JasonTu
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robot_android_App
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添加了设置页面、新增了操作控制页面、完善了APP部分的细节、消除了部分警告、调整了各个页面细节

master
Tushida 2024-06-18 22:58:29 +08:00
parent 9c4e5a9279
commit 4e6115b7ec
57 changed files with 1571 additions and 161 deletions
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1
robot_android_App/APP/UPBot/app/.idea/gradle.xml
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@ -1,6 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<project version="4"> <project version="4">
<component name="GradleMigrationSettings" migrationVersion="1" />
<component name="GradleSettings"> <component name="GradleSettings">
<option name="linkedExternalProjectsSettings"> <option name="linkedExternalProjectsSettings">
<GradleProjectSettings> <GradleProjectSettings>

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robot_android_App/APP/UPBot/app/release/app-release.apk
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50
robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/wifidemo/ExampleInstrumentedTest.java
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@ -1,26 +1,26 @@
package com.example.wifidemo; package com.example.wifidemo;
import android.content.Context; import android.content.Context;
import androidx.test.platform.app.InstrumentationRegistry; import androidx.test.platform.app.InstrumentationRegistry;
import androidx.test.ext.junit.runners.AndroidJUnit4; import androidx.test.ext.junit.runners.AndroidJUnit4;
import org.junit.Test; import org.junit.Test;
import org.junit.runner.RunWith; import org.junit.runner.RunWith;
import static org.junit.Assert.*; import static org.junit.Assert.*;
/** /**
* Instrumented test, which will execute on an Android device. * Instrumented test, which will execute on an Android device.
* *
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a> * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/ */
@RunWith(AndroidJUnit4.class) @RunWith(AndroidJUnit4.class)
public class ExampleInstrumentedTest { public class ExampleInstrumentedTest {
@Test @Test
public void useAppContext() { public void useAppContext() {
// Context of the app under test. // Context of the app under test.
Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext(); Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
assertEquals("com.example.wifidemo", appContext.getPackageName()); assertEquals("com.example.wifidemo", appContext.getPackageName());
} }
} }

34
robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml
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@ -7,16 +7,11 @@
<uses-permission android:name="android.permission.CHANGE_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.ACCESS_NETWORK_STATE" />
<uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" /> <uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" />
<uses-permission android:name="android.permission.INTERNET" /> <uses-permission android:name="android.permission.INTERNET" /> <!-- 用于读取手机当前的状态 -->
<!--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.READ_PHONE_STATE" /> <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <!-- 用于申请调用A-GPS模块 -->
<!--用于写入缓存数据到扩展存储卡--> <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- 用于进行网络定位 -->
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
<!--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" /> <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<application <application
@ -30,6 +25,12 @@
android:supportsRtl="true" android:supportsRtl="true"
android:theme="@style/Theme.UPBot" android:theme="@style/Theme.UPBot"
tools:targetApi="31"> tools:targetApi="31">
<activity
android:name=".EditActivity"
android:exported="false" />
<activity
android:name=".RobotActivity"
android:exported="false" />
<activity <activity
android:name=".ESP8266ClientActivity" android:name=".ESP8266ClientActivity"
android:exported="false" /> android:exported="false" />
@ -39,9 +40,11 @@
<activity <activity
android:name=".ServiceActivity" android:name=".ServiceActivity"
android:exported="false" /> android:exported="false" />
<activity android:name=".MainActivity" <activity
android:exported="false"/> android:name=".MainActivity"
<activity android:name=".SplashActivity" android:exported="false" />
<activity
android:name=".SplashActivity"
android:exported="true"> android:exported="true">
<intent-filter> <intent-filter>
<action android:name="android.intent.action.MAIN" /> <action android:name="android.intent.action.MAIN" />
@ -49,7 +52,10 @@
<category android:name="android.intent.category.LAUNCHER" /> <category android:name="android.intent.category.LAUNCHER" />
</intent-filter> </intent-filter>
</activity> </activity>
<meta-data android:name="com.amap.api.v2.apikey" android:value="0daf67ccbd867127479dbbb10f105999"/>
<meta-data
android:name="com.amap.api.v2.apikey"
android:value="0daf67ccbd867127479dbbb10f105999" />
</application> </application>
</manifest> </manifest>

