commit
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#Tue Jun 02 12:01:21 CST 2026 |
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gradle.version=8.10.2 |
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#Tue Jan 20 11:38:20 CST 2026 |
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java.home=D\:\\Program Files\\Android\\Android Studio\\jbr |
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# Default ignored files |
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/shelf/ |
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/workspace.xml |
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Washing02APP |
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@ -0,0 +1,9 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<module type="JAVA_MODULE" version="4"> |
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<component name="NewModuleRootManager" inherit-compiler-output="true"> |
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<exclude-output /> |
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<content url="file://$MODULE_DIR$" /> |
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<orderEntry type="inheritedJdk" /> |
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<orderEntry type="sourceFolder" forTests="false" /> |
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</component> |
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</module> |
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<?xml version="1.0" encoding="UTF-8"?> |
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<module type="JAVA_MODULE" version="4"> |
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<component name="NewModuleRootManager" inherit-compiler-output="true"> |
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<exclude-output /> |
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<content url="file://$MODULE_DIR$" /> |
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<orderEntry type="inheritedJdk" /> |
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<orderEntry type="sourceFolder" forTests="false" /> |
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</component> |
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</module> |
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@ -0,0 +1,6 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="CompilerConfiguration"> |
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<bytecodeTargetLevel target="21" /> |
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</component> |
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</project> |
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@ -0,0 +1,10 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="deploymentTargetDropDown"> |
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<value> |
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<entry key="app"> |
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<State /> |
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</entry> |
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</value> |
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</component> |
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</project> |
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@ -0,0 +1,18 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="deploymentTargetSelector"> |
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<selectionStates> |
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<SelectionState runConfigName="app"> |
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<option name="selectionMode" value="DROPDOWN" /> |
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<DropdownSelection timestamp="2026-07-02T07:17:45.754662400Z"> |
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<Target type="DEFAULT_BOOT"> |
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<handle> |
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<DeviceId pluginId="Default" identifier="serial=192.168.144.20:5555;connection=f0374d99" /> |
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</handle> |
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</Target> |
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</DropdownSelection> |
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<DialogSelection /> |
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</SelectionState> |
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</selectionStates> |
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</component> |
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</project> |
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@ -0,0 +1,20 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="GradleMigrationSettings" migrationVersion="1" /> |
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<component name="GradleSettings"> |
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<option name="linkedExternalProjectsSettings"> |
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<GradleProjectSettings> |
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<option name="testRunner" value="CHOOSE_PER_TEST" /> |
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<option name="externalProjectPath" value="$PROJECT_DIR$" /> |
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<option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" /> |
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<option name="modules"> |
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<set> |
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<option value="$PROJECT_DIR$" /> |
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<option value="$PROJECT_DIR$/app" /> |
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</set> |
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</option> |
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<option name="resolveExternalAnnotations" value="false" /> |
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</GradleProjectSettings> |
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</option> |
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</component> |
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</project> |
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@ -0,0 +1,10 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="ProjectMigrations"> |
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<option name="MigrateToGradleLocalJavaHome"> |
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<set> |
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|
<option value="$PROJECT_DIR$" /> |
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</set> |
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</option> |
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</component> |
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|
</project> |
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@ -0,0 +1,16 @@ |
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<project version="4"> |
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<component name="ExternalStorageConfigurationManager" enabled="true" /> |
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<component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK"> |
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<output url="file://$PROJECT_DIR$/build/classes" /> |
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</component> |
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|
<component name="ProjectType"> |
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<option name="id" value="Android" /> |
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</component> |
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|
<component name="VisualizationToolProject"> |
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|
<option name="state"> |
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|
<ProjectState> |
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|
<option name="scale" value="0.04120409906063194" /> |
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|
</ProjectState> |
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|
</option> |
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</component> |
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|
</project> |
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@ -0,0 +1,17 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<project version="4"> |
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<component name="RunConfigurationProducerService"> |
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|
<option name="ignoredProducers"> |
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<set> |
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<option value="com.intellij.execution.junit.AbstractAllInDirectoryConfigurationProducer" /> |
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|
<option value="com.intellij.execution.junit.AllInPackageConfigurationProducer" /> |
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|
<option value="com.intellij.execution.junit.PatternConfigurationProducer" /> |
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|
<option value="com.intellij.execution.junit.TestInClassConfigurationProducer" /> |
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|
<option value="com.intellij.execution.junit.UniqueIdConfigurationProducer" /> |
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|
<option value="com.intellij.execution.junit.testDiscovery.JUnitTestDiscoveryConfigurationProducer" /> |
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|
<option value="org.jetbrains.kotlin.idea.junit.KotlinJUnitRunConfigurationProducer" /> |
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|
<option value="org.jetbrains.kotlin.idea.junit.KotlinPatternConfigurationProducer" /> |
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|
</set> |
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|
</option> |
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|
</component> |
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|
</project> |
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@ -0,0 +1,6 @@ |
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|
<?xml version="1.0" encoding="UTF-8"?> |
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|
<project version="4"> |
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<component name="VcsDirectoryMappings"> |
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<mapping directory="$PROJECT_DIR$" vcs="Git" /> |
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|
</component> |
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|
</project> |
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@ -0,0 +1,6 @@ |
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|
只有打磨模式下使用左右转检测到碰撞 回退 |
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26/5/28 修改状态机版本fsm_state_run(¤t_robot_move_state); |
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K1/2 控制大疙瘩正反转 K3控制电机上电 1上电，K4 喷漆电磁阀 1开、 K5控制喷水阀 |
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|
需要修改S1 按键为非自锁 |
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|
上电延时10s左右 包括急停恢复 再发报文 |
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|
摄像头界面可在app startvedio 函数设置画面正反 |
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@ -0,0 +1 @@ |
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/build |
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@ -0,0 +1,65 @@ |
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plugins { |
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id 'com.android.application' |
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} |
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|
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android { |
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namespace 'com.example.washing02app' |
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compileSdk 35 |
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viewBinding |
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{ |
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enabled true |
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} |
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// //add this feature |
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dataBinding |
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{ |
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enabled true |
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} |
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defaultConfig { |
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applicationId "com.example.washing02app" |
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minSdk 24 |
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targetSdk 35 |
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versionCode 1 |
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versionName "1.0" |
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|
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testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" |
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} |
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android.applicationVariants.all { variant -> |
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variant.outputs.all { |
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outputFileName = "Painting.apk" |
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} |
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} |
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buildTypes { |
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release { |
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minifyEnabled false |
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proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' |
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} |
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} |
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buildFeatures{ |
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buildConfig true |
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} |
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compileOptions { |
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sourceCompatibility JavaVersion.VERSION_1_8 |
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targetCompatibility JavaVersion.VERSION_1_8 |
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} |
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} |
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|
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dependencies { |
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|
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implementation 'androidx.appcompat:appcompat:1.6.1' |
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implementation 'androidx.constraintlayout:constraintlayout:2.1.4' |
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implementation 'androidx.media3:media3-exoplayer:1.5.1' |
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implementation 'androidx.media3:media3-ui:1.5.1' |
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implementation 'androidx.media3:media3-exoplayer-rtsp:1.5.1' |
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implementation 'com.google.android.material:material:1.12.0' |
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testImplementation 'junit:junit:4.13.2' |
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androidTestImplementation 'androidx.test.ext:junit:1.1.5' |
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androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1' |
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implementation 'com.github.mik3y:usb-serial-for-android:3.7.0' |
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implementation 'com.google.protobuf:protobuf-java:4.27.2' |
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implementation("org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.8.20") |
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implementation 'com.github.nodemedia:nodemediaclient-android:2.9.20' |
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implementation 'io.github.xmaihh:serialport:2.1.1' |
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|
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|
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|
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} |
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@ -0,0 +1,21 @@ |
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# Add project specific ProGuard rules here. |
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# You can control the set of applied configuration files using the |
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# proguardFiles setting in build.gradle. |
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# |
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# For more details, see |
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# http://developer.android.com/guide/developing/tools/proguard.html |
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|
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# If your project uses WebView with JS, uncomment the following |
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# and specify the fully qualified class name to the JavaScript interface |
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# class: |
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#-keepclassmembers class fqcn.of.javascript.interface.for.webview { |
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# public *; |
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#} |
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|
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# Uncomment this to preserve the line number information for |
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# debugging stack traces. |
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#-keepattributes SourceFile,LineNumberTable |
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|
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# If you keep the line number information, uncomment this to |
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# hide the original source file name. |
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#-renamesourcefileattribute SourceFile |
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{ |
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"version": 3, |
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"artifactType": { |
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"type": "APK", |
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"kind": "Directory" |
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}, |
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"applicationId": "com.example.paintingappv1_1", |
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"variantName": "release", |
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"elements": [ |
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{ |
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"type": "SINGLE", |
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"filters": [], |
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"attributes": [], |
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"versionCode": 1, |
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"versionName": "1.0", |
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"outputFile": "Painting.apk" |
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} |
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], |
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"elementType": "File" |
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} |
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package com.example.rougheningapp; |
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|
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import static org.junit.Assert.assertEquals; |
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|
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import android.content.Context; |
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|
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import androidx.test.ext.junit.runners.AndroidJUnit4; |
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import androidx.test.platform.app.InstrumentationRegistry; |
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|
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import org.junit.Test; |
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import org.junit.runner.RunWith; |
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|
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/** |
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* Instrumented test, which will execute on an Android device. |
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* |
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* @see <a href="http://d.android.com/tools/testing">Testing documentation</a> |
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*/ |
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@RunWith(AndroidJUnit4.class) |
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public class ExampleInstrumentedTest { |
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@Test |
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public void useAppContext() { |
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// Context of the app under test.
