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robot_android_App
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添加了地图，并实现手机定位

master
Tushida 2024-05-29 17:09:11 +08:00
parent bf41e2f78c
commit 1ef6dc61b6
24 changed files with 1439 additions and 169 deletions
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30
robot_android_App/APP/UPBot/app/build.gradle
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@ -3,12 +3,13 @@ plugins {
}
android {
compileSdk 31
namespace 'com.example.upbot'
compileSdk 33
defaultConfig {
applicationId "com.example.wifidemo"
minSdk 26
targetSdk 31
applicationId "com.example.upbot"
minSdk 24
targetSdk 33
versionCode 1
versionName "1.0"
@ -26,13 +27,20 @@ android {
targetCompatibility JavaVersion.VERSION_1_8
}
}
repositories {
flatDir {
dirs 'libs'
}
}
dependencies {
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'com.google.android.material:material:1.3.0'
implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
testImplementation 'junit:junit:4.+'
androidTestImplementation 'androidx.test.ext:junit:1.1.2'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.3.0'
implementation 'androidx.appcompat:appcompat:1.6.1'
implementation 'com.google.android.material:material:1.8.0'
implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
testImplementation 'junit:junit:4.13.2'
androidTestImplementation 'androidx.test.ext:junit:1.1.5'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1'
implementation(name: 'AMap3DMap_10.0.700_AMapSearch_9.7.2_AMapLocation_6.4.5_20240508', ext: 'aar')
//Google推荐的EasyPermission库
implementation 'pub.devrel:easypermissions:3.0.0'
}

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robot_android_App/APP/UPBot/app/libs/AMap3DMap_10.0.700_AMapSearch_9.7.2_AMapLocation_6.4.5_20240508.aar Normal file
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robot_android_App/APP/UPBot/app/release/app-release.apk
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2
robot_android_App/APP/UPBot/app/release/output-metadata.json
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@ -4,7 +4,7 @@
"type": "APK",
"kind": "Directory"
},
"applicationId": "com.example.wifidemo",
"applicationId": "com.example.upbot",
"variantName": "release",
"elements": [
{

26
robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/upbot/ExampleInstrumentedTest.java Normal file
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@ -0,0 +1,26 @@
package com.example.upbot;
import android.content.Context;
import androidx.test.platform.app.InstrumentationRegistry;
import androidx.test.ext.junit.runners.AndroidJUnit4;
import org.junit.Test;
import org.junit.runner.RunWith;
import static org.junit.Assert.*;
/**
* Instrumented test, which will execute on an Android device.
*
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
@RunWith(AndroidJUnit4.class)
public class ExampleInstrumentedTest {
@Test
public void useAppContext() {
// Context of the app under test.
Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
assertEquals("com.example.upbot", appContext.getPackageName());
}
}

20
robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml
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@ -1,20 +1,35 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.example.wifidemo">
xmlns:tools="http://schemas.android.com/tools">
<uses-permission android:name="android.permission.INTERNET" />
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
<uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
<uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" />
<uses-permission android:name="android.permission.INTERNET" />
<!--用于读取手机当前的状态-->
<uses-permission android:name="android.permission.READ_PHONE_STATE" />
<!--用于写入缓存数据到扩展存储卡-->
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
<!--用于申请调用A-GPS模块-->
<uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" />
<!--用于进行网络定位-->
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
<!--用于访问GPS定位-->
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<application
android:name=".MapApplication"
android:allowBackup="true"
android:dataExtractionRules="@xml/data_extraction_rules"
android:fullBackupContent="@xml/backup_rules"
android:icon="@mipmap/ic_launcher"
android:label="@string/app_name"
android:roundIcon="@mipmap/ic_launcher_round"
android:supportsRtl="true"
android:theme="@style/Theme.WiFiDemo">
android:theme="@style/Theme.UPBot"
tools:targetApi="31">
<activity
android:name=".ESP8266ClientActivity"
android:exported="false" />
@ -34,6 +49,7 @@
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
</activity>
<meta-data android:name="com.amap.api.v2.apikey" android:value="0daf67ccbd867127479dbbb10f105999"/>
</application>
</manifest>