88
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java
View File

@ -1,10 +1,13 @@
package com.example.upbot; package com.example.upbot;
import android.annotation.SuppressLint; import android.annotation.SuppressLint;
import android.graphics.drawable.Drawable;
import android.os.Bundle; import android.os.Bundle;
import android.os.Handler; import android.os.Handler;
import android.os.Looper; import android.os.Looper;
import android.os.Message; import android.os.Message;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View; import android.view.View;
import android.widget.Button; import android.widget.Button;
import android.widget.EditText; import android.widget.EditText;
@ -12,9 +15,13 @@ import android.widget.ImageView;
import android.widget.TextView; import android.widget.TextView;
import android.widget.Toast; import android.widget.Toast;
import androidx.annotation.NonNull;
import androidx.appcompat.app.ActionBar; import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity; import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.Toolbar;
import androidx.core.content.ContextCompat;
import com.example.upbot.MSG.MSG_CMD;
@SuppressLint("StaticFieldLeak") @SuppressLint("StaticFieldLeak")
@ -22,11 +29,16 @@ public class ClientActivity extends AppCompatActivity {
private static EditText msgET; private static EditText msgET;
private static Button confirmBtn; private static Button confirmBtn;
private static Button sendBtn; private static Button sendBtn;
private static ActionBar actionBar;
private static EditText ipET; private static EditText ipET;
private static ImageView startRobot; private static ImageView startRobot;
private static ImageView imageView4;
private static ImageView iv_charge;
private static ImageView iv_stop_robot;
private static StringBuffer stringBuffer = new StringBuffer(); private static StringBuffer stringBuffer = new StringBuffer();
private static TextView msgTV; private static TextView msgTV;
@ -49,14 +61,33 @@ public class ClientActivity extends AppCompatActivity {
protected void onCreate(Bundle savedInstanceState) { protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState); super.onCreate(savedInstanceState);
setContentView(R.layout.activity_client); setContentView(R.layout.activity_client);
actionBar = getSupportActionBar(); Toolbar toolbar = findViewById(R.id.toolBar_client);
assert actionBar != null; setSupportActionBar(toolbar);
actionBar.setDisplayHomeAsUpEnabled(true); if (getSupportActionBar() != null){
actionBar.setTitle("机器人控制"); getSupportActionBar().setDisplayHomeAsUpEnabled(true);
getSupportActionBar().setDisplayShowHomeEnabled(true);
}
Drawable overflowIcon = ContextCompat.getDrawable(this, R.drawable.baseline_more_vert_24);
if (overflowIcon != null) {
toolbar.setOverflowIcon(overflowIcon);
}
initView(); initView();
setListener(); setListener();
} }
@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){
onBackPressed();
return true;
}
return super.onOptionsItemSelected(item);
}
private void initView() { private void initView() {
ipET = (EditText) findViewById(R.id.ipET); ipET = (EditText) findViewById(R.id.ipET);
msgET = (EditText) findViewById(R.id.msgET); msgET = (EditText) findViewById(R.id.msgET);
@ -64,6 +95,9 @@ public class ClientActivity extends AppCompatActivity {
confirmBtn = findViewById(R.id.btn_confirm); confirmBtn = findViewById(R.id.btn_confirm);
msgTV = (TextView) findViewById(R.id.msgTV); msgTV = (TextView) findViewById(R.id.msgTV);
startRobot = (ImageView) findViewById(R.id.start_robot_iv); startRobot = (ImageView) findViewById(R.id.start_robot_iv);
imageView4 = (ImageView) findViewById(R.id.imageView4);
iv_charge = (ImageView) findViewById(R.id.iv_charge);
iv_stop_robot = (ImageView) findViewById(R.id.iv_stop_robot);
} }
private void setListener() { private void setListener() {
@ -92,13 +126,45 @@ public class ClientActivity extends AppCompatActivity {
startRobot.setOnClickListener(new View.OnClickListener() { startRobot.setOnClickListener(new View.OnClickListener() {
@Override @Override
public void onClick(View view) { public void onClick(View view) {
byte start = 0x00; byte start = MSG_CMD.START_ROBOT;
if(!UPbotComm.getInstance().getConnectStatus()) { if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法启动", Toast.LENGTH_SHORT).show(); Toast.makeText(ClientActivity.this, "连接失败无法启动", Toast.LENGTH_SHORT).show();
return; return;
} }
byte[] result = SendMsg.sendCmdMsg(start); sendCmdMsg(start,"正在启动机器人");
UPbotComm.getInstance().sendMessage(result); }
});
imageView4.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
byte value = MSG_CMD.START_COVER_SERVICE;
if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法覆盖", Toast.LENGTH_SHORT).show();
return;
}
sendCmdMsg(value,"正则启动全覆盖割草");
}
});
iv_charge.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
byte value = MSG_CMD.CHARGING;
if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法充电", Toast.LENGTH_SHORT).show();
return;
}
sendCmdMsg(value,"正在返回充电");
}
});
iv_stop_robot.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
byte value = MSG_CMD.STOP_MOWING;
if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法停止", Toast.LENGTH_SHORT).show();
return;
}
sendCmdMsg(value,"正在停止机器人");
} }
}); });
} }
@ -106,4 +172,10 @@ public class ClientActivity extends AppCompatActivity {
protected void onDestroy() { protected void onDestroy() {
super.onDestroy(); super.onDestroy();
} }
private void sendCmdMsg(byte cmd,String toast){
byte[] result = SendMsg.sendCmdMsg(cmd);
UPbotComm.getInstance().sendMessage(result);
Toast.makeText(ClientActivity.this, toast, Toast.LENGTH_SHORT).show();
}
} }

43
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/EditActivity.java Normal file
View File

@ -0,0 +1,43 @@
package com.example.upbot;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.Toolbar;
import androidx.core.content.ContextCompat;
import android.graphics.drawable.Drawable;
import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
public class EditActivity extends AppCompatActivity {
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_edit);
Toolbar toolbar = findViewById(R.id.toolBar_edit);
setSupportActionBar(toolbar);
if (getSupportActionBar() != null){
getSupportActionBar().setDisplayHomeAsUpEnabled(true);
getSupportActionBar().setDisplayShowHomeEnabled(true);
}
Drawable overflowIcon = ContextCompat.getDrawable(this, R.drawable.baseline_more_vert_24);
if (overflowIcon != null) {
toolbar.setOverflowIcon(overflowIcon);
}
}
@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){
onBackPressed();
return true;
}
return super.onOptionsItemSelected(item);
}
}

51
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java
View File

@ -2,6 +2,7 @@ package com.example.upbot;
import android.content.Intent; import android.content.Intent;
import android.graphics.Color; import android.graphics.Color;
import android.graphics.drawable.Drawable;
import android.os.Build; import android.os.Build;
import android.os.Bundle; import android.os.Bundle;
import android.util.Log; import android.util.Log;
@ -13,6 +14,8 @@ import android.widget.Toast;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
import androidx.appcompat.app.ActionBar; import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity; import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.Toolbar;
import androidx.core.content.ContextCompat;
import com.amap.api.location.AMapLocation; import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient; import com.amap.api.location.AMapLocationClient;
@ -44,16 +47,10 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
//位置更改监听 //位置更改监听
private OnLocationChangedListener mListener; private OnLocationChangedListener mListener;
private ActionBar actionBar;
@Override @Override
protected void onCreate(Bundle savedInstanceState) { protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState); super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main); 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 = findViewById(R.id.map_view);
mapView.onCreate(savedInstanceState); mapView.onCreate(savedInstanceState);
initLocation(); initLocation();
@ -84,28 +81,30 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
} }
}); });
findViewById(R.id.robot_start).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent=new Intent(MainActivity.this,RobotActivity.class);
startActivity(intent);
}
});
findViewById(R.id.tv_setting_main).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent=new Intent(MainActivity.this,EditActivity.class);
startActivity(intent);
}
});
findViewById(R.id.iv_three_main).setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
onBackPressed();
}
});
} }
@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) { public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener; mListener = onLocationChangedListener;
if (mLocationClient != null) { if (mLocationClient != null) {

163
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/RobotActivity.java Normal file
View File