|
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Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext(); |
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assertEquals("com.example.rougheningapp", appContext.getPackageName()); |
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} |
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} |
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<?xml version="1.0" encoding="utf-8"?> |
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<manifest xmlns:android="http://schemas.android.com/apk/res/android" |
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xmlns:tools="http://schemas.android.com/tools"> |
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|
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<uses-feature android:name="android.hardware.camera" /> |
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<uses-feature android:name="android.hardware.camera.autofocus" /> |
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|
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<uses-permission android:name="android.permission.INTERNET" /> |
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<uses-permission android:name="android.permission.CAMERA" /> |
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<uses-permission android:name="android.permission.RECORD_AUDIO" /> |
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<uses-permission android:name="android.permission.FLASHLIGHT" /> |
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<uses-permission android:name="android.permission.USB_PERMISSION" /> |
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|
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<uses-feature |
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android:name="android.hardware.usb.accessory" |
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android:required="false" /> |
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<uses-feature android:name="android.hardware.usb.host" /> |
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|
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<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> |
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<uses-permission android:name="android.permission.VIBRATE" /> |
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|
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<application |
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android:allowBackup="true" |
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android:dataExtractionRules="@xml/data_extraction_rules" |
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android:fullBackupContent="@xml/backup_rules" |
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android:icon="@drawable/squrelogo" |
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android:label="@string/app_name" |
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android:roundIcon="@drawable/squrelogo" |
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android:supportsRtl="true" |
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android:theme="@style/Theme.RougheningApp" |
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tools:targetApi="31"> |
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<meta-data |
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android:name="com.google.android.actions" |
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android:resource="@xml/check_boxs" /> |
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|
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<activity |
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android:name=".MainActivity" |
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android:exported="true"> |
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<intent-filter> |
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<action android:name="android.intent.action.MAIN" /> |
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|
|
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<category android:name="android.intent.category.LAUNCHER" /> |
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|
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<action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" /> |
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|
</intent-filter> |
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|
||||
|
<meta-data |
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|
android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" |
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android:resource="@xml/device_filter" /> |
||||
|
</activity> |
||||
|
</application> |
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|
|
||||
|
</manifest> |
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@ -0,0 +1,30 @@ |
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syntax = "proto3"; |
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option java_multiple_files = false; |
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option java_package = "com.example.washing02app.models"; |
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|
message ErrorData |
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|
{ |
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|
int32 Com_Error_Code=1; |
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|
int32 Left_Motor_Error_Code=2; |
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|
int32 Right_Motor_Error_Code=3; |
||||
|
|
||||
|
} |
||||
|
|
||||
|
enum ComError //枚举消息类型 Error Bit Define |
||||
|
{ |
||||
|
MK32_SBus = 0; |
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|
TL720D = 1; |
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|
Ti5_1 = 2; |
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|
Ti5_2 = 3; |
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|
Ti5_3 = 4; |
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|
Ti5_4 = 5; |
||||
|
Ti5_5 = 6; |
||||
|
Ti5_6 = 7; |
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|
Remote_Button_Reset_State = 8; |
||||
|
|
||||
|
|
||||
|
} |
||||
|
|
||||
|
//protoc --nanopb_out=. *.proto |
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|
|
||||
|
|
||||
|
|
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@ -0,0 +1,25 @@ |
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|
syntax = "proto3"; |
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|
||||
|
option java_multiple_files = false; |
||||
|
option java_package = "com.example.washing02app.models"; |
||||
|
|
||||
|
message IV_struct_define |
||||
|
{ |
||||
|
int32 CurrentAngle= 1; //单位0.01° |
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|
int32 SBUS_State=2; //0断开 1连接 |
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|
int32 SystemError=3; //硬件通讯错误及按键未初始化错误 |
||||
|
|
||||
|
int32 LeftFrontMotor_Err=4;//左前电机报警 |
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|
int32 LeftBackMotor_Err=5;//右后电机报警 |
||||
|
|
||||
|
int32 RightFrontMotor_Err=6;//右前电机报警 |
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|
int32 RightBackMotor_Err=7;//右后电机报警 |
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|
|
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|
int32 SwingMotor_Err=8;//左摆电机报警 |
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|
int32 TiltMotor_Err=9;//伤摆电机报警 |
||||
|
|
||||
|
int32 IsWorking=10;//机器人正在执行运动指令 |
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|
int64 TimeStamp=11;//当前时间戳 |
||||
|
int32 IsRestart=12;//是否重启 |
||||
|
int32 RobotMoveSpeed=13; |
||||
|
}; |
||||
@ -0,0 +1,17 @@ |
|||||
|
syntax = "proto3"; |
||||
|
option java_multiple_files = false; |
||||
|
option java_package = "com.example.washing02app.models"; |
||||
|
|
||||
|
message PV_struct_define{ |
||||
|
|
||||
|
// 洗舱项目 |
||||
|
int32 WorkMode = 1; //1 清洗 2 刷洗 3 喷漆 |
||||
|
int32 JointSpeed1=2; // 第一关节速度 °/s |
||||
|
int32 JointSpeed2= 3; // 第二关节速度 °/s |
||||
|
int32 ForceSet=4; // 下压力设置 |
||||
|
double LeftComp=5; //左行补偿 |
||||
|
double RightComp=6; //右行补偿 |
||||
|
int32 IV_IsRestart_Notified=7;// 是否接收到IV restart flag |
||||
|
int64 TimeStamp=8;// |
||||
|
|
||||
|
}; |
||||
@ -0,0 +1,514 @@ |
|||||
|
package com.example.washing02app; |
||||
|
|
||||
|
import static com.example.washing02app.services.ReceiivedIVHandler.TIME_OUT; |
||||
|
import static com.example.washing02app.services.ReceiivedIVHandler.isAlarmDialogShowed; |
||||
|
import static com.example.washing02app.services.ReceiivedIVHandler.lastReceiveTime; |
||||
|
import static java.lang.Integer.parseInt; |
||||
|
|
||||
|
import android.graphics.Color; |
||||
|
import android.os.Bundle; |
||||
|
import android.os.Handler; |
||||
|
import android.os.Looper; |
||||
|
import android.text.Editable; |
||||
|
import android.text.InputFilter; |
||||
|
import android.text.TextUtils; |
||||
|
import android.text.TextWatcher; |
||||
|
import android.view.KeyEvent; |
||||
|
import android.view.View; |
||||
|
import android.view.ViewGroup; |
||||
|
import android.view.WindowManager; |
||||
|
import android.widget.Toast; |
||||
|
|
||||
|
import androidx.appcompat.app.AlertDialog; |
||||
|
import androidx.appcompat.app.AppCompatActivity; |
||||
|
import androidx.databinding.DataBindingUtil; |
||||
|
import androidx.media3.common.MediaItem; |
||||
|
import androidx.media3.exoplayer.ExoPlayer; |
||||
|
|
||||
|
import com.example.washing02app.databinding.ActivityMainBinding; |
||||
|
import com.example.washing02app.models.BspPV; |
||||
|
import com.example.washing02app.models.DisplayPV; |
||||
|
import com.example.washing02app.services.DecimalDigitsInputFilter; |
||||
|
import com.example.washing02app.services.ModbusCRC; |
||||
|
import com.example.washing02app.services.MyDataHelper; |
||||
|
import com.example.washing02app.services.PopupHelper; |
||||
|
import com.example.washing02app.services.ReceiivedIVHandler; |
||||
|
import com.example.washing02app.services.UDPHelper; |
||||
|
import com.example.washing02app.services.USBSerialPortHelper; |
||||
|
import com.example.washing02app.services.VideoPlayerHelper; |
||||
|
|
||||
|
import java.util.List; |
||||
|
import java.util.Timer; |
||||
|
import java.util.TimerTask; |
||||
|
|
||||
|
import cn.nodemedia.NodePlayer; |
||||
|
|
||||
|
public class MainActivity extends AppCompatActivity { |
||||
|
|
||||
|
public ActivityMainBinding mainBinding;//通过Binding可以获取界面数据
|
||||
|
//USB 串口服务
|
||||
|
public USBSerialPortHelper serialPortHelper; |
||||
|
|
||||
|
public static BspPV.PV_struct_define _toSendPV; |
||||
|
|
||||
|
Timer timer = new Timer(); |
||||
|
|
||||
|
public MyDataHelper myDataHelper = new MyDataHelper(this); |
||||
|
public PopupHelper popupHelper = new PopupHelper(this); |
||||
|
|
||||
|
public String _parameters_Call_Value = "1"; |
||||
|
public String _Work_Mode_Call_Value = "无"; |
||||
|
public int screen =0; |
||||
|
|
||||
|
//标记是否全屏
|
||||
|
private boolean isFullScreen = false; |
||||
|
//保存原始布局参数（退出全屏用）
|
||||
|
private ViewGroup.LayoutParams originalParams; |