171
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java Normal file
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@ -0,0 +1,171 @@
package com.example.upbot;
import android.annotation.SuppressLint;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.view.View;
import android.widget.Button;
import android.widget.EditText;
import android.widget.TextView;
import android.widget.Toast;
import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
public class ClientActivity extends AppCompatActivity {
private EditText ipET;
private EditText msgET;
private Button confirmBtn;
private Button sendBtn;
private ActionBar actionBar;
private Socket mSocket;
// private OutputStream mOutStream;
// private InputStream mInStream;
private SocketConnectThread socketConnectThread;
private StringBuffer stringBuffer = new StringBuffer();
private TextView msgTV;
private final String TAG="WifiDemoLogClientActivity";
@SuppressLint("HandlerLeak")
public Handler handler = new Handler(Looper.myLooper()){
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == 1){
stringBuffer.append(msg.obj);
stringBuffer.append("\n");
msgTV.setText(stringBuffer.toString());
}
}
};
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_client);
actionBar = getSupportActionBar();
assert actionBar != null;
actionBar.setDisplayHomeAsUpEnabled(true);
actionBar.setTitle("机器人控制");
socketConnectThread = new SocketConnectThread();
initView();
setListener();
}
private void initView() {
ipET = (EditText) findViewById(R.id.ipET);
msgET = (EditText) findViewById(R.id.msgET);
sendBtn = findViewById(R.id.btn_send);
confirmBtn = findViewById(R.id.btn_confirm);
msgTV = (TextView) findViewById(R.id.msgTV);
}
private void setListener() {
sendBtn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if(mSocket==null) {
Toast.makeText(ClientActivity.this, "未进行连接", Toast.LENGTH_SHORT).show();
return;
}
sendMessage(msgET.getText().toString());
}
});
confirmBtn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
socketConnectThread.start();
confirmBtn.setEnabled(false);//连接只点一次
}
});
}
/**
* 连接线程
*/
class SocketConnectThread extends Thread{
public void run(){
try {
//指定ip地址和端口号
mSocket = new Socket(ipET.getText().toString(), 1989);
//获取输出流、输入流
// mOutStream = mSocket.getOutputStream();
// mInStream = mSocket.getInputStream();
} catch (Exception e) {
e.printStackTrace();
return;
}
startReader(mSocket);
}
}
/**
* 发送消息
* @param msg
*/
public void sendMessage(final String msg) {
if (msg.length() == 0){
return;
}
new Thread() {
@Override
public void run() {
try {
DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream());
writer.writeUTF(msg); // 写一个UTF-8的信息
} catch (IOException e) {
e.printStackTrace();
}
}
}.start();
}
/**
* 接收消息
*/
private void startReader(final Socket socket) {
new Thread(){
@Override
public void run() {
DataInputStream reader;
try {
// 获取读取流
reader = new DataInputStream(socket.getInputStream());
while (true) {
// 读取数据
String msg = reader.readUTF();
Message message = new Message();
message.what = 1;
message.obj=msg;
handler.sendMessage(message);
}
} catch (IOException e) {
e.printStackTrace();
}
}
}.start();
}
@Override
protected void onDestroy() {
if(mSocket!=null){
try {
mSocket.close();
} catch (IOException e) {
e.printStackTrace();
}
}
super.onDestroy();
}
}

141
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ESP8266ClientActivity.java Normal file
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@ -0,0 +1,141 @@
package com.example.upbot;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.os.Bundle;
import android.view.View;
import android.widget.Button;
import android.widget.EditText;
import android.widget.TextView;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
public class ESP8266ClientActivity extends AppCompatActivity {
private String mIp;//硬件的IP
private int mPort = 5000;//硬件的端口
private EditText et_ip;//输入硬件对应的IP
private EditText et_msg;//输入要发送的消息
private Button btn_confirm;//进行连接
private Button btn_send;//发送消息
// Socket mSocket = null;//连接成功可得到的Socket
// OutputStream outputStream = null;//定义输出流
// InputStream inputStream = null;//定义输入流
private StringBuffer sb = new StringBuffer();//消息
private TextView tv_msg;//显示消息
private boolean connectFlage = true;//连接成功或连接3s后变false
private TextView connetStatusTextView;//显示连接状态
private int ShowPointSum = 0;//连接时显示 连接中.. 后面点的计数
private final String TAG = "WifiDemoLogESP8266ClientActivity";
private LocalBroadcastManager localBroadcastManager;//本地广播管理器
private MyLocalBroadcastReceiver localBroadcastReceiver;//广播接收者
private int connectingCount=0;//用来刷新 正在连接 与 正 在 连 接
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_esp8266_client);
initView();//初始化控件
setListener();//设置Button的点击事件
registerBroadcastReceiver();//广播注册
}
/**
* 初始化控件
*/
private void initView() {
et_ip = (EditText) findViewById(R.id.et_ipESP8266);
et_msg = (EditText) findViewById(R.id.et_msgESP8266);
btn_send = findViewById(R.id.btn_sendESP8266);
btn_confirm = findViewById(R.id.btn_confirmESP8266);
tv_msg = (TextView) findViewById(R.id.tv_msgESP8266);
connetStatusTextView = findViewById(R.id.connetStatusTV);
}
/**
* 设置Button的点击事件
*/
private void setListener() {
btn_confirm.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
btn_confirm.setEnabled(false);//防止正在连接时再次点击连接
WiFiModeUtil.connectFlage=true;
mIp = et_ip.getText().toString();//得到IP
WiFiModeUtil.connetByTCP(mIp,mPort);//进行连接
}
});
btn_send.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
if (WiFiModeUtil.mSocket == null) {
Toast.makeText(ESP8266ClientActivity.this, "未连接任何设备~~", Toast.LENGTH_SHORT).show();
return;
}
WiFiModeUtil.sendData(et_msg.getText().toString());//发送数据
}
});
}
@Override
protected void onDestroy() {
localBroadcastManager.unregisterReceiver(localBroadcastReceiver);//注销广播
WiFiModeUtil.closeSocketAndStream();//关闭Socket释放资源
super.onDestroy();
}
/**
* 广播注册
*/
private void registerBroadcastReceiver() {
IntentFilter intentFilter = new IntentFilter();
intentFilter.addAction("WiFiModeUtil.Connecting");//正在连接
intentFilter.addAction("WiFiModeUtil.Connect.Succeed");//连接成功
intentFilter.addAction("WiFiModeUtil.Connect.Fail");//连接失败
intentFilter.addAction("WiFiModeUtil.Connect.ReceiveMessage");//接收到数据
intentFilter.addAction("WiFiModeUtil.Disconnected");//接收到数据
localBroadcastReceiver = new MyLocalBroadcastReceiver();
localBroadcastManager = LocalBroadcastManager.getInstance(this);
WiFiModeUtil.localBroadcastManager=localBroadcastManager;//给WiFiModeUtil工具类中的本地广播管理器赋值
localBroadcastManager.registerReceiver(localBroadcastReceiver,intentFilter);
}
/**
* 本地广播接收者
*/
class MyLocalBroadcastReceiver extends BroadcastReceiver {
@Override
public void onReceive(Context context, Intent intent) {
switch (intent.getAction()) {
case "WiFiModeUtil.Connecting":
connectingCount++;
if(connectingCount%2==0)
connetStatusTextView.setText("正在连接");
else
connetStatusTextView.setText("正 在 连 接");
break;
case "WiFiModeUtil.Connect.Succeed":
connetStatusTextView.setText("连接成功");
btn_confirm.setEnabled(true);
break;
case "WiFiModeUtil.Connect.Fail":
connetStatusTextView.setText("连接失败");
btn_confirm.setEnabled(true);
break;
case "WiFiModeUtil.Connect.ReceiveMessage":
tv_msg.setText(WiFiModeUtil.DataRecivice.toString());
break;
case "WiFiModeUtil.Disconnected":
tv_msg.setText("连接已断开，请重新进行连接");
break;
}
}
}
}