@ -0,0 +1,163 @@
package com.example.upbot;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.Toolbar;
import androidx.core.content.ContextCompat;
import android.graphics.drawable.Drawable;
import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
import android.widget.ImageButton;
import android.widget.TextView;
public class RobotActivity extends AppCompatActivity {
private ImageButton btn_quiet, btn_standard, btn_strong, btn_super, btn_water_less, btn_water_medium, btn_water_high;
private TextView tv_show_power, tv_show_water,tv_quiet, tv_standard, tv_strong, tv_super, tv_water_less, tv_water_medium, tv_water_high;
int i = -1, j = -1;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_robot);
Toolbar toolbar = findViewById(R.id.toolBar_robot);
setSupportActionBar(toolbar);
if (getSupportActionBar() != null){
getSupportActionBar().setDisplayHomeAsUpEnabled(true);
getSupportActionBar().setDisplayShowHomeEnabled(true);
}
Drawable overflowIcon = ContextCompat.getDrawable(this, R.drawable.baseline_more_vert_24);
if (overflowIcon != null) {
toolbar.setOverflowIcon(overflowIcon);
}
initViews();
setListeners();
}
@Override
public boolean onCreateOptionsMenu(Menu menu) {
getMenuInflater().inflate(R.menu.menu_main, menu);
return true;
}
private void initViews() {
btn_quiet = findViewById(R.id.btn_quiet);
btn_standard = findViewById(R.id.btn_standard);
btn_strong = findViewById(R.id.btn_strong);
btn_super = findViewById(R.id.btn_super);
btn_water_less = findViewById(R.id.btn_water_less);
btn_water_medium = findViewById(R.id.btn_water_medium);
btn_water_high = findViewById(R.id.btn_water_high);
tv_show_power = findViewById(R.id.tv_show_power);
tv_show_water = findViewById(R.id.tv_show_water);
tv_quiet = findViewById(R.id.tv_quiet);
tv_standard = findViewById(R.id.tv_standard);
tv_strong = findViewById(R.id.tv_strong);
tv_super = findViewById(R.id.tv_super);
tv_water_less = findViewById(R.id.tv_water_less);
tv_water_medium = findViewById(R.id.tv_water_medium);
tv_water_high = findViewById(R.id.tv_water_high);
}
private void setListeners() {
btn_quiet.setOnClickListener(view -> {
i = 0;
check();
});
btn_standard.setOnClickListener(view -> {
i = 1;
check();
});
btn_strong.setOnClickListener(view -> {
i = 2;
check();
});
btn_super.setOnClickListener(view -> {
i = 3;
check();
});
btn_water_less.setOnClickListener(view -> {
j = 0;
check();
});
btn_water_medium.setOnClickListener(view -> {
j = 1;
check();
});
btn_water_high.setOnClickListener(view -> {
j = 2;
check();
});
}
private void check() {
if (i == 0){
btn_quiet.setBackground(getDrawable(R.drawable.iv_quiet_pressed));
tv_quiet.setTextColor(getColor(R.color.text_blue));
tv_show_power.setText("安静");
}else {
btn_quiet.setBackground(getDrawable(R.drawable.iv_quiet));
tv_quiet.setTextColor(getColor(R.color.text_color));
}
if (i == 1){
btn_standard.setBackground(getDrawable(R.drawable.iv_biaozhun_pressed));
tv_standard.setTextColor(getColor(R.color.text_blue));
tv_show_power.setText("标准");
}else {
btn_standard.setBackground(getDrawable(R.drawable.iv_biaozhun));
tv_standard.setTextColor(getColor(R.color.text_color));
}
if (i == 2){
btn_strong.setBackground(getDrawable(R.drawable.iv_strong_pressed));
tv_strong.setTextColor(getColor(R.color.text_blue));
tv_show_power.setText("强力");
}else {
btn_strong.setBackground(getDrawable(R.drawable.iv_strong));
tv_strong.setTextColor(getColor(R.color.text_color));
}
if (i == 3){
btn_super.setBackground(getDrawable(R.drawable.iv_super_pressed));
tv_super.setTextColor(getColor(R.color.text_blue));
tv_show_power.setText("超强");
}else {
btn_super.setBackground(getDrawable(R.drawable.iv_super));
tv_super.setTextColor(getColor(R.color.text_color));
}
if (j == 0){
btn_water_less.setBackground(getDrawable(R.drawable.iv_short_pressed));
tv_water_less.setTextColor(getColor(R.color.text_blue));
tv_show_water.setText("低");
}else {
btn_water_less.setBackground(getDrawable(R.drawable.iv_short));
tv_water_less.setTextColor(getColor(R.color.text_color));
}
if (j == 1){
btn_water_medium.setBackground(getDrawable(R.drawable.iv_medium_pressed));
tv_water_medium.setTextColor(getColor(R.color.text_blue));
tv_show_water.setText("中");
}else {
btn_water_medium.setBackground(getDrawable(R.drawable.iv_medium));
tv_water_medium.setTextColor(getColor(R.color.text_color));
}
if (j == 2){
btn_water_high.setBackground(getDrawable(R.drawable.iv_high_pressed));
tv_water_high.setTextColor(getColor(R.color.text_blue));
tv_show_water.setText("高");
}else {
btn_water_high.setBackground(getDrawable(R.drawable.iv_high));
tv_water_high.setTextColor(getColor(R.color.text_color));
}
}
@Override
public boolean onOptionsItemSelected(@NonNull MenuItem item) {
if (item.getItemId() == android.R.id.home){
onBackPressed();
return true;
}
return super.onOptionsItemSelected(item);
}
}

