try {
+ Cursor cursor = sqliteDatabase.rawQuery("SELECT COUNT(*) FROM " + Error_TABLE_NAME, null);
+ int count = 0;
+ if (cursor.moveToFirst()) {
+ count = cursor.getInt(0);
+ }
+ cursor.close();
+
+ //数据超过 500 条，就删除最早的 200 条
+ if (count > 100) {
+ 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)";
+ sqliteDatabase.execSQL(deleteQuery);
+ sqliteDatabase.setTransactionSuccessful();
+ sqliteDatabase.endTransaction();
+ Log.d("数据库", "数据太多，已删除最早200条");
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ // ========================================================
+
+ sqliteDatabase.close();
+ return insert == -1 ? "failed" : "success";
+ }
+
+ public String DeleteAllErrorModels() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(Error_TABLE_NAME, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public List GetAllErrorModels() {
+ List list = new ArrayList<>();
+
+ String sql = "SELECT * FROM " + Error_TABLE_NAME;
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null);
+
+
+
+ int _time_id_Index = cursor.getColumnIndex(Error_COLUMN_Iime_ID);
+ 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/washing02app/services/PopupHelper.java b/app/src/main/java/com/example/washing02app/services/PopupHelper.java
new file mode 100644
index 0000000..03712e1
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/PopupHelper.java
@@ -0,0 +1,176 @@
+package com.example.washing02app.services;
+
+import android.app.Dialog;
+import android.text.method.ScrollingMovementMethod;
+import android.view.View;
+import android.widget.Button;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.ScrollView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.washing02app.MainActivity;
+import com.example.washing02app.R;
+import com.example.washing02app.models.ErrorModel;
+import com.example.washing02app.models.ScrollBottomScrollView;
+
+import java.util.List;
+import java.util.Objects;
+
+public class PopupHelper {
+ String manual_Mode_Call_Value = "无";
+ String work_Mode_Call_Temp;
+
+ String result="1";
+
+ private final MainActivity mainActivity;
+
+ public PopupHelper(MainActivity mainActivity)
+ {
+ this.mainActivity = mainActivity;
+ }
+
+ public void WorkModePopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.workmodepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.manualModeCancel);
+ Button confirmButton = dialog.findViewById(R.id.manualModeModeApply);
+
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置单选按钮点击事件
+
+ RadioGroup radioGroup = dialog.findViewById(R.id.manualModeSelectorGroup);
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ work_Mode_Call_Temp = radioButton.getText().toString();
+
+ }
+
+ });
+ String ii = (mainActivity._Work_Mode_Call_Value);
+ switch (ii)
+ {
+ case "无": {
+ radioGroup.check(R.id.rb_one);
+ break;
+ }
+ case "清洗": {
+ radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case "刷洗": {
+ radioGroup.check(R.id.rb_three);
+ break;
+ }
+ case "喷漆": {
+ radioGroup.check(R.id.rb_four);
+ break;
+ }
+ }
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ mainActivity._Work_Mode_Call_Value = work_Mode_Call_Temp;
+ mainActivity.mainBinding.workModeDisplay.setText(mainActivity._Work_Mode_Call_Value);
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+
+
+ public void RobotErrorListPopUp(View.OnClickListener context)
+ {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.log_item); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ TextView LogText = dialog.findViewById(R.id.popUpErrorLogTextView);
+ ScrollBottomScrollView LogScrollView = dialog.findViewById(R.id.popUpErrorLogScrollview);
+ List list = mainActivity.myDataHelper.GetAllErrorModels();
+ LogText.setMovementMethod(ScrollingMovementMethod.getInstance());
+
+ final int[] firstDisplay = {1};
+ final int[] display = {2};
+ final int[] displayOver = {0};
+ int displayNum = 29;
+ 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
+ }
+
+
+
+}
diff --git a/app/src/main/java/com/example/washing02app/services/ReceiivedIVHandler.java b/app/src/main/java/com/example/washing02app/services/ReceiivedIVHandler.java
new file mode 100644
index 0000000..ecd9c05
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/ReceiivedIVHandler.java
