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robot_android_App
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修改了ClientActivity全局可用、完成了通信协议

master
Tushida 2024-06-04 22:52:22 +08:00
parent 1ef6dc61b6
commit 9c4e5a9279
28 changed files with 655 additions and 1023 deletions
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4
robot_android_App/APP/.idea/misc.xml Normal file
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@ -0,0 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="17" project-jdk-type="JavaSDK" />
</project>

6
robot_android_App/APP/.idea/vcs.xml Normal file
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
</component>
</project>

1
robot_android_App/APP/UPBot/.idea/.name
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@ -1 +0,0 @@
WiFiDemo

2
robot_android_App/APP/UPBot/.idea/compiler.xml
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CompilerConfiguration">
<bytecodeTargetLevel target="11" />
<bytecodeTargetLevel target="17" />
</component>
</project>

10
robot_android_App/APP/UPBot/.idea/deploymentTargetSelector.xml Normal file
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@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="deploymentTargetSelector">
<selectionStates>
<SelectionState runConfigName="app">
<option name="selectionMode" value="DROPDOWN" />
</SelectionState>
</selectionStates>
</component>
</project>

3
robot_android_App/APP/UPBot/.idea/gradle.xml
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@ -4,9 +4,8 @@
<component name="GradleSettings">
<option name="linkedExternalProjectsSettings">
<GradleProjectSettings>
<option name="testRunner" value="GRADLE" />
<option name="externalProjectPath" value="$PROJECT_DIR$" />
<option name="gradleJvm" value="Embedded JDK" />
<option name="gradleJvm" value="jbr-17" />
<option name="modules">
<set>
<option value="$PROJECT_DIR$" />

2
robot_android_App/APP/UPBot/.idea/misc.xml
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@ -18,7 +18,7 @@
</option>
</component>
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK">
<component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="ProjectType">

6
robot_android_App/APP/UPBot/.idea/vcs.xml Normal file
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
</component>
</project>

3
robot_android_App/APP/UPBot/app/.idea/.gitignore vendored Normal file
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@ -0,0 +1,3 @@
# Default ignored files
/shelf/
/workspace.xml

13
robot_android_App/APP/UPBot/app/.idea/gradle.xml Normal file
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@ -0,0 +1,13 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="GradleMigrationSettings" migrationVersion="1" />
<component name="GradleSettings">
<option name="linkedExternalProjectsSettings">
<GradleProjectSettings>
<option name="externalProjectPath" value="$PROJECT_DIR$" />
<option name="gradleJvm" value="#GRADLE_LOCAL_JAVA_HOME" />
<option name="resolveExternalAnnotations" value="false" />
</GradleProjectSettings>
</option>
</component>
</project>

10
robot_android_App/APP/UPBot/app/.idea/migrations.xml Normal file
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@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectMigrations">
<option name="MigrateToGradleLocalJavaHome">
<set>
<option value="$PROJECT_DIR$" />
</set>
</option>
</component>
</project>

10
robot_android_App/APP/UPBot/app/.idea/misc.xml Normal file
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@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="ProjectRootManager">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="ProjectType">
<option name="id" value="Android" />
</component>
</project>

6
robot_android_App/APP/UPBot/app/.idea/vcs.xml Normal file
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../../../.." vcs="Git" />
</component>
</project>

132
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java
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@ -8,35 +8,32 @@ import android.os.Message;
import android.view.View;
import android.widget.Button;
import android.widget.EditText;
import android.widget.ImageView;
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;
@SuppressLint("StaticFieldLeak")
public class ClientActivity extends AppCompatActivity {
private static EditText msgET;
private static Button confirmBtn;
private static Button sendBtn;
private static ActionBar actionBar;
private static EditText ipET;
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 static ImageView startRobot;
private final String TAG="WifiDemoLogClientActivity";
private static StringBuffer stringBuffer = new StringBuffer();
private static TextView msgTV;
private static final String TAG="WifiDemoLogClientActivity";
@SuppressLint("HandlerLeak")
public Handler handler = new Handler(Looper.myLooper()){
public static Handler handler = new Handler(Looper.myLooper()){
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
@ -49,15 +46,13 @@ public class ClientActivity extends AppCompatActivity {
};
@Override
protected void onCreate(Bundle savedInstanceState) {
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();
}
@ -68,104 +63,47 @@ public class ClientActivity extends AppCompatActivity {
sendBtn = findViewById(R.id.btn_send);
confirmBtn = findViewById(R.id.btn_confirm);
msgTV = (TextView) findViewById(R.id.msgTV);
startRobot = (ImageView) findViewById(R.id.start_robot_iv);
}
private void setListener() {
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();
if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法发送", Toast.LENGTH_SHORT).show();
return;
}
sendMessage(msgET.getText().toString());
UPbotComm.getInstance().sendMessage(msgET.getText().toString());
}
});
confirmBtn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
socketConnectThread.start();
if(!UPbotComm.getInstance().connect(ipET.getText().toString())) {
Toast.makeText(ClientActivity.this, "未进行连接", Toast.LENGTH_SHORT).show();
return;
}else{
Toast.makeText(ClientActivity.this, "连接成功", Toast.LENGTH_SHORT).show();
}
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() {
startRobot.setOnClickListener(new View.OnClickListener() {
@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();
public void onClick(View view) {
byte start = 0x00;
if(!UPbotComm.getInstance().getConnectStatus()) {
Toast.makeText(ClientActivity.this, "连接失败无法启动", Toast.LENGTH_SHORT).show();
return;
}
byte[] result = SendMsg.sendCmdMsg(start);
UPbotComm.getInstance().sendMessage(result);
}
}.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();
}
}

