From 254ef1e18b98d9c2f5d1b1752b7a6a8df48aa5fa Mon Sep 17 00:00:00 2001 From: UnknownObject Date: Fri, 11 Nov 2022 10:02:45 +0800 Subject: [PATCH] code clean --- app/src/main/cpp/traffic_light.cpp | 2 +- .../com/uns/maincar/communication/Client.java | 682 ------------------ .../communication/DataTransferCore.java | 2 - .../communication/SerialPortTransferCore.java | 6 +- .../communication/WifiTransferCore.java | 6 +- .../java/com/uns/maincar/constants/Flags.java | 110 +-- .../uns/maincar/cpp_interface/CarLicense.java | 2 +- .../com/uns/maincar/cpp_interface/OCR.java | 6 +- .../maincar/cpp_interface/TrafficLight.java | 8 +- .../com/uns/maincar/gui/MainActivity.java | 29 +- .../uns/maincar/gui/MovementController.java | 43 +- .../com/uns/maincar/tools/ImageReleaser.java | 40 +- .../uns/maincar/tools/OCRDataReleaser.java | 30 +- .../arm64-v8a/metadata_generation_record.json | 6 +- .../metadata_generation_record.json | 6 +- .../x86_64/metadata_generation_record.json | 6 +- 16 files changed, 74 insertions(+), 910 deletions(-) delete mode 100644 app/src/main/java/com/uns/maincar/communication/Client.java diff --git a/app/src/main/cpp/traffic_light.cpp b/app/src/main/cpp/traffic_light.cpp index 46295f2..5b34f9b 100644 --- a/app/src/main/cpp/traffic_light.cpp +++ b/app/src/main/cpp/traffic_light.cpp @@ -237,7 +237,7 @@ namespace uns extern "C" JNIEXPORT jint JNICALL -Java_com_uns_maincar_cpp_1interface_TrafficLight_Recognize(JNIEnv *env, jclass _this, jobject image, jint offset) +Java_com_uns_maincar_cpp_1interface_TrafficLight_Recognize(JNIEnv *env, jclass _this, jobject image) { cv::Mat img; if(!BitmapToMat(env,image,img)) diff --git a/app/src/main/java/com/uns/maincar/communication/Client.java b/app/src/main/java/com/uns/maincar/communication/Client.java deleted file mode 100644 index 5812887..0000000 --- a/app/src/main/java/com/uns/maincar/communication/Client.java +++ /dev/null @@ -1,682 +0,0 @@ -package com.uns.maincar.communication; - -import android.os.Handler; -import android.os.Message; -import android.util.Log; - -import com.uns.maincar.constants.Flags; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.net.Socket; -import java.net.UnknownHostException; - -/* - * 警告：通信代码是上古遗留产物，非必要切勿改动 - */ - -public class Client -{ - private final int port; - private final String IP; - private final Handler handler; - private final byte[] tema = new byte[6]; - private final int[] a = new int[48]; - private final int[] a1 = new int[48]; - private final int[] a2 = new int[8]; - private final int[] a3 = new int[6]; - private Socket socket; - private DataInputStream dis; - private DataOutputStream dos; //输出流，写入数据 - private byte[] mByte; - private final Thread recive = new Thread(new Runnable() - { - @Override - public void run() - { - Log.i(Flags.CLIENT_TAG, "启动线程方法"); - - try - { - socket = new Socket(IP, port); - Log.i(Flags.CLIENT_TAG, "接收方法"); - - if (!socket.isClosed()) - { - Log.i(Flags.CLIENT_TAG, "socket未关闭执行"); - dis = new DataInputStream(socket.getInputStream()); - dos = new DataOutputStream(socket.getOutputStream()); - - while (socket.isConnected()) - { - mByte = new byte[30]; - dis.read(mByte, 0, mByte.length); - - Log.i(Flags.CLIENT_TAG, "接收来自小车消息" + mByte[0] + mByte[1] + mByte[2] + mByte[3] + mByte[4] + mByte[5]); - -// if (mByte[0]==0x55){ -// -// Message msg=new Message(); -// msg.what=1; -// handler.sendMessage(msg); -// -// } - - Message message = Message.obtain(handler, Flags.RECEIVED_CAR_DATA, mByte); //新建message对象 - message.sendToTarget(); //给handler发送消息 - } - } - - } - catch (UnknownHostException e) - { - Log.i(Flags.TAG, "socket 未知主机名称"); - } - catch (IOException e) - { - Log.i(Flags.TAG, "socket 创建Socket时发生IO错误" + e.getMessage()); - - } - catch (NullPointerException e) - { - Log.i(Flags.TAG, "socket Socket为空"); - } - } - }); - private byte main = 0x00, three = 0x00, four = 0x00, five = 0x00, sum = 0x00; - - public boolean ConnectionValidate() - { - return (socket != null && !socket.isClosed()); - } - - public Client(String IP, int port, Handler handler) - { - Log.i(Flags.CLIENT_TAG, "初始化client"); - this.IP = IP; - this.port = port; - this.handler = handler; - recive.start(); - } - - public static String getEvery(char[] ch, int i, int j) - { //自定义截取部分字符串 - int length = ch.length; - while (i >= 0 && j <= length - 1 && ch[i] == ch[j]) - { - i--; - j++; - } - return String.valueOf(ch).substring(i + 1, j); //将char转为字符串，从i开始截取到j并返回。 - } - - public static String getPalindrome(String s) - { //回文算法 - char[] ch = s.toCharArray(); - String str = " "; - String re = ""; - for (int i = 0; i < ch.length; i++) - { - re = getEvery(ch, i, i); // 当以一个字符为中轴也就是回文串为奇数时 - if (re.length() > str.length()) - { - str = re; - } - re = getEvery(ch, i, i + 1); // 当以当前和他后一个字符为轴心，也就是回文串为偶数时 - if (re.length() > str.length()) - { - str = re; - } - } - return str; - } - - /** - * 发送8字节数组 - */ - private void send() - { - Log.e(Flags.SEND_TAG, "send测试开始"); - sum = (byte) ((main + three + four + five) % 0xff); - Log.e(Flags.SEND_TAG, "send测试1"); - - /* 0x55,0xaa,主指令,[3],[4],[5],sum,0xbb */ - byte[] mbyte = {0x55, (byte) 0xaa, main, three, four, five, sum, (byte) 0xbb}; - Log.e(Flags.SEND_TAG, "send测试2"); - //Log.e("123", "send测试：mbyte数组内容"+mbyte[0]+" "+mbyte[1]+" "+mbyte[2]+" "+mbyte[3]+" "+mbyte[4]+" "+mbyte[5]+" "+mbyte[6]+" "+mbyte[7]+" "); - - try - { - if (!socket.isClosed() && socket != null) - { - dos.write(mbyte, 0, mbyte.length); - } - } - catch (IOException ioe) - { - ioe.printStackTrace(); - } - catch (NullPointerException e) - { - e.printStackTrace(); - } - } - - /** - * 发送制定长度数组 - * - * @param rbyte - */ - public void send(byte[] rbyte) - { //制定dos文件的长度 - try - { - if (socket != null && !socket.isClosed()) - { - dos.write(rbyte, 0, rbyte.length); - dos.flush(); //刷新dos数据 - Message.obtain(handler, Flags.PRINT_DATA_ARRAY, rbyte).sendToTarget(); - } - } - catch (IOException ioe) - { - ioe.printStackTrace(); - } - catch (NullPointerException e) - { - e.printStackTrace(); - } - } - - public String find(String s) - { //找最长回文 - String str = s; - String result = getPalindrome(str); - return result; - - } - - public void sendlt(int i) - { //发送回文长度，届时直接用str.length作为参数即可。 - try - { - if (!socket.isClosed() && socket != null) - { - dos.write(i); - dos.flush(); - } - } - catch (Exception ioe) - { - } - - - } - - /** - * 自定义包头，控制外围器件 - * - * @param head1 - * @param head2 - */ - private void send(byte head1, byte head2) - { - sum = (byte) ((main + three + four + five) % 0xff); - - /* 0x55,0x0b,主指令,[3],[4],[5],sum,0xbb */ - byte[] mbyte = {head1, head2, main, three, four, five, sum, (byte) 0xbb}; - - try - { - if (!socket.isClosed() && socket != null) - { - dos.write(mbyte, 0, mbyte.length); - dos.flush(); - } - } - catch (IOException ioe) - { - ioe.printStackTrace(); - } - catch (NullPointerException e) - { - e.printStackTrace(); - } - } - - /** - * 语音控制 - * - * @param textbyte - */ - public void send_voice(final byte[] textbyte) - { - new Thread(new Runnable() - { - @Override - public void run() - { - try - { - // 发送数据字节数组 - if (socket != null && !socket.isClosed()) - { - dos.write(textbyte, 0, textbyte.length); - dos.flush(); - } - } - catch (IOException e) - { - e.printStackTrace(); - } - } - }).start(); - } - - /* public void scanComplate() { - send(); - }*/ - - /** - * 自动运行 - */ - - - public void sendCheTouCheKu(final byte[] rbyte) - { - new Thread(new Runnable() - { - @Override - public void run() - { - - String s = ""; - - for (int i = 0; i < 16; i++) - { - s += (char) rbyte[i + 4]; - } - - String chetou = s.substring(s.indexOf("->") - 2, s.indexOf("->")); - int cheku = s.substring(s.indexOf("->") + 2, s.indexOf("->") + 3).charAt(0); - - if (chetou.equals("B4")) - { - main = 1; - } - else if (chetou.equals("D6")) - { - main = 2; - } - else if (chetou.equals("D2")) - { - main = 3; - } - else - { - main = 4; - } - - switch (cheku) - { - case 'A': - three = 1; - break; - case 'B': - three = 2; - break; - case 'C': - three = 3; - break; - case 'D': - three = 4; - break; - case 'E': - three = 5; - break; - case 'F': - three = 6; - break; - default: - three = 3; - break; - } - - Log.i(Flags.TAG, "发送, 车头:" + chetou + "车库:" + cheku); - - delayMs(300); - - send(); - } - }).start(); - } - - public void startDelectRemind(final int startRemindCode) - { - new Thread(new Runnable() - { - @Override - public void run() - { - - main = (byte) 0x60; - Log.e("123", "提醒待发送1"); - if (startRemindCode == Flags.NUMBER_DETECT_REMIND) - { - three = (byte) 0x01; - - } - else if (startRemindCode == Flags.DIRECTION_DETECT_REMIND) - { - three = (byte) 0x02; - } - else if (startRemindCode == Flags.QR1_DETECT_REMIND) - { - three = (byte) 0x03; - } - else if (startRemindCode == Flags.QR2_DETECT_REMIND) - { - three = (byte) 0x04; - } - else if (startRemindCode == Flags.SHAPES_DETECT_REMIND) - { - three = (byte) 0x05; - } - Log.e(Flags.SEND_TAG, "提醒待发送if"); - send(); - Log.e(Flags.SEND_TAG, "提醒发送完成"); - - - } - }).start(); - - - } - - public