@@ -0,0 +1,302 @@
+package com.example.washing02app.services;
+
+import static com.example.washing02app.services.ErrorDeocdeHelper.ErrorDeocde;
+import static com.example.washing02app.services.USBSerialPortHelper.errorLast;
+import static com.example.washing02app.services.USBSerialPortHelper.toHex4Digits;
+import static com.example.washing02app.services.USBSerialPortHelper.unsignedIntToBinaryWithSeparator;
+
+import android.graphics.Color;
+import android.view.Gravity;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.washing02app.MainActivity;
+import com.example.washing02app.R;
+import com.example.washing02app.models.BspIV;
+import com.example.washing02app.models.ErrorModel;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+import java.util.Objects;
+
+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 void midToast(String str, int showTime, com.example.washing02app.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 HandleData(com.example.washing02app.MainActivity MainActivity, byte[] data) {
+ try {
+
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc = ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+
+ if (data[data.length - 2] == (byte) (crc[1] & 0xff) && data[data.length - 1] == (byte) (crc[0] & 0xff)) {
+
+ if ((data[0] == 0x55) && (data[1] == 0x55)) {
+
+ byte[] bytes = new byte[data.length - 4];
+ System.arraycopy(data, 2, bytes, 0, data.length - 4);
+
+
+ try {
+ lastReceiveTime = System.currentTimeMillis();
+ isAlarmDialogShowed = false; // 收到数据，重置弹窗标记
+ _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;
+ }
+
+
+ MainActivity.runOnUiThread(
+ () -> {
+
+ MainActivity.mainBinding.tvSpeedFrom32.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ MainActivity.mainBinding.tvAngleFrom32.setText(String.valueOf((double) _toReceiveIV.getCurrentAngle() / 100));
+
+
+ int errorInt = _toReceiveIV.getSystemError();
+ String errorString2 = ErrorDeocde(errorInt);
+
+ String errorString = unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += toHex4Digits(_toReceiveIV.getLeftFrontMotorErr());
+ errorString += toHex4Digits(_toReceiveIV.getRightFrontMotorErr());
+ errorString += toHex4Digits(_toReceiveIV.getLeftBackMotorErr());
+
+ errorString += toHex4Digits(_toReceiveIV.getRightBackMotorErr());
+ errorString += toHex4Digits(_toReceiveIV.getSwingMotorErr());
+ errorString += toHex4Digits(_toReceiveIV.getTiltMotorErr());
+
+
+
+
+// String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+// errorString += " " + toHex4Digits(_toReceiveIV.getLeftFrontMotorErr());
+// errorString += " " + toHex4Digits(_toReceiveIV.getRightFrontMotorErr());
+// errorString += " " + toHex4Digits(_toReceiveIV.getLeftBackMotorErr());
+//
+// errorString += " " + toHex4Digits(_toReceiveIV.getRightBackMotorErr());
+// errorString += " " + toHex4Digits(_toReceiveIV.getSwingMotorErr());
+// errorString += " " + toHex4Digits(_toReceiveIV.getTiltMotorErr());
+
+
+ // 真正的错误 = (errorInt不是0 ) OR 电机有错误
+ boolean hasRealError =
+ (errorInt != 0 ) || _toReceiveIV.getLeftFrontMotorErr() != 0
+ || _toReceiveIV.getLeftBackMotorErr() != 0
+ || _toReceiveIV.getRightFrontMotorErr() != 0
+ || _toReceiveIV.getRightBackMotorErr() != 0
+ || _toReceiveIV.getSwingMotorErr() != 0
+ || _toReceiveIV.getTiltMotorErr() != 0;
+
+ // 核心判断：只对真正错误变红
+ if (hasRealError) {
+ if (!Objects.equals(errorLast, errorString)) {
+
+ // 转换
+ String errorText = parseError(
+ errorInt,
+ _toReceiveIV.getLeftFrontMotorErr(),
+ _toReceiveIV.getRightFrontMotorErr(),
+ _toReceiveIV.getLeftBackMotorErr(),
+ _toReceiveIV.getRightBackMotorErr(),
+ _toReceiveIV.getSwingMotorErr(),
+ _toReceiveIV.getTiltMotorErr()
+ );
+ // 存数据库
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorText);
+ MainActivity.myDataHelper.AddOrUpdateErrorModel(em);
+// ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+// MainActivity.myDataHelper.AddOrUpdateErrorModel(em);
+
+ if (Objects.equals(errorString2, "未复位")) {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText(String.valueOf(errorString2));
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+ } else {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("通信故障");
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+ }