14
robot_android_App/APP/UPBot/app/src/main/java/com/example/wifidemo/ClientActivity.java → robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/InternetUtil.java
View File

@ -1,7 +1,4 @@
package com.example.wifidemo;
import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity;
package com.example.upbot;
import android.annotation.SuppressLint;
import android.os.Bundle;
@ -14,12 +11,15 @@ 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 {
public class InternetUtil extends AppCompatActivity {
private EditText ipET;
private EditText msgET;
@ -27,7 +27,7 @@ public class ClientActivity extends AppCompatActivity {
private Button sendBtn;
private ActionBar actionBar;
private Socket mSocket;
// private OutputStream mOutStream;
// private OutputStream mOutStream;
// private InputStream mInStream;
private SocketConnectThread socketConnectThread;
private StringBuffer stringBuffer = new StringBuffer();
@ -75,7 +75,7 @@ public class ClientActivity extends AppCompatActivity {
@Override
public void onClick(View v) {
if(mSocket==null) {
Toast.makeText(ClientActivity.this, "未进行连接", Toast.LENGTH_SHORT).show();
Toast.makeText(InternetUtil.this, "未进行连接", Toast.LENGTH_SHORT).show();
return;
}
sendMessage(msgET.getText().toString());

12
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/CONF/COORDINATE_CONF.java Normal file
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@ -0,0 +1,12 @@
package com.example.upbot.MSG.CONF;
public class COORDINATE_CONF {
public int base_num;
public float x_coordinate;
public float y_coordinate;
public float z_coordinate;
}

29
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/Head.java Normal file
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@ -0,0 +1,29 @@
package com.example.upbot.MSG;
public class Head {
private final byte flag = 0x5b;
private byte msg_id;
private byte length;
public byte getFlag() {
return flag;
}
public byte getLength() {
return length;
}
public byte getMsg_id() {
return msg_id;
}
public void setLength(byte length) {
this.length = length;
}
public void setMsg_id(byte msg_id) {
this.msg_id = msg_id;
}
}

36
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CMD.java Normal file
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@ -0,0 +1,36 @@
package com.example.upbot.MSG;
public class MSG_CMD {
public static final byte START_ROBOT = 0x00;
// public static final String START_ROBOT = "0x00";
public static final byte START_NAVIGATION = 0x01;
// public static final String START_NAVIGATION = "0x01";
public static final byte START_COVER_CLIENT = 0x02;
// public static final String START_COVER_CLIENT = "0x02";
public static final byte START_COVER_SERVICE = 0x03;
// public static final String START_COVER_SERVICE = "0x03";
public static final byte START_CAMERA_ULTRASONIC = 0x04;
// public static final String START_CAMERA_ULTRASONIC = "0x04";
public static final byte BOUNDARY_SETTING = 0x05;
// public static final String BOUNDARY_SETTING = "0x05";
public static final byte MANUAL_CONTROL = 0x06;
// public static final String MANUAL_CONTROL = "0x06";
public static final byte CHARGING = 0x07;
// public static final String CHARGING = "0x07";
public static final byte STOP_MOWING = 0x08;
// public static final String STOP_MOWING = "0x08";
public static final byte PAUSE_MOWING = 0x09;
// public static final String PAUSE_MOWING = "0x09";
}