||||
|
|
||||
|
@Override |
||||
|
protected void onCreate(Bundle savedInstanceState) { |
||||
|
super.onCreate(savedInstanceState); |
||||
|
//设置全屏显示
|
||||
|
getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN); |
||||
|
mainBinding = DataBindingUtil.setContentView(this, R.layout.activity_main); |
||||
|
mainBinding.editLeftCompTo32.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
|
||||
|
mainBinding.editRightCompTo32.setFilters(new InputFilter[]{new DecimalDigitsInputFilter()}); //editext 一位小数限制
|
||||
|
getWindow().clearFlags(WindowManager.LayoutParams.FLAG_DIM_BEHIND); |
||||
|
getWindow().setDimAmount(0f); |
||||
|
getWindow().setFlags( |
||||
|
WindowManager.LayoutParams.FLAG_HARDWARE_ACCELERATED, |
||||
|
WindowManager.LayoutParams.FLAG_HARDWARE_ACCELERATED |
||||
|
); |
||||
|
/* USB串口 控制区域*/ |
||||
|
serialPortHelper = new USBSerialPortHelper(this); |
||||
|
serialPortHelper.intialize(); |
||||
|
serialPortHelper.connect(); |
||||
|
|
||||
|
/* NodePlayer 播放视频区域*/ |
||||
|
NodePlayer nodePlayer0=new NodePlayer(this); |
||||
|
String address0 = "rtsp://192.168.144.25:8554/main.264"; |
||||
|
mainBinding.nodePlayerView0.setBackgroundColor(Color.BLACK); |
||||
|
VideoPlayerHelper.startVedio(mainBinding.nodePlayerView0,nodePlayer0,address0); |
||||
|
|
||||
|
mainBinding.lineOverlay.setLinePosition(0.6f,0.8f); |
||||
|
// 保存原始宽高
|
||||
|
originalParams = mainBinding.nodePlayerView0.getLayoutParams(); |
||||
|
|
||||
|
// 单击切换全屏
|
||||
|
mainBinding.nodePlayerView0.setOnClickListener(v -> toggleFullScreen()); |
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
timer.schedule(new TimerTask() { |
||||
|
@Override |
||||
|
public void run() { |
||||
|
// 使用 Handler 或 runOnUiThread 更新 UI
|
||||
|
runOnUiThread(new Runnable() { |
||||
|
@Override |
||||
|
public void run() { |
||||
|
mainBinding.nodePlayerView0.setAlpha(1.0f); |
||||
|
// 更新 UI 的代码
|
||||
|
_toSendPV = BspPV.PV_struct_define.newBuilder(). |
||||
|
build(); |
||||
|
//单片机重启发1，安卓接收向单片机发送收到重启通知1，当单片机收到进而转为为 非重启状态
|
||||
|
if(ReceiivedIVHandler._toReceiveIV_Variable.getIsRestart()==1) |
||||
|
{ |
||||
|
_toSendPV=_toSendPV.toBuilder().setIVIsRestartNotified(1).build(); |
||||
|
}else |
||||
|
{ |
||||
|
_toSendPV=_toSendPV.toBuilder().setIVIsRestartNotified(0).build(); |
||||
|
} |
||||
|
//发送时间戳 ms
|
||||
|
_toSendPV = _toSendPV.toBuilder().setTimeStamp(System.currentTimeMillis()).build(); |
||||
|
|
||||
|
|
||||
|
String jointSpeed1Str = mainBinding.jointSpeed1To32.getText().toString(); |
||||
|
String jointSpeed2Str = mainBinding.jointSpeed2To32.getText().toString(); |
||||
|
String forceSetStr = mainBinding.forceSetingTo32.getText().toString(); |
||||
|
String leftCompStr = mainBinding.editLeftCompTo32.getText().toString(); |
||||
|
String rightCompStr = mainBinding.editRightCompTo32.getText().toString(); |
||||
|
|
||||
|
//第一关节速度
|
||||
|
if (jointSpeed1Str.isEmpty()) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setJointSpeed1(8).build(); |
||||
|
} else { |
||||
|
_toSendPV = _toSendPV.toBuilder() |
||||
|
.setJointSpeed1((Integer.parseInt(String.valueOf(mainBinding.jointSpeed1To32.getText())))).build(); |
||||
|
} |
||||
|
//第2关节速度
|
||||
|
if (jointSpeed2Str.isEmpty()) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setJointSpeed2(8).build(); |
||||
|
} else { |
||||
|
_toSendPV = _toSendPV.toBuilder() |
||||
|
.setJointSpeed2((Integer.parseInt(String.valueOf(mainBinding.jointSpeed2To32.getText())))).build(); |
||||
|
} |
||||
|
//电流档位
|
||||
|
if (forceSetStr.isEmpty()) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setForceSet(0).build(); |
||||
|
} else { |
||||
|
_toSendPV = _toSendPV.toBuilder() |
||||
|
.setForceSet((Integer.parseInt(String.valueOf(mainBinding.forceSetingTo32.getText())))).build(); |
||||
|
} |
||||
|
//左补偿
|
||||
|
try { |
||||
|
|
||||
|
if (leftCompStr.isEmpty()) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setLeftComp(0).build(); |
||||
|
} else { |
||||
|
_toSendPV = _toSendPV.toBuilder() |
||||
|
.setLeftComp((int) (Double.parseDouble(String.valueOf(mainBinding.editLeftCompTo32.getText())) * 100)).build(); |
||||
|
|
||||
|
} |
||||
|
|
||||
|
} catch (Exception e) { |
||||
|
|
||||
|
} |
||||
|
//右补偿
|
||||
|
try { |
||||
|
|
||||
|
if (rightCompStr.isEmpty()) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setRightComp(0).build(); |
||||
|
} else { |
||||
|
_toSendPV = _toSendPV.toBuilder() |
||||
|
.setRightComp((int) (Double.parseDouble(String.valueOf(mainBinding.editRightCompTo32.getText())) * 100)).build(); |
||||
|
|
||||
|
} |
||||
|
|
||||
|
} catch (Exception e) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
//发送作业模式值
|
||||
|
if (_Work_Mode_Call_Value.equals("无")) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setWorkMode(0).build(); |
||||
|
} else if (_Work_Mode_Call_Value.equals("清洗")) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setWorkMode(1).build(); |
||||
|
} else if (_Work_Mode_Call_Value.equals("刷洗")) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setWorkMode(2).build(); |
||||
|
} |
||||
|
else if (_Work_Mode_Call_Value.equals("喷漆")) { |
||||
|
_toSendPV = _toSendPV.toBuilder().setWorkMode(3).build(); |
||||
|
} |
||||
|
|
||||
|
|
||||
|
|
||||
|
byte[] byteArray = _toSendPV.toByteArray(); |
||||
|
byte[] sendbyteArray = new byte[byteArray.length + 4]; |
||||
|
byte[] sendbyteArray3 = new byte[byteArray.length + 6]; |
||||
|
if (byteArray.length != 0) { |
||||
|
System.arraycopy(byteArray, 0, sendbyteArray, 4, byteArray.length); |
||||
|
} |
||||
|
sendbyteArray[0] = (byte) 0x55; |
||||
|
sendbyteArray[1] = (byte) 0x55; |
||||
|
sendbyteArray[2] = (byte) 0x01; |
||||
|
sendbyteArray[3] = (byte) 0x01; |
||||
|
|
||||
|
byte[] byteArray2 = ModbusCRC.calculateCRC(sendbyteArray); |
||||
|
|
||||
|
System.arraycopy(sendbyteArray, 0, sendbyteArray3, 0, sendbyteArray.length); |
||||
|
|
||||
|
System.arraycopy(byteArray2, 0, sendbyteArray3, sendbyteArray3.length - 2, 2); |
||||
|
|
||||
|
serialPortHelper.SendData(sendbyteArray3); |
||||
|
|
||||
|
} |
||||
|
}); |
||||
|
} |
||||
|
}, 0, 200); // 延迟 0 毫秒，每隔 1000 毫秒执行一次
|
||||
|
|
||||
|
mainBinding.btnWorkMode.setOnClickListener(new View.OnClickListener() { |
||||
|
@Override |
||||
|
public void onClick(View view) { |
||||
|
popupHelper.WorkModePopUp(this); |
||||
|
} |
||||
|
}); |
||||
|
|
||||
|
|
||||
|
//setOnFocusChangeListener
|
||||
|
mainBinding.jointSpeed1To32.setOnFocusChangeListener((v, hasFocus) -> { |
||||
|
// 当用户**输完离开输入框**时才检查
|
||||
|
if (!hasFocus) { |
||||
|
String input = mainBinding.jointSpeed1To32.getText().toString().trim(); |
||||
|
if (!input.isEmpty()) { |
||||
|
try { |
||||
|
int value = Integer.parseInt(input); |
||||
|
if (value < 10 || value > 30) { |
||||
|
showToast("请输入 10 ~ 90 之间的数字"); |
||||
|
// 可以清空，也可以不清空，让用户自己改
|
||||
|
mainBinding.jointSpeed1To32.setText(""); |
||||
|
} |
||||
|
} catch (NumberFormatException e) { |
||||
|
showToast("请输入有效数字"); |
||||
|
mainBinding.jointSpeed1To32.setText(""); |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
}); |
||||
|
|
||||
|
mainBinding.jointSpeed2To32.setOnFocusChangeListener((v, hasFocus) -> { |
||||
|
// 当用户**输完离开输入框**时才检查
|
||||
|
if (!hasFocus) { |
||||
|
String input = mainBinding.jointSpeed2To32.getText().toString().trim(); |
||||
|
if (!input.isEmpty()) { |
||||
|
try { |
||||
|
int value = Integer.parseInt(input); |
||||
|
if (value < 10 || value > 30) { |
||||
|
showToast("请输入 10 ~ 90 之间的数字"); |
||||
|
// 可以清空，也可以不清空，让用户自己改
|
||||
|
mainBinding.jointSpeed2To32.setText(""); |
||||
|
} |
||||
|
} catch (NumberFormatException e) { |
||||
|
showToast("请输入有效数字"); |
||||
|
mainBinding.jointSpeed2To32.setText(""); |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
}); |
||||
|
|
||||
|
|
||||
|
mainBinding.editLeftCompTo32.addTextChangedListener(new TextWatcher() { |
||||
|
@Override |
||||
|
public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void afterTextChanged(Editable s) { |
||||
|
String input = s.toString().trim(); |
||||
|
|
||||
|
// 1. 允许空输入（用户正在删除）
|
||||
|
if (TextUtils.isEmpty(input)) { |
||||
|
return; |
||||
|
} |
||||
|
|
||||
|
// 2. 允许合法的中间状态（如"-10."）
|
||||
|
if (input.matches("^-?\\d*(\\.\\d*)?$")) { |
||||
|
// 合法格式：整数、负数、小数、小数点开头
|
||||
|
try { |
||||
|
|
||||
|
double value = Double.parseDouble(input); |
||||
|
// 检查输入值是否在 -50 到 100 范围内
|
||||
|
if (value < -10 || value > 10) { |
||||
|
showToast("请输入 -10 到 10 之间的数字"); |
||||
|
// 可以选择清除输入或限制在范围内
|
||||
|
mainBinding.editLeftCompTo32.setText(""); |
||||
|
} else { |
||||
|
showToast("输入有效: " + value); |
||||
|
} |
||||
|
// 尝试转换为double（处理小数）
|
||||
|
//lastValidValue = Double.parseDouble(input);
|
||||
|
} catch (NumberFormatException e) { |
||||
|
// 中间状态，忽略
|
||||
|
} |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
|
||||
|
}); |
||||
|
|
||||
|
mainBinding.editRightCompTo32.addTextChangedListener(new TextWatcher() { |
||||
|
@Override |
||||
|
public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void afterTextChanged(Editable s) { |
||||
|
String input = s.toString().trim(); |
||||
|
|
||||
|
// 1. 允许空输入（用户正在删除）
|
||||
|
if (TextUtils.isEmpty(input)) { |
||||
|
return; |
||||
|
} |
||||
|
|
||||
|
// 2. 允许合法的中间状态（如"-10."）
|
||||
|
if (input.matches("^-?\\d*(\\.\\d*)?$")) { |
||||
|
// 合法格式：整数、负数、小数、小数点开头
|
||||
|
try { |
||||
|
|
||||
|
double value = Double.parseDouble(input); |
||||
|
// 检查输入值是否在 -50 到 100 范围内
|
||||
|
if (value < -10 || value > 10) { |
||||
|
showToast("请输入 -10 到 10 之间的数字"); |
||||
|
// 可以选择清除输入或限制在范围内
|
||||
|
mainBinding.editRightCompTo32.setText(""); |
||||
|
} else { |
||||
|
showToast("输入有效: " + value); |
||||
|
} |
||||
|
// 尝试转换为double（处理小数）
|
||||
|
//lastValidValue = Double.parseDouble(input);
|
||||
|
} catch (NumberFormatException e) { |
||||
|
// 中间状态，忽略
|
||||
|
} |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
|
||||
|
}); |
||||
|
|
||||
|
mainBinding.forceSetingTo32.addTextChangedListener(new TextWatcher() { |
||||
|
@Override |
||||
|
public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void afterTextChanged(Editable s) { |
||||
|
// 文本变化后的回调，在这里进行范围检查
|
||||
|
String input = s.toString(); |
||||
|
if (!input.isEmpty()) { |
||||
|
try { |
||||
|
int value = Integer.parseInt(input); |
||||
|
// 检查输入值是否在 -50 到 100 范围内
|
||||
|
if (value < 0 || value > 8) { |
||||
|
showToast("请输入 0 到 8 之间的数字"); |
||||
|
// 可以选择清除输入或限制在范围内
|
||||
|
mainBinding.forceSetingTo32.setText(""); |
||||
|
} else { |
||||
|
showToast("输入有效: " + value); |
||||
|
} |
||||
|
} catch (NumberFormatException e) { |
||||
|
showToast("请输入有效的数字"); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
|
||||
|
}); |
||||
|
|
||||
|
mainBinding. ErrMessageBtn.setOnClickListener(new View.OnClickListener() { |
||||
|
@Override |
||||
|
public void onClick(View v) { |
||||
|
popupHelper.RobotErrorListPopUp(this); |
||||
|
} |
||||
|
}); |
||||
|
mainBinding.lineChange.setOnClickListener(new View.OnClickListener() { |
||||
|
@Override |
||||
|
public void onClick(View v) { |
||||
|
if(mainBinding.lineState.getText() == "开启") |