void sendCarNumber(final String number) - { -// main = (byte) number.charAt(0); -// three = (byte) number.charAt(2); //数据发送[3]根据为车牌号[2]所制定的指令码 -// four = (byte) number.charAt(2); -// five = (byte) number.charAt(3); -// send(); - int a = Integer.valueOf(number.charAt(2)) - 48; - - //main = (byte) number.charAt(0); - main = (byte) 0x21; - if (a % 2 != 0) - { - three = (byte) 0x11; - - } - else - { - three = (byte) 0x22; - - } -// three = (byte) number.charAt(2); - four = (byte) 0x00; - five = (byte) 0x00; - sum = (byte) 0x21; - - delayMs(300); - -// main = (byte) number.charAt(4); -// three = (byte) number.charAt(5); - - send(); - Log.i(Flags.TAG, "车牌号发送完成"); - } - - public void sendCarNumber(byte[] number) - { - send(number); //发送数据 - Log.i(Flags.TAG, "车牌号发送完成"); - } - - public void sendDirection(String direction) - { - if (direction.equals("左转")) - { - five = 0x04; - } - else if (direction.equals("右转")) - { - five = 0x05; - } - else - { - five = 0x06; - } - send(); - } - - public void sendDirection(byte[] direction) - { - send(direction); - } - - public void sendShapeInfo(byte rectangle, byte circle, byte triangle) - { - main = rectangle; - three = circle; - four = triangle; - send(); - } - - public void sendShapeInfo(byte[] info) - { - send(info); - } - - public void sendPassWD() - { - new Thread(new Runnable() - { - @Override - public void run() - { - main = 0x01; - three = 0x02; - four = 0x03; - five = 0x04; - - send(); - - delayMs(300); - - main = 0x05; - three = 0x06; - - send(); - } - }).start(); - - } - - public void sendLightValue(final int v) - { - new Thread(new Runnable() - { - @Override - public void run() - { - switch (v) - { - case 1: - five = 0x07; - break; - case 2: - five = 0x08; - break; - case 3: - five = 0x09; - break; - case 4: - five = 0x10; - break; - default: - five = 0x09; - break; - } - delayMs(300); - send(); - } - }).start(); - - } - - public void sendArray(byte[] rbyte) - { - byte[] bytes = new byte[16]; - - int c = 0; - for (byte b : rbyte) - { - Log.d(Flags.TAG, "[" + c++ + "] =" + Integer.toHexString(b)); - } - - for (int i = 0; i < bytes.length; i++) - { - bytes[i] = rbyte[4 + i]; - } - - send(bytes); - } - - public void sendCRC(byte[] mBytes) - { //CRC校验。。 - - char reg = 0xffff; - byte[] bytes = {mBytes[4], mBytes[5], mBytes[6], mBytes[7]}; - -// for (int i = 0; i < bytes.length; i++) { -// Log.d(Flag.TAG, "bytes[" + i + "]=" + Integer.toHexString(bytes[i])); -// } - - for (int i = 0; i < bytes.length; i++) - { - reg = (char) (bytes[i] ^ reg); - for (int j = 0; j < 8; j++) - { - if ((byte) (reg & 0x01) == 0x01) - { - reg = (char) (reg >> 1); - reg = (char) (reg ^ 0xa001); - } - else - { - reg = (char) (reg >> 1); - } - } - } - four = (byte) (reg & 0xff); - five = (byte) ((reg >> 8) & 0xff); - Log.d(Flags.TAG, "sendCRC: four:" + Integer.toHexString(four) + ", five:" + Integer.toHexString(five)); - Log.i(Flags.TAG, "four" + Integer.toHexString(four) + ", five:" + Integer.toHexString(five)); - send(); - } - - private int hanmingma() - { - int i, N = 1, temp, j; - //此for语句作用讲16进制转成数组形式的二进制。如将0X03转成啊a[]={1,1,0,...}, - //并将1，2，4，8，16，32位置变为0. - for (i = 0; i < 6; i++) - { - for (j = 0; j < 7; j++) - { - temp = tema[i]; - if (N == 0 || N == 1 || N == 3 || N == 7 || N == 15 || N == 31) - { - N = N + 1; - } - if ((temp & 0x40) == 0x40) - { - a[N] = 1; - } - else - { - a[N] = 0; - } - tema[i] = (byte) (tema[i] << 1); - N = N + 1; - } - } - - - for (int v : a) - { - System.out.print(v + ", "); - } - - // - for (i = 0; i < 48; i++) - { - if (a[i] == 1) - { - a1[i] = i + 1; - } - else - { - a1[i] = 0; - } - } - N = 0; - for (i = 0; i < 48; i++) - { - N = N ^ a1[i]; - } - - for (i = 0; i < 8; i++) - { - if ((N & 0x01) == 1) - { - a2[i] = 0x01; - } - else - { - a2[i] = 0; - } - N = N >> 1; - } - - a[0] = a2[0]; - a[1] = a2[1]; - a[3] = a2[2]; - a[7] = a2[3]; - a[15] = a2[4]; - a[31] = a2[5]; - - a3[0] = a[0] * 128 + a[1] * 64 + a[2] * 32 + a[3] * 16 + a[4] * 8 + a[5] * 4 + a[6] * 2 + a[7]; - a3[1] = a[8] * 128 + a[9] * 64 + a[10] * 32 + a[11] * 16 + a[12] * 8 + a[13] * 4 + a[14] * 2 + a[15]; - a3[2] = a[16] * 128 + a[17] * 64 + a[18] * 32 + a[19] * 16 + a[20] * 8 + a[21] * 4 + a[22] * 2 + a[23]; - a3[3] = a[24] * 128 + a[25] * 64 + a[26] * 32 + a[27] * 16 + a[28] * 8 + a[29] * 4 + a[30] * 2 + a[31]; - a3[4] = a[32] * 128 + a[33] * 64 + a[34] * 32 + a[35] * 16 + a[36] * 8 + a[37] * 4 + a[38] * 2 + a[39]; - a3[5] = a[40] * 128 + a[41] * 64 + a[42] * 32 + a[43] * 16 + a[44] * 