307
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java Normal file
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@ -0,0 +1,307 @@
package com.example.upbot;
import android.content.Intent;
import android.graphics.Color;
import android.os.Build;
import android.os.Bundle;
import android.util.Log;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View;
import android.widget.Toast;
import androidx.annotation.NonNull;
import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity;
import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.location.AMapLocationClientOption;
import com.amap.api.location.AMapLocationListener;
import com.amap.api.maps.AMap;
import com.amap.api.maps.LocationSource;
import com.amap.api.maps.MapView;
import com.amap.api.maps.model.BitmapDescriptorFactory;
import com.amap.api.maps.model.MyLocationStyle;
import pub.devrel.easypermissions.AfterPermissionGranted;
import pub.devrel.easypermissions.EasyPermissions;
public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource{
private MyLocationStyle myLocationStyle = new MyLocationStyle();
//声明AMapLocationClient类对象
public AMapLocationClient mLocationClient = null;
//声明AMapLocationClientOption对象
public AMapLocationClientOption mLocationOption = null;
//请求权限码
private static final int REQUEST_PERMISSIONS = 9527;
//内容
private MapView mapView;
//地图控制器
private AMap aMap = null;
//位置更改监听
private OnLocationChangedListener mListener;
private ActionBar actionBar;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
actionBar = getSupportActionBar();
assert actionBar != null;
actionBar.setDisplayHomeAsUpEnabled(true);
actionBar.setTitle("深安割草机器人");
mapView = findViewById(R.id.map_view);
mapView.onCreate(savedInstanceState);
initLocation();
initMap(savedInstanceState);
checkingAndroidVersion();
findViewById(R.id.base_config_layout).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent=new Intent(MainActivity.this, ServiceActivity.class);
startActivity(intent);
}
});
findViewById(R.id.mowing_layout).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent=new Intent(MainActivity.this,ClientActivity.class);
startActivity(intent);
}
});
findViewById(R.id.client_mode_layout).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent=new Intent(MainActivity.this,ESP8266ClientActivity.class);
startActivity(intent);
}
});
}
@Override
public boolean onCreateOptionsMenu(Menu menu) {
getMenuInflater().inflate(R.menu.menu_main, menu);
return true;
}
@Override
public boolean onOptionsItemSelected(@NonNull MenuItem item) {
if (item.getItemId() == android.R.id.home){
Toast.makeText(this,"返回上一页",Toast.LENGTH_LONG).show();
finish();
}else if (item.getItemId() == R.id.action_more){
Toast.makeText(this,"更多设置",Toast.LENGTH_LONG).show();
}
return true;
}
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient != null) {
mLocationClient.startLocation();//启动定位
}
}
/**
* 停止定位
*/
@Override
public void deactivate() {
mListener = null;
if (mLocationClient != null) {
mLocationClient.stopLocation();
mLocationClient.onDestroy();
}
mLocationClient = null;
}
/**
* 初始化地图
* @param savedInstanceState
*/
private void initMap(Bundle savedInstanceState) {
mapView = findViewById(R.id.map_view);
//在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
mapView.onCreate(savedInstanceState);
//初始化地图控制器对象
aMap = mapView.getMap();
//设置最小缩放等级为16 ，缩放级别范围为[3, 20]
aMap.setMinZoomLevel(12);
// 自定义定位蓝点图标
myLocationStyle.myLocationIcon(BitmapDescriptorFactory.fromResource(R.drawable.baseline_location_on_24));
// 自定义精度范围的圆形边框颜色 都为0则透明
myLocationStyle.strokeColor(Color.argb(0, 0, 0, 0));
// 自定义精度范围的圆形边框宽度 0 无宽度
myLocationStyle.strokeWidth(0);
// 设置圆形的填充颜色 都为0则透明
myLocationStyle.radiusFillColor(Color.argb(0, 0, 0, 0));