||||
|
{ |
||||
|
mainBinding.lineState.setText("关闭"); |
||||
|
mainBinding.lineOverlay.setVisibility(View.GONE); |
||||
|
} |
||||
|
else{ |
||||
|
mainBinding.lineState.setText("开启"); |
||||
|
mainBinding.lineOverlay.setVisibility(View.VISIBLE); |
||||
|
|
||||
|
} |
||||
|
} |
||||
|
}); |
||||
|
|
||||
|
mainBinding.screenRotate.setOnClickListener(new View.OnClickListener() { |
||||
|
@Override |
||||
|
public void onClick(View v) { |
||||
|
if(0 == screen) |
||||
|
{ |
||||
|
mainBinding.nodePlayerView0.setRotation(180); |
||||
|
// VideoPlayerHelper.startVedio1(mainBinding.nodePlayerView0,nodePlayer0,address0);
|
||||
|
screen = 1; |
||||
|
} |
||||
|
else |
||||
|
{ |
||||
|
/* NodePlayer 播放视频区域*/ |
||||
|
mainBinding.nodePlayerView0.setRotation(0); |
||||
|
screen = 0; |
||||
|
} |
||||
|
} |
||||
|
}); |
||||
|
} |
||||
|
private void showToast(String message) |
||||
|
{ |
||||
|
Toast.makeText(this, message, Toast.LENGTH_SHORT).show(); |
||||
|
} |
||||
|
|
||||
|
private void toggleFullScreen() { |
||||
|
if (!isFullScreen) { |
||||
|
// ---------- 进入全屏 ----------
|
||||
|
isFullScreen = true; |
||||
|
mainBinding.messageRounded.setVisibility(View.GONE); |
||||
|
|
||||
|
// 1. 隐藏状态栏、导航栏
|
||||
|
getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN); |
||||
|
getWindow().getDecorView().setSystemUiVisibility( |
||||
|
View.SYSTEM_UI_FLAG_HIDE_NAVIGATION | |
||||
|
View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY); |
||||
|
|
||||
|
// 2. 播放器铺满整个屏幕
|
||||
|
ViewGroup.LayoutParams params = mainBinding.nodePlayerView0.getLayoutParams(); |
||||
|
params.width = ViewGroup.LayoutParams.MATCH_PARENT; |
||||
|
params.height = ViewGroup.LayoutParams.MATCH_PARENT; |
||||
|
mainBinding.nodePlayerView0.setLayoutParams(params); |
||||
|
|
||||
|
} else { |
||||
|
// ---------- 退出全屏 ----------
|
||||
|
isFullScreen = false; |
||||
|
|
||||
|
mainBinding.messageRounded.setVisibility(View.VISIBLE); |
||||
|
// 1. 恢复状态栏、导航栏
|
||||
|
getWindow().clearFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN); |
||||
|
getWindow().getDecorView().setSystemUiVisibility(View.SYSTEM_UI_FLAG_VISIBLE); |
||||
|
|
||||
|
// 2. 恢复原来的宽高
|
||||
|
mainBinding.nodePlayerView0.setLayoutParams(originalParams); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
protected void onStart() { |
||||
|
super.onStart(); |
||||
|
serialPortHelper.onStart(); |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onStop() { |
||||
|
serialPortHelper.onStop(); |
||||
|
super.onStop(); |
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onResume() { |
||||
|
super.onResume(); |
||||
|
serialPortHelper.onResume(); |
||||
|
|
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onPause() { |
||||
|
serialPortHelper.onPause(); |
||||
|
super.onPause(); |
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
protected void onDestroy() { |
||||
|
super.onDestroy(); |
||||
|
if (timer != null) { |
||||
|
timer.cancel(); |
||||
|
} |
||||
|
} |
||||
|
@Override |
||||
|
public boolean dispatchKeyEvent(KeyEvent event) { |
||||
|
if (event.getAction() == KeyEvent.ACTION_DOWN) { |
||||
|
// 防止View抢焦点
|
||||
|
mainBinding.nodePlayerView0.clearFocus(); |
||||
|
} |
||||
|
return super.dispatchKeyEvent(event); |
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -0,0 +1,823 @@ |
|||||
|
// Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
|
// NO CHECKED-IN PROTOBUF GENCODE
|
||||
|
// source: bsp_Error.proto
|
||||
|
// Protobuf Java Version: 4.27.2
|
||||
|
|
||||
|
package com.example.washing02app.models; |
||||
|
|
||||
|
public final class BspError { |
||||
|
private BspError() {} |
||||
|
static { |
||||
|
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
||||
|
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
||||
|
/* major= */ 4, |
||||
|
/* minor= */ 27, |
||||
|
/* patch= */ 2, |
||||
|
/* suffix= */ "", |
||||
|
BspError.class.getName()); |
||||
|
} |
||||
|
public static void registerAllExtensions( |
||||
|
com.google.protobuf.ExtensionRegistryLite registry) { |
||||
|
} |
||||
|
|
||||
|
public static void registerAllExtensions( |
||||
|
com.google.protobuf.ExtensionRegistry registry) { |
||||
|
registerAllExtensions( |
||||
|
(com.google.protobuf.ExtensionRegistryLite) registry); |
||||
|
} |
||||
|
/** |
||||
|
* Protobuf enum {@code ComError} |
||||
|
*/ |
||||
|
public enum ComError |
||||
|
implements com.google.protobuf.ProtocolMessageEnum { |
||||
|
/** |
||||
|
* <code>MK32_SBus = 0;</code> |
||||
|
*/ |
||||
|
MK32_SBus(0), |
||||
|
/** |
||||
|
* <code>TL720D = 1;</code> |
||||
|
*/ |
||||
|
TL720D(1), |
||||
|
/** |
||||
|
* <code>Ti5_1 = 2;</code> |
||||
|
*/ |
||||
|
Ti5_1(2), |
||||
|
/** |
||||
|
* <code>Ti5_2 = 3;</code> |
||||
|
*/ |
||||
|
Ti5_2(3), |
||||
|
/** |
||||
|
* <code>Ti5_3 = 4;</code> |
||||
|
*/ |
||||
|
Ti5_3(4), |
||||
|
/** |
||||
|
* <code>Ti5_4 = 5;</code> |
||||
|
*/ |
||||
|
Ti5_4(5), |
||||
|
/** |
||||
|
* <code>Ti5_5 = 6;</code> |
||||
|
*/ |
||||
|
Ti5_5(6), |
||||
|
/** |
||||
|
* <code>Ti5_6 = 7;</code> |
||||
|
*/ |
||||
|
Ti5_6(7), |
||||
|
/** |
||||
|
* <code>Remote_Button_Reset_State = 8;</code> |
||||
|
*/ |
||||
|
Remote_Button_Reset_State(8), |
||||
|
UNRECOGNIZED(-1), |
||||
|
; |
||||
|
|
||||
|
static { |
||||
|
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
||||
|
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
||||
|
/* major= */ 4, |
||||
|
/* minor= */ 27, |
||||
|
/* patch= */ 2, |
||||
|
/* suffix= */ "", |
||||
|
ComError.class.getName()); |
||||
|
} |
||||
|
/** |
||||
|
* <code>MK32_SBus = 0;</code> |
||||
|
*/ |
||||
|
public static final int MK32_SBus_VALUE = 0; |
||||
|
/** |
||||
|
* <code>TL720D = 1;</code> |
||||
|
*/ |
||||
|
public static final int TL720D_VALUE = 1; |
||||
|
/** |
||||
|
* <code>Ti5_1 = 2;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_1_VALUE = 2; |
||||
|
/** |
||||
|
* <code>Ti5_2 = 3;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_2_VALUE = 3; |
||||
|
/** |
||||
|
* <code>Ti5_3 = 4;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_3_VALUE = 4; |
||||
|
/** |
||||
|
* <code>Ti5_4 = 5;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_4_VALUE = 5; |
||||
|
/** |
||||
|
* <code>Ti5_5 = 6;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_5_VALUE = 6; |
||||
|
/** |
||||
|
* <code>Ti5_6 = 7;</code> |
||||
|
*/ |
||||
|
public static final int Ti5_6_VALUE = 7; |
||||
|
/** |
||||
|
* <code>Remote_Button_Reset_State = 8;</code> |
||||
|
*/ |
||||
|
public static final int Remote_Button_Reset_State_VALUE = 8; |
||||
|
|
||||
|
|
||||
|
public final int getNumber() { |
||||
|
if (this == UNRECOGNIZED) { |
||||
|
throw new java.lang.IllegalArgumentException( |
||||
|
"Can't get the number of an unknown enum value."); |
||||
|
} |
||||
|
return value; |
||||
|
} |
||||
|
|
||||
|
/** |
||||
|
* @param value The numeric wire value of the corresponding enum entry. |
||||
|
* @return The enum associated with the given numeric wire value. |
||||
|
* @deprecated Use {@link #forNumber(int)} instead. |
||||
|
*/ |
||||
|
@java.lang.Deprecated |
||||
|
public static ComError valueOf(int value) { |
||||
|
return forNumber(value); |
||||
|
} |
||||
|
|
||||
|
/** |
||||
|
* @param value The numeric wire value of the corresponding enum entry. |
||||
|
* @return The enum associated with the given numeric wire value. |
||||
|
*/ |
||||
|
public static ComError forNumber(int value) { |
||||
|
switch (value) { |
||||
|
case 0: return MK32_SBus; |
||||
|
case 1: return TL720D; |
||||
|
case 2: return Ti5_1; |
||||
|
case 3: return Ti5_2; |
||||
|
case 4: return Ti5_3; |
||||
|
case 5: return Ti5_4; |
||||
|
case 6: return Ti5_5; |
||||
|
case 7: return Ti5_6; |
||||
|
case 8: return Remote_Button_Reset_State; |
||||
|
default: return null; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
public static com.google.protobuf.Internal.EnumLiteMap<ComError> |
||||
|
internalGetValueMap() { |
||||
|
return internalValueMap; |
||||
|
} |
||||
|
private static final com.google.protobuf.Internal.EnumLiteMap< |
||||
|
ComError> internalValueMap = |
||||
|
new com.google.protobuf.Internal.EnumLiteMap<ComError>() { |
||||
|
public ComError findValueByNumber(int number) { |
||||
|
return ComError.forNumber(number); |
||||
|
} |
||||
|
}; |
||||
|
|
||||
|
public final com.google.protobuf.Descriptors.EnumValueDescriptor |
||||
|
getValueDescriptor() { |
||||
|
if (this == UNRECOGNIZED) { |
||||
|
throw new java.lang.IllegalStateException( |
||||
|
"Can't get the descriptor of an unrecognized enum value."); |
||||
|
} |
||||
|
return getDescriptor().getValues().get(ordinal()); |
||||
|
} |
||||
|
public final com.google.protobuf.Descriptors.EnumDescriptor |
||||
|
getDescriptorForType() { |
||||
|
return getDescriptor(); |
||||
|
} |
||||
|
public static final com.google.protobuf.Descriptors.EnumDescriptor |
||||
|
getDescriptor() { |
||||
|
return com.example.washing02app.models.BspError.getDescriptor().getEnumTypes().get(0); |
||||
|
} |
||||
|
|
||||
|
private static final ComError[] VALUES = values(); |
||||
|
|
||||
|
public static ComError valueOf( |
||||
|
com.google.protobuf.Descriptors.EnumValueDescriptor desc) { |
||||
|
if (desc.getType() != getDescriptor()) { |
||||
|
throw new java.lang.IllegalArgumentException( |
||||
|
"EnumValueDescriptor is not for this type."); |
||||
|
} |
||||
|
if (desc.getIndex() == -1) { |
||||
|
return UNRECOGNIZED; |
||||
|
} |
||||
|
return VALUES[desc.getIndex()]; |
||||
|
} |
||||
|
|
||||
|
private final int value; |
||||
|
|
||||
|
private ComError(int value) { |
||||
|
this.value = value; |
||||
|
} |
||||
|
|
||||
|
// @@protoc_insertion_point(enum_scope:ComError)
|
||||
|
} |
||||
|
|
||||
|
public interface ErrorDataOrBuilder extends |
||||
|
// @@protoc_insertion_point(interface_extends:ErrorData)
|
||||
|
com.google.protobuf.MessageOrBuilder { |
||||
|
|
||||
|
/** |
||||
|
* <code>int32 Com_Error_Code = 1;</code> |
||||
|
* @return The comErrorCode. |
||||
|
*/ |
||||
|
int getComErrorCode(); |
||||
|
|
||||
|
/** |
||||
|
* <code>int32 Left_Motor_Error_Code = 2;</code> |
||||
|
* @return The leftMotorErrorCode. |
||||
|
*/ |
||||
|
int getLeftMotorErrorCode(); |
||||
|
|
||||
|
/** |
||||
|
* <code>int32 Right_Motor_Error_Code = 3;</code> |
||||
|
* @return The rightMotorErrorCode. |
||||
|
*/ |
||||
|
int getRightMotorErrorCode(); |
||||
|
} |
||||
|
/** |
||||
|
* Protobuf type {@code ErrorData} |
||||
|
*/ |
||||
|
public static final class ErrorData extends |
||||
|
com.google.protobuf.GeneratedMessage implements |
||||
|
// @@protoc_insertion_point(message_implements:ErrorData)
|
||||
|
ErrorDataOrBuilder { |
||||
|
private static final long serialVersionUID = 0L; |
||||
|
static { |
||||
|
com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion( |
||||
|
com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC, |
||||
|
/* major= */ 4, |
||||
|
/* minor= */ 27, |
||||
|
/* patch= */ 2, |
||||
|
/* suffix= */ "", |
||||
|
ErrorData.class.getName()); |
||||
|
} |
||||
|
// Use ErrorData.newBuilder() to construct.