+ errorLast = errorString;
+ }
+ } else {
+ // 无错误 或 只有32/64 → 全部显示正常
+ errorLast = errorString;
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("无");
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle);
+ }
+
+ if (_toReceiveIV.getIsWorking() == 1) {
+ MainActivity.mainBinding.messageRounded.setEnabled(false);
+ MainActivity.mainBinding.messageRounded.setAlpha(0.5f);
+
+ MainActivity.mainBinding.btnWorkMode.setEnabled(false);
+ MainActivity.mainBinding.btnWorkMode.setAlpha(0.5f);
+
+ MainActivity.mainBinding.jointSpeed1To32.setEnabled(false);
+ MainActivity.mainBinding.jointSpeed1To32.setAlpha(0.5f);
+
+ MainActivity.mainBinding.jointSpeed2To32.setEnabled(false);
+ MainActivity.mainBinding.jointSpeed2To32.setAlpha(0.5f);
+
+ MainActivity.mainBinding.forceSetingTo32.setEnabled(false);
+ MainActivity.mainBinding.forceSetingTo32.setAlpha(0.5f);
+
+ MainActivity.mainBinding.editLeftCompTo32.setEnabled(false);
+ MainActivity.mainBinding.editLeftCompTo32.setAlpha(0.5f);
+
+ MainActivity.mainBinding.editRightCompTo32.setEnabled(false);
+ MainActivity.mainBinding.editRightCompTo32.setAlpha(0.5f);
+
+// MainActivity.mainBinding.mainViewErrMessageBtnPaint.setAlpha(0.5f);
+
+
+ }
+ else {
+
+ MainActivity.mainBinding.messageRounded.setEnabled(true);
+ MainActivity.mainBinding.messageRounded.setAlpha(1.0f);
+
+ MainActivity.mainBinding.btnWorkMode.setEnabled(true);
+ MainActivity.mainBinding.btnWorkMode.setAlpha(1.0f);
+
+ MainActivity.mainBinding.jointSpeed1To32.setEnabled(true);
+ MainActivity.mainBinding.jointSpeed1To32.setAlpha(1.0f);
+
+ MainActivity.mainBinding.jointSpeed2To32.setEnabled(true);
+ MainActivity.mainBinding.jointSpeed2To32.setAlpha(1.0f);
+
+ MainActivity.mainBinding.forceSetingTo32.setEnabled(true);
+ MainActivity.mainBinding.forceSetingTo32.setAlpha(1.0f);
+
+ MainActivity.mainBinding.editLeftCompTo32.setEnabled(true);
+ MainActivity.mainBinding.editLeftCompTo32.setAlpha(1.0f);
+
+ MainActivity.mainBinding.editRightCompTo32.setEnabled(true);
+ MainActivity.mainBinding.editRightCompTo32.setAlpha(1.0f);
+//
+// MainActivity.mainBinding.mainViewErrMessageBtnPaint.setAlpha(1.0f);
+ }
+
+
+ });
+
+ }
+ else { //_toReceiveIV != null
+
+ }
+
+ } catch (InvalidProtocolBufferException ex) {
+
+ }
+
+
+
+
+ } else { //校验
+
+ }
+
+ } else {//校验
+ //status("crc failed");
+ }
+
+
+ } catch (Exception e) {
+
+ }
+
+ }
+ public static String parseError(
+ int systemError,
+ int m1,
+ int m2,
+ int m3,
+ int m4,
+ int m5,
+ int m6)
+ {
+ StringBuilder sb = new StringBuilder();
+
+ // 通信故障（bit24~bit32）
+ String[] commErrors =
+ {
+ "sbus",
+ "720D",
+ "M1",
+ "M2",
+ "M3",
+ "M4",
+ "M5",
+ "M6",
+ "未复位"
+ };
+
+ for (int i = 0; i < 9; i++)
+ {
+ if ((systemError & (1 << i)) != 0)
+ {
+ if (sb.length() > 0)
+ {
+ sb.append("、");
+ }
+
+ sb.append(commErrors[i]);
+ }
+ }
+
+ // 电机报警码（直接显示数值）
+ appendMotorError(sb, "M1", m1);
+ appendMotorError(sb, "M2", m2);
+ appendMotorError(sb, "M3", m3);
+ appendMotorError(sb, "M4", m4);
+ appendMotorError(sb, "M5", m5);
+ appendMotorError(sb, "M6", m6);
+
+ if (sb.length() == 0)
+ {
+ return "无故障";
+ }
+
+ return sb.toString();
+ }
+
+ private static void appendMotorError(
+ StringBuilder sb,
+ String motorName,
+ int errorCode)
+ {
+ if (errorCode != 0)
+ {
+ if (sb.length() > 0)
+ {
+ sb.append("、");
+ }
+
+ sb.append(motorName)
+ .append(":")
+ .append(errorCode);
+ }
+ }
+}
diff --git a/app/src/main/java/com/example/washing02app/services/RobotDataHanlder.java b/app/src/main/java/com/example/washing02app/services/RobotDataHanlder.java
new file mode 100644
index 0000000..fa30251
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/RobotDataHanlder.java
@@ -0,0 +1,64 @@
+package com.example.washing02app.services;
+
+
+import com.example.washing02app.models.BspIV;
+import com.example.washing02app.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/washing02app/services/ToggleRadioButton.java b/app/src/main/java/com/example/washing02app/services/ToggleRadioButton.java
new file mode 100644
index 0000000..b8cc4ed
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/ToggleRadioButton.java
@@ -0,0 +1,55 @@
+package com.example.washing02app.services;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.ViewParent;