83
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java
View File

@ -12,10 +12,10 @@ public class SendMsg {
public static byte[] sendCmdMsg(byte value){ public static byte[] sendCmdMsg(byte value){
Head head = new Head(); Head head = new Head();
head.setMsg_id(MsgId.MSG_CMD); head.setMsg_id(MsgId.MSG_CMD);
head.setLength((byte) 0x01); head.setLength((byte) 0x02);
byte[] temp = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), value}; byte[] result = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), value,0x00};
long checkSum = getCRC32Checksum(temp); calculateAndSetChecksum(result);
return new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(),value, (byte) checkSum}; return result;
} }
public static byte[] sendMapCorrectMsg(float x_offset, float y_offset, float rotation){ public static byte[] sendMapCorrectMsg(float x_offset, float y_offset, float rotation){
@ -24,19 +24,17 @@ public class SendMsg {
byte[] x_bytes = getBytes(x_offset); byte[] x_bytes = getBytes(x_offset);
byte[] y_bytes = getBytes(y_offset); byte[] y_bytes = getBytes(y_offset);
byte[] rotation_bytes = getBytes(rotation); byte[] rotation_bytes = getBytes(rotation);
int length = x_bytes.length+y_bytes.length+rotation_bytes.length; int length = x_bytes.length+y_bytes.length+rotation_bytes.length+1;
head.setLength((byte) length); head.setLength((byte) length);
byte[] temp = new byte[3+length];
temp[0] = head.getFlag();
temp[1] = head.getMsg_id();
temp[2] = head.getLength();
System.arraycopy(x_bytes, 0, temp, 3, x_bytes.length);
System.arraycopy(y_bytes, 0, temp, 3+x_bytes.length, y_bytes.length);
System.arraycopy(rotation_bytes, 0, temp, 3+x_bytes.length+y_bytes.length, rotation_bytes.length);
long checkSum = getCRC32Checksum(temp);
byte[] result = new byte[4+length]; byte[] result = new byte[4+length];
System.arraycopy(temp, 0, result, 0, temp.length); result[0] = head.getFlag();
result[3+length] = (byte) checkSum; result[1] = head.getMsg_id();
result[2] = head.getLength();
System.arraycopy(x_bytes, 0, result, 3, x_bytes.length);
System.arraycopy(y_bytes, 0, result, 3+x_bytes.length, y_bytes.length);
System.arraycopy(rotation_bytes, 0, result, 3+x_bytes.length+y_bytes.length, rotation_bytes.length);
result[result.length-1] = 0x00;
calculateAndSetChecksum(result);
return result; return result;
} }
@ -44,9 +42,9 @@ public class SendMsg {
Head head = new Head(); Head head = new Head();
head.setMsg_id(MsgId.MSG_CONF); head.setMsg_id(MsgId.MSG_CONF);
head.setLength((byte) 0x01); head.setLength((byte) 0x01);
byte[] temp = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), charge}; byte[] result = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), charge,0x00};
long checkSum = getCRC32Checksum(temp); calculateAndSetChecksum(result);
return new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(),charge, (byte) checkSum}; return result;
} }
public static byte[] sendFrequencyMsg(float frequency){ public static byte[] sendFrequencyMsg(float frequency){
@ -54,15 +52,13 @@ public class SendMsg {
head.setMsg_id(MsgId.MSG_CONF); head.setMsg_id(MsgId.MSG_CONF);
head.setLength((byte) 0x01); head.setLength((byte) 0x01);
byte[] frequency_byte = getBytes(frequency); byte[] frequency_byte = getBytes(frequency);
byte[] temp = new byte[frequency_byte.length+3];
temp[0] = head.getFlag();
temp[1] = head.getMsg_id();
temp[2] = head.getLength();
System.arraycopy(frequency_byte, 0, temp, 3, frequency_byte.length);
long checkSum = getCRC32Checksum(temp);
byte[] result = new byte[frequency_byte.length+4]; byte[] result = new byte[frequency_byte.length+4];
System.arraycopy(temp, 0, result, 0, temp.length); result[0] = head.getFlag();
result[frequency_byte.length+3] = (byte) checkSum; result[1] = head.getMsg_id();
result[2] = head.getLength();
System.arraycopy(frequency_byte, 0, result, 3, frequency_byte.length);
result[result.length-1] = 0x00;
calculateAndSetChecksum(result);
return result; return result;
} }
@ -77,32 +73,33 @@ public class SendMsg {
y_bytes[i] = getBytes(y_offset[i]); y_bytes[i] = getBytes(y_offset[i]);
z_bytes[i] = getBytes(z_offset[i]); z_bytes[i] = getBytes(z_offset[i]);
} }
int totalLength = (x_bytes.length)*4+(y_bytes.length)*4+(z_bytes.length)*4; int totalLength = (x_bytes.length)*4+(y_bytes.length)*4+(z_bytes.length)*4+1;
head.setLength((byte) totalLength); head.setLength((byte) totalLength);
int l = 3 + totalLength; int l = 4 + totalLength;
byte[] temp = new byte[l]; byte[] result = new byte[l];
temp[0] = head.getFlag(); result[0] = head.getFlag();
temp[1] = head.getMsg_id(); result[1] = head.getMsg_id();
temp[2] = head.getLength(); result[2] = head.getLength();
for (int i = 0; i < base_num ; i++){ for (int i = 0; i < base_num ; i++){
System.arraycopy(x_bytes[i], 0, temp, 3+4*i, x_bytes[i].length); System.arraycopy(x_bytes[i], 0, result, 3+4*i, x_bytes[i].length);
} }
for (int i = 0; i < base_num; i++){ for (int i = 0; i < base_num; i++){
System.arraycopy(y_bytes[i], 0, temp, (x_bytes.length)*4+3+4*i, y_bytes.length); System.arraycopy(y_bytes[i], 0, result, (x_bytes.length)*4+3+4*i, y_bytes.length);
} }
for (int i = 0; i < base_num; i++){ for (int i = 0; i < base_num; i++){
System.arraycopy(z_bytes[i], 0, temp, (x_bytes.length)*4+(y_bytes.length)*4+3+4*i, y_bytes.length); System.arraycopy(z_bytes[i], 0, result, (x_bytes.length)*4+(y_bytes.length)*4+3+4*i, y_bytes.length);
} }
long checkSum = getCRC32Checksum(temp); result[result.length-1] = 0x00;
byte[] result = new byte[4+totalLength]; calculateAndSetChecksum(result);
System.arraycopy(temp, 0, result, 0, temp.length);
result[l] = (byte) checkSum;
return result; return result;
} }
public static long getCRC32Checksum(byte[] bytes) { public static void calculateAndSetChecksum(byte[] bytes) {
Checksum crc32 = new CRC32(); int sum = 0;
crc32.update(bytes, 0, bytes.length); for (int i = 0; i < bytes.length - 1; i++) {
return crc32.getValue(); sum += bytes[i] & 0xFF; // 将字节转换为无符号值
}
byte checksum = (byte) (sum & 0xFF); // 取结果的低 8 位
bytes[bytes.length - 1] = checksum; // 将校验和写入最后一位
} }
public static byte[] getBytes(float data) public static byte[] getBytes(float data)

2
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java
View File

@ -42,7 +42,7 @@ public class SplashActivity extends AppCompatActivity {
//隐藏状态栏 //隐藏状态栏
getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN); getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
//隐藏标题栏 //隐藏标题栏
getSupportActionBar().hide(); // getSupportActionBar().hide();
getWindow().getDecorView().setSystemUiVisibility(View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN getWindow().getDecorView().setSystemUiVisibility(View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
| View.SYSTEM_UI_FLAG_FULLSCREEN); | View.SYSTEM_UI_FLAG_FULLSCREEN);