|
||||
|
private ErrorData(com.google.protobuf.GeneratedMessage.Builder<?> builder) { |
||||
|
super(builder); |
||||
|
} |
||||
|
private ErrorData() { |
||||
|
} |
||||
|
|
||||
|
public static final com.google.protobuf.Descriptors.Descriptor |
||||
|
getDescriptor() { |
||||
|
return com.example.washing02app.models.BspError.internal_static_ErrorData_descriptor; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
protected com.google.protobuf.GeneratedMessage.FieldAccessorTable |
||||
|
internalGetFieldAccessorTable() { |
||||
|
return com.example.washing02app.models.BspError.internal_static_ErrorData_fieldAccessorTable |
||||
|
.ensureFieldAccessorsInitialized( |
||||
|
com.example.washing02app.models.BspError.ErrorData.class, com.example.washing02app.models.BspError.ErrorData.Builder.class); |
||||
|
} |
||||
|
|
||||
|
public static final int COM_ERROR_CODE_FIELD_NUMBER = 1; |
||||
|
private int comErrorCode_ = 0; |
||||
|
/** |
||||
|
* <code>int32 Com_Error_Code = 1;</code> |
||||
|
* @return The comErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getComErrorCode() { |
||||
|
return comErrorCode_; |
||||
|
} |
||||
|
|
||||
|
public static final int LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER = 2; |
||||
|
private int leftMotorErrorCode_ = 0; |
||||
|
/** |
||||
|
* <code>int32 Left_Motor_Error_Code = 2;</code> |
||||
|
* @return The leftMotorErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getLeftMotorErrorCode() { |
||||
|
return leftMotorErrorCode_; |
||||
|
} |
||||
|
|
||||
|
public static final int RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER = 3; |
||||
|
private int rightMotorErrorCode_ = 0; |
||||
|
/** |
||||
|
* <code>int32 Right_Motor_Error_Code = 3;</code> |
||||
|
* @return The rightMotorErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getRightMotorErrorCode() { |
||||
|
return rightMotorErrorCode_; |
||||
|
} |
||||
|
|
||||
|
private byte memoizedIsInitialized = -1; |
||||
|
@java.lang.Override |
||||
|
public final boolean isInitialized() { |
||||
|
byte isInitialized = memoizedIsInitialized; |
||||
|
if (isInitialized == 1) return true; |
||||
|
if (isInitialized == 0) return false; |
||||
|
|
||||
|
memoizedIsInitialized = 1; |
||||
|
return true; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public void writeTo(com.google.protobuf.CodedOutputStream output) |
||||
|
throws java.io.IOException { |
||||
|
if (comErrorCode_ != 0) { |
||||
|
output.writeInt32(1, comErrorCode_); |
||||
|
} |
||||
|
if (leftMotorErrorCode_ != 0) { |
||||
|
output.writeInt32(2, leftMotorErrorCode_); |
||||
|
} |
||||
|
if (rightMotorErrorCode_ != 0) { |
||||
|
output.writeInt32(3, rightMotorErrorCode_); |
||||
|
} |
||||
|
getUnknownFields().writeTo(output); |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public int getSerializedSize() { |
||||
|
int size = memoizedSize; |
||||
|
if (size != -1) return size; |
||||
|
|
||||
|
size = 0; |
||||
|
if (comErrorCode_ != 0) { |
||||
|
size += com.google.protobuf.CodedOutputStream |
||||
|
.computeInt32Size(1, comErrorCode_); |
||||
|
} |
||||
|
if (leftMotorErrorCode_ != 0) { |
||||
|
size += com.google.protobuf.CodedOutputStream |
||||
|
.computeInt32Size(2, leftMotorErrorCode_); |
||||
|
} |
||||
|
if (rightMotorErrorCode_ != 0) { |
||||
|
size += com.google.protobuf.CodedOutputStream |
||||
|
.computeInt32Size(3, rightMotorErrorCode_); |
||||
|
} |
||||
|
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.BspError.ErrorData)) { |
||||
|
return super.equals(obj); |
||||
|
} |
||||
|
com.example.washing02app.models.BspError.ErrorData other = (com.example.washing02app.models.BspError.ErrorData) obj; |
||||
|
|
||||
|
if (getComErrorCode() |
||||
|
!= other.getComErrorCode()) return false; |
||||
|
if (getLeftMotorErrorCode() |
||||
|
!= other.getLeftMotorErrorCode()) return false; |
||||
|
if (getRightMotorErrorCode() |
||||
|
!= other.getRightMotorErrorCode()) 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) + COM_ERROR_CODE_FIELD_NUMBER; |
||||
|
hash = (53 * hash) + getComErrorCode(); |
||||
|
hash = (37 * hash) + LEFT_MOTOR_ERROR_CODE_FIELD_NUMBER; |
||||
|
hash = (53 * hash) + getLeftMotorErrorCode(); |
||||
|
hash = (37 * hash) + RIGHT_MOTOR_ERROR_CODE_FIELD_NUMBER; |
||||
|
hash = (53 * hash) + getRightMotorErrorCode(); |
||||
|
hash = (29 * hash) + getUnknownFields().hashCode(); |
||||
|
memoizedHashCode = hash; |
||||
|
return hash; |
||||
|
} |
||||
|
|
||||
|
public static com.example.washing02app.models.BspError.ErrorData parseFrom( |
||||
|
java.nio.ByteBuffer data) |
||||
|
throws com.google.protobuf.InvalidProtocolBufferException { |
||||
|
return PARSER.parseFrom(data); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData 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.BspError.ErrorData parseFrom( |
||||
|
com.google.protobuf.ByteString data) |
||||
|
throws com.google.protobuf.InvalidProtocolBufferException { |
||||
|
return PARSER.parseFrom(data); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData 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.BspError.ErrorData parseFrom(byte[] data) |
||||
|
throws com.google.protobuf.InvalidProtocolBufferException { |
||||
|
return PARSER.parseFrom(data); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData parseFrom( |
||||
|
byte[] data, |
||||
|
com.google.protobuf.ExtensionRegistryLite extensionRegistry) |
||||
|
throws com.google.protobuf.InvalidProtocolBufferException { |
||||
|
return PARSER.parseFrom(data, extensionRegistry); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData parseFrom(java.io.InputStream input) |
||||
|
throws java.io.IOException { |
||||
|
return com.google.protobuf.GeneratedMessage |
||||
|
.parseWithIOException(PARSER, input); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData 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.BspError.ErrorData parseDelimitedFrom(java.io.InputStream input) |
||||
|
throws java.io.IOException { |
||||
|
return com.google.protobuf.GeneratedMessage |
||||
|
.parseDelimitedWithIOException(PARSER, input); |
||||
|
} |
||||
|
|
||||
|
public static com.example.washing02app.models.BspError.ErrorData 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.BspError.ErrorData parseFrom( |
||||
|
com.google.protobuf.CodedInputStream input) |
||||
|
throws java.io.IOException { |
||||
|
return com.google.protobuf.GeneratedMessage |
||||
|
.parseWithIOException(PARSER, input); |
||||
|
} |
||||
|
public static com.example.washing02app.models.BspError.ErrorData 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.BspError.ErrorData 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 ErrorData} |
||||
|
*/ |
||||
|
public static final class Builder extends |
||||
|
com.google.protobuf.GeneratedMessage.Builder<Builder> implements |
||||
|
// @@protoc_insertion_point(builder_implements:ErrorData)
|
||||
|
com.example.washing02app.models.BspError.ErrorDataOrBuilder { |
||||
|
public static final com.google.protobuf.Descriptors.Descriptor |
||||
|
getDescriptor() { |
||||
|
return com.example.washing02app.models.BspError.internal_static_ErrorData_descriptor; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
protected com.google.protobuf.GeneratedMessage.FieldAccessorTable |
||||
|
internalGetFieldAccessorTable() { |
||||
|
return com.example.washing02app.models.BspError.internal_static_ErrorData_fieldAccessorTable |
||||
|
.ensureFieldAccessorsInitialized( |
||||
|
com.example.washing02app.models.BspError.ErrorData.class, com.example.washing02app.models.BspError.ErrorData.Builder.class); |
||||
|
} |
||||
|
|
||||
|
// Construct using com.example.washing02app.models.BspError.ErrorData.newBuilder()
|
||||
|
private Builder() { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
private Builder( |
||||
|
com.google.protobuf.GeneratedMessage.BuilderParent parent) { |
||||
|
super(parent); |
||||
|
|
||||
|
} |
||||
|
@java.lang.Override |
||||
|
public Builder clear() { |
||||
|
super.clear(); |
||||
|
bitField0_ = 0; |
||||
|
comErrorCode_ = 0; |
||||
|
leftMotorErrorCode_ = 0; |
||||
|
rightMotorErrorCode_ = 0; |
||||
|
return this; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.google.protobuf.Descriptors.Descriptor |
||||
|
getDescriptorForType() { |
||||
|
return com.example.washing02app.models.BspError.internal_static_ErrorData_descriptor; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.example.washing02app.models.BspError.ErrorData getDefaultInstanceForType() { |
||||
|
return com.example.washing02app.models.BspError.ErrorData.getDefaultInstance(); |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.example.washing02app.models.BspError.ErrorData build() { |
||||
|
com.example.washing02app.models.BspError.ErrorData result = buildPartial(); |
||||
|
if (!result.isInitialized()) { |
||||
|
throw newUninitializedMessageException(result); |
||||
|
} |
||||
|
return result; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.example.washing02app.models.BspError.ErrorData buildPartial() { |
||||
|
com.example.washing02app.models.BspError.ErrorData result = new com.example.washing02app.models.BspError.ErrorData(this); |
||||
|
if (bitField0_ != 0) { buildPartial0(result); } |
||||
|
onBuilt(); |
||||
|
return result; |
||||
|
} |
||||
|
|
||||
|
private void buildPartial0(com.example.washing02app.models.BspError.ErrorData result) { |
||||
|
int from_bitField0_ = bitField0_; |
||||
|
if (((from_bitField0_ & 0x00000001) != 0)) { |
||||
|
result.comErrorCode_ = comErrorCode_; |
||||
|
} |
||||
|
if (((from_bitField0_ & 0x00000002) != 0)) { |
||||
|
result.leftMotorErrorCode_ = leftMotorErrorCode_; |
||||
|
} |
||||
|
if (((from_bitField0_ & 0x00000004) != 0)) { |
||||
|
result.rightMotorErrorCode_ = rightMotorErrorCode_; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public Builder mergeFrom(com.google.protobuf.Message other) { |
||||
|
if (other instanceof com.example.washing02app.models.BspError.ErrorData) { |
||||
|
return mergeFrom((com.example.washing02app.models.BspError.ErrorData)other); |
||||
|
} else { |
||||
|
super.mergeFrom(other); |
||||
|
return this; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
public Builder mergeFrom(com.example.washing02app.models.BspError.ErrorData other) { |
||||
|
if (other == com.example.washing02app.models.BspError.ErrorData.getDefaultInstance()) return this; |
||||
|
if (other.getComErrorCode() != 0) { |
||||
|
setComErrorCode(other.getComErrorCode()); |
||||
|
} |
||||
|
if (other.getLeftMotorErrorCode() != 0) { |
||||
|
setLeftMotorErrorCode(other.getLeftMotorErrorCode()); |
||||
|
} |
||||
|
if (other.getRightMotorErrorCode() != 0) { |
||||
|
setRightMotorErrorCode(other.getRightMotorErrorCode()); |
||||
|
} |
||||
|
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: { |
||||
|
comErrorCode_ = input.readInt32(); |
||||
|
bitField0_ |= 0x00000001; |
||||
|
break; |
||||
|
} // case 8
|
||||
|
case 16: { |
||||
|
leftMotorErrorCode_ = input.readInt32(); |
||||
|
bitField0_ |= 0x00000002; |
||||
|
break; |
||||
|
} // case 16
|
||||
|
case 24: { |
||||
|
rightMotorErrorCode_ = input.readInt32(); |
||||
|
bitField0_ |= 0x00000004; |
||||
|
break; |
||||
|
} // case 24
|
||||
|
default: { |
||||
|
if (!super.parseUnknownField(input, extensionRegistry, tag)) { |
||||
|
done = true; // was an endgroup tag
|
||||
|
} |
||||
|
break; |
||||
|
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|
||||
|
} // switch (tag)
|
||||
|
} // while (!done)
|
||||
|
} catch (com.google.protobuf.InvalidProtocolBufferException e) { |
||||
|
throw e.unwrapIOException(); |
||||
|
} finally { |
||||
|
onChanged(); |
||||
|
} // finally
|
||||
|
return this; |
||||
|
} |
||||
|
private int bitField0_; |
||||
|
|
||||
|
private int comErrorCode_ ; |
||||
|
/** |
||||
|
* <code>int32 Com_Error_Code = 1;</code> |
||||
|
* @return The comErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getComErrorCode() { |
||||
|
return comErrorCode_; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Com_Error_Code = 1;</code> |
||||
|
* @param value The comErrorCode to set. |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder setComErrorCode(int value) { |
||||
|
|
||||
|
comErrorCode_ = value; |
||||
|
bitField0_ |= 0x00000001; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Com_Error_Code = 1;</code> |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder clearComErrorCode() { |
||||
|
bitField0_ = (bitField0_ & ~0x00000001); |
||||
|
comErrorCode_ = 0; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
|
||||
|
private int leftMotorErrorCode_ ; |
||||
|
/** |
||||
|
* <code>int32 Left_Motor_Error_Code = 2;</code> |
||||
|
* @return The leftMotorErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getLeftMotorErrorCode() { |
||||
|