8 + a[45] * 4 + a[46] * 2 + a[47]; - - - Log.d(Flags.TAG, "a3:"); - - for (int v : a3) - { - Log.d(Flags.TAG, v + ", "); - } - - return N; - } - - private void delayMs(int ms) - { - try - { - Thread.sleep(ms); - } - catch (InterruptedException e) - { - e.printStackTrace(); - } - } -} - diff --git a/app/src/main/java/com/uns/maincar/communication/DataTransferCore.java b/app/src/main/java/com/uns/maincar/communication/DataTransferCore.java index c2a6e40..4965369 100644 --- a/app/src/main/java/com/uns/maincar/communication/DataTransferCore.java +++ b/app/src/main/java/com/uns/maincar/communication/DataTransferCore.java @@ -5,8 +5,6 @@ package com.uns.maincar.communication; -import android.os.Handler; - /** * @apiNote 此接口为通用数据传输类接口，请慎重更改 * @implSpec 此接口应仅具有两个实现类，分别为Wifi及串口通信 diff --git a/app/src/main/java/com/uns/maincar/communication/SerialPortTransferCore.java b/app/src/main/java/com/uns/maincar/communication/SerialPortTransferCore.java index d3f67a7..41d26c2 100644 --- a/app/src/main/java/com/uns/maincar/communication/SerialPortTransferCore.java +++ b/app/src/main/java/com/uns/maincar/communication/SerialPortTransferCore.java @@ -37,8 +37,6 @@ public class SerialPortTransferCore implements DataTransferCore private final File sp_device; //数据处理器 private final Handler handler; - //最大单次数据接收大小 - private final int MaxArraySize = 256; //自动重连标志位 private boolean AutoReconnectFlag = false; //数据接收线程运行标志位 @@ -116,10 +114,10 @@ public class SerialPortTransferCore implements DataTransferCore while(fd.valid()) { DataReceivingFlag = true; - byte[] data = new byte[MaxArraySize]; try { - if(fis.read(data, 0, MaxArraySize) != 0) + byte[] data = new byte[fis.available()]; + if (fis.read(data, 0, data.length) != 0) { Log.i(Flags.CLIENT_TAG, "SerialPort Received."); Message.obtain(handler, Flags.RECEIVED_CAR_DATA, data).sendToTarget(); diff --git a/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java b/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java index 3cbeb5d..c554026 100644 --- a/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java +++ b/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java @@ -34,8 +34,6 @@ public class WifiTransferCore implements DataTransferCore private DataOutputStream dos; //数据处理器 private final Handler handler; - //最大单次数据接收大小 - private final int MaxArraySize = 256; //自动重连标志位 private boolean AutoReconnectFlag = false; //数据接收线程运行标志位 @@ -79,10 +77,10 @@ public class WifiTransferCore implements DataTransferCore while(socket.isConnected()) { DataReceivingFlag = true; - byte[] data = new byte[MaxArraySize]; try { - if(dis.read(data, 0, MaxArraySize) != 0) + byte[] data = new byte[dis.available()]; + if (dis.read(data, 0, data.length) != 0) { Log.i(Flags.CLIENT_TAG, "Wifi Socket Received."); Message.obtain(handler, Flags.RECEIVED_CAR_DATA, data).sendToTarget(); diff --git a/app/src/main/java/com/uns/maincar/constants/Flags.java b/app/src/main/java/com/uns/maincar/constants/Flags.java index 11b2301..fa4b9de 100644 --- a/app/src/main/java/com/uns/maincar/constants/Flags.java +++ b/app/src/main/java/com/uns/maincar/constants/Flags.java @@ -8,13 +8,8 @@ package com.uns.maincar.constants; public class Flags { - public static final String TAG = "MAIN-CAR-DEBUG"; + //日志TAG public static final String CLIENT_TAG = "MAIN-CAR-CLIENT"; - public static final String SEND_TAG = "MAIN-CAR-CLIENT_SEND"; - - //摄像头运动步数 - public static final int CAMERA_ONE_STEP = 1; - public static final int CAMERA_TWO_STEP = 2; //摄像头控制指令 public static final int CAMERA_UP = 0; @@ -22,26 +17,7 @@ public class Flags public static final int CAMERA_LEFT = 4; public static final int CAMERA_RIGHT = 6; - public static final int CAMERA_INIT = 25; - - //摄像头预设位调用与设置指令 - public static final int CAMERA_RESET = 31; - - public static final int CAMERA_SET_POS_1 = 32; - public static final int CAMERA_GET_POS_1 = 33; - - public static final int CAMERA_SET_POS_2 = 34; - public static final int CAMERA_GET_POS_2 = 35; - - public static final int CAMERA_SET_POS_3 = 36; - public static final int CAMERA_GET_POS_3 = 37; - - public static final int CAMERA_SET_POS_4 = 38; - public static final int CAMERA_GET_POS_4 = 39; - //主/从车移动控制指令 - public static final byte CMD_PACKET_HEAD = (byte) 0x55; - public static final byte CMD_PACKET_END = (byte) 0xBB; public static final byte CMD_PACKET_MAIN_CAR = (byte) 0xAA; public static final byte CMD_PACKET_SUB_CAR = (byte) 0x02; public static final byte CMD_PACKET_MOVE_FORWARD = (byte) 0x02; @@ -51,52 +27,13 @@ public class Flags public static final byte CMD_PACKET_MOVE_STOP = (byte) 0x01; public static final byte CMD_PACKET_MOVE_TO_LINE = (byte) 0x06; - //图像和数据包 + //recvHandler指令 public static final int RECEIVED_IMAGE = 11; public static final int RECEIVED_CAR_DATA = 12; public static final int PRINT_DATA_ARRAY = 13; public static final int PRINT_SYSTEM_LOG = 14; - //颜色 - //UnknownObject at 2022-09-18: 枚举类型足够用来替代这些常量了 - /*public static final int ID_RED = 0; - public static final int ID_BLUE = 1; - public static final int ID_GREEN = 2; - public static final int ID_YELLOW = 3; - public static final int ID_CYAN = 4; - public static final int ID_MAGENTA = 5; - public static final int ID_BLACK = 6; - public static final int ID_WHITE = 7; - //////////////////////////////////////////////// - public static final int ID_Light_RED = 8; - public static final int ID_Light_YELLOW = 9; - public static final int ID_Light_GREEN = 10;*/ - ////////////////////////////////////////////////// - //UnknownObject at 2022-09-18: 使用枚举类型替代字符串进行内部存储 (此类型已独立存储在GlobalColor类中) - - /*public static final String RED = "red"; - public static final String BLUE = "blue"; - public static final String GREEN = "green"; - public static final String YELLOW = "yellow"; - public static final String CYAN = "cyan"; - public static final String MAGENTA = "magenta"; - public static final String BLACK = "black"; - public static final String WHITE = "white";*/ - /*public enum ShapeColors - { - RED, - BLUE, - GREEN, - YELLOW, - CYAN, - MAGENTA, - BLACK, - WHITE - }*/ - ////////////////////////////////////////////////////// - /*public static final String LIGHT_RED = "light_red"; - public static final String LIGHT_YELLOW = "light_yellow"; - public static final String LIGHT_GREEN = "light_green";*/ + //交通灯颜色定义 public enum TrafficLightColors { RED, @@ -104,45 +41,4 @@ public class Flags GREEN, NULL } - ///////////////////////////////////////////////////////////////// - - // 形状 - //UnknownObject at 2022-09-18: 将常量封装进枚举类型中 (此类型已独立存储在GlobalShape类中) - /*public static final int SHAPE_RECTANGLE = 12, SHAPE_SQUARE = 8, - SHAPE_TRIANGLE = 9, SHAPE_CIRCLE = 10, SHAPE_STAR = 11, - SHAPE_DIAMOND = 13, SHAPE_OTERS = 14;*/ - /*public enum Shapes - { - RECTANGLE, - SQUARE, - TRIANGLE, - CIRCLE, - STAR, - DIAMOND, - OTHERS - }*/ - - //箭头方向 - public static final int LEFT = 15, RIGHT = 16, BACK = 17; - - //超时标志qr1 - qr4 - public static final int QR1_TIMER_OUT = 102; - public static final int QR2_TIMER_OUT = 103; - public static final int QR3_TIMER_OUT = 104; - public static final int QR4_TIMER_OUT = 105; - - - //图像识别方式 - // 阈值识别方式 - public static final int METHOD_THRESHOLD = 0; - - // 过滤颜色识别方式 - public static final int METHOD_FILTER = 1; - - //识别指令前的提醒 - public static final int NUMBER_DETECT_REMIND = 200; - public static final int DIRECTION_DETECT_REMIND = 201; - public static final int SHAPES_DETECT_REMIND = 202; - public static final int QR1_DETECT_REMIND = 203; - public static final int QR2_DETECT_REMIND = 204; } diff --git a/app/src/main/java/com/uns/maincar/cpp_interface/CarLicense.java b/app/src/main/java/com/uns/maincar/cpp_interface/CarLicense.java index 89c0ff1..07c923e 100644 --- a/app/src/main/java/com/uns/maincar/cpp_interface/CarLicense.java +++ b/app/src/main/java/com/uns/maincar/cpp_interface/CarLicense.java @@ -19,7 +19,7 @@ public class CarLicense public static class Result { - boolean success = false; + boolean success; byte[] chars = new byte[6]; public Result(String cpp_result) diff --git a/app/src/main/java/com/uns/maincar/cpp_interface/OCR.java b/app/src/main/java/com/uns/maincar/cpp_interface/OCR.java index 15d4026..3ef606a 100644 --- a/app/src/main/java/com/uns/maincar/cpp_interface/OCR.java +++ b/app/src/main/java/com/uns/maincar/cpp_interface/OCR.java @@ -8,10 +8,13 @@ package com.uns.maincar.cpp_interface; import android.content.Context; import android.graphics.Bitmap; import android.graphics.BitmapFactory; +import android.os.Environment; import com.googlecode.tesseract.android.TessBaseAPI; import com.uns.maincar.R; +import java.io.File; + public class OCR { static @@ -29,7 +32,8 @@ public class OCR public static String DecodeImage(Bitmap bitmap) { TessBaseAPI tessBaseApi = new TessBaseAPI(); - tessBaseApi.init("/storage/emulated/0/MainCar/OCR/", "chi_sim"); + String path = Environment.getExternalStorageDirectory().getPath() + File.separator + "MainCar" + File.separator + "OCR" + File.separator; + tessBaseApi.init(path, "chi_sim"); tessBaseApi.setImage(ProcessImage(bitmap)); String extractedText = tessBaseApi.getUTF8Text(); tessBaseApi.end(); diff --git a/app/src/main/java/com/uns/maincar/cpp_interface/TrafficLight.java b/app/src/main/java/com/uns/maincar/cpp_interface/TrafficLight.java index a0ee70b..e70603f 100644 --- a/app/src/main/java/com/uns/maincar/cpp_interface/TrafficLight.java +++ b/app/src/main/java/com/uns/maincar/cpp_interface/TrafficLight.java @@ -5,10 +5,10 @@ package com.uns.maincar.cpp_interface; -import com.uns.maincar.constants.Flags.TrafficLightColors; - import android.graphics.Bitmap; +import com.uns.maincar.constants.Flags.TrafficLightColors; + public class TrafficLight { static @@ -16,11 +16,11 @@ public class TrafficLight System.loadLibrary("traffic_light"); } - private static native int Recognize(Bitmap image, int offset); + private static native int Recognize(Bitmap image); public static TrafficLightColors RecognizeTrafficLight(Bitmap image) { - int res = Recognize(image, 58000); + int res = Recognize(image); if (res == 0) return TrafficLightColors.RED; else if (res == 1) diff --git a/app/src/main/java/com/uns/maincar/gui/MainActivity.java b/app/src/main/java/com/uns/maincar/gui/MainActivity.java index 1c59f3e..26d2b8e 100644 --- a/app/src/main/java/com/uns/maincar/gui/MainActivity.java +++ b/app/src/main/java/com/uns/maincar/gui/MainActivity.java @@ -64,7 +64,6 @@ public class MainActivity extends AppCompatActivity //存储小车的IP private String IPCar; //通信客户端 -// private Client client; private DataTransferCore dtc_client; //DHCP相关信息，用于获取IP地址 private DhcpInfo dhcpInfo; @@ -72,7 +71,7 @@ public class MainActivity extends AppCompatActivity private WifiManager wifiManager; //控件——存储从摄像头获取到的图像 private ImageView pic_received; - //控件——存储Toast的内容，由MakeToast()进行管理 + //控件——存储Toast的内容，由ToastLog()进行管理 private TextView text_toast; //控制主车相机 private CameraCommandUtil cameraCommandUtil; @@ -116,10 +115,10 @@ public class MainActivity extends AppCompatActivity public void handleMessage(Message msg) { super.handleMessage(msg); + //处理接收到的图片 if (msg.what == Flags.RECEIVED_IMAGE) - { pic_received.setImageBitmap(currImage); - } + //处理接收到的指令 if (msg.what == Flags.RECEIVED_CAR_DATA) { byte[] recv = (byte[]) msg.obj; @@ -139,16 +138,9 @@ public class MainActivity extends AppCompatActivity case Commands.RECEIVE_QR: byte[] cmd = RecognizeQrCode(); CommandEncoder encoder = new CommandEncoder(); - dtc_client.Send(encoder.GenerateCommand(Commands.QR_SUCCESS_1,cmd[0],cmd[1],cmd[2])); - try - { - Thread.sleep(500); - } - catch (InterruptedException e) - { - e.printStackTrace(); - } - dtc_client.Send(encoder.GenerateCommand(Commands.QR_SUCCESS_2,cmd[3],cmd[4],cmd[5])); + dtc_client.Send(encoder.GenerateCommand(Commands.QR_SUCCESS_1, cmd[0], cmd[1], cmd[2])); + Sleep(500); + dtc_client.Send(encoder.GenerateCommand(Commands.QR_SUCCESS_2, cmd[3], cmd[4], cmd[5])); break; case Commands.RECEIVE_TRAFFIC_LIGHT: dtc_client.Send(RecognizeTrafficLight()); @@ -174,12 +166,14 @@ public class MainActivity extends AppCompatActivity ToastLog("NULL Received", true, false); } + //接收到打印数组的指令，打印数组 if (msg.what == Flags.PRINT_DATA_ARRAY) { byte[] data = (byte[]) msg.obj; if (data != null) ToastLog("SEND: [" + ByteArray2String(data) + "]", false, false); } + //接收到打印日志的指令，打印日志 if(msg.what == Flags.PRINT_SYSTEM_LOG) { String str = (String)msg.obj; @@ -322,6 +316,8 @@ public class MainActivity extends AppCompatActivity return; } CommandEncoder encoder = new CommandEncoder(); + dtc_client.Send(encoder.GenerateCommand(Commands.OCR_TEXT_SUCCESS, (byte) 0x00, (byte) 0x00, (byte) 0x00)); + Sleep(500); dtc_client.Send(encoder.GenerateCommand(Commands.OCR_TEXT_LENGTH, (byte) b_str.length, (byte) 0x00, (byte) b_str.length)); for (int i = 0; i < b_str.length; i += 2) { @@ -446,6 +442,7 @@ public class MainActivity extends AppCompatActivity }); } + @SuppressLint("SetTextI18n") private void ToastLog(String text, boolean real_toast, boolean on_thread) { if (text_toast == null) @@ -526,7 +523,6 @@ public class MainActivity extends AppCompatActivity ToastLog("DHCP Server Address: " + IPCar, false, false); //建立连接 -// client = new Client(IPCar, 60000, recvHandler); //在此启动接收数据方法 if(CommunicationUsingWifi) dtc_client = new WifiTransferCore(IPCar,60000, recvHandler); else @@ -539,7 +535,7 @@ public class MainActivity extends AppCompatActivity }); th_connect.start(); while(th_connect.isAlive()) - Sleep(1); //Wait for Connection Thread + Sleep(10); //Wait for Connection