7
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java
View File

@ -5,6 +5,7 @@ import static com.example.upbot.ClientActivity.handler;
import android.annotation.SuppressLint; import android.annotation.SuppressLint;
import android.os.Message; import android.os.Message;
import android.util.Log; import android.util.Log;
import android.widget.Toast;
import java.io.DataInputStream; import java.io.DataInputStream;
import java.io.DataOutputStream; import java.io.DataOutputStream;
@ -44,7 +45,7 @@ public class UPbotComm {
try { try {
//指定ip地址和端口号 //指定ip地址和端口号
Log.d("UPBOTCOMM", ip); Log.d("UPBOTCOMM", ip);
mSocket = new Socket(ip, 1989); mSocket = new Socket(ip, 19890);
if(mSocket != null){ if(mSocket != null){
status = true; status = true;
@ -89,7 +90,7 @@ public class UPbotComm {
}.start(); }.start();
} }
public void sendMessage(final byte[] msg) { public void sendMessage(final byte[] msg) {
if (msg.length == 0 || !status){ if (msg == null || msg.length == 0 || !status) {
return; return;
} }
new Thread() { new Thread() {
@ -97,7 +98,7 @@ public class UPbotComm {
public void run() { public void run() {
try { try {
DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream()); DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream());
writer.writeUTF(Arrays.toString(msg)); // 写一个UTF-8的信息 writer.write(msg);
} catch (IOException e) { } catch (IOException e) {
e.printStackTrace(); e.printStackTrace();
} }

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@ -0,0 +1,5 @@
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@ -0,0 +1,5 @@
<vector android:autoMirrored="true" android:height="24dp"
android:tint="#000000" android:viewportHeight="24"
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@ -0,0 +1,5 @@
<vector android:height="24dp" android:tint="#FFFFFF"
android:viewportHeight="24" android:viewportWidth="24"
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@ -0,0 +1,5 @@
<vector android:height="24dp" android:tint="#000000"
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="M15.5,14h-0.79l-0.28,-0.27C15.41,12.59 16,11.11 16,9.5 16,5.91 13.09,3 9.5,3S3,5.91 3,9.5 5.91,16 9.5,16c1.61,0 3.09,-0.59 4.23,-1.57l0.27,0.28v0.79l5,4.99L20.49,19l-4.99,-5zM9.5,14C7.01,14 5,11.99 5,9.5S7.01,5 9.5,5 14,7.01 14,9.5 11.99,14 9.5,14z"/>
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robot_android_App/APP/UPBot/app/src/main/res/drawable/circle.xml Normal file
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@ -0,0 +1,8 @@
<!-- res/drawable/circle.xml -->
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="oval">
<size
android:width="100dp"
android:height="100dp" />
<solid android:color="#3C3A3A" /> <!-- 圆形的填充颜色 -->
</shape>

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<vector android:height="20dp" android:viewportHeight="1024"
android:viewportWidth="1024" android:width="20dp" xmlns:android="http://schemas.android.com/apk/res/android">
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_biaozhun.xml Normal file
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@ -0,0 +1,9 @@
<vector xmlns:android="http://schemas.android.com/apk/res/android"
android:width="200dp"
android:height="200dp"
android:viewportWidth="1024"
android:viewportHeight="1024">
<path
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<vector xmlns:android="http://schemas.android.com/apk/res/android"
android:width="200dp"
android:height="200dp"
android:viewportWidth="1024"
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_high.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_high_pressed.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_medium.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_medium_pressed.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_more.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_quiet.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_quiet_pressed.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_short.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_short_pressed.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_super.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_super_pressed.xml Normal file
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robot_android_App/APP/UPBot/app/src/main/res/drawable/iv_water_medium.xml Normal file
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android:height="200dp"
android:viewportWidth="1024"
android:viewportHeight="1024">
<path
android:pathData="M514.6,204.8C481.8,245.8 450,287.7 419.8,330.2c-24.6,34.8 -46.6,68.6 -65,100.9 -44.5,76.3 -69.1,139.3 -69.1,181.8 0,143.4 113.2,259.1 252.4,259.1 139.3,0 252.4,-115.7 252.4,-259.1 0,-42.5 -24.6,-105.5 -69.1,-181.8 -18.9,-32.3 -41,-66 -65,-100.9C624.6,287.7 592.9,245.8 560.1,204.8c-7.7,-9.2 -14.8,-18.4 -22.5,-27.6 -7.2,8.7 -14.8,17.9 -23,27.6zM231.4,612.9c0,-54.8 27.6,-124.9 76.8,-208.9 19.5,-33.3 42.5,-68.6 67.6,-104.4 30.7,-44 63,-86.5 96.8,-128.5 13.3,-16.4 27.1,-33.3 41,-49.2l3.1,-3.6 20,-23 20,23 3.1,3.6c2.6,3.1 5.6,6.7 9.2,10.8 9.7,11.3 20.5,24.6 31.7,38.9 33.8,41.5 66,84.5 96.8,128.5 25.1,35.8 48.1,71.2 67.6,104.4 49.2,84 76.8,154.1 76.8,208.9 0,172.5 -136.7,312.8 -305.7,312.8 -167.9,-0.5 -304.6,-140.8 -304.6,-313.3z"
android:fillColor="#1296db"/>
<path
android:pathData="M537.1,832.5c-117.8,0 -213,-95.7 -213.5,-214 0,-134.1 114.7,-157.7 217.6,-68.1 102.9,58.4 208.9,-50.2 208.9,68.1 0.5,118.3 -94.7,214 -213,214z"
android:fillColor="#1296db"/>
</vector>

10
robot_android_App/APP/UPBot/app/src/main/res/drawable/ripple_effect.xml Normal file
View File

@ -0,0 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<ripple xmlns:android="http://schemas.android.com/apk/res/android"
android:color="#FFBEBEBE"> <!-- 涟漪的颜色 -->
<item>
<shape>
<solid android:color="#FFFFFF"/> <!-- 背景颜色 -->
<corners android:radius="8dp"/> <!-- 圆角的半径 -->
</shape>
</item>
</ripple>

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

@ -0,0 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android">
<solid android:color="#3C3A3A"/> <!-- 背景颜色 -->
<corners android:radius="8dp"/> <!-- 圆角的半径 -->
</shape>

