add task button

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;
 						}
 					}

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;
 	

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;

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
@@ -599,12 +629,14 @@ 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
 	private void Sleep(long ms)
@@ -754,5 +786,7 @@ public class MainActivity extends AppCompatActivity
 		//Activity销毁时关闭通信
 		dtc_client.DisableAutoReconnect();
 		dtc_client.CloseConnection();
+		
+		
 	}
 }

app/src/main/res/layout/activity_main.xml

@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
@@ -88,6 +87,15 @@
         android:layout_height="wrap_content"
         android:text="发送数据" />
 
+    <ScrollView
+        android:layout_width="match_parent"
+        android:layout_height="170dp">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical">
+
             <LinearLayout
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
@@ -264,6 +272,121 @@
                     android:text="立即崩溃" />
             </LinearLayout>
 
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:orientation="horizontal">
+
+                <Button
+                    android:id="@+id/btn_task_0"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务0" />
+
+                <Button
+                    android:id="@+id/btn_task_1"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务1" />
+
+                <Button
+                    android:id="@+id/btn_task_2"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务2" />
+
+                <Button
+                    android:id="@+id/btn_task_3"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务3" />
+
+                <Button
+                    android:id="@+id/btn_task_4"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务4" />
+            </LinearLayout>
+
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:orientation="horizontal">
+
+                <Button
+                    android:id="@+id/btn_task_5"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务5" />
+
+                <Button
+                    android:id="@+id/btn_task_6"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务6" />
+
+                <Button
+                    android:id="@+id/btn_task_7"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务7" />
+
+                <Button
+                    android:id="@+id/btn_task_8"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务8" />
+
+                <Button
+                    android:id="@+id/btn_task_9"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="2dp"
+                    android:layout_weight="1"
+                    android:insetTop="0dp"
+                    android:insetBottom="0dp"
+                    android:text="任务9" />
+            </LinearLayout>
+
+        </LinearLayout>
+    </ScrollView>
+
     <TextView
         android:id="@+id/text_toast"
         android:layout_width="match_parent"

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_222_timing.txt

@@ -4,3 +4,9 @@ generate_cxx_metadata
   create-invalidation-state 16ms
 generate_cxx_metadata completed in 41ms
 
+# C/C++ build system timings
+generate_cxx_metadata
+  [gap of 21ms]
+  create-invalidation-state 20ms
+generate_cxx_metadata completed in 48ms
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_31_timing.txt

@@ -5,3 +5,5 @@ generate_cxx_metadata
   [gap of 11ms]
 generate_cxx_metadata completed in 52ms
 
+# C/C++ build system timings
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/generate_cxx_metadata_447_timing.txt

@@ -3,3 +3,5 @@ generate_cxx_metadata
   create-invalidation-state 13ms
 generate_cxx_metadata completed in 18ms
 
+# C/C++ build system timings
+

opencv/build/intermediates/cxx/Debug/6x33t2q6/meta/arm64-v8a/metadata_generation_record.json

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1891803970
+    "memoizedHashCode": 1223644467
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1328749515
+    "memoizedHashCode": -1996909018
   },
   {
     "level_": 0,
@@ -39,6 +39,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 764793418
+    "memoizedHashCode": 96633915
   }
 ]

opencv/build/intermediates/cxx/abi_configuration_311k5o12.log

@@ -11,6 +11,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1427520801
+    "memoizedHashCode": -2095680304
   }
 ]

opencv/build/intermediates/cxx/create_cxx_tasks_298_timing.txt

@@ -35,3 +35,15 @@ create_cxx_tasks
   create-initial-cxx-model completed in 89ms
 create_cxx_tasks completed in 90ms
 
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 33ms
+    create-module-model completed in 35ms
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 38ms
+  create-initial-cxx-model completed in 88ms
+create_cxx_tasks completed in 89ms
+

opencv/build/intermediates/cxx/create_cxx_tasks_31_timing.txt

@@ -977,3 +977,65 @@ create_cxx_tasks
   create-initial-cxx-model completed in 102ms
 create_cxx_tasks completed in 104ms
 
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 37ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 35ms
+    create-module-model completed in 38ms
+    [gap of 11ms]
+  create-initial-cxx-model completed in 97ms
+create_cxx_tasks completed in 98ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 37ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 39ms
+  create-initial-cxx-model completed in 96ms
+create_cxx_tasks completed in 97ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 35ms
+    create-module-model completed in 37ms
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 38ms
+    [gap of 12ms]
+  create-initial-cxx-model completed in 96ms
+create_cxx_tasks completed in 97ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 30ms
+    create-module-model completed in 31ms
+    create-module-model
+      create-cmake-model 30ms
+    create-module-model completed in 31ms
+  create-initial-cxx-model completed in 80ms
+create_cxx_tasks completed in 81ms
+
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 29ms
+    create-module-model completed in 31ms
+    create-module-model
+      create-cmake-model 31ms
+    create-module-model completed in 31ms
+  create-initial-cxx-model completed in 79ms
+create_cxx_tasks completed in 80ms
+

opencv/build/intermediates/cxx/create_cxx_tasks_598_timing.txt

@@ -10,3 +10,16 @@ create_cxx_tasks
   create-initial-cxx-model completed in 87ms
 create_cxx_tasks completed in 88ms
 
+# C/C++ build system timings
+create_cxx_tasks
+  create-initial-cxx-model
+    create-module-model
+      create-cmake-model 36ms
+    create-module-model completed in 39ms
+    create-module-model
+      create-cmake-model 35ms
+    create-module-model completed in 36ms
+    [gap of 10ms]
+  create-initial-cxx-model completed in 91ms
+create_cxx_tasks completed in 91ms
+

opencv/build/intermediates/cxx/ndk_locator_record_50t213g5.log

@@ -11,7 +11,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 496888877
+    "memoizedHashCode": -1253645686
   },
   {
     "level_": 0,
@@ -25,7 +25,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1289076980
+    "memoizedHashCode": -461457583
   },
   {
     "level_": 0,
@@ -39,7 +39,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": 1993538173
+    "memoizedHashCode": 243003610
   },
   {
     "level_": 0,
@@ -53,7 +53,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -438615053
+    "memoizedHashCode": 2105817680
   },
   {
     "level_": 0,
@@ -67,7 +67,7 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -1331304635
+    "memoizedHashCode": 1213128098
   },
   {
     "level_": 0,
@@ -81,6 +81,6 @@
       "fieldsDescending": {}
     },
     "memoizedSize": -1,
-    "memoizedHashCode": -995324416
+    "memoizedHashCode": 1549108317
   }
 ]