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 c102a82..5834996 100644
--- a/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java
+++ b/app/src/main/java/com/uns/maincar/communication/WifiTransferCore.java
@@ -175,6 +175,7 @@ public class WifiTransferCore implements DataTransferCore
else
{
SendExDataBack = false;
+ cb_data = null;
return true;
}
}
diff --git a/app/src/main/java/com/uns/maincar/constants/Commands.java b/app/src/main/java/com/uns/maincar/constants/Commands.java
index 631502a..ef4f21b 100644
--- a/app/src/main/java/com/uns/maincar/constants/Commands.java
+++ b/app/src/main/java/com/uns/maincar/constants/Commands.java
@@ -61,6 +61,19 @@ public class Commands
public static byte OCR_TEXT_DATA = (byte) 0xD9;
public static byte OCR_TEXT_FINISH = (byte) 0xE9;
+ //运行指定任务
+ public static byte RUN_SINGE_TASK = (byte) 0xA0;
+ public static byte TASK_NUMBER_0 = 0x00;
+ public static byte TASK_NUMBER_1 = 0x01;
+ public static byte TASK_NUMBER_2 = 0x02;
+ public static byte TASK_NUMBER_3 = 0x03;
+ public static byte TASK_NUMBER_4 = 0x04;
+ public static byte TASK_NUMBER_5 = 0x05;
+ public static byte TASK_NUMBER_6 = 0x06;
+ public static byte TASK_NUMBER_7 = 0x07;
+ public static byte TASK_NUMBER_8 = 0x08;
+ public static byte TASK_NUMBER_9 = 0x09;
+
//全自动模式
public static final byte RECEIVE_FULL_AUTO = (byte) 0xA0;
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 8101f64..df2165b 100644
--- a/app/src/main/java/com/uns/maincar/constants/Flags.java
+++ b/app/src/main/java/com/uns/maincar/constants/Flags.java
@@ -11,6 +11,7 @@ public class Flags
//日志TAG
public static final String CLIENT_TAG = "MAIN-CAR-CLIENT";
+ public static final String CLIENT_SEND_EX = "SEND-EX-RECEIVED";
//摄像头控制指令
public static final int CAMERA_UP = 0;
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 f76b1a7..3e87c04 100644
--- a/app/src/main/java/com/uns/maincar/gui/MainActivity.java
+++ b/app/src/main/java/com/uns/maincar/gui/MainActivity.java
@@ -121,6 +121,7 @@ public class MainActivity extends AppCompatActivity
//接收内部消息的处理器，用于处理内部消息
recvHandler = new Handler()
{
+ @SuppressLint("SetTextI18n")
@Override
public void handleMessage(Message msg)
{
@@ -128,6 +129,20 @@ public class MainActivity extends AppCompatActivity
//内部消息：收到图片；执行操作：更新GUI上的图片
if (msg.what == Flags.RECEIVED_IMAGE)
pic_received.setImageBitmap(currImage);
+ //内部消息：打印数组；操作：打印收到的数组
+ if (msg.what == Flags.PRINT_DATA_ARRAY)
+ {
+ byte[] data = (byte[]) msg.obj;
+ if (data != null)
+ ToastLog("SEND: [" + ByteArray2String(data) + "]", false, false);
+ }
+ //内部消息：打印日志；操作：打印收到的日志
+ if (msg.what == Flags.PRINT_SYSTEM_LOG)
+ {
+ String str = (String) msg.obj;
+ if (str != null)
+ ToastLog(str, false, false);
+ }
//内部消息：收到主车数据；执行操作：解析指令并执行
if (msg.what == Flags.RECEIVED_CAR_DATA)
{
@@ -135,7 +150,7 @@ public class MainActivity extends AppCompatActivity
if (recv != null)
{
//打印接收到的指令
- ToastLog("RECV: [" + ByteArray2String(recv) + "]", true, false);
+ ToastLog("RECV: [" + ByteArray2String(recv) + "]", false, false);
//解析指令
CommandDecoder decoder = new CommandDecoder(recv);
if (decoder.CommandReady())
@@ -201,21 +216,6 @@ public class MainActivity extends AppCompatActivity
//收到NULL，输出日志，不做操作
else
ToastLog("NULL Received", true, false);
-
- }
- //内部消息：打印数组；操作：打印收到的数组
- if (msg.what == Flags.PRINT_DATA_ARRAY)
- {
- byte[] data = (byte[]) msg.obj;