//设置定位蓝点的Style
aMap.setMyLocationStyle(myLocationStyle);
// 设置定位监听
aMap.setLocationSource(this);
// 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
aMap.setMyLocationEnabled(true);
}
/**
* 初始化定位
*/
private void initLocation() {
//初始化定位
try {
mLocationClient = new AMapLocationClient(getApplicationContext());
} catch (Exception e) {
e.printStackTrace();
}
if (mLocationClient != null) {
//设置定位回调监听
mLocationClient.setLocationListener(this);
//初始化AMapLocationClientOption对象
mLocationOption = new AMapLocationClientOption();
//设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//获取最近3s内精度最高的一次定位结果：
//设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
mLocationOption.setOnceLocationLatest(true);
//设置是否返回地址信息（默认返回地址信息）
mLocationOption.setNeedAddress(true);
//设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
mLocationOption.setHttpTimeOut(20000);
//关闭缓存机制，高精度定位会产生缓存。
mLocationOption.setLocationCacheEnable(false);
//给定位客户端对象设置定位参数
mLocationClient.setLocationOption(mLocationOption);
}
}
/**
* 接收异步返回的定位结果
*
* @param aMapLocation
*/
@Override
public void onLocationChanged(AMapLocation aMapLocation) {
if (aMapLocation != null) {
if (aMapLocation.getErrorCode() == 0) {
//地址
String address = aMapLocation.getAddress();
double latitude = aMapLocation.getLatitude();
double longitude = aMapLocation.getLongitude();
StringBuilder stringBuffer = new StringBuilder();
stringBuffer.append("纬度：").append(latitude).append("\n");
stringBuffer.append("经度：").append(longitude).append("\n");
stringBuffer.append("地址：").append(address).append("\n");
Log.d("MainActivity",stringBuffer.toString());
showMsg(address);
mLocationClient.stopLocation();
if (mListener != null){
mListener.onLocationChanged(aMapLocation);
}
} else {
//定位失败时，可通过ErrCode（错误码）信息来确定失败的原因，errInfo是错误信息，详见错误码表。
Log.e("AmapError", "location Error, ErrCode:"
+ aMapLocation.getErrorCode() + ", errInfo:"
+ aMapLocation.getErrorInfo());
}
}
}
/**
* 检查Android版本
*/
private void checkingAndroidVersion() {
if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
//Android6.0及以上先获取权限再定位
requestPermission();
}else {
//Android6.0以下直接定位
mLocationClient.startLocation();
}
}
/**
* 动态请求权限
*/
@AfterPermissionGranted(REQUEST_PERMISSIONS)
private void requestPermission() {
String[] permissions = new String[]{
"android.permission.ACCESS_COARSE_LOCATION",
"android.permission.ACCESS_FINE_LOCATION",
"android.permission.READ_PHONE_STATE",
"android.permission.WRITE_EXTERNAL_STORAGE"
};
if (EasyPermissions.hasPermissions(this, permissions)) {
//true 有权限 开始定位
showMsg("已获得权限，可以定位啦！");
mLocationClient.startLocation();
} else {
//false 无权限
EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
}
}
/**
* 请求权限结果
* @param requestCode
* @param permissions
* @param grantResults
*/
@Override
public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
super.onRequestPermissionsResult(requestCode, permissions, grantResults);
//设置权限请求结果
EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
}
/**
* Toast提示
* @param msg 提示内容
*/
private void showMsg(String msg){
Toast.makeText(this,msg,Toast.LENGTH_SHORT).show();
}
@Override
protected void onResume() {
super.onResume();
//在activity执行onResume时执行mMapView.onResume ()，重新绘制加载地图
mapView.onResume();
}
@Override
protected void onPause() {
super.onPause();
//在activity执行onPause时执行mMapView.onPause ()，暂停地图的绘制
mapView.onPause();
}
@Override
protected void onSaveInstanceState(Bundle outState) {
super.onSaveInstanceState(outState);
//在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState)，保存地图当前的状态
mapView.onSaveInstanceState(outState);
}
@Override
protected void onDestroy() {
super.onDestroy();
//销毁定位客户端，同时销毁本地定位服务。
mLocationClient.onDestroy();
mapView.onDestroy();
}
}