return leftMotorErrorCode_; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Left_Motor_Error_Code = 2;</code> |
||||
|
* @param value The leftMotorErrorCode to set. |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder setLeftMotorErrorCode(int value) { |
||||
|
|
||||
|
leftMotorErrorCode_ = value; |
||||
|
bitField0_ |= 0x00000002; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Left_Motor_Error_Code = 2;</code> |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder clearLeftMotorErrorCode() { |
||||
|
bitField0_ = (bitField0_ & ~0x00000002); |
||||
|
leftMotorErrorCode_ = 0; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
|
||||
|
private int rightMotorErrorCode_ ; |
||||
|
/** |
||||
|
* <code>int32 Right_Motor_Error_Code = 3;</code> |
||||
|
* @return The rightMotorErrorCode. |
||||
|
*/ |
||||
|
@java.lang.Override |
||||
|
public int getRightMotorErrorCode() { |
||||
|
return rightMotorErrorCode_; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Right_Motor_Error_Code = 3;</code> |
||||
|
* @param value The rightMotorErrorCode to set. |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder setRightMotorErrorCode(int value) { |
||||
|
|
||||
|
rightMotorErrorCode_ = value; |
||||
|
bitField0_ |= 0x00000004; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
/** |
||||
|
* <code>int32 Right_Motor_Error_Code = 3;</code> |
||||
|
* @return This builder for chaining. |
||||
|
*/ |
||||
|
public Builder clearRightMotorErrorCode() { |
||||
|
bitField0_ = (bitField0_ & ~0x00000004); |
||||
|
rightMotorErrorCode_ = 0; |
||||
|
onChanged(); |
||||
|
return this; |
||||
|
} |
||||
|
|
||||
|
// @@protoc_insertion_point(builder_scope:ErrorData)
|
||||
|
} |
||||
|
|
||||
|
// @@protoc_insertion_point(class_scope:ErrorData)
|
||||
|
private static final com.example.washing02app.models.BspError.ErrorData DEFAULT_INSTANCE; |
||||
|
static { |
||||
|
DEFAULT_INSTANCE = new com.example.washing02app.models.BspError.ErrorData(); |
||||
|
} |
||||
|
|
||||
|
public static com.example.washing02app.models.BspError.ErrorData getDefaultInstance() { |
||||
|
return DEFAULT_INSTANCE; |
||||
|
} |
||||
|
|
||||
|
private static final com.google.protobuf.Parser<ErrorData> |
||||
|
PARSER = new com.google.protobuf.AbstractParser<ErrorData>() { |
||||
|
@java.lang.Override |
||||
|
public ErrorData 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<ErrorData> parser() { |
||||
|
return PARSER; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.google.protobuf.Parser<ErrorData> getParserForType() { |
||||
|
return PARSER; |
||||
|
} |
||||
|
|
||||
|
@java.lang.Override |
||||
|
public com.example.washing02app.models.BspError.ErrorData getDefaultInstanceForType() { |
||||
|
return DEFAULT_INSTANCE; |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
|
||||
|
private static final com.google.protobuf.Descriptors.Descriptor |
||||
|
internal_static_ErrorData_descriptor; |
||||
|
private static final |
||||
|
com.google.protobuf.GeneratedMessage.FieldAccessorTable |
||||
|
internal_static_ErrorData_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\017bsp_Error.proto\"b\n\tErrorData\022\026\n\016Com_Er" + |
||||
|
"ror_Code\030\001 \001(\005\022\035\n\025Left_Motor_Error_Code\030" + |
||||
|
"\002 \001(\005\022\036\n\026Right_Motor_Error_Code\030\003 \001(\005*\206\001" + |
||||
|
"\n\010ComError\022\r\n\tMK32_SBus\020\000\022\n\n\006TL720D\020\001\022\t\n" + |
||||
|
"\005Ti5_1\020\002\022\t\n\005Ti5_2\020\003\022\t\n\005Ti5_3\020\004\022\t\n\005Ti5_4\020" + |
||||
|
"\005\022\t\n\005Ti5_5\020\006\022\t\n\005Ti5_6\020\007\022\035\n\031Remote_Button" + |
||||
|
"_Reset_State\020\010B#\n\037com.example.washing02a" + |
||||
|
"pp.modelsP\000b\006proto3" |
||||
|
}; |
||||
|
descriptor = com.google.protobuf.Descriptors.FileDescriptor |
||||
|
.internalBuildGeneratedFileFrom(descriptorData, |
||||
|
new com.google.protobuf.Descriptors.FileDescriptor[] { |
||||
|
}); |
||||
|
internal_static_ErrorData_descriptor = |
||||
|
getDescriptor().getMessageTypes().get(0); |
||||
|
internal_static_ErrorData_fieldAccessorTable = new |
||||
|
com.google.protobuf.GeneratedMessage.FieldAccessorTable( |
||||
|
internal_static_ErrorData_descriptor, |
||||
|
new java.lang.String[] { "ComErrorCode", "LeftMotorErrorCode", "RightMotorErrorCode", }); |
||||
|
descriptor.resolveAllFeaturesImmutable(); |
||||
|
} |
||||
|
|
||||
|
// @@protoc_insertion_point(outer_class_scope)
|
||||
|
} |
||||
File diff suppressed because it is too large
File diff suppressed because it is too large
@ -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; |
||||
|
} |
||||
|
} |
||||
@ -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; |
||||
|
} |
||||
|
|
||||
|
|
||||
|
} |
||||
@ -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; |
||||
|
} |
||||
|
} |
||||
@ -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; |
||||
|
} |
||||
|
} |
||||
|
} |
||||
@ -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(); |
||||
|
} |
||||
|
} |
||||
@ -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); |
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -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
|
||||
|
} |
||||
|
} |
||||
@ -0,0 +1,58 @@ |
|||||
|
package com.example.washing02app.services; |
||||
|
import com.example.washing02app.models.BspError; |
||||
|
|
||||
|
public class ErrorDeocdeHelper { |
||||
|
|
||||
|
//private static Map<String, Integer> 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; |
||||
|
} |
||||
|
|
||||
|
|
||||
|
|
||||
|
} |
||||
@ -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(); |
||||
|
} |
||||
|
} |
||||
@ -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); |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
|
||||
@ -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; |
||||
|
} |
||||
|
} |
||||
@ -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<ErrorModel> 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<DisplayPV> list = getDisplayData(i); |
||||
|
if (list.isEmpty()) { |
||||
|
DisplayPV pv = new DisplayPV(i, 1, 0); |
||||
|
addOrUpdateDisplayData(pv); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
|
||||
|
public List<DisplayPV> getDisplayData(int id) { |
||||
|
List<DisplayPV> 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<ErrorModel> GetAllErrorModels() { |
||||
|
List<ErrorModel> 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; |
||||
|
|
||||
|
} |
||||
|
|
||||
|
|
||||
|
} |
||||
@ -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<ErrorModel> 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
|
||||
|
} |
||||
|
|
||||
|
|
||||
|
|
||||
|
} |
||||
@ -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); |
||||
|
} |
||||
|
} |
||||
|
} |
||||
@ -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); |
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -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(); |
||||
|
} |
||||
|
|
||||
|
} |
||||
|
} |
||||
@ -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(); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -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"; |
||||
|
|
||||
|
|
||||
|
// <usb-device vendor-id="4292" product-id="60000" /> <!-- 0xea60: CP2102 and other CP210x single port devices -->
|
||||
|
// <usb-device vendor-id="4292" product-id="60016" /> <!-- 0xea70: CP2105 -->
|
||||
|
// <usb-device vendor-id="4292" product-id="60017" /> <!-- 0xea71: CP2108 -->
|
||||
|
|
||||
|
|
||||
|
private int deviceId = 60000; |
||||
|
private int deviceId_test = 60000; |
||||
|
private int portNum; |
||||
|
private final int 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<Byte>(); |
||||
|
} |
||||
|
|
||||
|
/* |
||||
|
* Serial |
||||
|
*/ |
||||
|
@Override |
||||
|
public void onNewData(byte[] data) { |
||||
|
status("new data"); |
||||
|
mainLooper.post(() -> { |
||||
|
receive(data); |
||||
|
// receive data
|
||||
|
}); |
||||
|
} |
||||
|
|
||||
|
@Override |
||||
|
public void onRunError(Exception e) { |
||||
|
mainLooper.post(() -> { |
||||
|
status("connection lost: " + e.getMessage()); |
||||
|
disconnect(); |
||||
|
}); |
||||
|
} |
||||
|
|
||||
|
/* |
||||
|
* Serial + UI |
||||
|
*/ |
||||
|
|
||||
|
public void connect() { |
||||
|
|
||||
|
UsbDevice device = null; |
||||
|
UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE); |
||||
|
for (UsbDevice v : usbManager.getDeviceList().values()) { |
||||
|
status(v.getManufacturerName().toUpperCase()); |
||||
|
if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) { |
||||
|
device = v; |
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
if (device == null) { |
||||
|
// _serialPortSwitch.setChecked(false);
|
||||
|
|
||||
|
status("找不到设备"); |
||||
|
return; |
||||
|
} |
||||
|
UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device); |
||||
|
if (driver == null) { |
||||
|
driver = CustomProber.getCustomProber().probeDevice(device); |
||||
|
} |
||||
|
if (driver == null) { |
||||
|
// _serialPortSwitch.setChecked(false);
|
||||
|
status("无驱动"); |
||||
|
return; |
||||
|
} |
||||
|
if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
|
||||
|
{ |
||||
|
status("connection failed: not enough ports at device"); |
||||
|
status("找不到设备"); |
||||
|
return; |
||||
|
} |
||||
|
usbSerialPort = driver.getPorts().get(portNum); |
||||
|
|
||||
|
UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice()); |
||||
|
if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) { |
||||
|
usbPermission = UsbPermission.Requested; |
||||
|
int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0; |
||||
|
Intent intent = new Intent(INTENT_ACTION_GRANT_USB); |
||||
|
intent.setPackage(MainActivity.getPackageName()); |
||||
|
PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags); |
||||
|
usbManager.requestPermission(driver.getDevice(), usbPermissionIntent); |
||||
|
return; |
||||
|
} |
||||
|
if (usbConnection == null) { |
||||
|
if (!usbManager.hasPermission(driver.getDevice())) { |
||||
|
status("connection failed: permission denied"); |
||||
|
} else { |
||||
|
status("connection failed: open failed"); |
||||
|
} |
||||
|
|
||||
|
return; |
||||
|
} |
||||
|
|
||||
|
try { |
||||
|
usbSerialPort.open(usbConnection); |
||||
|
try { |
||||
|
usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE); |
||||
|
status("connected: "); |
||||
|
|
||||
|
} catch (UnsupportedOperationException e) { |
||||
|
status("unsupport setparameters"); |
||||
|
} |
||||
|
if (withIoManager) { |
||||
|
usbIoManager = new SerialInputOutputManager(usbSerialPort, this); |
||||
|
usbIoManager.setReadBufferSize(40960); |
||||
|
usbIoManager.setReadTimeout(READ_WAIT_MILLIS); |
||||
|
usbIoManager.start(); |
||||
|
} |
||||
|
//status("connected");
|
||||
|
connected = true; |
||||
|
// _serialPortSwitch.setChecked(true);
|
||||
|
//switch set true
|
||||
|
|
||||
|
} catch (Exception e) { |
||||
|
status("connection failed: " + e.getMessage()); |
||||
|
disconnect(); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
private void disconnect() { |
||||
|
connected = false; |
||||
|
|
||||
|
if (usbIoManager != null) { |
||||
|
usbIoManager.setListener(null); |
||||
|
usbIoManager.stop(); |
||||
|
} |
||||
|
usbIoManager = null; |
||||
|
try { |
||||
|
usbSerialPort.close(); |
||||
|
} catch (IOException ignored) { |
||||
|
|
||||
|
} |
||||
|
usbSerialPort = null; |
||||
|
} |
||||
|
|
||||
|
List<Byte> _receiveBufferlist; |
||||
|
|
||||
|
private static byte[] listTobyte(List<Byte> list) { |
||||
|
if (list == null || list.size() < 0) return null; |
||||
|
byte[] bytes = new byte[list.size()]; |
||||
|
int i = 0; |
||||
|
Iterator<Byte> iterator = list.iterator(); |
||||
|
while (iterator.hasNext()) { |
||||
|
bytes[i] = iterator.next(); |
||||
|
i++; |
||||
|
} |
||||
|
return bytes; |
||||
|
} |
||||
|
|
||||
|
boolean StartCountDown = false; |
||||
|
|
||||
|
// byte _receivedData
|
||||
|
private void receive(byte[] data) { |
||||
|
|
||||
|
// status("read data");
|
||||
|
for (int i = 0; i < data.length; i++) { |
||||
|
_receiveBufferlist.add(data[i]); |
||||
|
} |
||||
|
|
||||
|
//decodeRceive(data);
|
||||
|
if (!StartCountDown)//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"); |
||||
|
|
||||
|
} |
||||
|
|
||||
|
|
||||
|
|
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -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(); |
||||
|
} |
||||
|
} |
||||
|
|
||||
@ -0,0 +1,11 @@ |
|||||
|
package com.example.washing02app.viewmodels; |
||||
|
|
||||
|
import androidx.lifecycle.ViewModel; |
||||
|
|
||||
|
public class MainViewModel extends ViewModel { |
||||
|
|
||||
|
public MainViewModel() { |
||||
|
|
||||
|
} |
||||
|
|
||||
|
} |
||||
@ -0,0 +1,2 @@ |
|||||
|
protoc --java_out . *.proto |
||||
|
pause |
||||
Binary file not shown.