127
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml
View File

@ -9,6 +9,15 @@
android:background="#F0F0F0" android:background="#F0F0F0"
tools:context=".ClientActivity"> tools:context=".ClientActivity">
<androidx.appcompat.widget.Toolbar
android:id="@+id/toolBar_client"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"
android:background="@color/toolbar_color"
app:navigationIcon="@drawable/iv_back"
app:title="机器人控制"
app:titleMarginStart="80dp"
app:titleTextColor="@color/white"/>
<LinearLayout <LinearLayout
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="150dp" android:layout_height="150dp"
@ -34,7 +43,7 @@
android:textColor="#1E1E1E" android:textColor="#1E1E1E"
android:textStyle="bold" android:textStyle="bold"
app:layout_constraintStart_toStartOf="parent" app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/imageView5" /> app:layout_constraintTop_toBottomOf="@+id/start_robot_iv" />
<TextView <TextView
android:id="@+id/textView12" android:id="@+id/textView12"
@ -48,6 +57,7 @@
<ImageView <ImageView
android:id="@+id/start_robot_iv" android:id="@+id/start_robot_iv"
android:background="@drawable/robot_start"
android:layout_width="67dp" android:layout_width="67dp"
android:layout_height="63dp" android:layout_height="63dp"
android:layout_marginStart="12dp" android:layout_marginStart="12dp"
@ -112,7 +122,7 @@
android:layout_height="match_parent" android:layout_height="match_parent"
android:layout_weight="1" android:layout_weight="1"
android:background="@drawable/rounded_corner_bg" android:background="@drawable/rounded_corner_bg"
android:layout_marginRight="10dp" android:layout_marginEnd="10dp"
> >
<TextView <TextView
@ -121,7 +131,7 @@
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:layout_marginStart="12dp" android:layout_marginStart="12dp"
android:layout_marginTop="10dp" android:layout_marginTop="10dp"
android:text="返回充电" android:text="@string/back_charging"
android:textColor="#1E1E1E" android:textColor="#1E1E1E"
android:textStyle="bold" android:textStyle="bold"
app:layout_constraintStart_toStartOf="parent" app:layout_constraintStart_toStartOf="parent"
@ -132,7 +142,7 @@
android:layout_width="wrap_content" android:layout_width="wrap_content"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:layout_marginTop="15dp" android:layout_marginTop="15dp"
android:text="上次充电: 一周前" android:text="@string/last_charging"
app:layout_constraintStart_toStartOf="@+id/tv_charge" app:layout_constraintStart_toStartOf="@+id/tv_charge"
app:layout_constraintTop_toBottomOf="@+id/tv_charge" /> app:layout_constraintTop_toBottomOf="@+id/tv_charge" />
@ -155,14 +165,14 @@
> >
<ImageView <ImageView
android:id="@+id/iv_lawn_patrol" android:id="@+id/iv_stop_robot"
android:layout_width="80dp" android:layout_width="80dp"
android:layout_height="63dp" android:layout_height="63dp"
android:layout_marginStart="10dp" android:layout_marginStart="10dp"
android:layout_marginTop="7dp" android:layout_marginTop="7dp"
app:layout_constraintStart_toStartOf="parent" app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent" app:layout_constraintTop_toTopOf="parent"
app:srcCompat="@drawable/robot_patrol" /> app:srcCompat="@drawable/iv_finish" />
<TextView <TextView
android:id="@+id/tv_lawn_patrol" android:id="@+id/tv_lawn_patrol"
@ -170,48 +180,139 @@
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:layout_marginStart="20dp" android:layout_marginStart="20dp"
android:layout_marginTop="10dp" android:layout_marginTop="10dp"
android:text="草坪巡逻" android:text="@string/finish"
android:textColor="#1E1E1E" android:textColor="#1E1E1E"
android:textStyle="bold" android:textStyle="bold"
app:layout_constraintStart_toStartOf="parent" app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/iv_lawn_patrol" /> app:layout_constraintTop_toBottomOf="@+id/iv_stop_robot" />
<TextView <TextView
android:id="@+id/tv_lawn_patrol_date" android:id="@+id/tv_lawn_patrol_date"
android:layout_width="wrap_content" android:layout_width="wrap_content"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:layout_marginTop="15dp" android:layout_marginTop="15dp"
android:text="上次巡逻: 1天前" android:text="@string/turn_off"
app:layout_constraintStart_toStartOf="@+id/tv_lawn_patrol" app:layout_constraintStart_toStartOf="@+id/tv_lawn_patrol"
app:layout_constraintTop_toBottomOf="@+id/tv_lawn_patrol" /> app:layout_constraintTop_toBottomOf="@+id/tv_lawn_patrol" />
</androidx.constraintlayout.widget.ConstraintLayout> </androidx.constraintlayout.widget.ConstraintLayout>
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="150dp"
android:layout_marginTop="10dp"
android:layout_marginEnd="10dp"
android:layout_marginStart="10dp">
<androidx.constraintlayout.widget.ConstraintLayout
android:id="@+id/btn_base_init"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_marginRight="10dp"
android:layout_weight="1"
android:background="@drawable/ripple_effect"
android:clickable="true"> <!-- 点击效果 -->
<TextView
android:id="@+id/tv_base_init"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="12dp"
android:layout_marginTop="10dp"
android:text="基站初始化"
android:textColor="#1E1E1E"
android:textStyle="bold"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/iv_base_init" />
<TextView
android:id="@+id/base_init_state_text"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="15dp"
android:text="基站状态：未初始化"
app:layout_constraintStart_toStartOf="@+id/tv_base_init"
app:layout_constraintTop_toBottomOf="@+id/tv_base_init" />
<ImageView
android:id="@+id/iv_base_init"
android:layout_width="67dp"
android:layout_height="63dp"
android:layout_marginStart="12dp"
android:layout_marginTop="7dp"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:srcCompat="@drawable/base_station_init" />
</androidx.constraintlayout.widget.ConstraintLayout>
<androidx.constraintlayout.widget.ConstraintLayout
android:id="@+id/btn_range_setting"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_weight="1"
android:background="@drawable/ripple_effect">
<ImageView
android:id="@+id/iv_geofencing_range"
android:layout_width="80dp"
android:layout_height="63dp"
android:layout_marginStart="10dp"
android:layout_marginTop="7dp"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:srcCompat="@drawable/geofencing_range" />
<TextView
android:id="@+id/tv_ranging_setting"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="20dp"
android:layout_marginTop="10dp"
android:text="@string/boundary_setting"
android:textColor="#1E1E1E"
android:textStyle="bold"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/iv_geofencing_range" />
<TextView
android:id="@+id/tv_geofencing_range_state"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="15dp"
android:text="@string/weilan"
app:layout_constraintStart_toStartOf="@+id/tv_ranging_setting"
app:layout_constraintTop_toBottomOf="@+id/tv_ranging_setting" />
</androidx.constraintlayout.widget.ConstraintLayout>
</LinearLayout> </LinearLayout>
<EditText <EditText
android:id="@+id/ipET" android:id="@+id/ipET"
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:hint="ip" android:hint="@string/ip"
/> />
<Button <Button
android:id="@+id/btn_confirm" android:id="@+id/btn_confirm"
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:text="连接" android:text="@string/connect_server"
android:gravity="center" /> android:gravity="center" />
<EditText <EditText
android:id="@+id/msgET" android:id="@+id/msgET"
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:hint="msg"/> android:hint="@string/msg"/>
<Button <Button
android:id="@+id/btn_send" android:id="@+id/btn_send"
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:text="send" android:text="@string/send_msg"
android:gravity="center" android:gravity="center"
android:backgroundTint="#1E88E5"/> android:backgroundTint="#1E88E5"/>
<TextView <TextView