25
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MapApplication.java Normal file
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@ -0,0 +1,25 @@
package com.example.upbot;
import android.app.Application;
import android.content.Context;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.maps.MapsInitializer;
import com.amap.api.services.core.ServiceSettings;
public class MapApplication extends Application {
@Override
public void onCreate() {
super.onCreate();
Context context = this;
//定位隐私政策同意
AMapLocationClient.updatePrivacyShow(context,true,true);
AMapLocationClient.updatePrivacyAgree(context,true);
//地图隐私政策同意
MapsInitializer.updatePrivacyShow(context,true,true);
MapsInitializer.updatePrivacyAgree(context,true);
//搜索隐私政策同意
ServiceSettings.updatePrivacyShow(context,true,true);
ServiceSettings.updatePrivacyAgree(context,true);
}
}

205
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ServiceActivity.java Normal file
View File

@ -0,0 +1,205 @@
package com.example.upbot;
import android.annotation.SuppressLint;
import android.content.Context;
import android.net.wifi.WifiInfo;
import android.net.wifi.WifiManager;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.Button;
import android.widget.TextView;
import androidx.appcompat.app.AppCompatActivity;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.ServerSocket;
import java.net.Socket;
public class ServiceActivity extends AppCompatActivity {
private Button clearBtn;
private Button showIPBtn;
private TextView ipTV;
private TextView msgTV;
private ServerSocket mServerSocket;
private Socket mSocket;
private StringBuffer stringBuffer = new StringBuffer();
private final String TAG = "WifiDemoLogServiceActivity";
@SuppressLint("HandlerLeak")
public Handler handler = new Handler(Looper.myLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == 1) {
stringBuffer.append(msg.obj);
stringBuffer.append("\n");
msgTV.setText(stringBuffer.toString());
}
}
};
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_service);
initView();
setListener();
try {
mServerSocket = new ServerSocket(5000);//端口号5000
} catch (IOException e) {
e.printStackTrace();
}
//启动服务线程
SocketAcceptThread socketAcceptThread = new SocketAcceptThread();
socketAcceptThread.start();
}
/**
* 获得控件实例
*/
private void initView() {
clearBtn = findViewById(R.id.clearBtn);
showIPBtn = findViewById(R.id.showIPBtn);
ipTV = findViewById(R.id.ipTV);
msgTV = findViewById(R.id.msgTV);
}
/**
* 为控件设置监听
*/
private void setListener() {
clearBtn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
stringBuffer.setLength(0);
msgTV.setText("");
}
});
showIPBtn.setOnClickListener(new View.OnClickListener() {
@SuppressLint("SetTextI18n")
@Override
public void onClick(View v) {
ipTV.setText(getLocalIpAddress(ServiceActivity.this) + ":5000");
}
});
}
/**
* 连接线程
* 得到Socket
*/
class SocketAcceptThread extends Thread {
@Override
public void run() {
try {
//等待客户端的连接，Accept会阻塞，直到建立连接，
//所以需要放在子线程中运行
mSocket = mServerSocket.accept();
} catch (IOException e) {
e.printStackTrace();
return;
}
//启动消息接收线程
startReader(mSocket);
}
}
/**
* 从参数的Socket里获取最新的消息
*/
private void startReader(final Socket socket) {
new Thread() {
@Override
public void run() {
DataInputStream reader;
try {
// 获取读取流
reader = new DataInputStream(socket.getInputStream());
while (true) {
// 读取数据
String msg = reader.readUTF();
Log.d(TAG, "客户端的信息:" + msg);
//告知客户端消息收到
DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream());
writer.writeUTF("收到:" + msg); // 写一个UTF-8的信息
//发消息更新UI
Message message = new Message();
message.what = 1;
message.obj=msg;
handler.sendMessage(message);
}
} catch (IOException e) {
e.printStackTrace();
}
}
}.start();
}
@Override
protected void onDestroy() {
if (mServerSocket != null) {
try {
mServerSocket.close();
} catch (IOException e) {
e.printStackTrace();
}
}
if(mSocket!=null){
try {
mSocket.close();
} catch (IOException e) {
e.printStackTrace();
}
}
super.onDestroy();
}
/**
* 将ip的整数形式转换成ip形式
*
* @param ipInt
* @return
*/
public static String int2ip(int ipInt) {
StringBuilder sb = new StringBuilder();
sb.append(ipInt & 0xFF).append(".");
sb.append((ipInt >> 8) & 0xFF).append(".");
sb.append((ipInt >> 16) & 0xFF).append(".");
sb.append((ipInt >> 24) & 0xFF);
return sb.toString();
}
/**
* 获取当前ip地址
*
* @param context
* @return
*/
public static String getLocalIpAddress(Context context) {
try {
WifiManager wifiManager = (WifiManager) context
.getSystemService(Context.WIFI_SERVICE);
WifiInfo wifiInfo = wifiManager.getConnectionInfo();
int i = wifiInfo.getIpAddress();
return int2ip(i);
} catch (Exception ex) {
return " 获取IP出错鸟!!!!请保证是WIFI,或者请重新打开网络!\n" + ex.getMessage();
}
// return null;
}
}