+import android.widget.RadioGroup;
+
+import androidx.appcompat.widget.AppCompatRadioButton;
+
+import com.example.washing02app.R;
+
+/**********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/washing02app/services/UDPHelper.java b/app/src/main/java/com/example/washing02app/services/UDPHelper.java
new file mode 100644
index 0000000..a949220
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/UDPHelper.java
@@ -0,0 +1,89 @@
+package com.example.washing02app.services;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.util.logging.Handler;
+
+public class UDPHelper {
+
+
+ private static com.example.washing02app.MainActivity MainActivity;
+ private static Thread receiveThread;
+ private static boolean 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(com.example.washing02app.MainActivity mainActivity, String targetip, int targetPort, int listentingPort) {
+ try {
+ MainActivity = mainActivity;
+ target_ip = targetip;
+ target_port = targetPort;
+ listening_port = listentingPort;
+ sendSocket = new DatagramSocket(10000);
+ //sendSocket.setBroadcast(true);
+
+ running = true;
+
+
+ receiveSocket = new DatagramSocket(listening_port);
+ receiveSocket.setBroadcast(true);
+ running = true;
+
+
+ receiveThread = new Thread(() -> {
+ byte[] buffer = new byte[1024];
+ DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
+
+ while (running) {
+ try {
+ receiveSocket.receive(packet);
+ byte[] receivedArray = new byte[packet.getLength()];
+ System.arraycopy( packet.getData(), 0, receivedArray, 0, receivedArray.length);
+ ReceiivedIVHandler.HandleData(MainActivity, receivedArray);
+
+ } catch (IOException e) {
+ if (running) {
+
+ }
+ }
+ }
+ });
+ receiveThread.start();
+ } catch (IOException e) {
+ // tvOutput.setText("Socket error: " + e.getMessage());
+ }
+ }
+
+ public static void SendData(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();
+ }
+
+ public static void Destroy() {
+ running = false;
+ if (receiveSocket != null && !receiveSocket.isClosed()) {
+ receiveSocket.close();
+ }
+ if (sendSocket != null && !sendSocket.isClosed()) {
+ sendSocket.close();
+ }
+ }
+
+}
diff --git a/app/src/main/java/com/example/washing02app/services/USBSerialPortHelper.java b/app/src/main/java/com/example/washing02app/services/USBSerialPortHelper.java
new file mode 100644
index 0000000..6ce5a81
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/USBSerialPortHelper.java
@@ -0,0 +1,369 @@
+package com.example.washing02app.services;
+
+
+import android.annotation.SuppressLint;
+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.washing02app.BuildConfig;
+import com.example.washing02app.MainActivity;
+import com.example.washing02app.R;
+import com.hoho.android.usbserial.driver.UsbSerialDriver;
+import com.hoho.android.usbserial.driver.UsbSerialPort;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+import com.hoho.android.usbserial.util.SerialInputOutputManager;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+
+public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
+
+
+ public USBSerialPortHelper(MainActivity mainActivity)
+ {
+ this.MainActivity=mainActivity;
+ }
+
+ private final MainActivity MainActivity;
+ //sserial port part start
+
+ private enum UsbPermission {Unknown, Requested, Granted, Denied}
+
+ private final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
+
+
+ //
+ //
+ //
+
+
+ private int deviceId = 60000;
+ private int deviceId_test = 60000;
+ private int portNum;
+ private final int 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;
+ static String errorLast = "";
+ public void intialize() {
+
+ broadcastReceiver = new BroadcastReceiver() {
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
+ usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
+ connect();
+ }
+ }
+ };
+ mainLooper = new Handler(Looper.getMainLooper());
+ _receiveBufferlist = new ArrayList();
+ }
+
+ /*
+ * Serial
+ */
+ @Override
+ public void onNewData(byte[] data) {
+ status("new data");
+ mainLooper.post(() -> {
+ receive(data);
+ // receive data
+ });
+ }
+
+ @Override
+ public void onRunError(Exception e) {
+ mainLooper.post(() -> {
+ status("connection lost: " + e.getMessage());