132
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_edit.xml Normal file
View File

@ -0,0 +1,132 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
android:background="#000000"
android:padding="16dp">
<androidx.appcompat.widget.Toolbar
android:id="@+id/toolBar_edit"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"
android:background="@color/black"
app:navigationIcon="@drawable/iv_back"
app:subtitleTextColor="@color/white"
app:title="设置"
app:titleMarginStart="120dp"
app:titleTextColor="@color/white"/>
<!-- 功能设置模块 -->
<TextView
android:layout_width="match_parent"
android:layout_height="68dp"
android:textColor="@color/text_color"
android:text="功能设置"
android:textSize="15sp"
android:paddingLeft="10dp"
android:paddingTop="32dp"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:padding="10dp"
android:textSize="20sp"
android:text="地图保存模式(实验功能)"
android:textColor="#FFFFFF"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24" />
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="定时割草"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="设备设置"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="割草记录"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="耗材计时"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="遥控器"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="寻找割草机"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<!-- 地图管理模块 -->
<TextView
android:layout_width="match_parent"
android:layout_height="68dp"
android:paddingLeft="10dp"
android:paddingTop="30dp"
android:text="地图管理"
android:textColor="@color/text_color"
android:textSize="15sp"
tools:ignore="SmallSp" />
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="区域编辑"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="虚拟墙/禁区"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
<TextView
android:layout_width="match_parent"
android:layout_height="50dp"
android:text="重置地图"
android:textSize="20sp"
android:textColor="#FFFFFF"
android:padding="10dp"
app:drawableEndCompat="@drawable/baseline_arrow_forward_ios_24"/>
</LinearLayout>

50
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_main.xml
View File

@ -7,7 +7,49 @@
android:background="#F0F0F0" android:background="#F0F0F0"
android:orientation="vertical" android:orientation="vertical"
tools:context=".MainActivity"> tools:context=".MainActivity">
<androidx.constraintlayout.widget.ConstraintLayout
android:background="@color/toolbar_color"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize">
<ImageView
android:id="@+id/iv_three_main"
android:layout_width="wrap_content"
android:layout_height="30dp"
android:layout_marginStart="28dp"
android:layout_marginTop="16dp"
android:background="@drawable/iv_three"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"/>
<TextView
android:id="@+id/tv_title"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:textSize="20sp"
android:textColor="@color/text_color"
android:text="深安割草机器人"
app:layout_constraintLeft_toLeftOf="parent"
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"/>
<TextView
android:id="@+id/tv_setting_main"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginTop="16dp"
android:layout_marginEnd="16dp"
android:text="设置"
android:textColor="@color/text_color"
android:textSize="20sp"
app:layout_constraintBaseline_toBaselineOf="@id/tv_title"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>
<com.amap.api.maps.MapView <com.amap.api.maps.MapView
android:id="@+id/map_view" android:id="@+id/map_view"
android:layout_width="match_parent" android:layout_width="match_parent"
@ -22,8 +64,8 @@
android:layout_marginEnd="10dp" android:layout_marginEnd="10dp"
android:background="@drawable/rounded_corner_bg"> android:background="@drawable/rounded_corner_bg">
<ImageView <ImageButton
android:id="@+id/imageView" android:id="@+id/robot_start"
android:layout_width="180dp" android:layout_width="180dp"
android:layout_height="160dp" android:layout_height="160dp"
android:layout_alignParentTop="true" android:layout_alignParentTop="true"
@ -32,7 +74,7 @@
android:layout_marginTop="0dp" android:layout_marginTop="0dp"
android:layout_marginEnd="10dp" android:layout_marginEnd="10dp"
android:layout_marginBottom="0dp" android:layout_marginBottom="0dp"
app:srcCompat="@drawable/robot_medium" /> android:background="@drawable/robot_medium" />
<TextView <TextView
android:id="@+id/textView" android:id="@+id/textView"
@ -228,7 +270,7 @@
android:layout_width="wrap_content" android:layout_width="wrap_content"
android:layout_height="wrap_content" android:layout_height="wrap_content"
android:layout_marginTop="5dp" android:layout_marginTop="5dp"
android:text="最后作业" android:text="@string/robot_function"
android:textColor="#1E1E1E" android:textColor="#1E1E1E"
android:textStyle="bold" android:textStyle="bold"
app:layout_constraintStart_toStartOf="@+id/imageView9" app:layout_constraintStart_toStartOf="@+id/imageView9"

481
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_robot.xml Normal file
View File