57
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java Normal file
View File

@ -0,0 +1,57 @@
package com.example.upbot;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.os.Build;
import android.os.Bundle;
import android.view.View;
import android.view.WindowManager;
import androidx.annotation.RequiresApi;
import androidx.appcompat.app.AppCompatActivity;
@SuppressLint("CustomSplashScreen")
public class SplashActivity extends AppCompatActivity {
@RequiresApi(api = Build.VERSION_CODES.P)
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
fullScreenDisplay();
setContentView(R.layout.activity_splash);
//创建子线程
Thread mThread=new Thread(){
@Override
public void run() {
super.run();
try {
sleep(3000);//使程序休眠3秒
Intent intent=new Intent(getApplicationContext(),MainActivity.class);
startActivity(intent);
finish();
}catch (Exception e){
e.printStackTrace();
}
}
};
mThread.start();//启动线程
}
@RequiresApi(api = Build.VERSION_CODES.P)
protected void fullScreenDisplay(){
// 隐藏状态栏和ActionBar,实现全屏画面的效果
//隐藏状态栏
getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
//隐藏标题栏
getSupportActionBar().hide();
getWindow().getDecorView().setSystemUiVisibility(View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
| View.SYSTEM_UI_FLAG_FULLSCREEN);
WindowManager.LayoutParams lp = getWindow().getAttributes();
// 始终允许窗口延伸到屏幕短边上的刘海区域
lp.layoutInDisplayCutoutMode = WindowManager.LayoutParams.
LAYOUT_IN_DISPLAY_CUTOUT_MODE_SHORT_EDGES;
getWindow().setAttributes(lp);
}
}

258
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/WiFiModeUtil.java Normal file
View File