23
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CONF.java Normal file
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@ -0,0 +1,23 @@
package com.example.upbot.MSG;
public class MSG_CONF {
public static final byte COORDINATE_CONF = 0x00;
// public static final String COORDINATE_CONF = "0x00";
public static final byte FREQUENCY_CONF = 0x01;
// public static final String FREQUENCY_CONF = "0x01";
public static final byte BATTERY_CONF = 0x02;
// public static final String BATTERY_CONF = "0x02";
public static final byte MAP_NUM_CONF = 0x03;
// public static final String MAP_NUM_CONF = "0x03";
public static final byte MAP_CORRECT_CONF = 0x04;
// public static final String MAP_CORRECT_CONF = "0x04";
public static final byte VIRTUAL_WALL_CONF = 0x05;
// public static final String VIRTUAL_WALL_CONF = "0x05";
}

10
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MsgId.java Normal file
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@ -0,0 +1,10 @@
package com.example.upbot.MSG;
public class MsgId {
public static final byte MSG_CMD = 0x01;
// public static final String MSG_CMD = "0x01";
public static final byte MSG_CONF = 0x02;
// public static final String MSG_CONF = "0x02";
}

123
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java Normal file
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@ -0,0 +1,123 @@
package com.example.upbot;
import com.example.upbot.MSG.Head;
import com.example.upbot.MSG.MsgId;
import java.util.zip.CRC32;
import java.util.zip.Checksum;
public class SendMsg {
public static byte[] sendCmdMsg(byte value){
Head head = new Head();
head.setMsg_id(MsgId.MSG_CMD);
head.setLength((byte) 0x01);
byte[] temp = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), value};
long checkSum = getCRC32Checksum(temp);
return new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(),value, (byte) checkSum};
}
public static byte[] sendMapCorrectMsg(float x_offset, float y_offset, float rotation){
Head head = new Head();
head.setMsg_id(MsgId.MSG_CONF);
byte[] x_bytes = getBytes(x_offset);
byte[] y_bytes = getBytes(y_offset);
byte[] rotation_bytes = getBytes(rotation);
int length = x_bytes.length+y_bytes.length+rotation_bytes.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];
System.arraycopy(temp, 0, result, 0, temp.length);
result[3+length] = (byte) checkSum;
return result;
}
public static byte[] sendChargingMsg(byte charge){
Head head = new Head();
head.setMsg_id(MsgId.MSG_CONF);
head.setLength((byte) 0x01);
byte[] temp = new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(), charge};
long checkSum = getCRC32Checksum(temp);
return new byte[]{head.getFlag(), head.getMsg_id(), head.getLength(),charge, (byte) checkSum};
}
public static byte[] sendFrequencyMsg(float frequency){
Head head = new Head();
head.setMsg_id(MsgId.MSG_CONF);
head.setLength((byte) 0x01);
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];
System.arraycopy(temp, 0, result, 0, temp.length);
result[frequency_byte.length+3] = (byte) checkSum;
return result;
}
public static byte[] sendCoordinateMsg(byte base_num, float[] x_offset, float[] y_offset, float[] z_offset){
Head head = new Head();
head.setMsg_id(MsgId.MSG_CONF);
byte[][] x_bytes = new byte[base_num][4];
byte[][] y_bytes = new byte[base_num][4];
byte[][] z_bytes = new byte[base_num][4];
for (int i = 0; i < base_num; i++){
x_bytes[i] = getBytes(x_offset[i]);
y_bytes[i] = getBytes(y_offset[i]);
z_bytes[i] = getBytes(z_offset[i]);
}
int totalLength = (x_bytes.length)*4+(y_bytes.length)*4+(z_bytes.length)*4;
head.setLength((byte) totalLength);
int l = 3 + totalLength;
byte[] temp = new byte[l];
temp[0] = head.getFlag();
temp[1] = head.getMsg_id();
temp[2] = head.getLength();
for (int i = 0; i < base_num ; i++){
System.arraycopy(x_bytes[i], 0, temp, 3+4*i, x_bytes[i].length);
}
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);
}
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);
}
long checkSum = getCRC32Checksum(temp);
byte[] result = new byte[4+totalLength];
System.arraycopy(temp, 0, result, 0, temp.length);
result[l] = (byte) checkSum;
return result;
}
public static long getCRC32Checksum(byte[] bytes) {
Checksum crc32 = new CRC32();
crc32.update(bytes, 0, bytes.length);
return crc32.getValue();
}
public static byte[] getBytes(float data)
{
int intBits = Float.floatToIntBits(data);
return getBytes(intBits);
}
public static byte[] getBytes(int data)
{
byte[] bytes = new byte[4];
bytes[0] = (byte) (data & 0xff);
bytes[1] = (byte) ((data & 0xff00) >> 8);
bytes[2] = (byte) ((data & 0xff0000) >> 16);
bytes[3] = (byte) ((data & 0xff000000) >> 24);
return bytes;
}
}