+ disconnect();
+ });
+ }
+
+ /*
+ * Serial + UI
+ */
+
+ public void connect() {
+
+ UsbDevice device = null;
+ UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
+ for (UsbDevice v : usbManager.getDeviceList().values()) {
+ status(v.getManufacturerName().toUpperCase());
+ if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+ device = v;
+ break;
+ }
+ }
+
+ if (device == null) {
+ // _serialPortSwitch.setChecked(false);
+
+ status("找不到设备");
+ return;
+ }
+ UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
+ if (driver == null) {
+ driver = CustomProber.getCustomProber().probeDevice(device);
+ }
+ if (driver == null) {
+ // _serialPortSwitch.setChecked(false);
+ status("无驱动");
+ return;
+ }
+ if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
+ {
+ status("connection failed: not enough ports at device");
+ status("找不到设备");
+ return;
+ }
+ usbSerialPort = driver.getPorts().get(portNum);
+
+ UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
+ if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
+ usbPermission = UsbPermission.Requested;
+ int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
+ Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
+ intent.setPackage(MainActivity.getPackageName());
+ PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
+ usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
+ return;
+ }
+ if (usbConnection == null) {
+ if (!usbManager.hasPermission(driver.getDevice())) {
+ status("connection failed: permission denied");
+ } else {
+ status("connection failed: open failed");
+ }
+
+ return;
+ }
+
+ try {
+ usbSerialPort.open(usbConnection);
+ try {
+ usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
+ status("connected: ");
+
+ } catch (UnsupportedOperationException e) {
+ status("unsupport setparameters");
+ }
+ if (withIoManager) {
+ usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
+ usbIoManager.setReadBufferSize(40960);
+ usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
+ usbIoManager.start();
+ }
+ //status("connected");
+ connected = true;
+ // _serialPortSwitch.setChecked(true);
+ //switch set true
+
+ } catch (Exception e) {
+ status("connection failed: " + e.getMessage());
+ disconnect();
+ }
+ }
+
+ private void disconnect() {
+ connected = false;
+
+ if (usbIoManager != null) {
+ usbIoManager.setListener(null);
+ usbIoManager.stop();
+ }
+ usbIoManager = null;
+ try {
+ usbSerialPort.close();
+ } catch (IOException ignored) {
+
+ }
+ usbSerialPort = null;
+ }
+
+ List _receiveBufferlist;
+
+ private static byte[] listTobyte(List list) {
+ if (list == null || list.size() < 0) return null;
+ byte[] bytes = new byte[list.size()];
+ int i = 0;
+ Iterator iterator = list.iterator();
+ while (iterator.hasNext()) {
+ bytes[i] = iterator.next();
+ i++;
+ }
+ return bytes;
+ }
+
+ boolean StartCountDown = false;
+
+ // byte _receivedData
+ private void receive(byte[] data) {
+
+ // status("read data");
+ for (int i = 0; i < data.length; i++) {
+ _receiveBufferlist.add(data[i]);
+ }
+
+ //decodeRceive(data);
+ if (!StartCountDown)//从收到第一个数据开始计时
+ {
+ StartCountDown = true;
+ new CountDownTimer(10, 5) {
+ public void onTick(long millisUntilFinished) {
+
+ }
+ public void onFinish() {
+
+ status("read finished");
+ decodeRceive(listTobyte(_receiveBufferlist));
+ _receiveBufferlist.clear();
+ StartCountDown = false;
+ }
+ }.start();
+ }
+ }
+
+ void status(String str) {
+// SpannableStringBuilder spn = new SpannableStringBuilder(str+'\r'+'\n');
+//
+// // spn.append(getTime());
+//
+// spn.setSpan(new ForegroundColorSpan(MainActivity.getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
+// receiveText.append(spn);
+ // mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
+
+
+ // MainActivity.mainBinding.message.setText(str);
+ }
+ /*
+ 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
+ */
+ public static String unsignedIntToBinaryWithSeparator(int value) {
+ StringBuilder sb = new StringBuilder(35);
+ for (int i = 8; 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();
+ }
+ public 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);
+ }
+ @SuppressLint("SetTextI18n")
+ private void decodeRceive(byte[] data) {
+ try {
+