Thread dtc_client.EnableAutoReconnect(); //启动自动重连 //初始化摄像头控制 @@ -602,6 +598,7 @@ public class MainActivity extends AppCompatActivity protected void onDestroy() { super.onDestroy(); + dtc_client.DisableAutoReconnect(); dtc_client.CloseConnection(); } } \ No newline at end of file diff --git a/app/src/main/java/com/uns/maincar/gui/MovementController.java b/app/src/main/java/com/uns/maincar/gui/MovementController.java index 37e5707..d73d22d 100644 --- a/app/src/main/java/com/uns/maincar/gui/MovementController.java +++ b/app/src/main/java/com/uns/maincar/gui/MovementController.java @@ -5,9 +5,6 @@ package com.uns.maincar.gui; -import androidx.appcompat.app.ActionBar; -import androidx.appcompat.app.AppCompatActivity; - import android.content.Context; import android.net.DhcpInfo; import android.net.wifi.WifiManager; @@ -17,15 +14,19 @@ import android.text.format.Formatter; import android.view.MenuItem; import android.widget.EditText; +import androidx.appcompat.app.ActionBar; +import androidx.appcompat.app.AppCompatActivity; + import com.uns.maincar.R; import com.uns.maincar.communication.DataTransferCore; import com.uns.maincar.communication.SerialPortTransferCore; import com.uns.maincar.communication.WifiTransferCore; +import com.uns.maincar.constants.Commands; import com.uns.maincar.constants.Flags; + public class MovementController extends AppCompatActivity { - private String IPCamera = "192.168.1.101:81"; //存储小车的IP private String IPCar; //通信客户端 @@ -35,15 +36,21 @@ public class MovementController extends AppCompatActivity //WIFI管理器 private WifiManager wifiManager; //通信通道标志，true为Wifi，false为串口 - private boolean CommunicationUsingWifi = true; + private final boolean CommunicationUsingWifi = true; //串口通信的设备名 private final String SerialPortPath = "/dev/ttyS4"; //移动指令 - private byte[] cmd_data = new byte[8]; + private final byte[] cmd_data = new byte[8]; + //编辑框——距离 + EditText et_distance; + //编辑框——转向速度 + EditText et_turn_speed; + //编辑框——循迹速度 + EditText et_run_peed; private int GetDistance() { - String str = ((EditText)findViewById(R.id.num_distance)).getText().toString(); + String str = et_distance.getText().toString(); try { return Integer.parseInt(str); @@ -56,7 +63,7 @@ public class MovementController extends AppCompatActivity private int GetTurnSpeed() { - String str = ((EditText)findViewById(R.id.num_turn_speed)).getText().toString(); + String str = et_turn_speed.getText().toString(); try { return Integer.parseInt(str); @@ -69,7 +76,7 @@ public class MovementController extends AppCompatActivity private int GetRunSpeed() { - String str = ((EditText)findViewById(R.id.num_run_speed)).getText().toString(); + String str = et_run_peed.getText().toString(); try { return Integer.parseInt(str); @@ -86,30 +93,36 @@ public class MovementController extends AppCompatActivity super.onCreate(savedInstanceState); setContentView(R.layout.activity_movement_controller); + //设置标题栏 ActionBar actionBar = getSupportActionBar(); - if(actionBar != null) + if (actionBar != null) { actionBar.setTitle("主/从车远端移动控制"); actionBar.setHomeButtonEnabled(true); actionBar.setDisplayHomeAsUpEnabled(true); } + //获取控件对象 + et_distance = findViewById(R.id.num_distance); + et_run_peed = findViewById(R.id.num_run_speed); + et_turn_speed = findViewById(R.id.num_turn_speed); + //获取主车IP地址 wifiManager = (WifiManager) getApplicationContext().getSystemService(Context.WIFI_SERVICE); dhcpInfo = wifiManager.getDhcpInfo(); IPCar = Formatter.formatIpAddress(dhcpInfo.gateway); //建立连接 - if(CommunicationUsingWifi) - dtc_client = new WifiTransferCore(IPCar,60000, new Handler()); + if (CommunicationUsingWifi) + dtc_client = new WifiTransferCore(IPCar, 60000, new Handler()); else dtc_client = new SerialPortTransferCore(SerialPortPath, 115200, new Handler()); (new Thread(() -> dtc_client.Connect())).start(); // dtc_client.EnableAutoReconnect(); //启动自动重连 - cmd_data[0] = Flags.CMD_PACKET_HEAD; + cmd_data[0] = Commands.FRAME_HEAD_0; cmd_data[1] = Flags.CMD_PACKET_MAIN_CAR; - cmd_data[7] = Flags.CMD_PACKET_END; + cmd_data[7] = Commands.FRAME_END; findViewById(R.id.rb_main_car).setOnClickListener(view -> cmd_data[1] = Flags.CMD_PACKET_MAIN_CAR); @@ -173,6 +186,7 @@ public class MovementController extends AppCompatActivity @Override public boolean onOptionsItemSelected(MenuItem item) { + //标题栏返回键 if (item.getItemId() == android.R.id.home) { finish(); @@ -185,6 +199,7 @@ public class MovementController extends AppCompatActivity protected void onDestroy() { super.onDestroy(); + dtc_client.DisableAutoReconnect(); dtc_client.CloseConnection(); } } \ No newline at end of file diff --git a/app/src/main/java/com/uns/maincar/tools/ImageReleaser.java b/app/src/main/java/com/uns/maincar/tools/ImageReleaser.java index 1e49574..8233ff4 100644 --- a/app/src/main/java/com/uns/maincar/tools/ImageReleaser.java +++ b/app/src/main/java/com/uns/maincar/tools/ImageReleaser.java @@ -28,13 +28,9 @@ public class ImageReleaser private static class DrawableInfo { - String filename; - private int res_id; - String storage_path; - - public DrawableInfo() - { - } + private final int res_id; + private final String filename; + private final String storage_path; public DrawableInfo(String filename, int res_id, String storage_path) { @@ -42,36 +38,6 @@ public class ImageReleaser this.res_id = res_id; this.storage_path = storage_path; } - - public String getFilename() - { - return filename; - } - - public void setFilename(String filename) - { - this.filename = filename; - } - - public int getRes_id() - { - return res_id; - } - - public void setRes_id(int res_id) - { - this.res_id = res_id; - } - - public String getStorage_path() - { - return storage_path; - } - - public void setStorage_path(String storage_path) - { - this.storage_path = storage_path; - } } public ImageReleaser(Context context) diff --git a/app/src/main/java/com/uns/maincar/tools/OCRDataReleaser.java b/app/src/main/java/com/uns/maincar/tools/OCRDataReleaser.java index efeee24..a4bb0ac 100644 --- a/app/src/main/java/com/uns/maincar/tools/OCRDataReleaser.java +++ b/app/src/main/java/com/uns/maincar/tools/OCRDataReleaser.java @@ -28,40 +28,14 @@ public class OCRDataReleaser private static class FileData { - private int res_id; - private String file_name; - - public FileData() - { - res_id = -1; - file_name = ""; - } + private final int res_id; + private final String file_name; public FileData(int res_id, String file_name) { this.res_id = res_id; this.file_name = file_name; } - - public int getResId() - { - return res_id; - } - - public void setResId(int res_id) - { - this.res_id = res_id; - } - - public String getFilename() - { - return file_name; - } - - public void setFilename(String file_name) - { - this.file_name = file_name; - } } public OCRDataReleaser(Context context) diff --git a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/arm64-v8a/metadata_generation_record.json b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/arm64-v8a/metadata_generation_record.json index 408d190..a854183 100644 --- a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/arm64-v8a/metadata_generation_record.json +++ b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/arm64-v8a/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1735359724 + "memoizedHashCode": 1273672783 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -437508184 + "memoizedHashCode": -899195125 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 608349172 + "memoizedHashCode": 146662231 } ] \ No newline at end of file diff --git a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/armeabi-v7a/metadata_generation_record.json b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/armeabi-v7a/metadata_generation_record.json index e54554a..04762c2 100644 --- a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/armeabi-v7a/metadata_generation_record.json +++ b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/armeabi-v7a/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 550802056 + "memoizedHashCode": 89115115 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -698413244 + "memoizedHashCode": -1160100185 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1477408402 + "memoizedHashCode": 1015721461 } ] \ No newline at end of file diff --git a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/x86_64/metadata_generation_record.json b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/x86_64/metadata_generation_record.json index b84c2a3..608a71a 100644 --- a/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/x86_64/metadata_generation_record.json +++ b/opencv/build/intermediates/cxx/RelWithDebInfo/4h3t2zj4/meta/x86_64/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 861710202 + "memoizedHashCode": 400023261 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1807723122 + "memoizedHashCode": 1346036181 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 524769837 + "memoizedHashCode": 63082896 } ] \ No newline at end of file