145
robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java Normal file
View File

@ -0,0 +1,145 @@
package com.example.upbot;
import static com.example.upbot.ClientActivity.handler;
import android.annotation.SuppressLint;
import android.os.Message;
import android.util.Log;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Arrays;
public class UPbotComm {
@SuppressLint("StaticFieldLeak")
private static volatile UPbotComm instance;
private static Socket mSocket;
private static boolean status = false;
private static String ip;
private static SocketConnectThread socketConnectThread = null;
@SuppressLint("StaticFieldLeak")
private UPbotComm() {
}
public SocketConnectThread threadInit(){
socketConnectThread = new SocketConnectThread();
return socketConnectThread;
}
public static UPbotComm getInstance() {
if (instance == null) {
synchronized (UPbotComm.class) {
if (instance == null) {
instance = new UPbotComm();
}
}
}
return instance;
}
class SocketConnectThread extends Thread{
@Override
public void run(){
try {
//指定ip地址和端口号
Log.d("UPBOTCOMM", ip);
mSocket = new Socket(ip, 1989);
if(mSocket != null){
status = true;
}
//获取输出流、输入流
// mOutStream = mSocket.getOutputStream();
// mInStream = mSocket.getInputStream();
} catch (Exception e) {
e.printStackTrace();
}
startReader(mSocket);
}
}
public boolean connect(String Uip){
ip = Uip;
if(socketConnectThread == null){
threadInit();
}
socketConnectThread.start();
return status;
}
/**
* 发送消息
* @param msg
*/
public void sendMessage(final String msg) {
if (msg.isEmpty() || !status){
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();
}
public void sendMessage(final byte[] msg) {
if (msg.length == 0 || !status){
return;
}
new Thread() {
@Override
public void run() {
try {
DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream());
writer.writeUTF(Arrays.toString(msg)); // 写一个UTF-8的信息
} catch (IOException e) {
e.printStackTrace();
}
}
}.start();
}
public boolean getConnectStatus(){
return status;
}
/**
* 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();
}
protected void onDestroy() {
if(mSocket!=null){
try {
mSocket.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}
}

152
robot_android_App/APP/UPBot/app/src/main/java/com/example/wifidemo/ESP8266ClientActivity.java
View File

@ -1,152 +0,0 @@
package com.example.wifidemo;
import androidx.appcompat.app.AppCompatActivity;
import androidx.localbroadcastmanager.content.LocalBroadcastManager;
import android.annotation.SuppressLint;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.os.Bundle;
import android.os.CountDownTimer;
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.EditText;
import android.widget.TextView;
import android.widget.Toast;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.Socket;
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;
}
}
}
}

76
robot_android_App/APP/UPBot/app/src/main/java/com/example/wifidemo/MainActivity.java
View File

@ -1,76 +0,0 @@
package com.example.wifidemo;
import androidx.annotation.NonNull;
import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity;
import android.content.Intent;
import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View;
import android.widget.Button;
import android.widget.Toast;
public class MainActivity extends AppCompatActivity{
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");
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;
}
}

205
robot_android_App/APP/UPBot/app/src/main/java/com/example/wifidemo/ServiceActivity.java
View File

@ -1,205 +0,0 @@
package com.example.wifidemo;
import androidx.appcompat.app.AppCompatActivity;
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 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/wifidemo/SplashActivity.java
View File

@ -1,57 +0,0 @@
package com.example.wifidemo;
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);
}
}

260
robot_android_App/APP/UPBot/app/src/main/java/com/example/wifidemo/WiFiModeUtil.java
View File

@ -1,260 +0,0 @@
package com.example.wifidemo;
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.nio.ByteBuffer;
import java.nio.charset.StandardCharsets;
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();
}
}

2
robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml
View File

@ -47,7 +47,7 @@
app:layout_constraintTop_toBottomOf="@+id/textView11" />
<ImageView
android:id="@+id/imageView5"
android:id="@+id/start_robot_iv"
android:layout_width="67dp"
android:layout_height="63dp"
android:layout_marginStart="12dp"