diff --git a/robot_android_App/APP/UPBot/.gitignore b/robot_android_App/APP/UPBot/.gitignore index aa724b7..643d213 100644 --- a/robot_android_App/APP/UPBot/.gitignore +++ b/robot_android_App/APP/UPBot/.gitignore @@ -1,15 +1,15 @@ -*.iml -.gradle -/local.properties -/.idea/caches -/.idea/libraries -/.idea/modules.xml -/.idea/workspace.xml -/.idea/navEditor.xml -/.idea/assetWizardSettings.xml -.DS_Store -/build -/captures -.externalNativeBuild -.cxx -local.properties +*.iml +.gradle +/local.properties +/.idea/caches +/.idea/libraries +/.idea/modules.xml +/.idea/workspace.xml +/.idea/navEditor.xml +/.idea/assetWizardSettings.xml +.DS_Store +/build +/captures +.externalNativeBuild +.cxx +local.properties diff --git a/robot_android_App/APP/UPBot/app/build.gradle b/robot_android_App/APP/UPBot/app/build.gradle index c85c58c..6ed94de 100644 --- a/robot_android_App/APP/UPBot/app/build.gradle +++ b/robot_android_App/APP/UPBot/app/build.gradle @@ -1,46 +1,46 @@ -plugins { - id 'com.android.application' -} - -android { - namespace 'com.example.upbot' - compileSdk 33 - - defaultConfig { - applicationId "com.example.upbot" - minSdk 24 - targetSdk 33 - versionCode 1 - versionName "1.0" - - testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" - } - - buildTypes { - release { - minifyEnabled false - proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' - } - } - compileOptions { - sourceCompatibility JavaVersion.VERSION_1_8 - targetCompatibility JavaVersion.VERSION_1_8 - } -} -repositories { - flatDir { - dirs 'libs' - } -} -dependencies { - - implementation 'androidx.appcompat:appcompat:1.6.1' - implementation 'com.google.android.material:material:1.8.0' - implementation 'androidx.constraintlayout:constraintlayout:2.1.4' - testImplementation 'junit:junit:4.13.2' - androidTestImplementation 'androidx.test.ext:junit:1.1.5' - androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1' - implementation(name: 'AMap3DMap_10.0.700_AMapSearch_9.7.2_AMapLocation_6.4.5_20240508', ext: 'aar') - //Google推荐的EasyPermission库 - implementation 'pub.devrel:easypermissions:3.0.0' +plugins { + id 'com.android.application' +} + +android { + namespace 'com.example.upbot' + compileSdk 33 + + defaultConfig { + applicationId "com.example.upbot" + minSdk 24 + targetSdk 33 + versionCode 1 + versionName "1.0" + + testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" + } + + buildTypes { + release { + minifyEnabled false + proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' + } + } + compileOptions { + sourceCompatibility JavaVersion.VERSION_1_8 + targetCompatibility JavaVersion.VERSION_1_8 + } +} +repositories { + flatDir { + dirs 'libs' + } +} +dependencies { + + implementation 'androidx.appcompat:appcompat:1.6.1' + implementation 'com.google.android.material:material:1.8.0' + implementation 'androidx.constraintlayout:constraintlayout:2.1.4' + testImplementation 'junit:junit:4.13.2' + androidTestImplementation 'androidx.test.ext:junit:1.1.5' + androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1' + implementation(name: 'AMap3DMap_10.0.700_AMapSearch_9.7.2_AMapLocation_6.4.5_20240508', ext: 'aar') + //Google推荐的EasyPermission库 + implementation 'pub.devrel:easypermissions:3.0.0' } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/proguard-rules.pro b/robot_android_App/APP/UPBot/app/proguard-rules.pro index 481bb43..64b4a05 100644 --- a/robot_android_App/APP/UPBot/app/proguard-rules.pro +++ b/robot_android_App/APP/UPBot/app/proguard-rules.pro @@ -1,21 +1,21 @@ -# Add project specific ProGuard rules here. -# You can control the set of applied configuration files using the -# proguardFiles setting in build.gradle. -# -# For more details, see -# http://developer.android.com/guide/developing/tools/proguard.html - -# If your project uses WebView with JS, uncomment the following -# and specify the fully qualified class name to the JavaScript interface -# class: -#-keepclassmembers class fqcn.of.javascript.interface.for.webview { -# public *; -#} - -# Uncomment this to preserve the line number information for -# debugging stack traces. -#-keepattributes SourceFile,LineNumberTable - -# If you keep the line number information, uncomment this to -# hide the original source file name. +# Add project specific ProGuard rules here. +# You can control the set of applied configuration files using the +# proguardFiles setting in build.gradle. +# +# For more details, see +# http://developer.android.com/guide/developing/tools/proguard.html + +# If your project uses WebView with JS, uncomment the following +# and specify the fully qualified class name to the JavaScript interface +# class: +#-keepclassmembers class fqcn.of.javascript.interface.for.webview { +# public *; +#} + +# Uncomment this to preserve the line number information for +# debugging stack traces. +#-keepattributes SourceFile,LineNumberTable + +# If you keep the line number information, uncomment this to +# hide the original source file name. #-renamesourcefileattribute SourceFile \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/release/app-release.apk b/robot_android_App/APP/UPBot/app/release/app-release.apk index 6cb3425..a4ae16b 100644 Binary files a/robot_android_App/APP/UPBot/app/release/app-release.apk and b/robot_android_App/APP/UPBot/app/release/app-release.apk differ diff --git a/robot_android_App/APP/UPBot/app/release/output-metadata.json b/robot_android_App/APP/UPBot/app/release/output-metadata.json index 73c118e..f3bbe9f 100644 --- a/robot_android_App/APP/UPBot/app/release/output-metadata.json +++ b/robot_android_App/APP/UPBot/app/release/output-metadata.json @@ -1,20 +1,20 @@ -{ - "version": 3, - "artifactType": { - "type": "APK", - "kind": "Directory" - }, - "applicationId": "com.example.upbot", - "variantName": "release", - "elements": [ - { - "type": "SINGLE", - "filters": [], - "attributes": [], - "versionCode": 1, - "versionName": "1.0", - "outputFile": "app-release.apk" - } - ], - "elementType": "File" +{ + "version": 3, + "artifactType": { + "type": "APK", + "kind": "Directory" + }, + "applicationId": "com.example.upbot", + "variantName": "release", + "elements": [ + { + "type": "SINGLE", + "filters": [], + "attributes": [], + "versionCode": 1, + "versionName": "1.0", + "outputFile": "app-release.apk" + } + ], + "elementType": "File" } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/upbot/ExampleInstrumentedTest.java b/robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/upbot/ExampleInstrumentedTest.java index b16b59a..d63df84 100644 --- a/robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/upbot/ExampleInstrumentedTest.java +++ b/robot_android_App/APP/UPBot/app/src/androidTest/java/com/example/upbot/ExampleInstrumentedTest.java @@ -1,26 +1,26 @@ -package com.example.upbot; - -import android.content.Context; - -import androidx.test.platform.app.InstrumentationRegistry; -import androidx.test.ext.junit.runners.AndroidJUnit4; - -import org.junit.Test; -import org.junit.runner.RunWith; - -import static org.junit.Assert.*; - -/** - * Instrumented test, which will execute on an Android device. - * - * @see Testing documentation - */ -@RunWith(AndroidJUnit4.class) -public class ExampleInstrumentedTest { - @Test - public void useAppContext() { - // Context of the app under test. - Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext(); - assertEquals("com.example.upbot", appContext.getPackageName()); - } +package com.example.upbot; + +import android.content.Context; + +import androidx.test.platform.app.InstrumentationRegistry; +import androidx.test.ext.junit.runners.AndroidJUnit4; + +import org.junit.Test; +import org.junit.runner.RunWith; + +import static org.junit.Assert.