Binary file not shown.
@ -0,0 +1,25 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="@color/gainsboro" />--> |
||||
|
<solid android:color="#f2f3f4" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/deepskyblue" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="8dp" |
||||
|
android:bottomRightRadius="8dp" |
||||
|
android:topLeftRadius="8dp" |
||||
|
android:topRightRadius="8dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
|
After Width: | Height: | Size: 20 KiB |
|
After Width: | Height: | Size: 162 KiB |
|
After Width: | Height: | Size: 6.7 KiB |
@ -0,0 +1,25 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="@color/white" />--> |
||||
|
<solid android:color="#d6eaf8" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/deepskyblue" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="8dp" |
||||
|
android:bottomRightRadius="8dp" |
||||
|
android:topLeftRadius="8dp" |
||||
|
android:topRightRadius="8dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
@ -0,0 +1,10 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" > |
||||
|
|
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke android:width="4px" android:color="#ffffff"/> |
||||
|
<!-- 渐变 --> |
||||
|
|
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,31 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="##deebf7" />--> |
||||
|
<solid android:color="#d6eaf8" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
|
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/deepskyblue" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="5dp" |
||||
|
android:bottomRightRadius="5dp" |
||||
|
android:topLeftRadius="5dp" |
||||
|
android:topRightRadius="5dp" /> |
||||
|
|
||||
|
<!-- <corners--> |
||||
|
<!-- android:bottomLeftRadius="10px"--> |
||||
|
<!-- android:bottomRightRadius="10px"--> |
||||
|
<!-- android:topLeftRadius="10px"--> |
||||
|
<!-- android:topRightRadius="10px" />--> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,34 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="#87CEEB" />--> |
||||
|
|
||||
|
<!-- <!– 设置一个黑色边框 –>--> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/green" />--> |
||||
|
<!-- <!– 设置四个圆角的半径 –>--> |
||||
|
<!-- <corners--> |
||||
|
<!-- android:bottomLeftRadius="5dp"--> |
||||
|
<!-- android:bottomRightRadius="5dp"--> |
||||
|
<!-- android:topLeftRadius="5dp"--> |
||||
|
<!-- android:topRightRadius="5dp" />--> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke |
||||
|
android:width="4px" |
||||
|
android:color="#6efe00" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="10px" |
||||
|
android:bottomRightRadius="10px" |
||||
|
android:topLeftRadius="10px" |
||||
|
android:topRightRadius="10px" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,31 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="##deebf7" />--> |
||||
|
<solid android:color="@color/white" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
|
||||
|
<stroke |
||||
|
android:width="4px" |
||||
|
android:color="@color/grey" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="5dp" |
||||
|
android:bottomRightRadius="5dp" |
||||
|
android:topLeftRadius="5dp" |
||||
|
android:topRightRadius="5dp" /> |
||||
|
|
||||
|
<!-- <corners--> |
||||
|
<!-- android:bottomLeftRadius="10px"--> |
||||
|
<!-- android:bottomRightRadius="10px"--> |
||||
|
<!-- android:topLeftRadius="10px"--> |
||||
|
<!-- android:topRightRadius="10px" />--> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<solid android:color="#f6ddcc" /> |
||||
|
|
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="#ed7041" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="5dp" |
||||
|
android:bottomRightRadius="5dp" |
||||
|
android:topLeftRadius="5dp" |
||||
|
android:topRightRadius="5dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="#87CEEB" />--> |
||||
|
|
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke |
||||
|
android:width="4px" |
||||
|
android:color="@color/green" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="5dp" |
||||
|
android:bottomRightRadius="5dp" |
||||
|
android:topLeftRadius="5dp" |
||||
|
android:topRightRadius="5dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="#87CEEB" />--> |
||||
|
|
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke |
||||
|
android:width="2px" |
||||
|
android:color="#ffffff" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="10px" |
||||
|
android:bottomRightRadius="10px" |
||||
|
android:topLeftRadius="10px" |
||||
|
android:topRightRadius="10px" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<solid android:color="#00ffffff" /> |
||||
|
|
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke |
||||
|
android:width="16px" |
||||
|
android:color="#ffffff" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="10px" |
||||
|
android:bottomRightRadius="10px" |
||||
|
android:topLeftRadius="10px" |
||||
|
android:topRightRadius="10px" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,14 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="line"> |
||||
|
<stroke |
||||
|
android:color="#ffffff" |
||||
|
android:dashWidth="10dp" |
||||
|
/> |
||||
|
<!--width：线条的高度 |
||||
|
color：颜色 |
||||
|
android:dashGap="8dp" |
||||
|
dashWidth：破折线的宽度 |
||||
|
dashGap：破折线间空隙的宽度 |
||||
|
如果这里设置了width，xml中android:layout_height的值必须比它大。不设置就默认为0 |
||||
|
--> |
||||
|
</shape> |
||||
@ -0,0 +1,170 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<vector xmlns:android="http://schemas.android.com/apk/res/android" |
||||
|
android:width="108dp" |
||||
|
android:height="108dp" |
||||
|
android:viewportWidth="108" |
||||
|
android:viewportHeight="108"> |
||||
|
<path |
||||
|
android:fillColor="#3DDC84" |
||||
|
android:pathData="M0,0h108v108h-108z" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M9,0L9,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,0L19,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M29,0L29,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M39,0L39,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M49,0L49,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M59,0L59,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M69,0L69,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M79,0L79,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M89,0L89,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M99,0L99,108" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,9L108,9" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,19L108,19" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,29L108,29" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,39L108,39" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,49L108,49" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,59L108,59" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,69L108,69" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,79L108,79" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,89L108,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M0,99L108,99" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,29L89,29" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,39L89,39" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,49L89,49" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,59L89,59" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,69L89,69" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M19,79L89,79" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M29,19L29,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M39,19L39,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M49,19L49,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M59,19L59,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M69,19L69,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
<path |
||||
|
android:fillColor="#00000000" |
||||
|
android:pathData="M79,19L79,89" |
||||
|
android:strokeWidth="0.8" |
||||
|
android:strokeColor="#33FFFFFF" /> |
||||
|
</vector> |
||||
@ -0,0 +1,30 @@ |
|||||
|
<vector xmlns:android="http://schemas.android.com/apk/res/android" |
||||
|
xmlns:aapt="http://schemas.android.com/aapt" |
||||
|
android:width="108dp" |
||||
|
android:height="108dp" |
||||
|
android:viewportWidth="108" |
||||
|
android:viewportHeight="108"> |
||||
|
<path android:pathData="M31,63.928c0,0 6.4,-11 12.1,-13.1c7.2,-2.6 26,-1.4 26,-1.4l38.1,38.1L107,108.928l-32,-1L31,63.928z"> |
||||
|
<aapt:attr name="android:fillColor"> |
||||
|
<gradient |
||||
|
android:endX="85.84757" |
||||
|
android:endY="92.4963" |
||||
|
android:startX="42.9492" |
||||
|
android:startY="49.59793" |
||||
|
android:type="linear"> |
||||
|
<item |
||||
|
android:color="#44000000" |
||||
|
android:offset="0.0" /> |
||||
|
<item |
||||
|
android:color="#00000000" |
||||
|
android:offset="1.0" /> |
||||
|
</gradient> |
||||
|
</aapt:attr> |
||||
|
</path> |
||||
|
<path |
||||
|
android:fillColor="#FFFFFF" |
||||
|
android:fillType="nonZero" |
||||
|
android:pathData="M65.3,45.828l3.8,-6.6c0.2,-0.4 0.1,-0.9 -0.3,-1.1c-0.4,-0.2 -0.9,-0.1 -1.1,0.3l-3.9,6.7c-6.3,-2.8 -13.4,-2.8 -19.7,0l-3.9,-6.7c-0.2,-0.4 -0.7,-0.5 -1.1,-0.3C38.8,38.328 38.7,38.828 38.9,39.228l3.8,6.6C36.2,49.428 31.7,56.028 31,63.928h46C76.3,56.028 71.8,49.428 65.3,45.828zM43.4,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2c-0.3,-0.7 -0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C45.3,56.528 44.5,57.328 43.4,57.328L43.4,57.328zM64.6,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2s-0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C66.5,56.528 65.6,57.328 64.6,57.328L64.6,57.328z" |
||||
|
android:strokeWidth="1" |
||||
|
android:strokeColor="#00000000" /> |
||||
|
</vector> |
||||
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<solid android:color="#f6ddcc" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="15dp" |
||||
|
android:bottomRightRadius="15dp" |
||||
|
android:topLeftRadius="15dp" |
||||
|
android:topRightRadius="15dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
@ -0,0 +1,26 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
|
||||
|
<!-- <solid android:color="#F44336" />--> |
||||
|
<solid android:color="#FF0000" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="8dp" |
||||
|
android:bottomRightRadius="8dp" |
||||
|
android:topLeftRadius="8dp" |
||||
|
android:topRightRadius="8dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
@ -0,0 +1,26 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="@color/white" />--> |
||||
|
<!-- <solid android:color="#c5e1a5" />--> |
||||
|
<solid android:color="#FBD6D6 " /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke--> |
||||
|
<!-- android:width="4px"--> |
||||
|
<!-- android:color="@color/deepskyblue" />--> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="8dp" |
||||
|
android:bottomRightRadius="8dp" |
||||
|
android:topLeftRadius="8dp" |
||||
|
android:topRightRadius="8dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
@ -0,0 +1,12 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle"> |
||||
|
|
||||
|
<solid android:color="#d6eaf8" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke android:width="4px" android:color="@color/deepskyblue"/>--> |
||||
|
<corners android:radius="5dp" /> |
||||
|
<!-- 渐变 --> |
||||
|
|
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,8 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
|
||||
|
<selector xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
<item android:color="@color/grey" |
||||
|
android:state_checked="false" /> |
||||
|
<item android:color="@color/deepskyblue" |
||||
|
android:state_checked="true" /> |
||||
|
</selector> |
||||
@ -0,0 +1,11 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" |
||||
|
android:shape="rectangle"> |
||||
|
<!-- 填充 --> |
||||
|
<!-- <solid android:color="@color/gainsboro" />--> |
||||
|
<solid android:color="#eaeded" /> |
||||
|
|
||||
|
<!-- <stroke android:width="4px" android:color="@color/grey"/>--> |
||||
|
<!-- 圆角 --> |
||||
|
<corners android:radius="5dp" /> |
||||
|
</shape> |
||||
@ -0,0 +1,5 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<selector xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
<item android:state_checked="true" android:drawable="@drawable/radio_button_selected" /> |
||||
|
<item android:state_checked="false" android:drawable="@drawable/radio_button_unselected" /> |
||||
|
</selector> |
||||
@ -0,0 +1,11 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" |
||||
|
android:shape="rectangle"> |
||||
|
<!-- 填充 --> |
||||
|
<!-- <solid android:color="@color/gainsboro" />--> |
||||
|
<solid android:color="#eaeded" /> |
||||
|
|
||||
|
<!-- <stroke android:width="4px" android:color="@color/grey"/>--> |
||||
|
<!-- 圆角 --> |
||||
|
<corners android:radius="5dp" /> |
||||
|
</shape> |
||||
@ -0,0 +1,12 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle"> |
||||
|
|
||||
|
<solid android:color="#FFFF00" /> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<!-- <stroke android:width="4px" android:color="@color/deepskyblue"/>--> |
||||
|
<corners android:radius="5dp" /> |
||||
|
<!-- 渐变 --> |
||||
|
|
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
|
||||
|
</shape> |
||||
@ -0,0 +1,28 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
|
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
<!-- 设置Editext的形状--> |
||||
|
|
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<!-- <solid android:color="#87CEEB" />--> |
||||
|
|
||||
|
<!-- 设置一个自定义颜色边框 --> |
||||
|
<stroke |
||||
|
android:width="1px" |
||||
|
android:color="@color/trasnparent" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="10px" |
||||
|
android:bottomRightRadius="10px" |
||||
|
android:topLeftRadius="10px" |
||||
|
android:topRightRadius="10px" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
|
||||
|
After Width: | Height: | Size: 85 KiB |
|
After Width: | Height: | Size: 75 KiB |
@ -0,0 +1,24 @@ |
|||||
|
<?xml version="1.0" encoding="utf-8"?> |
||||
|
<shape xmlns:android="http://schemas.android.com/apk/res/android"> |
||||
|
|
||||
|
<!-- 设置透明背景色 --> |
||||
|
<solid android:color="@color/white" /> |
||||
|
<!-- <solid android:color="#d6eaf8" />--> |
||||
|
<!-- 设置一个黑色边框 --> |
||||
|
<stroke |
||||
|
android:width="2px" |
||||
|
android:color="@color/deepskyblue" /> |
||||
|
<!-- 设置四个圆角的半径 --> |
||||
|
<corners |
||||
|
android:bottomLeftRadius="2dp" |
||||
|
android:bottomRightRadius="2dp" |
||||
|
android:topLeftRadius="2dp" |
||||
|
android:topRightRadius="2dp" /> |
||||
|
<!-- 设置一下边距,让空间大一点 --> |
||||
|
<!-- <padding--> |
||||
|
<!-- android:bottom="5dp"--> |
||||
|
<!-- android:left="5dp"--> |
||||
|
<!-- android:right="5dp"--> |
||||
|
<!-- android:top="5dp" />--> |
||||
|
|
||||
|
</shape> |
||||
|
After Width: | Height: | Size: 5.2 KiB |
|
After Width: | Height: | Size: 14 KiB |
Binary file not shown.
@ -0,0 +1,608 @@ |
|||||
|
<layout |
||||
|
|
||||
|
xmlns:android="http://schemas.android.com/apk/res/android" |
||||
|
xmlns:tools="http://schemas.android.com/tools" |
||||
|
tools:context=".MainActivity"> |
||||
|
|
||||
|
<!--根布局--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:background="@drawable/background" |
||||
|
android:orientation="vertical"> |
||||
|
|
||||
|
|
||||
|
|
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1"> |
||||
|
|
||||
|
<!--左侧显示半框--> |
||||
|
<LinearLayout |
||||
|
|
||||
|
android:id="@+id/messageRounded" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_marginTop="15dp" |
||||
|
android:layout_marginBottom="15dp" |
||||
|
android:layout_marginLeft="15dp" |
||||
|
android:orientation="vertical" |
||||
|
android:layout_weight="1" |
||||
|
android:background="@drawable/orange_rounded_rectangle" |
||||
|
> |
||||
|
<!--机器人速度--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:layout_weight="1.5" |
||||
|
android:fontFamily="@font/font_you_yuan" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/moveSpeed" |
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:id="@+id/tv_speedFrom32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="xxx" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="m/min" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--作业模式--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<FrameLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent"> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/workMode" |
||||
|
|
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:id="@+id/workModeDisplay" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="无" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
</LinearLayout> |
||||
|
<Button |
||||
|
android:id="@+id/btnWorkMode" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:background="@color/trasnparent" |
||||
|
android:gravity="center" |
||||
|
android:textAlignment="center" /> |
||||
|
|
||||
|
</FrameLayout> |
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--当前角度--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
|
||||
|
> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/realAngle" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
|
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<TextView |
||||
|
android:id="@+id/tvAngleFrom32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="xxx" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="°" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--第一关节速度--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" > |
||||
|
|
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:text="@string/jointSpeed1" |
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<EditText |
||||
|
android:id="@+id/jointSpeed1To32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="10" |
||||
|
android:inputType="number" |
||||
|
android:hint="请输入10到30之间的数字" |
||||
|
android:background="@drawable/rounded_edittext" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:imeOptions="actionDone" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="°/s" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--第二关节速度--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
android:gravity="center_vertical" |
||||
|
> |
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:text="@string/jointSpeed2" |
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<EditText |
||||
|
android:id="@+id/jointSpeed2To32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="10" |
||||
|
android:inputType="number" |
||||
|
android:background="@drawable/rounded_edittext" |
||||
|
android:hint="请输入10到30之间的数字" |
||||
|
android:imeOptions="actionDone" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="°/s" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--下压力设置--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
> |
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:text="@string/forceSet" |
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<EditText |
||||
|
android:id="@+id/forceSetingTo32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="0" |
||||
|
android:inputType="number" |
||||
|
android:hint="请输入0到8之间的数字" |
||||
|
android:background="@drawable/rounded_edittext" |
||||
|
android:imeOptions="actionDone" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
<!--左行补偿--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
|
||||
|
> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/leftComp" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
|
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<EditText |
||||
|
android:id="@+id/edit_leftCompTo32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="0.0" |
||||
|
android:background="@drawable/rounded_edittext" |
||||
|
android:inputType="numberSigned|numberDecimal" |
||||
|
android:hint="请输入-10到10之间的数字" |
||||
|
android:imeOptions="actionDone" |
||||
|
|
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="°" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<!--右行补偿--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
|
||||
|
> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/rightComp" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
|
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<EditText |
||||
|
android:id="@+id/edit_rightCompTo32" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="0.0" |
||||
|
android:background="@drawable/rounded_edittext" |
||||
|
android:inputType="numberSigned|numberDecimal" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:hint="请输入-10到10之间的数字" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="°" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
<!--辅助线--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<FrameLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent"> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_gravity="center" |
||||
|
android:layout_marginLeft="8dp" |
||||
|
android:layout_weight="1.5" |
||||
|
android:gravity="left|center" |
||||
|
android:text="@string/lineplay" |
||||
|
|
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
<TextView |
||||
|
android:id="@+id/lineState" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="开启" |
||||
|
android:textColor="@color/navy_blue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="" |
||||
|
android:textColor="@color/dark_ink_blue" |
||||
|
android:textSize="10dp" /> |
||||
|
</LinearLayout> |
||||
|
<Button |
||||
|
android:id="@+id/lineChange" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:background="@color/trasnparent" |
||||
|
android:gravity="center" |
||||
|
android:textAlignment="center" /> |
||||
|
|
||||
|
</FrameLayout> |
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
|
||||
|
<!--机器人错误信息--> |
||||
|
<FrameLayout |
||||
|
android:id="@+id/mainViewErrMessageFrameLayout" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1"> |
||||
|
|
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<TextView |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_weight="1.5" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center|left" |
||||
|
android:layout_marginLeft="6dp" |
||||
|
android:text="报错" |
||||
|
android:textColor="@color/black" |
||||
|
android:fontFamily="@font/font_you_yuan" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
<TextView |
||||
|
android:id="@+id/mainViewErrMessageTxView" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_margin="1dp" |
||||
|
android:layout_weight="2" |
||||
|
android:gravity="center" |
||||
|
android:text="xxx" |
||||
|
android:textColor="@color/midnightblue" |
||||
|
android:textSize="15sp" |
||||
|
android:textStyle="bold" /> |
||||
|
<TextView |
||||
|
android:layout_width="35dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:gravity="center" |
||||
|
android:text="" |
||||
|
android:textColor="@color/midnightblue" |
||||
|
android:textSize="10dp" |
||||
|
android:textStyle="bold" /> |
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
<Button |
||||
|
android:id="@+id/ErrMessageBtn" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_row="0" |
||||
|
android:layout_column="6" |
||||
|
android:layout_marginStart="0dp" |
||||
|
android:background="@color/trasnparent" |
||||
|
android:textAlignment="center" /> |
||||
|
|
||||
|
</FrameLayout> |
||||
|
|
||||
|
<!--画面切换--> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="0dp" |
||||
|
android:layout_weight="1" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
<FrameLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent"> |
||||
|
<LinearLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:orientation="horizontal"> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
<Button |
||||
|
android:id="@+id/screenRotate" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:background="@color/trasnparent" |
||||
|
android:gravity="center" |
||||
|
android:text="画面旋转" |
||||
|
android:textAlignment="center" |
||||
|
android:textColor="@color/black" |
||||
|
android:textSize="12sp" |
||||
|
android:textStyle="bold" |
||||
|
android:fontFamily="@font/font_you_yuan" /> |
||||
|
|
||||
|
</FrameLayout> |
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
|
||||
|
<!--右侧显示半框--> |
||||
|
<LinearLayout |
||||
|
android:id="@+id/rightSend" |
||||
|
android:layout_width="0dp" |
||||
|
android:layout_height="match_parent" |
||||
|
android:layout_margin="15dp" |
||||
|
android:orientation="vertical" |
||||
|
android:layout_weight="2" |
||||
|
> |
||||
|
|
||||
|
<FrameLayout |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent"> |
||||
|
|
||||
|
<cn.nodemedia.NodePlayerView |
||||
|
android:id="@+id/nodePlayerView0" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent" |
||||
|
android:focusable="false" |
||||
|
android:focusableInTouchMode="false" |
||||
|
android:clickable="false"> |
||||
|
|
||||
|
</cn.nodemedia.NodePlayerView> |
||||
|
|
||||
|
<!-- 上层标线遮罩，透明背景，只画两条线 --> |
||||
|
<com.example.washing02app.services.LineOverlayView |
||||
|
android:id="@+id/lineOverlay" |
||||
|
android:layout_width="match_parent" |
||||
|
android:layout_height="match_parent"/> |
||||
|
|
||||
|
|
||||
|
</FrameLayout> |
||||
|
|
||||
|
|
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
</LinearLayout> |
||||
|
|
||||
|
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</LinearLayout> |
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</layout> |
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