@ -0,0 +1,258 @@
package com.example.upbot;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.os.CountDownTimer;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.util.Log;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.Socket;
import java.util.ArrayList;
import java.util.List;
/**
* 正在连接广播Action:"WiFiModeUtil.Connecting"
* 连接失败广播Action:"WiFiModeUtil.Connect.Fail"
* 连接成功广播Action:"WiFiModeUtil.Connect.Succeed"
* 收到数据广播Action:"WiFiModeUtil.Connect.ReceiveMessage"
* 连接断开广播Action:"WiFiModeUtil.Disconnected"
*/
public class WiFiModeUtil {
private static String mIp;//硬件的IP
private static int mPort = 5000;//硬件的端口
public static Socket mSocket = null;//连接成功可得到的Socket
public static OutputStream outputStream = null;//定义输出流
public static InputStream inputStream = null;//定义输入流
public static StringBuffer DataRecivice = new StringBuffer();//数据
public static List<String> DataList=new ArrayList<>();//数据
public static boolean connectFlage = true;//连接成功或连接3s后变false
// private static int ShowPointSum = 0;//连接时显示 连接中.. 后面点的计数
private static final String TAG = "WifiDemoLogESP8266ClientActivity";
/**
* 本地广播管理器 从外面用:
* WiFiModeUtil.localBroadcastManager=localBroadcastManager;
* 进行赋值
*/
public static LocalBroadcastManager localBroadcastManager;
/**
* 处理消息的Handler
*/
@SuppressLint("HandlerLeak")
public static Handler mHandler = new Handler(Looper.myLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
switch (msg.what) {
case 0://接收到数据
DataRecivice.append(msg.obj.toString());
DataRecivice.append("\n");
DataList.add(msg.obj.toString());//添加数据
Intent intent = new Intent("WiFiModeUtil.Connect.ReceiveMessage");
localBroadcastManager.sendBroadcast(intent);//发送收到数据广播
break;
case 1://连接成功
Intent intent2 = new Intent("WiFiModeUtil.Connect.Succeed");
localBroadcastManager.sendBroadcast(intent2);//发送连接成功广播
readData();//开启接收线程
connectFlage = true;
break;
case 2://连接断开
Intent intent3 = new Intent("WiFiModeUtil.Disconnected");
localBroadcastManager.sendBroadcast(intent3);//发送连接失败广播
connectFlage = true;
break;
}
}
};
/***
* 延时3s的定时器
* 在开始连接时计时3s
* 3s未连接上视为连接失败
*/
private final static CountDownTimer tcpClientCountDownTimer = new CountDownTimer(3000, 300) {
@Override
public void onTick(long millisUntilFinished) {//每隔300ms进入
if (connectFlage) {
Intent intent = new Intent("WiFiModeUtil.Connecting");
localBroadcastManager.sendBroadcast(intent);
}
}
@Override
public void onFinish() {//3s后进入(没有取消定时器的情况下)
if (connectFlage) {
connectFlage = false;//连接失败
closeSocketAndStream();
}
tcpClientCountDownTimer.cancel();//关掉定时器
Intent intent = new Intent("WiFiModeUtil.Connect.Fail");
localBroadcastManager.sendBroadcast(intent);
Log.d(TAG,"连接失败");
}
};
/**
* 关掉Socket和输入输出流
*/
public static void closeSocketAndStream() {
if (outputStream != null) {
try {
outputStream.close();
Log.d(TAG,"关闭输出流");
} catch (IOException e) {
e.printStackTrace();
}
outputStream = null;
}
if (inputStream != null) {
try {
inputStream.close();
Log.d(TAG,"关闭输入流");
} catch (IOException e) {
e.printStackTrace();
}
inputStream = null;
}
if (mSocket != null) {
try {
mSocket.close();
Log.d(TAG,"关闭Socket");
} catch (IOException e) {
e.printStackTrace();
}
mSocket = null;
}
}
/**
* 连接服务器任务
*/
static class ConnectSeverThread extends Thread {
@Override
public void run() {
Log.d(TAG,"连接线程开启");
while (connectFlage) {
try {
Log.d(TAG,"正在连接...");
mSocket = new Socket(mIp, mPort);//进行连接
connectFlage = false;//已连接
tcpClientCountDownTimer.cancel();//关掉计时器
/*连接成功更新显示连接状态的UI*/
Message msg = new Message();
msg.what = 1;
mHandler.sendMessage(msg);
Log.d(TAG,"连接成功");
inputStream = mSocket.getInputStream();//获取输入流
Log.d(TAG,"获取输入流");
outputStream = mSocket.getOutputStream();////获取输出流
Log.d(TAG,"获取输出流");
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
Log.d(TAG,"连接过程中出错");
}
}
}
}
/**
* 传入硬件服务端IP建立TCP连接
* 正在连接每200ms 发送一条‘正在连接’广播
* 3秒后还未连接则连接失败 发送一条‘失败广播’
* 连接成功会 发送一条‘成功广播’
*
* @param IPAdress
*/
public static void connetByTCP(String IPAdress,int Port) {
mIp = IPAdress;
mPort=Port;
ConnectSeverThread connectSeverThread = new ConnectSeverThread();
connectSeverThread.start();
tcpClientCountDownTimer.start();
}
/**
* 向硬件发送数据
*/
public static void sendData(String data) {
if(mSocket!=null){
byte[] sendByte = data.getBytes();
new Thread() {
@Override
public void run() {
try {
Log.d(TAG,"发送线程开启 正在发送中...");
DataOutputStream writer = new DataOutputStream(outputStream);
writer.write(sendByte, 0, sendByte.length);
Log.d(TAG,"已发送数据:"+data);
} catch (IOException e) {
e.printStackTrace();
}
Log.d(TAG,"发送线程结束");
}
}.start();
}
}
/**
* 连接成功后开启
* 接收硬件发送的数据
*/
public static void readData() {
new Thread() {
@Override
public void run() {
Log.d(TAG,"接收线程开启");
try {
while (true) {
Thread.sleep(200);
//如果连接断开 尝试重连
try {
/*
sendUrgentData()方法
它会往输出流发送一个字节的数据，
只要对方Socket的SO_OOBINLINE属性没有打开，
就会自动舍弃这个字节，
就会抛出异常，
而SO_OOBINLINE属性默认情况下就是关闭的
*/
mSocket.sendUrgentData(0xFF);//发送1个字节的紧急数据，默认情况下，服务器端没有开启紧急数据处理，不影响正常通信
} catch (Exception ex) {
Log.d(TAG,"连接已断开，请重新进行连接");
Message msg=new Message();
msg.what=2;
msg.obj="连接已断开，请重新进行连接";
mHandler.sendMessage(msg);
}
DataInputStream reader = new DataInputStream(inputStream);
byte[] buffer = new byte[1024];
int len;
while ((len = reader.read(buffer)) != -1) {
String data = new String(buffer, 0, len);
Log.d(TAG,"接收到数据:"+data);
Message msg = new Message();
msg.what = 0;
msg.obj = data;
mHandler.sendMessage(msg);
}
}
} catch (IOException | InterruptedException e) {
e.printStackTrace();
}
Log.d(TAG,"接收线程结束");
}
}.start();
}
}

5
robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_location_on_24.xml Normal file
View File

@ -0,0 +1,5 @@
<vector android:height="24dp" android:tint="#263483"
android:viewportHeight="24" android:viewportWidth="24"
android:width="24dp" xmlns:android="http://schemas.android.com/apk/res/android">
<path android:fillColor="@android:color/white" android:pathData="M12,2C8.13,2 5,5.13 5,9c0,5.25 7,13 7,13s7,-7.75 7,-13c0,-3.87 -3.13,-7 -7,-7zM12,11.5c-1.38,0 -2.5,-1.12 -2.5,-2.5s1.12,-2.5 2.5,-2.5 2.5,1.12 2.5,2.5 -1.12,2.5 -2.5,2.5z"/>
</vector>