*; + +/** + * Instrumented test, which will execute on an Android device. + * + * @see Testing documentation + */ +@RunWith(AndroidJUnit4.class) +public class ExampleInstrumentedTest { + @Test + public void useAppContext() { + // Context of the app under test. + Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext(); + assertEquals("com.example.upbot", appContext.getPackageName()); + } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml b/robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml index 9c3e49f..fc9a958 100644 --- a/robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml +++ b/robot_android_App/APP/UPBot/app/src/main/AndroidManifest.xml @@ -7,11 +7,16 @@ - - - - - + + + + + + + + + + - - + @@ -52,10 +55,7 @@ - - + \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java index 4456c1a..b9fdd82 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ClientActivity.java @@ -1,181 +1,179 @@ -package com.example.upbot; - -import android.annotation.SuppressLint; -import android.graphics.drawable.Drawable; -import android.os.Bundle; -import android.os.Handler; -import android.os.Looper; -import android.os.Message; -import android.view.Menu; -import android.view.MenuItem; -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.annotation.NonNull; -import androidx.appcompat.app.ActionBar; -import androidx.appcompat.app.AppCompatActivity; -import androidx.appcompat.widget.Toolbar; -import androidx.core.content.ContextCompat; - -import com.example.upbot.MSG.MSG_CMD; - - -@SuppressLint("StaticFieldLeak") -public class ClientActivity extends AppCompatActivity { - private static EditText msgET; - private static Button confirmBtn; - private static Button sendBtn; - private static EditText ipET; - - 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 TextView msgTV; - - private static final String TAG="WifiDemoLogClientActivity"; - - @SuppressLint("HandlerLeak") - public static Handler handler = new Handler(Looper.myLooper()){ - @Override - public void handleMessage(Message msg) { - super.handleMessage(msg); - if (msg.what == 1){ - stringBuffer.append(msg.obj); - stringBuffer.append("\n"); - msgTV.setText(stringBuffer.toString()); - } - } - }; - - @Override - protected void onCreate(Bundle savedInstanceState) { - super.onCreate(savedInstanceState); - setContentView(R.layout.activity_client); - Toolbar toolbar = findViewById(R.id.toolBar_client); - 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); - } - initView(); - 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() { - ipET = (EditText) findViewById(R.id.ipET); - msgET = (EditText) findViewById(R.id.msgET); - sendBtn = findViewById(R.id.btn_send); - confirmBtn = findViewById(R.id.btn_confirm); - msgTV = (TextView) findViewById(R.id.msgTV); - 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() { - sendBtn.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View v) { - if(!UPbotComm.getInstance().getConnectStatus()) { - Toast.makeText(ClientActivity.this, "连接失败无法发送", Toast.LENGTH_SHORT).show(); - return; - } - UPbotComm.getInstance().sendMessage(msgET.getText().toString()); - } - }); - confirmBtn.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View v) { - 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 - } - }); - startRobot.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View view) { - byte start = MSG_CMD.START_ROBOT; - if(!UPbotComm.getInstance().getConnectStatus()) { - Toast.makeText(ClientActivity.this, "连接失败无法启动", Toast.LENGTH_SHORT).show(); - return; - } - sendCmdMsg(start,"正在启动机器人"); - } - }); - 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"); - } - }); - } - @Override - protected void 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(); - } +package com.example.upbot; + +import android.annotation.SuppressLint; +import android.os.Bundle; +import android.os.Handler; +import android.os.Looper; +import android.os.Message; +import android.widget.Button; +import android.widget.EditText; +import android.widget.TextView; +import android.widget.Toast; + +import androidx.annotation.NonNull; +import androidx.appcompat.app.ActionBar; +import androidx.appcompat.app.AppCompatActivity; + +import com.example.upbot.MSG.MSG_CMD; + +import java.util.Objects; + + +@SuppressLint("StaticFieldLeak") +public class ClientActivity extends AppCompatActivity { + private static EditText msgET; + private static Button confirmBtn; + private static Button sendBtn; + private static EditText ipET; + private static final StringBuffer stringBuffer = new StringBuffer(); + private static TextView msgTV; + +// private static final String TAG="WifiDemoLogClientActivity"; + + @SuppressLint("HandlerLeak") + public static Handler handler = new Handler(Objects.requireNonNull(Looper.myLooper())) { + @Override + public void handleMessage(@NonNull Message msg) { + super.handleMessage(msg); + if (msg.what == 1) { + stringBuffer.append(msg.obj); + stringBuffer.append("\n"); + msgTV.setText(stringBuffer.toString()); + } + } + }; + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + setContentView(R.layout.activity_client); + initView(); + setListener(); + } + + private void initView() { + ipET = findViewById(R.id.ipET); + msgET = findViewById(R.id.msgET); + sendBtn = findViewById(R.id.btn_send); + confirmBtn = findViewById(R.id.btn_confirm); + msgTV = findViewById(R.id.msgTV); + } + + private void setListener() { + sendBtn.setOnClickListener(v -> { + if (!UPbotComm.getInstance().getConnectStatus()) { + Toast.makeText(ClientActivity.this, "连接失败无法发送", + Toast.LENGTH_SHORT).show(); + return; + } + UPbotComm.getInstance().sendMessage(msgET.getText().toString()); + }); + confirmBtn.setOnClickListener(v -> { + // 给定IP地址尝试连接 + UPbotComm.getInstance().connect(ipET.getText().toString()); + confirmBtn.setEnabled(false); // 连接只点一次 + }); + + // 点击按钮启动机器人 + findViewById(R.id.btn_run_robot).setOnClickListener(v -> { + // 参考UPbot通信协议 +// sendUPbotCmd((byte) 0x00, "正在启动机器人"); + byte start = MSG_CMD.START_ROBOT; + if(!UPbotComm.getInstance().getConnectStatus()) { + Toast.makeText(ClientActivity.this, "连接失败无法启动", Toast.LENGTH_SHORT).show(); + return; + } + sendCmdMsg(start,"正在启动机器人"); + }); + + // 全覆盖命令 + findViewById(R.id.btn_full_coverage).setOnClickListener(v -> { + // 参考UPbot通信协议 +// sendUPbotCmd((byte) 0x02, "正在启动全覆盖割草"); + 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"); + }); + + findViewById(R.id.btn_retrun_charge).setOnClickListener(v -> { + // 参考UPbot通信协议 +// sendUPbotCmd((byte) 0x07, "正在启动返回充电"); + 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"); + }); + + // 设定割草边界 + findViewById(R.id.btn_range_setting).setOnClickListener(v -> { + // 参考Docs/UPbot通信协议 +// sendUPbotCmd((byte) 0x05, "正在启动边界设定"); + byte value = MSG_CMD.BOUNDARY_SETTING; + if(!UPbotComm.getInstance().getConnectStatus()) { + Toast.makeText(ClientActivity.this, "连接失败无法设定边界", Toast.LENGTH_SHORT).show(); + return; + } + sendCmdMsg(value,"正在启动边界设定"); + }); + + // 启动基站初始化 + findViewById(R.id.btn_base_init).setOnClickListener(v -> { +// sendUPbotCmd((byte) 0x10, "正在启动基站初始化"); + byte value = MSG_CMD.BASE_INIT; + if(!UPbotComm.getInstance().getConnectStatus()) { + Toast.makeText(ClientActivity.this, "连接失败无法启动基站初始化", Toast.LENGTH_SHORT).show(); + return; + } + sendCmdMsg(value,"正在启动基站初始化"); + }); + + //结束机器人 + findViewById(R.id.btn_finish_robot).setOnClickListener(v -> { + byte value = MSG_CMD.STOP_MOWING; + if(!UPbotComm.getInstance().getConnectStatus()) { + Toast.makeText(ClientActivity.this, "连接失败无法结束割草机器人程序", Toast.LENGTH_SHORT).show(); + return; + } + sendCmdMsg(value,"正在结束割草机器人程序"); + }); + } + + // void sendUPbotCmd(byte cmdType, String toastString){ +// byte[] cmd = {0x5B, 0x01, 0x00, 0x01, cmdType, 0x00}; +// // 根据cmd 计算校验和 +// calculateAndSetChecksum(cmd); +// // 调用UPbotComm发送命令 +// UPbotComm.getInstance().sendMessage(cmd); +// // 通知命令发送 +// Toast.makeText(ClientActivity.this, toastString, +// Toast.LENGTH_SHORT).show(); +// } + 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(); + } + + + @Override + protected void onDestroy() { + super.onDestroy(); + } + + /** + * 计算bytes数组前n-1位的校验和并写入到最后一位 + */ +// public static void calculateAndSetChecksum(byte[] bytes) { +// int sum = 0; +// for (int i = 0; i < bytes.length - 1; i++) { +// 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 +// } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ESP8266ClientActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ESP8266ClientActivity.java index 51e1aba..063c73c 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ESP8266ClientActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ESP8266ClientActivity.java @@ -1,141 +1,141 @@ -package com.example.upbot; - -import android.content.BroadcastReceiver; -import android.content.Context; -import android.content.Intent; -import android.content.IntentFilter; -import android.os.Bundle; -import android.view.View; -import android.widget.Button; -import android.widget.EditText; -import android.widget.TextView; -import android.widget.Toast; - -import androidx.appcompat.app.AppCompatActivity; -import androidx.localbroadcastmanager.content.LocalBroadcastManager; - -public class ESP8266ClientActivity extends AppCompatActivity { - - private String mIp;//硬件的IP - private int mPort = 5000;//硬件的端口 - private EditText et_ip;//输入硬件对应的IP - private EditText et_msg;//输入要发送的消息 - private Button btn_confirm;//进行连接 - private Button btn_send;//发送消息 -// Socket mSocket = null;//连接成功可得到的Socket -// OutputStream outputStream = null;//定义输出流 -// InputStream inputStream = null;//定义输入流 - private StringBuffer sb = new StringBuffer();//消息 - private TextView tv_msg;//显示消息 - private boolean connectFlage = true;//连接成功或连接3s后变false - private TextView connetStatusTextView;//显示连接状态 - private int ShowPointSum = 0;//连接时显示 连接中.. 后面点的计数 - - private final String TAG = "WifiDemoLogESP8266ClientActivity"; - private LocalBroadcastManager localBroadcastManager;//本地广播管理器 - private MyLocalBroadcastReceiver localBroadcastReceiver;//广播接收者 - private int connectingCount=0;//用来刷新 正在连接 与 正 在 连 接 - - - @Override - protected void onCreate(Bundle savedInstanceState) { - super.onCreate(savedInstanceState); - setContentView(R.layout.activity_esp8266_client); - initView();//初始化控件 - setListener();//设置Button的点击事件 - registerBroadcastReceiver();//广播注册 - } - - /** - * 初始化控件 - */ - private void initView() { - et_ip = (EditText) findViewById(R.id.et_ipESP8266); - et_msg = (EditText) findViewById(R.id.et_msgESP8266); - btn_send = findViewById(R.id.btn_sendESP8266); - btn_confirm = findViewById(R.id.btn_confirmESP8266); - tv_msg = (TextView) findViewById(R.id.tv_msgESP8266); - connetStatusTextView = findViewById(R.id.connetStatusTV); - } - - /** - * 设置Button的点击事件 - */ - private void setListener() { - btn_confirm.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View v) { - btn_confirm.setEnabled(false);//防止正在连接时再次点击连接 - WiFiModeUtil.connectFlage=true; - mIp = et_ip.getText().toString();//得到IP - WiFiModeUtil.connetByTCP(mIp,mPort);//进行连接 - } - }); - btn_send.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View v) { - if (WiFiModeUtil.mSocket == null) { - Toast.makeText(ESP8266ClientActivity.this, "未连接任何设备~~", Toast.LENGTH_SHORT).show(); - return; - } - WiFiModeUtil.sendData(et_msg.getText().toString());//发送数据 - } - }); - } - - - @Override - protected void onDestroy() { - localBroadcastManager.unregisterReceiver(localBroadcastReceiver);//注销广播 - WiFiModeUtil.closeSocketAndStream();//关闭Socket释放资源 - super.onDestroy(); - } - - /** - * 广播注册 - */ - private void registerBroadcastReceiver() { - IntentFilter intentFilter = new IntentFilter(); - intentFilter.addAction("WiFiModeUtil.Connecting");//正在连接 - intentFilter.addAction("WiFiModeUtil.Connect.Succeed");//连接成功 - intentFilter.addAction("WiFiModeUtil.Connect.Fail");//连接失败 - intentFilter.addAction("WiFiModeUtil.Connect.ReceiveMessage");//接收到数据 - intentFilter.addAction("WiFiModeUtil.Disconnected");//接收到数据 - localBroadcastReceiver = new MyLocalBroadcastReceiver(); - localBroadcastManager = LocalBroadcastManager.getInstance(this); - WiFiModeUtil.localBroadcastManager=localBroadcastManager;//给WiFiModeUtil工具类中的本地广播管理器赋值 - localBroadcastManager.registerReceiver(localBroadcastReceiver,intentFilter); - } - - /** - * 本地广播接收者 - */ - class MyLocalBroadcastReceiver extends BroadcastReceiver { - @Override - public void onReceive(Context context, Intent intent) { - switch (intent.getAction()) { - case "WiFiModeUtil.Connecting": - connectingCount++; - if(connectingCount%2==0) - connetStatusTextView.setText("正在连接"); - else - connetStatusTextView.setText("正 在 连 接"); - break; - case "WiFiModeUtil.Connect.Succeed": - connetStatusTextView.setText("连接成功"); - btn_confirm.setEnabled(true); - break; - case "WiFiModeUtil.Connect.Fail": - connetStatusTextView.setText("连接失败"); - btn_confirm.setEnabled(true); - break; - case "WiFiModeUtil.Connect.ReceiveMessage": - tv_msg.setText(WiFiModeUtil.DataRecivice.toString()); - break; - case "WiFiModeUtil.Disconnected": - tv_msg.setText("连接已断开，请重新进行连接"); - break; - } - } - } +package com.example.upbot; + +import android.content.BroadcastReceiver; +import android.content.Context; +import android.content.Intent; +import android.content.IntentFilter; +import android.os.Bundle; +import android.view.View; +import android.widget.Button; +import android.widget.EditText; +import android.widget.TextView; +import android.widget.Toast; + +import androidx.appcompat.app.AppCompatActivity; +import androidx.localbroadcastmanager.content.LocalBroadcastManager; + +public class ESP8266ClientActivity extends AppCompatActivity { + + private String mIp;//硬件的IP + private int mPort = 5000;//硬件的端口 + private EditText et_ip;//输入硬件对应的IP + private EditText et_msg;//输入要发送的消息 + private Button btn_confirm;//进行连接 + private Button btn_send;//发送消息 +// Socket mSocket = null;//连接成功可得到的Socket +// OutputStream outputStream = null;//定义输出流 +// InputStream inputStream = null;//定义输入流 + private StringBuffer sb = new StringBuffer();//消息 + private TextView tv_msg;//显示消息 + private boolean connectFlage = true;//连接成功或连接3s后变false + private TextView connetStatusTextView;//显示连接状态 + private int ShowPointSum = 0;//连接时显示 连接中.. 