@ -0,0 +1,481 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
android:background="@drawable/back"
tools:context=".MainActivity">
<androidx.appcompat.widget.Toolbar
android:id="@+id/toolBar_robot"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"
android:background="@color/black"
app:navigationIcon="@drawable/iv_back"
app:subtitle="充电完成"
app:subtitleTextColor="@color/white"
app:title="小白"
app:titleMarginStart="120dp"
app:titleTextColor="@color/white"/>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="40dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:layout_marginEnd="10dp"
android:background="@drawable/rounded_corner"
android:gravity="center_vertical">
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:orientation="horizontal">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="已割草"
android:textColor="@color/text_color"
android:textSize="16sp" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="0"
android:textColor="@color/text_color"
android:textSize="16sp"
android:textStyle="bold" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="min"
android:textColor="@color/text_color" />
</LinearLayout>
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginEnd="10dp"
android:text="|"
android:textColor="@color/text_color" />
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:orientation="horizontal">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="割草面积"
android:textColor="@color/text_color"
android:textSize="16sp" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="0"
android:textColor="@color/text_color"
android:textSize="16sp"
android:textStyle="bold" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="m²"
android:textColor="@color/text_color" />
</LinearLayout>
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginEnd="10dp"
android:text="|"
android:textColor="@color/text_color" />
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:orientation="horizontal">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="电量"
android:textColor="@color/text_color"
android:textSize="16sp" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="100"
android:textColor="@color/text_color"
android:textSize="16sp"
android:textStyle="bold" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="%"
android:textColor="@color/text_color" />
</LinearLayout>
</LinearLayout>
<ImageView
android:src="@drawable/iv_more"
android:layout_marginTop="10dp"
android:background="@drawable/circle"
android:layout_marginStart="360dp"
android:layout_width="40dp"
android:layout_height="40dp"
android:layout_marginEnd="10dp" />
<LinearLayout
android:layout_width="match_parent"
android:layout_height="100dp"
android:layout_marginTop="100dp">
<LinearLayout
android:layout_marginTop="20dp"
android:layout_width="0dp"
android:layout_height="79dp"
android:layout_marginStart="10dp"
android:layout_marginEnd="10dp"
android:layout_weight="1"
android:background="@drawable/rounded_corner"
android:gravity="center_vertical">
<ImageView
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:background="@drawable/iv_charge" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="15dp"
android:text="回充"
android:textColor="@color/text_white"
android:textSize="20sp" />
</LinearLayout>
<LinearLayout
android:layout_marginTop="20dp"
android:layout_width="0dp"
android:layout_height="79dp"
android:layout_marginStart="10dp"
android:layout_marginEnd="10dp"
android:layout_weight="1"
android:background="@drawable/rounded_corner"
android:gravity="center_vertical">
<ImageView
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:background="@drawable/iv_switch" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="15dp"
android:text="开始割草"
android:textColor="@color/text_white"
android:textSize="20sp" />
</LinearLayout>
</LinearLayout>
<LinearLayout
android:orientation="vertical"
android:layout_width="match_parent"
android:layout_weight="1"
android:layout_height="0dp">
<LinearLayout
android:layout_width="match_parent"
android:layout_height="0dp"
android:layout_weight="1"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:layout_marginEnd="10dp"
android:background="@drawable/rounded_corner"
android:orientation="vertical">
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="15dp"
android:layout_marginTop="15dp"
android:text="割草模式"
android:textColor="@color/text_white" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="5dp"
android:layout_marginTop="15dp"
android:text="|"
android:textColor="@color/text_color" />
<TextView
android:id="@+id/tv_show_power"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="5dp"
android:layout_marginTop="15dp"
android:text="待选择"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content">
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_quiet"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_quiet" />
<TextView
android:id="@+id/tv_quiet"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="安静"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_standard"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_biaozhun" />
<TextView
android:id="@+id/tv_standard"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="标准"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_strong"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_strong" />
<TextView
android:id="@+id/tv_strong"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="强力"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_super"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_super" />
<TextView
android:id="@+id/tv_super"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="超强"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
</LinearLayout>
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_weight="1"
android:layout_height="0dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:layout_marginEnd="10dp"
android:layout_marginBottom="5dp"
android:background="@drawable/rounded_corner"
android:orientation="vertical">
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="15dp"
android:layout_marginTop="15dp"
android:text="割草高度设置"
android:textColor="@color/text_white" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="5dp"
android:layout_marginTop="15dp"
android:text="|"
android:textColor="@color/text_color" />
<TextView
android:id="@+id/tv_show_water"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="5dp"
android:layout_marginTop="15dp"
android:text="待选择"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content">
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_water_less"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_short" />
<TextView
android:id="@+id/tv_water_less"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="低"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_water_medium"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_medium" />
<TextView
android:id="@+id/tv_water_medium"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="中"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:layout_weight="1"
android:gravity="center"
android:orientation="vertical">
<ImageButton
android:id="@+id/btn_water_high"
android:layout_width="60dp"
android:layout_height="60dp"
android:layout_marginStart="10dp"
android:layout_marginTop="10dp"
android:background="@drawable/iv_high" />
<TextView
android:id="@+id/tv_water_high"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginStart="10dp"
android:text="高"
android:textSize="20sp"
android:textColor="@color/text_color" />
</LinearLayout>
</LinearLayout>
</LinearLayout>
</LinearLayout>
</LinearLayout>

24
robot_android_App/APP/UPBot/app/src/main/res/menu/menu_main.xml
View File

@ -1,8 +1,20 @@
<menu xmlns:android="http://schemas.android.com/apk/res/android" <?xml version="1.0" encoding="utf-8"?>
xmlns:app="http://schemas.android.com/apk/res-auto"> <menu xmlns:android="http://schemas.android.com/apk/res/android">
<item <item
android:id="@+id/action_more" android:id="@+id/setting"
android:title="@string/more" android:icon="@drawable/baseline_search_24"
app:showAsAction="always" android:title="@string/setting">
android:icon="@drawable/baseline_more_24" /> </item>
<item
android:id="@+id/msg"
android:icon="@drawable/baseline_message_24"
android:title="@string/message">
</item>
<item
android:id="@+id/about"
android:icon="@drawable/baseline_search_24"
android:title="@string/about">
</item>
</menu> </menu>

5
robot_android_App/APP/UPBot/app/src/main/res/values/colors.xml
View File

@ -7,4 +7,9 @@
<color name="teal_700">#FF018786</color> <color name="teal_700">#FF018786</color>
<color name="black">#FF000000</color> <color name="black">#FF000000</color>
<color name="white">#FFFFFFFF</color> <color name="white">#FFFFFFFF</color>
<color name="red">#FF0000</color>
<color name="text_color">#AAA6A6</color>
<color name="text_white">#DCD5D5</color>
<color name="text_blue">#1296db</color>
<color name="toolbar_color">#0E5E9E</color>
</resources> </resources>

17
robot_android_App/APP/UPBot/app/src/main/res/values/strings.xml
View File

@ -7,4 +7,21 @@
<string name="shen_an_team_en">\@ShenAn Technology Co.,Ltd</string> <string name="shen_an_team_en">\@ShenAn Technology Co.,Ltd</string>
<string name="more">more\n</string> <string name="more">more\n</string>
<string name="boundary_setting">割草边界设定</string>
<string name="weilan">地理围栏:未设置</string>
<string name="back_charging">返回充电</string>
<string name="last_charging">上次充电: 一周前</string>
<string name="grass_garden">草坪巡逻</string>
<string name="last_garden">上次巡逻: 1天前</string>
<string name="connect_server">连接服务器</string>
<string name="ip">ip</string>
<string name="msg">msg</string>
<string name="send_msg">调试信息发送</string>
<string name="robot_function">机器人功能</string>
<string name="finish">结束程序</string>
<string name="turn_off">点击关闭割草机</string>
<string name="search">搜索</string>
<string name="message">消息</string>
<string name="about">关于</string>
<string name="setting">设置</string>
</resources> </resources>

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

32
robot_android_App/APP/UPBot/app/src/test/java/com/example/wifidemo/ExampleUnitTest.java
View File

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