8
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_main.xml
View File

@ -8,12 +8,12 @@
android:orientation="vertical"
tools:context=".MainActivity">
<LinearLayout
<com.amap.api.maps.MapView
android:id="@+id/map_view"
android:layout_width="match_parent"
android:layout_height="0dp"
android:layout_marginBottom="10dp"
android:layout_weight='1'
android:background="@drawable/background" />
android:layout_weight="1"
android:layout_marginBottom="10dp"/>
<RelativeLayout
android:layout_width="match_parent"

2
robot_android_App/APP/UPBot/app/src/main/res/values/themes.xml
View File

@ -1,6 +1,6 @@
<resources xmlns:tools="http://schemas.android.com/tools">
<!-- Base application theme. -->
<style name="Theme.WiFiDemo" parent="Theme.MaterialComponents.DayNight.DarkActionBar">
<style name="Theme.UPBot" parent="Theme.MaterialComponents.DayNight.DarkActionBar">
<!-- Primary brand color. -->
<item name="colorPrimary">@color/purple_500</item>
<item name="colorPrimaryVariant">@color/purple_700</item>

13
robot_android_App/APP/UPBot/app/src/main/res/xml/backup_rules.xml Normal file
View File

@ -0,0 +1,13 @@
<?xml version="1.0" encoding="utf-8"?><!--
Sample backup rules file; uncomment and customize as necessary.
See https://developer.android.com/guide/topics/data/autobackup
for details.
Note: This file is ignored for devices older that API 31
See https://developer.android.com/about/versions/12/backup-restore
-->
<full-backup-content>
<!--
<include domain="sharedpref" path="."/>
<exclude domain="sharedpref" path="device.xml"/>
-->
</full-backup-content>

19
robot_android_App/APP/UPBot/app/src/main/res/xml/data_extraction_rules.xml Normal file
View File

@ -0,0 +1,19 @@
<?xml version="1.0" encoding="utf-8"?><!--
Sample data extraction rules file; uncomment and customize as necessary.
See https://developer.android.com/about/versions/12/backup-restore#xml-changes
for details.
-->
<data-extraction-rules>
<cloud-backup>
<!-- TODO: Use <include> and <exclude> to control what is backed up.
<include .../>
<exclude .../>
-->
</cloud-backup>
<!--
<device-transfer>
<include .../>
<exclude .../>
</device-transfer>
-->
</data-extraction-rules>

17
robot_android_App/APP/UPBot/app/src/test/java/com/example/upbot/ExampleUnitTest.java Normal file
View File

@ -0,0 +1,17 @@
package com.example.upbot;
import org.junit.Test;
import static org.junit.Assert.*;
/**
* Example local unit test, which will execute on the development machine (host).
*
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
public class ExampleUnitTest {
@Test
public void addition_isCorrect() {
assertEquals(4, 2 + 2);
}
}

16
robot_android_App/APP/UPBot/build.gradle
View File

@ -1,17 +1,11 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
buildscript {
plugins {
id 'com.android.application' version '8.1.0' apply false
}
allprojects {
repositories {
google()
mavenCentral()
}
dependencies {
classpath "com.android.tools.build:gradle:7.0.3"
// NOTE: Do not place your application dependencies here; they belong
// in the individual module build.gradle files
// jcenter() // Warning: this repository is going to shut down soon
}
}
task clean(type: Delete) {
delete rootProject.buildDir
}

8
robot_android_App/APP/UPBot/gradle.properties
View File

@ -12,8 +12,10 @@ org.gradle.jvmargs=-Xmx2048m -Dfile.encoding=UTF-8
# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
# org.gradle.parallel=true
# AndroidX package structure to make it clearer which packages are bundled with the
# Android operating system, and which are packaged with your app"s APK
# Android operating system, and which are packaged with your app's APK
# https://developer.android.com/topic/libraries/support-library/androidx-rn
android.useAndroidX=true
# Automatically convert third-party libraries to use AndroidX
android.enableJetifier=true
# Enables namespacing of each library's R class so that its R class includes only the
# resources declared in the library itself and none from the library's dependencies,
# thereby reducing the size of the R class for that library
android.nonTransitiveRClass=true

7
robot_android_App/APP/UPBot/gradle/wrapper/gradle-wrapper.properties vendored
View File

@ -1,7 +1,6 @@
#Thu Mar 31 10:23:59 CST 2022
#Tue May 28 16:29:54 CST 2024
distributionBase=GRADLE_USER_HOME
distributionUrl=https://mirrors.cloud.tencent.com/gradle/gradle-7.0.2-bin.zip
distributionPath=wrapper/dists
zipStorePath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.0-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists

15
robot_android_App/APP/UPBot/settings.gradle
View File

@ -1,10 +1,17 @@
dependencyResolutionManagement {
repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
pluginManagement {
repositories {
google()
mavenCentral()
jcenter() // Warning: this repository is going to shut down soon
gradlePluginPortal()
}
}
rootProject.name = "WiFiDemo"
//dependencyResolutionManagement {
// repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
// repositories {
// google()
// mavenCentral()
// }
//}
rootProject.name = "UPBot"
include ':app'