后面点的计数 + + private final String TAG = "WifiDemoLogESP8266ClientActivity"; + private LocalBroadcastManager localBroadcastManager;//本地广播管理器 + private MyLocalBroadcastReceiver localBroadcastReceiver;//广播接收者 + private int connectingCount=0;//用来刷新 正在连接 与 正 在 连 接 + + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + setContentView(R.layout.activity_esp8266_client); + initView();//初始化控件 + setListener();//设置Button的点击事件 + registerBroadcastReceiver();//广播注册 + } + + /** + * 初始化控件 + */ + private void initView() { + et_ip = (EditText) findViewById(R.id.et_ipESP8266); + et_msg = (EditText) findViewById(R.id.et_msgESP8266); + btn_send = findViewById(R.id.btn_sendESP8266); + btn_confirm = findViewById(R.id.btn_confirmESP8266); + tv_msg = (TextView) findViewById(R.id.tv_msgESP8266); + connetStatusTextView = findViewById(R.id.connetStatusTV); + } + + /** + * 设置Button的点击事件 + */ + private void setListener() { + btn_confirm.setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View v) { + btn_confirm.setEnabled(false);//防止正在连接时再次点击连接 + WiFiModeUtil.connectFlage=true; + mIp = et_ip.getText().toString();//得到IP + WiFiModeUtil.connetByTCP(mIp,mPort);//进行连接 + } + }); + btn_send.setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View v) { + if (WiFiModeUtil.mSocket == null) { + Toast.makeText(ESP8266ClientActivity.this, "未连接任何设备~~", Toast.LENGTH_SHORT).show(); + return; + } + WiFiModeUtil.sendData(et_msg.getText().toString());//发送数据 + } + }); + } + + + @Override + protected void onDestroy() { + localBroadcastManager.unregisterReceiver(localBroadcastReceiver);//注销广播 + WiFiModeUtil.closeSocketAndStream();//关闭Socket释放资源 + super.onDestroy(); + } + + /** + * 广播注册 + */ + private void registerBroadcastReceiver() { + IntentFilter intentFilter = new IntentFilter(); + intentFilter.addAction("WiFiModeUtil.Connecting");//正在连接 + intentFilter.addAction("WiFiModeUtil.Connect.Succeed");//连接成功 + intentFilter.addAction("WiFiModeUtil.Connect.Fail");//连接失败 + intentFilter.addAction("WiFiModeUtil.Connect.ReceiveMessage");//接收到数据 + intentFilter.addAction("WiFiModeUtil.Disconnected");//接收到数据 + localBroadcastReceiver = new MyLocalBroadcastReceiver(); + localBroadcastManager = LocalBroadcastManager.getInstance(this); + WiFiModeUtil.localBroadcastManager=localBroadcastManager;//给WiFiModeUtil工具类中的本地广播管理器赋值 + localBroadcastManager.registerReceiver(localBroadcastReceiver,intentFilter); + } + + /** + * 本地广播接收者 + */ + class MyLocalBroadcastReceiver extends BroadcastReceiver { + @Override + public void onReceive(Context context, Intent intent) { + switch (intent.getAction()) { + case "WiFiModeUtil.Connecting": + connectingCount++; + if(connectingCount%2==0) + connetStatusTextView.setText("正在连接"); + else + connetStatusTextView.setText("正 在 连 接"); + break; + case "WiFiModeUtil.Connect.Succeed": + connetStatusTextView.setText("连接成功"); + btn_confirm.setEnabled(true); + break; + case "WiFiModeUtil.Connect.Fail": + connetStatusTextView.setText("连接失败"); + btn_confirm.setEnabled(true); + break; + case "WiFiModeUtil.Connect.ReceiveMessage": + tv_msg.setText(WiFiModeUtil.DataRecivice.toString()); + break; + case "WiFiModeUtil.Disconnected": + tv_msg.setText("连接已断开，请重新进行连接"); + break; + } + } + } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/EditActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/EditActivity.java index ea80e6f..adcb5eb 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/EditActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/EditActivity.java @@ -1,43 +1,19 @@ 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 androidx.annotation.NonNull; +import androidx.appcompat.app.AppCompatActivity; +import androidx.appcompat.widget.Toolbar; +import androidx.core.content.ContextCompat; + 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); } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CMD.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CMD.java index 1390e3c..925a718 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CMD.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MSG/MSG_CMD.java @@ -33,4 +33,6 @@ public class MSG_CMD { public static final byte PAUSE_MOWING = 0x09; // public static final String PAUSE_MOWING = "0x09"; + + public static final byte BASE_INIT = 0x10; } diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java index c03f048..10a0c67 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/MainActivity.java @@ -1,306 +1,293 @@ -package com.example.upbot; - -import android.content.Intent; -import android.graphics.Color; -import android.graphics.drawable.Drawable; -import android.os.Build; -import android.os.Bundle; -import android.util.Log; -import android.view.Menu; -import android.view.MenuItem; -import android.view.View; -import android.widget.Toast; - -import androidx.annotation.NonNull; -import androidx.appcompat.app.ActionBar; -import androidx.appcompat.app.AppCompatActivity; -import androidx.appcompat.widget.Toolbar; -import androidx.core.content.ContextCompat; - -import com.amap.api.location.AMapLocation; -import com.amap.api.location.AMapLocationClient; -import com.amap.api.location.AMapLocationClientOption; -import com.amap.api.location.AMapLocationListener; -import com.amap.api.maps.AMap; -import com.amap.api.maps.LocationSource; -import com.amap.api.maps.MapView; -import com.amap.api.maps.model.BitmapDescriptorFactory; -import com.amap.api.maps.model.MyLocationStyle; - -import pub.devrel.easypermissions.AfterPermissionGranted; -import pub.devrel.easypermissions.EasyPermissions; - -public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource{ - private MyLocationStyle myLocationStyle = new MyLocationStyle(); - - //声明AMapLocationClient类对象 - public AMapLocationClient mLocationClient = null; - //声明AMapLocationClientOption对象 - public AMapLocationClientOption mLocationOption = null; - //请求权限码 - private static final int REQUEST_PERMISSIONS = 9527; - //内容 - private MapView mapView; - - //地图控制器 - private AMap aMap = null; - //位置更改监听 - private OnLocationChangedListener mListener; - - @Override - protected void onCreate(Bundle savedInstanceState) { - super.onCreate(savedInstanceState); - setContentView(R.layout.activity_main); - mapView = findViewById(R.id.map_view); - mapView.onCreate(savedInstanceState); - initLocation(); - initMap(savedInstanceState); - checkingAndroidVersion(); - findViewById(R.id.base_config_layout).setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View view) { - Intent intent=new Intent(MainActivity.this, ServiceActivity.class); - startActivity(intent); - } - }); - - findViewById(R.id.mowing_layout).setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View view) { - Intent intent=new Intent(MainActivity.this,ClientActivity.class); - startActivity(intent); - } - }); - - - findViewById(R.id.client_mode_layout).setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View view) { - Intent intent=new Intent(MainActivity.this,ESP8266ClientActivity.class); - startActivity(intent); - } - }); - - 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(); - } - }); - } - - public void activate(OnLocationChangedListener onLocationChangedListener) { - mListener = onLocationChangedListener; - if (mLocationClient != null) { - mLocationClient.startLocation();//启动定位 - } - } - - /** - * 停止定位 - */ - @Override - public void deactivate() { - mListener = null; - if (mLocationClient != null) { - mLocationClient.stopLocation(); - mLocationClient.onDestroy(); - } - mLocationClient = null; - } - - /** - * 初始化地图 - * @param savedInstanceState - */ - private void initMap(Bundle savedInstanceState) { - mapView = findViewById(R.id.map_view); - //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图 - mapView.onCreate(savedInstanceState); - //初始化地图控制器对象 - aMap = mapView.getMap(); - - //设置最小缩放等级为16 ，缩放级别范围为[3, 20] - aMap.setMinZoomLevel(12); - // 自定义定位蓝点图标 - myLocationStyle.myLocationIcon(BitmapDescriptorFactory.fromResource(R.drawable.baseline_location_on_24)); - // 自定义精度范围的圆形边框颜色 都为0则透明 - myLocationStyle.strokeColor(Color.argb(0, 0, 0, 0)); - // 自定义精度范围的圆形边框宽度 0 无宽度 - myLocationStyle.strokeWidth(0); - // 设置圆形的填充颜色 都为0则透明 - myLocationStyle.radiusFillColor(Color.argb(0, 0, 0, 0)); - - //设置定位蓝点的Style - aMap.setMyLocationStyle(myLocationStyle); - - // 设置定位监听 - aMap.setLocationSource(this); - // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false - aMap.setMyLocationEnabled(true); - } - - /** - * 初始化定位 - */ - private void initLocation() { - //初始化定位 - try { - mLocationClient = new AMapLocationClient(getApplicationContext()); - } catch (Exception e) { - e.printStackTrace(); - } - if (mLocationClient != null) { - //设置定位回调监听 - mLocationClient.setLocationListener(this); - //初始化AMapLocationClientOption对象 - mLocationOption = new AMapLocationClientOption(); - //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。 - mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy); - //获取最近3s内精度最高的一次定位结果： - //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。 - mLocationOption.setOnceLocationLatest(true); - //设置是否返回地址信息（默认返回地址信息） - mLocationOption.setNeedAddress(true); - //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。 - mLocationOption.setHttpTimeOut(20000); - //关闭缓存机制，高精度定位会产生缓存。 - mLocationOption.setLocationCacheEnable(false); - //给定位客户端对象设置定位参数 - mLocationClient.setLocationOption(mLocationOption); - } - } - - /** - * 接收异步返回的定位结果 - * - * @param aMapLocation - */ - @Override - public void onLocationChanged(AMapLocation aMapLocation) { - if (aMapLocation != null) { - if (aMapLocation.getErrorCode() == 0) { - //地址 - String address = aMapLocation.getAddress(); - double latitude = aMapLocation.getLatitude(); - double longitude = aMapLocation.getLongitude(); - StringBuilder stringBuffer = new StringBuilder(); - stringBuffer.append("纬度：").append(latitude).append("\n"); - stringBuffer.append("经度：").append(longitude).append("\n"); - stringBuffer.append("地址：").append(address).append("\n"); - Log.d("MainActivity",stringBuffer.toString()); - showMsg(address); - mLocationClient.stopLocation(); - if (mListener != null){ - mListener.onLocationChanged(aMapLocation); - } - - } else { - //定位失败时，可通过ErrCode（错误码）信息来确定失败的原因，errInfo是错误信息，详见错误码表。 - Log.e("AmapError", "location Error, ErrCode:" - + aMapLocation.getErrorCode() + ", errInfo:" - + aMapLocation.getErrorInfo()); - } - } - } - - /** - * 检查Android版本 - */ - private void checkingAndroidVersion() { - if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){ - //Android6.0及以上先获取权限再定位 - requestPermission(); - }else { - //Android6.0以下直接定位 - mLocationClient.startLocation(); - } - } - - /** - * 动态请求权限 - */ - @AfterPermissionGranted(REQUEST_PERMISSIONS) - private void requestPermission() { - String[] permissions = new String[]{ - "android.permission.ACCESS_COARSE_LOCATION", - "android.permission.ACCESS_FINE_LOCATION", - "android.permission.READ_PHONE_STATE", - "android.permission.WRITE_EXTERNAL_STORAGE" - }; - - if (EasyPermissions.hasPermissions(this, permissions)) { - //true 有权限 开始定位 - showMsg("已获得权限，可以定位啦！"); - mLocationClient.startLocation(); - } else { - //false 无权限 - EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions); - } - } - - /** - * 请求权限结果 - * @param requestCode - * @param permissions - * @param grantResults - */ - @Override - public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) { - super.onRequestPermissionsResult(requestCode, permissions, grantResults); - //设置权限请求结果 - EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this); - } - - - /** - * Toast提示 - * @param msg 提示内容 - */ - private void showMsg(String msg){ - Toast.makeText(this,msg,Toast.LENGTH_SHORT).show(); - } - @Override - protected void onResume() { - super.onResume(); - //在activity执行onResume时执行mMapView.onResume ()，重新绘制加载地图 - mapView.onResume(); - } - @Override - protected void onPause() { - super.onPause(); - //在activity执行onPause时执行mMapView.onPause ()，暂停地图的绘制 - mapView.onPause(); - } - @Override - protected void onSaveInstanceState(Bundle outState) { - super.onSaveInstanceState(outState); - //在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState)，保存地图当前的状态 - mapView.onSaveInstanceState(outState); - } - - @Override - protected void onDestroy() { - super.onDestroy(); - //销毁定位客户端，同时销毁本地定位服务。 - mLocationClient.onDestroy(); - mapView.onDestroy(); - } - +package com.example.upbot; + +import android.content.Intent; +import android.graphics.Color; +import android.os.Build; +import android.os.Bundle; +import android.util.Log; +import android.view.Menu; +import android.view.MenuItem; +import android.view.View; +import android.widget.Toast; + +import androidx.annotation.NonNull; +import androidx.appcompat.app.ActionBar; +import androidx.appcompat.app.AppCompatActivity; + +import com.amap.api.location.AMapLocation; +import com.amap.api.location.AMapLocationClient; +import com.amap.api.location.AMapLocationClientOption; +import com.amap.api.location.AMapLocationListener; +import com.amap.api.maps.AMap; +import com.amap.api.maps.LocationSource; +import com.amap.api.maps.MapView; +import com.amap.api.maps.model.BitmapDescriptorFactory; +import com.amap.api.maps.model.MyLocationStyle; + +import pub.devrel.easypermissions.AfterPermissionGranted; +import pub.devrel.easypermissions.EasyPermissions; + +public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource{ + private MyLocationStyle myLocationStyle = new MyLocationStyle(); + + //声明AMapLocationClient类对象 + public AMapLocationClient mLocationClient = null; + //声明AMapLocationClientOption对象 + public AMapLocationClientOption mLocationOption = null; + //请求权限码 + private static final int REQUEST_PERMISSIONS = 9527; + //内容 + private MapView mapView; + + //地图控制器 + private AMap aMap = null; + //位置更改监听 + private OnLocationChangedListener mListener; + + private ActionBar actionBar; + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + setContentView(R.layout.activity_main); + mapView = findViewById(R.id.map_view); + mapView.onCreate(savedInstanceState); + initLocation(); + initMap(savedInstanceState); + checkingAndroidVersion(); + findViewById(R.id.base_config_layout).setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View view) { + Intent intent=new Intent(MainActivity.this, ServiceActivity.class); + startActivity(intent); + } + }); + + findViewById(R.id.mowing_layout).setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View view) { + Intent intent=new Intent(MainActivity.this,ClientActivity.class); + startActivity(intent); + } + }); + + + findViewById(R.id.client_mode_layout).setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View view) { + Intent intent=new Intent(MainActivity.this,ESP8266ClientActivity.class); + startActivity(intent); + } + }); + + findViewById(R.id.imageView).setOnClickListener(v -> { + Intent intent=new Intent(MainActivity.this,RobotActivity.class); + startActivity(intent); + }); + + findViewById(R.id.tv_setting_main).setOnClickListener(v -> { + Intent intent=new Intent(MainActivity.this,EditActivity.class); + startActivity(intent); + }); + + } + + public void activate(OnLocationChangedListener onLocationChangedListener) { + mListener = onLocationChangedListener; + if (mLocationClient != null) { + mLocationClient.startLocation();//启动定位 + } + } + + /** + * 停止定位 + */ + @Override + public void deactivate() { + mListener = null; + if (mLocationClient != null) { + mLocationClient.stopLocation(); + mLocationClient.onDestroy(); + } + mLocationClient = null; + } + + /** + * 初始化地图 + * @param savedInstanceState + */ + private void initMap(Bundle savedInstanceState) { + mapView = findViewById(R.id.map_view); + //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图 + mapView.onCreate(savedInstanceState); + //初始化地图控制器对象 + aMap = mapView.getMap(); + + //设置最小缩放等级为16 ，缩放级别范围为[3, 20] + aMap.setMinZoomLevel(12); + // 自定义定位蓝点图标 + myLocationStyle.myLocationIcon(BitmapDescriptorFactory.fromResource(R.drawable.baseline_location_on_24)); + // 自定义精度范围的圆形边框颜色 都为0则透明 + myLocationStyle.strokeColor(Color.argb(0, 0, 0, 0)); + // 自定义精度范围的圆形边框宽度 0 无宽度 + myLocationStyle.strokeWidth(0); + // 设置圆形的填充颜色 都为0则透明 + myLocationStyle.radiusFillColor(Color.argb(0, 0, 0, 0)); + + //设置定位蓝点的Style + aMap.setMyLocationStyle(myLocationStyle); + + // 设置定位监听 + aMap.setLocationSource(this); + // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false + aMap.setMyLocationEnabled(true); + } + + /** + * 初始化定位 + */ + private void initLocation() { + //初始化定位 + try { + mLocationClient = new AMapLocationClient(getApplicationContext()); + } catch (Exception e) { + e.printStackTrace(); + } + if (mLocationClient != null) { + //设置定位回调监听 + mLocationClient.setLocationListener(this); + //初始化AMapLocationClientOption对象 + mLocationOption = new AMapLocationClientOption(); + //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。 + mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy); + //获取最近3s内精度最高的一次定位结果： + //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。 + mLocationOption.setOnceLocationLatest(true); + //设置是否返回地址信息（默认返回地址信息） + mLocationOption.setNeedAddress(true); + //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。 + mLocationOption.setHttpTimeOut(20000); + //关闭缓存机制，高精度定位会产生缓存。 + mLocationOption.setLocationCacheEnable(false); + //给定位客户端对象设置定位参数 + mLocationClient.setLocationOption(mLocationOption); + } + } + + /** + * 接收异步返回的定位结果 + * + * @param aMapLocation + */ + @Override + public void onLocationChanged(AMapLocation aMapLocation) { + if (aMapLocation != null) { + if (aMapLocation.getErrorCode() == 0) { + //地址 + String address = aMapLocation.getAddress(); + double latitude = aMapLocation.getLatitude(); + double longitude = aMapLocation.getLongitude(); + StringBuilder stringBuffer = new StringBuilder(); + stringBuffer.append("纬度：").append(latitude).append("\n"); + stringBuffer.append("经度：").append(longitude).append("\n"); + stringBuffer.append("地址：").append(address).append("\n"); + Log.d("MainActivity",stringBuffer.toString()); + showMsg(address); + mLocationClient.stopLocation(); + if (mListener != null){ + mListener.onLocationChanged(aMapLocation); + } + + } else { + //定位失败时，可通过ErrCode（错误码）信息来确定失败的原因，errInfo是错误信息，详见错误码表。 + Log.e("AmapError", "location Error, ErrCode:" + + aMapLocation.getErrorCode() + ", errInfo:" + + aMapLocation.getErrorInfo()); + } + } + } + + /** + * 检查Android版本 + */ + private void checkingAndroidVersion() { + if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){ + //Android6.0及以上先获取权限再定位 + requestPermission(); + }else { + //Android6.0以下直接定位 + mLocationClient.startLocation(); + } + } + + /** + * 动态请求权限 + */ + @AfterPermissionGranted(REQUEST_PERMISSIONS) + private void requestPermission() { + String[] permissions = new String[]{ + "android.permission.ACCESS_COARSE_LOCATION", + "android.permission.ACCESS_FINE_LOCATION", + "android.permission.READ_PHONE_STATE", + "android.permission.WRITE_EXTERNAL_STORAGE" + }; + + if (EasyPermissions.hasPermissions(this, permissions)) { + //true 有权限 开始定位 + showMsg("已获得权限，可以定位啦！"); + mLocationClient.startLocation(); + } else { + //false 无权限 + EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions); + } + } + + /** + * 请求权限结果 + * @param requestCode + * @param permissions + * @param grantResults + */ + @Override + public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) { + super.onRequestPermissionsResult(requestCode, permissions, grantResults); + //设置权限请求结果 + EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this); + } + + + /** + * Toast提示 + * @param msg 提示内容 + */ + private void showMsg(String msg){ + Toast.makeText(this,msg,Toast.LENGTH_SHORT).show(); + } + @Override + protected void onResume() { + super.onResume(); + //在activity执行onResume时执行mMapView.onResume ()，重新绘制加载地图 + mapView.onResume(); + } + @Override + protected void onPause() { + super.onPause(); + //在activity执行onPause时执行mMapView.onPause ()，暂停地图的绘制 + mapView.onPause(); + } + @Override + protected void onSaveInstanceState(Bundle outState) { + super.onSaveInstanceState(outState); + //在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState)，保存地图当前的状态 + mapView.onSaveInstanceState(outState); + } + + @Override + protected void onDestroy() { + super.onDestroy(); + //销毁定位客户端，同时销毁本地定位服务。 + mLocationClient.onDestroy(); + mapView.onDestroy(); + } + } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/RobotActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/RobotActivity.java index 45d717b..cc0069e 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/RobotActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/RobotActivity.java @@ -1,10 +1,5 @@ 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; @@ -12,6 +7,11 @@ import android.view.MenuItem; import android.widget.ImageButton; import android.widget.TextView; +import androidx.annotation.NonNull; +import androidx.appcompat.app.AppCompatActivity; +import androidx.appcompat.widget.Toolbar; +import androidx.core.content.ContextCompat; + public class RobotActivity extends AppCompatActivity { private ImageButton btn_quiet, btn_standard, btn_strong, btn_super, btn_water_less, btn_water_medium, btn_water_high; @@ -22,17 +22,6 @@ public class RobotActivity extends AppCompatActivity { 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(); } @@ -152,12 +141,4 @@ public class RobotActivity extends AppCompatActivity { } } - @Override - public boolean onOptionsItemSelected(@NonNull MenuItem item) { - if (item.getItemId() == android.R.id.home){ - onBackPressed(); - return true; - } - return super.onOptionsItemSelected(item); - } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java index 302d5dc..fe6914d 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SendMsg.java @@ -5,9 +5,6 @@ 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(); diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ServiceActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ServiceActivity.java index 9e82ff6..ffe52c4 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ServiceActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/ServiceActivity.java @@ -1,205 +1,205 @@ -package com.example.upbot; - -import android.annotation.SuppressLint; -import android.content.Context; -import android.net.wifi.WifiInfo; -import android.net.wifi.WifiManager; -import android.os.Bundle; -import android.os.Handler; -import android.os.Looper; -import android.os.Message; -import android.util.Log; -import android.view.View; -import android.widget.Button; -import android.widget.TextView; - -import androidx.appcompat.app.AppCompatActivity; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.net.ServerSocket; -import java.net.Socket; - -public class ServiceActivity extends AppCompatActivity { - - private Button clearBtn; - private Button showIPBtn; - private TextView ipTV; - private TextView msgTV; - private ServerSocket mServerSocket; - private Socket mSocket; - private StringBuffer stringBuffer = new StringBuffer(); - private final String TAG = "WifiDemoLogServiceActivity"; - - - @SuppressLint("HandlerLeak") - public Handler handler = new Handler(Looper.myLooper()) { - @Override - public void handleMessage(Message msg) { - super.handleMessage(msg); - if (msg.what == 1) { - stringBuffer.append(msg.obj); - stringBuffer.append("\n"); - msgTV.setText(stringBuffer.toString()); - } - } - }; - - @Override - protected void onCreate(Bundle savedInstanceState) { - super.onCreate(savedInstanceState); - setContentView(R.layout.activity_service); - initView(); - setListener(); - - try { - mServerSocket = new ServerSocket(5000);//端口号5000 - } catch (IOException e) { - e.printStackTrace(); - } - //启动服务线程 - SocketAcceptThread socketAcceptThread = new SocketAcceptThread(); - socketAcceptThread.start(); - } - - /** - * 获得控件实例 - */ - private void initView() { - clearBtn = findViewById(R.id.clearBtn); - showIPBtn = findViewById(R.id.showIPBtn); - ipTV = findViewById(R.id.ipTV); - msgTV = findViewById(R.id.msgTV); - } - - /** - * 为控件设置监听 - */ - private void setListener() { - clearBtn.setOnClickListener(new View.OnClickListener() { - @Override - public void onClick(View v) { - stringBuffer.setLength(0); - msgTV.setText(""); - } - }); - showIPBtn.setOnClickListener(new View.OnClickListener() { - @SuppressLint("SetTextI18n") - @Override - public void onClick(View v) { - ipTV.setText(getLocalIpAddress(ServiceActivity.this) + ":5000"); - } - }); - - } - - - /** - * 连接线程 - * 得到Socket - */ - class SocketAcceptThread extends Thread { - @Override - public void run() { - try { - //等待客户端的连接，Accept会阻塞，直到建立连接， - //所以需要放在子线程中运行 - mSocket = mServerSocket.accept(); - } catch (IOException e) { - e.printStackTrace(); - return; - } - //启动消息接收线程 - startReader(mSocket); - } - } - - /** - * 从参数的Socket里获取最新的消息 - */ - private void startReader(final Socket socket) { - - new Thread() { - @Override - public void run() { - DataInputStream reader; - try { - // 获取读取流 - reader = new DataInputStream(socket.getInputStream()); - while (true) { - // 读取数据 - String msg = reader.readUTF(); - Log.d(TAG, "客户端的信息:" + msg); - - //告知客户端消息收到 - DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream()); - writer.writeUTF("收到:" + msg); // 写一个UTF-8的信息 - - //发消息更新UI - Message message = new Message(); - message.what = 1; - message.obj=msg; - handler.sendMessage(message); - } - } catch (IOException e) { - e.printStackTrace(); - } - } - }.start(); - } - - @Override - protected void onDestroy() { - if (mServerSocket != null) { - try { - mServerSocket.close(); - } catch (IOException e) { - e.printStackTrace(); - } - } - if(mSocket!=null){ - try { - mSocket.close(); - } catch (IOException e) { - e.printStackTrace(); - } - } - super.onDestroy(); - } - - /** - * 将ip的整数形式转换成ip形式 - * - * @param ipInt - * @return - */ - public static String int2ip(int ipInt) { - StringBuilder sb = new StringBuilder(); - sb.append(ipInt & 0xFF).append("."); - sb.append((ipInt >> 8) & 0xFF).append("."); - sb.append((ipInt >> 16) & 0xFF).append("."); - sb.append((ipInt >> 24) & 0xFF); - return sb.toString(); - } - - /** - * 获取当前ip地址 - * - * @param context - * @return - */ - public static String getLocalIpAddress(Context context) { - try { - - WifiManager wifiManager = (WifiManager) context - .getSystemService(Context.WIFI_SERVICE); - WifiInfo wifiInfo = wifiManager.getConnectionInfo(); - int i = wifiInfo.getIpAddress(); - return int2ip(i); - } catch (Exception ex) { - return " 获取IP出错鸟!!!!请保证是WIFI,或者请重新打开网络!\n" + ex.getMessage(); - } - // return null; - } +package com.example.upbot; + +import android.annotation.SuppressLint; +import android.content.Context; +import android.net.wifi.WifiInfo; +import android.net.wifi.WifiManager; +import android.os.Bundle; +import android.os.Handler; +import android.os.Looper; +import android.os.Message; +import android.util.Log; +import android.view.View; +import android.widget.Button; +import android.widget.TextView; + +import androidx.appcompat.app.AppCompatActivity; + +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.net.ServerSocket; +import java.net.Socket; + +public class ServiceActivity extends AppCompatActivity { + + private Button clearBtn; + private Button showIPBtn; + private TextView ipTV; + private TextView msgTV; + private ServerSocket mServerSocket; + private Socket mSocket; + private StringBuffer stringBuffer = new StringBuffer(); + private final String TAG = "WifiDemoLogServiceActivity"; + + + @SuppressLint("HandlerLeak") + public Handler handler = new Handler(Looper.myLooper()) { + @Override + public void handleMessage(Message msg) { + super.handleMessage(msg); + if (msg.what == 1) { + stringBuffer.append(msg.obj); + stringBuffer.append("\n"); + msgTV.setText(stringBuffer.toString()); + } + } + }; + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + setContentView(R.layout.activity_service); + initView(); + setListener(); + + try { + mServerSocket = new ServerSocket(5000);//端口号5000 + } catch (IOException e) { + e.printStackTrace(); + } + //启动服务线程 + SocketAcceptThread socketAcceptThread = new SocketAcceptThread(); + socketAcceptThread.start(); + } + + /** + * 获得控件实例 + */ + private void initView() { + clearBtn = findViewById(R.id.clearBtn); + showIPBtn = findViewById(R.id.showIPBtn); + ipTV = findViewById(R.id.ipTV); + msgTV = findViewById(R.id.msgTV); + } + + /** + * 为控件设置监听 + */ + private void setListener() { + clearBtn.setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View v) { + stringBuffer.setLength(0); + msgTV.setText(""); + } + }); + showIPBtn.setOnClickListener(new View.OnClickListener() { + @SuppressLint("SetTextI18n") + @Override + public void onClick(View v) { + ipTV.setText(getLocalIpAddress(ServiceActivity.this) + ":5000"); + } + }); + + } + + + /** + * 连接线程 + * 得到Socket + */ + class SocketAcceptThread extends Thread { + @Override + public void run() { + try { + //等待客户端的连接，Accept会阻塞，直到建立连接， + //所以需要放在子线程中运行 + mSocket = mServerSocket.accept(); + } catch (IOException e) { + e.printStackTrace(); + return; + } + //启动消息接收线程 + startReader(mSocket); + } + } + + /** + * 从参数的Socket里获取最新的消息 + */ + private void startReader(final Socket socket) { + + new Thread() { + @Override + public void run() { + DataInputStream reader; + try { + // 获取读取流 + reader = new DataInputStream(socket.getInputStream()); + while (true) { + // 读取数据 + String msg = reader.readUTF(); + Log.d(TAG, "客户端的信息:" + msg); + + //告知客户端消息收到 + DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream()); + writer.writeUTF("收到:" + msg); // 写一个UTF-8的信息 + + //发消息更新UI + Message message = new Message(); + message.what = 1; + message.obj=msg; + handler.sendMessage(message); + } + } catch (IOException e) { + e.printStackTrace(); + } + } + }.start(); + } + + @Override + protected void onDestroy() { + if (mServerSocket != null) { + try { + mServerSocket.close(); + } catch (IOException e) { + e.printStackTrace(); + } + } + if(mSocket!=null){ + try { + mSocket.close(); + } catch (IOException e) { + e.printStackTrace(); + } + } + super.onDestroy(); + } + + /** + * 将ip的整数形式转换成ip形式 + * + * @param ipInt + * @return + */ + public static String int2ip(int ipInt) { + StringBuilder sb = new StringBuilder(); + sb.append(ipInt & 0xFF).append("."); + sb.append((ipInt >> 8) & 0xFF).append("."); + sb.append((ipInt >> 16) & 0xFF).append("."); + sb.append((ipInt >> 24) & 0xFF); + return sb.toString(); + } + + /** + * 获取当前ip地址 + * + * @param context + * @return + */ + public static String getLocalIpAddress(Context context) { + try { + + WifiManager wifiManager = (WifiManager) context + .getSystemService(Context.WIFI_SERVICE); + WifiInfo wifiInfo = wifiManager.getConnectionInfo(); + int i = wifiInfo.getIpAddress(); + return int2ip(i); + } catch (Exception ex) { + return " 获取IP出错鸟!!!!请保证是WIFI,或者请重新打开网络!