- if (data != null)
- ToastLog("SEND: [" + ByteArray2String(data) + "]", false, false);
- }
- //内部消息：打印日志；操作：打印收到的日志
- if (msg.what == Flags.PRINT_SYSTEM_LOG)
- {
- String str = (String) msg.obj;
- if (str != null)
- ToastLog(str, false, false);
}
}
};
@@ -455,6 +455,35 @@ public class MainActivity extends AppCompatActivity
return msg_str.toString();
}
+ //向主车发送一条任务指令
+ private void SendTaskCommand(byte task_cmd)
+ {
+ CommandEncoder encoder = new CommandEncoder();
+ Thread th_send = new Thread(() ->
+ {
+ if (dtc_client.Send(encoder.GenerateCommand(Commands.RUN_SINGE_TASK, task_cmd, (byte) 0x00, (byte) 0x00)))
+ ToastLog("Send Task Command: " + byte_str[task_cmd & 0xff], false, true);
+ else
+ ToastLog("Failed to Send Task Command: " + byte_str[task_cmd & 0xff], false, true);
+ });
+ th_send.start();
+ }
+
+ //初始化比赛任务按钮
+ private void InitTaskButton()
+ {
+ findViewById(R.id.btn_task_0).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_0));
+ findViewById(R.id.btn_task_1).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_1));
+ findViewById(R.id.btn_task_2).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_2));
+ findViewById(R.id.btn_task_3).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_3));
+ findViewById(R.id.btn_task_4).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_4));
+ findViewById(R.id.btn_task_5).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_5));
+ findViewById(R.id.btn_task_6).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_6));
+ findViewById(R.id.btn_task_7).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_7));
+ findViewById(R.id.btn_task_8).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_8));
+ findViewById(R.id.btn_task_9).setOnClickListener(view -> SendTaskCommand(Commands.TASK_NUMBER_9));
+ }
+
//初始化图形界面
private void InitGUI()
{
@@ -548,7 +577,6 @@ public class MainActivity extends AppCompatActivity
findViewById(R.id.btn_start_ocr).setOnClickListener(view ->
{
ToastLog("OCR Started", false, false);
- /*ToastLog("OCR Result: " + OCR.DecodeImage(currImage), false, false);*/
Thread th_debug = new Thread(this::OCRRecognizeText);
th_debug.start();
});
@@ -589,6 +617,8 @@ public class MainActivity extends AppCompatActivity
ToastLog("Image Save Failure", true, false);
return true;
});
+
+ InitTaskButton();
}
//打印日志
@@ -599,11 +629,13 @@ public class MainActivity extends AppCompatActivity
text_toast = findViewById(R.id.text_toast);
if (real_toast)
Toast.makeText(this, text, Toast.LENGTH_SHORT).show();
- Log.i("ToastBackup", text);
if (on_thread)
- Message.obtain(recvHandler, Flags.PRINT_SYSTEM_LOG, text);
+ Message.obtain(recvHandler, Flags.PRINT_SYSTEM_LOG, text).sendToTarget();
else
+ {
+ Log.i("ToastBackup", text);
text_toast.setText(text_toast.getText().toString() + "\n" + text);
+ }
}
//等待一段时间
@@ -754,5 +786,7 @@ public class MainActivity extends AppCompatActivity
//Activity销毁时关闭通信
dtc_client.DisableAutoReconnect();
dtc_client.CloseConnection();
+
+
}
}
\ No newline at end of file
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index 1c6be42..d390661 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -1,4 +1,3 @@
-
-
+ android:layout_height="170dp">
-
+ android:orientation="vertical">
-
+
-
+
-
-
+
-
+
-
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+
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+