+ ReceiivedIVHandler.HandleData(MainActivity, data);
+
+ } catch (Exception e) {
+
+ }
+ }
+
+ public static String bytesToHex(byte[] bytes) {
+ StringBuilder result = new StringBuilder();
+ for (byte b : bytes) {
+ result.append(String.format("%02X ", b & 0xFF));
+ }
+ return result.toString();
+ }
+
+
+ public void onStart() {
+
+ ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
+ status("onStart");
+
+ }
+
+ public void onStop() {
+ MainActivity.unregisterReceiver(broadcastReceiver);
+ status("onStop");
+ }
+
+
+
+
+
+ public void onResume() {
+
+ if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
+ mainLooper.post(this::connect);
+ }
+ }
+
+
+ public void onPause() {
+ if (connected) {
+ status("串口断开");
+ // _serialPortSwitch.setChecked(false);
+ disconnect();
+ }
+ }
+
+ public void SendData(byte[] data) {
+ if (connected) {
+ try {
+ int WRITE_WAIT_MILLIS = 500;
+ 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/washing02app/services/VideoPlayerHelper.java b/app/src/main/java/com/example/washing02app/services/VideoPlayerHelper.java
new file mode 100644
index 0000000..3132f23
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/services/VideoPlayerHelper.java
@@ -0,0 +1,47 @@
+package com.example.washing02app.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.TEXTUREVIEW);
+
+ //nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
+ nodePlayerView.setRotation(180); // 1号 不注释 2号不注释
+ 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();
+ }
+
+ public static void startVedio1(NodePlayerView nodePlayerView, NodePlayer nodePlayer,String address ){
+
+ nodePlayerView.setRenderType(NodePlayerView.RenderType.TEXTUREVIEW);
+
+ //nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
+ //nodePlayerView.setRotation(180); // 1号 不注释 2号不注释
+ 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/washing02app/viewmodels/MainViewModel.java b/app/src/main/java/com/example/washing02app/viewmodels/MainViewModel.java
new file mode 100644
index 0000000..a85438f
--- /dev/null
+++ b/app/src/main/java/com/example/washing02app/viewmodels/MainViewModel.java
@@ -0,0 +1,11 @@
+package com.example.washing02app.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..9835c18
--- /dev/null
+++ b/app/src/main/java/generate_java.bat
@@ -0,0 +1,2 @@
+ protoc --java_out . *.proto
+ pause
\ No newline at end of file
diff --git a/app/src/main/java/protoc.7z b/app/src/main/java/protoc.7z
new file mode 100644
index 0000000..b4ac7a1
Binary files /dev/null and b/app/src/main/java/protoc.7z differ
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/bigackground.png b/app/src/main/res/drawable/bigackground.png
new file mode 100644
index 0000000..8466de6
Binary files /dev/null and b/app/src/main/res/drawable/bigackground.png differ
diff --git a/app/src/main/res/drawable/bigackground2.png b/app/src/main/res/drawable/bigackground2.png
new file mode 100644
index 0000000..5ac409f
Binary files /dev/null and b/app/src/main/res/drawable/bigackground2.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..a973af9
--- /dev/null
+++ b/app/src/main/res/drawable/blue_rounded_rectangle.xml
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/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/borderblue.xml b/app/src/main/res/drawable/borderblue.xml
new file mode 100644
index 0000000..e4995a9
--- /dev/null
+++ b/app/src/main/res/drawable/borderblue.xml
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/bordergreen.xml b/app/src/main/res/drawable/bordergreen.xml
new file mode 100644
index 0000000..c10e3c7
--- /dev/null
+++ b/app/src/main/res/drawable/bordergreen.xml
@@ -0,0 +1,34 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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..0b0d657
--- /dev/null
+++ b/app/src/main/res/drawable/borderorange.xml
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/drawable/bordersubmenu.xml b/app/src/main/res/drawable/bordersubmenu.xml
new file mode 100644
index 0000000..af31d78
--- /dev/null
+++ b/app/src/main/res/drawable/bordersubmenu.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/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/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 @@
+
+
+
+
+