\n" + ex.getMessage(); + } + // return null; + } } \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java index 867cad5..a19a125 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/SplashActivity.java @@ -25,7 +25,7 @@ public class SplashActivity extends AppCompatActivity { public void run() { super.run(); try { - sleep(3000);//使程序休眠3秒 + sleep(1000);//使程序休眠1秒 Intent intent=new Intent(getApplicationContext(),MainActivity.class); startActivity(intent); finish(); diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java index 1d7e8ec..361f6d7 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/UPbotComm.java @@ -5,13 +5,11 @@ import static com.example.upbot.ClientActivity.handler; import android.annotation.SuppressLint; import android.os.Message; import android.util.Log; -import android.widget.Toast; 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") @@ -23,10 +21,9 @@ public class UPbotComm { @SuppressLint("StaticFieldLeak") private UPbotComm() { } - - public SocketConnectThread threadInit(){ + static String TAG = "UPBotComm"; + public void threadInit(){ socketConnectThread = new SocketConnectThread(); - return socketConnectThread; } public static UPbotComm getInstance() { if (instance == null) { @@ -39,27 +36,18 @@ public class 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); + Log.d(TAG, ip); mSocket = new Socket(ip, 19890); - - if(mSocket != null){ - status = true; - } - - //获取输出流、输入流 -// mOutStream = mSocket.getOutputStream(); -// mInStream = mSocket.getInputStream(); + status = true; } catch (Exception e) { - e.printStackTrace(); + Log.d(TAG, "打开socket失败"); + status = false; } startReader(mSocket); } - } public boolean connect(String Uip){ ip = Uip; @@ -71,7 +59,7 @@ public class UPbotComm { } /** * 发送消息 - * @param msg + * @param msg : the string data which to send */ public void sendMessage(final String msg) { if (msg.isEmpty() || !status){ @@ -84,13 +72,14 @@ public class UPbotComm { DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream()); writer.writeUTF(msg); // 写一个UTF-8的信息 } catch (IOException e) { - e.printStackTrace(); + Log.e(TAG,"发送消息字符串时发生异常"); } } }.start(); } - public void sendMessage(final byte[] msg) { - if (msg == null || msg.length == 0 || !status) { + + public void sendMessage(final byte[] data) { + if (data == null || data.length == 0 || !status) { return; } new Thread() { @@ -98,9 +87,11 @@ public class UPbotComm { public void run() { try { DataOutputStream writer = new DataOutputStream(mSocket.getOutputStream()); - writer.write(msg); + // 写入字节数组 + writer.write(data); } catch (IOException e) { - e.printStackTrace(); + // 使用日志记录器输出异常信息，指定了日志级别和消息 + Log.e(TAG,"发送消息时发生异常"); } } }.start(); @@ -110,7 +101,7 @@ public class UPbotComm { return status; } /** - * 接收消息 + * 接收消息: 这里的写法有点怪怪的啊 */ private void startReader(final Socket socket) { new Thread(){ @@ -125,11 +116,11 @@ public class UPbotComm { String msg = reader.readUTF(); Message message = new Message(); message.what = 1; - message.obj=msg; + message.obj = msg; handler.sendMessage(message); } } catch (IOException e) { - e.printStackTrace(); + Log.d(TAG, "Read data exception."); } } }.start(); @@ -139,7 +130,7 @@ public class UPbotComm { try { mSocket.close(); } catch (IOException e) { - e.printStackTrace(); + Log.d(TAG, "Release socket error"); } } } diff --git a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/WiFiModeUtil.java b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/WiFiModeUtil.java index 5e00b32..7348276 100644 --- a/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/WiFiModeUtil.java +++ b/robot_android_App/APP/UPBot/app/src/main/java/com/example/upbot/WiFiModeUtil.java @@ -1,258 +1,258 @@ -package com.example.upbot; - -import android.annotation.SuppressLint; -import android.content.Intent; -import android.os.CountDownTimer; -import android.os.Handler; -import android.os.Looper; -import android.os.Message; -import android.util.Log; - -import androidx.localbroadcastmanager.content.LocalBroadcastManager; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.io.InputStream; -import java.io.OutputStream; -import java.net.Socket; -import java.util.ArrayList; -import java.util.List; - -/** - * 正在连接广播Action:"WiFiModeUtil.Connecting" - * 连接失败广播Action:"WiFiModeUtil.Connect.Fail" - * 连接成功广播Action:"WiFiModeUtil.Connect.Succeed" - * 收到数据广播Action:"WiFiModeUtil.Connect.ReceiveMessage" - * 连接断开广播Action:"WiFiModeUtil.Disconnected" - */ -public class WiFiModeUtil { - private static String mIp;//硬件的IP - private static int mPort = 5000;//硬件的端口 - public static Socket mSocket = null;//连接成功可得到的Socket - public static OutputStream outputStream = null;//定义输出流 - public static InputStream inputStream = null;//定义输入流 - public static StringBuffer DataRecivice = new StringBuffer();//数据 - public static List 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(); - } -} +package com.example.upbot; + +import android.annotation.SuppressLint; +import android.content.Intent; +import android.os.CountDownTimer; +import android.os.Handler; +import android.os.Looper; +import android.os.Message; +import android.util.Log; + +import androidx.localbroadcastmanager.content.LocalBroadcastManager; + +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.Socket; +import java.util.ArrayList; +import java.util.List; + +/** + * 正在连接广播Action:"WiFiModeUtil.Connecting" + * 连接失败广播Action:"WiFiModeUtil.Connect.Fail" + * 连接成功广播Action:"WiFiModeUtil.Connect.Succeed" + * 收到数据广播Action:"WiFiModeUtil.Connect.ReceiveMessage" + * 连接断开广播Action:"WiFiModeUtil.Disconnected" + */ +public class WiFiModeUtil { + private static String mIp;//硬件的IP + private static int mPort = 5000;//硬件的端口 + public static Socket mSocket = null;//连接成功可得到的Socket + public static OutputStream outputStream = null;//定义输出流 + public static InputStream inputStream = null;//定义输入流 + public static StringBuffer DataRecivice = new StringBuffer();//数据 + public static List 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(); + } +} diff --git a/robot_android_App/APP/UPBot/app/src/main/res/drawable-v24/ic_launcher_foreground.xml b/robot_android_App/APP/UPBot/app/src/main/res/drawable-v24/ic_launcher_foreground.xml index 2b068d1..cc14f03 100644 --- a/robot_android_App/APP/UPBot/app/src/main/res/drawable-v24/ic_launcher_foreground.xml +++ b/robot_android_App/APP/UPBot/app/src/main/res/drawable-v24/ic_launcher_foreground.xml @@ -1,30 +1,30 @@ - - - - - - - - - - + + + + + + + + + + \ No newline at end of file diff --git a/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_location_on_24.xml b/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_location_on_24.xml index 40ef933..6abf2c2 100644 --- a/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_location_on_24.xml +++ b/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_location_on_24.xml @@ -1,5 +1,5 @@ - - - + + + diff --git a/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_more_24.xml b/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_more_24.xml index bffcb2a..3052c78 100644 --- a/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_more_24.xml +++ b/robot_android_App/APP/UPBot/app/src/main/res/drawable/baseline_more_24.xml @@ -1,5 +1,5 @@ - - - + + + diff --git a/robot_android_App/APP/UPBot/app/src/main/res/drawable/ic_launcher_background.xml b/robot_android_App/APP/UPBot/app/src/main/res/drawable/ic_launcher_background.xml index 07d5da9..a4f78de 100644 --- a/robot_android_App/APP/UPBot/app/src/main/res/drawable/ic_launcher_background.xml +++ b/robot_android_App/APP/UPBot/app/src/main/res/drawable/ic_launcher_background.xml @@ -1,170 +1,170 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml b/robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml index d35fa03..1156579 100644 --- a/robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml +++ b/robot_android_App/APP/UPBot/app/src/main/res/layout/activity_client.xml @@ -1,323 +1,366 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -