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UnknownObject
2023-05-25 19:49:13 +08:00
parent aa4211e194
commit 95046e2198
39 changed files with 1175 additions and 783 deletions
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app/build.gradle
+2 -3
View File
@@ -9,8 +9,8 @@ android {
applicationId "com.uns.maincar"
minSdk 26
targetSdk 32
versionCode 25
versionName '2.2.2'
versionCode 30
versionName '3.0.0'
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
externalNativeBuild {
@@ -18,7 +18,6 @@ android {
cppFlags ''
}
}
versionNameSuffix '-beta'
}
buildTypes {
app/release/output-metadata.json
+2 -2
View File
@@ -11,8 +11,8 @@
"type": "SINGLE",
"filters": [],
"attributes": [],
"versionCode": 25,
"versionName": "2.2.2-beta",
"versionCode": 30,
"versionName": "3.0.0",
"outputFile": "app-release.apk"
}
],
app/src/main/AndroidManifest.xml
+9
View File
@@ -38,6 +38,15 @@
android:theme="@style/Theme.MainCar"
android:usesCleartextTraffic="true"
tools:targetApi="31">
<activity
android:name=".gui.RaceTasks"
android:exported="false" />
<activity
android:name=".gui.SingleFunctionTest"
android:exported="false" />
<activity
android:name=".gui.DebugPage"
android:exported="false" />
<activity
android:name=".gui.MovementController"
android:exported="false" />
app/src/main/cpp/main_car_aes.cpp
+38 -173
View File
@@ -10,186 +10,52 @@
namespace uns
{
BinaryByteArray uns::MC_AES::CreateTextArray(std::string str)
void MC_AES::KSA()
{
if (str.size() > 16)
return nullptr;
BinaryByteArray arr = new ByteArray[4];
for (int i = 0; i < 4; i++)
arr[i] = new byte[4];
if (str.size() != 16)
int j = 0;
for (i = 0; i < 256; i++)
{
int fix_bit = 16 - str.size();
while (str.size() < 16)
str.push_back(fix_bit);
}
for (int i = 0; i < str.size(); i += 4)
{
for (int j = i; j < i + 4; j++)
arr[j - i][i / 4] = str[j];
}
return arr;
}
word uns::MC_AES::Byte2Word(std::string str_4)
{
word result = 0;
result |= ((unsigned long long)str_4[0] << 24);
result |= ((unsigned long long)str_4[1] << 16);
result |= ((unsigned long long)str_4[2] << 8);
result |= str_4[3];
return result;
}
WordArray uns::MC_AES::CreateKeyArray(std::string key)
{
if (key.size() != 16)
return nullptr;
WordArray arr = new word[4];
for (int i = 0; i < 16; i += 4)
arr[i / 4] = Byte2Word(key.substr(i, 4));
return arr;
}
word uns::MC_AES::CircleLeft(word rw)
{
word high = rw << 8;
word low = rw >> 24;
return high | low;
}
ByteArray uns::MC_AES::MoveLeft(ByteArray bytes, int bits)
{
if (bits == 0)
return bytes;
else
{
bits = bits % 4;
while (bits--)
{
byte index = bytes[0];
for (int i = 0; i < 3; i++)
bytes[i] = bytes[i + 1];
bytes[3] = index;
}
return bytes;
j = (j + S[i] + K[i]) % 256;
Swap(S[i], S[j]);
}
}
word uns::MC_AES::SubWord(word sw)
int MC_AES::PRGA()
{
word temp;
for (int i = 0; i < 32; i += 8)
i = (i + 1) % 256;
j = (j + S[i]) % 256;
Swap(S[i], S[j]);
int t = (S[i] + S[j]) % 256;
return S[t];
}
void MC_AES::Swap(int &a, int &b)
{
int temp = a;
a = b;
b = temp;
}
void MC_AES::InitBox(std::string data)
{
int data_index = 0;
for (int i = 0; i < 256; i++)
{
int row = sw[i + 7] * 8 + sw[i + 6] * 4 + sw[i + 5] * 2 + sw[i + 4];
int col = sw[i + 3] * 8 + sw[i + 2] * 4 + sw[i + 1] * 2 + sw[i];
byte val = S_Box[row][col];
for (int j = 0; j < 8; ++j)
temp[i + j] = val[j];
S.push_back(i);
K.push_back(data[data_index++]);
if (data_index == data.length())
data_index = 0;
}
return temp;
}
WordArray uns::MC_AES::KeyExpansion(WordArray fix_key)
Box MC_AES::Run(std::string info, std::string data)
{
WordArray keys = new word[44];
for (int i = 0; i < 44; i++)
{
if (i < 4)
keys[i] = fix_key[i];
else if ((i % 4) != 0)
keys[i] = keys[i - 4] ^ keys[i - 1];
else
keys[i] = keys[i - 4] ^ SubWord(CircleLeft(keys[i - 1])) ^ Rcon[(i / 4) - 1];
}
delete[] fix_key;
return keys;
}
BinaryByteArray uns::MC_AES::BytesReplace(BinaryByteArray bytes)
{
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
{
int row = bytes[i][j][7] * 8 + bytes[i][j][6] * 4 + bytes[i][j][5] * 2 + bytes[i][j][4];
int col = bytes[i][j][3] * 8 + bytes[i][j][2] * 4 + bytes[i][j][1] * 2 + bytes[i][j][0];
bytes[i][j] = S_Box[row][col];
}
return bytes;
}
BinaryByteArray uns::MC_AES::ByteShift(BinaryByteArray bytes)
{
for (int i = 0; i < 4; i++)
bytes[i] = MoveLeft(bytes[i], i);
return bytes;
}
BinaryByteArray uns::MC_AES::ColumnMix(BinaryByteArray bytes)
{
for(int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
bytes[i][j] = bytes[i][j].to_ullong() + Columns[i][j].to_ulong();
return bytes;
}
byte uns::MC_AES::SplitWord(word w, int index)
{
if ((index < 0) || (index >= 4))
return 0;
WordSpliter spliter;
spliter._word = w.to_ullong();
return spliter._result[index];
}
WordArray uns::MC_AES::GetCurrentKeys(WordArray keys, int times)
{
if ((times < 0) || (times >= 10))
return nullptr;
WordArray result = new word[4];
for (int i = 4; i <= 7; i++)
result[i - 4] = keys[i + times];
return result;
}
BinaryByteArray uns::MC_AES::ColumnMix(BinaryByteArray bytes, WordArray keys)
{
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
bytes[j][i] ^= SplitWord(keys[i], 3 - j).to_ullong();
}
delete[] keys;
return bytes;
}
ByteArray uns::MC_AES::GetAlarmCode(BinaryByteArray bytes)
{
WordArray wcode = new word[4];
ByteArray bcode = new byte[6];
memset(wcode, 0, sizeof(wcode));
memset(bcode, 0, sizeof(bcode));
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
wcode[i] = wcode[i].to_ullong() + bytes[j][i].to_ullong();
bcode[0] = S_Box[0x0][0x0];
bcode[1] = S_Box[0xF][0xF];
for (int i = 0; i < 4; i++)
bcode[i + 2] = SplitWord(wcode[i], 0);
delete[] wcode;
return bcode;
}
ByteArray MC_AES::RunAES(std::string text, std::string key)
{
BinaryByteArray arr = CreateTextArray(text);
WordArray warr = KeyExpansion(CreateKeyArray(key));
for (int i = 0; i < 10; i++)
arr = ColumnMix(ColumnMix(ByteShift(BytesReplace(arr))), GetCurrentKeys(warr, i));
ByteArray code = GetAlarmCode(arr);
delete[] arr;
delete[] warr;
return code;
InitBox(data);
KSA();
Box password;
for (auto &chr: info)
password.push_back(PRGA() ^ chr);
return password;
}
};
@@ -206,11 +72,10 @@ jboolean JNICALL Java_com_uns_maincar_cpp_1interface_MainCarAES_RunAES(JNIEnv *e
if(result == nullptr)
return false;
uns::MC_AES aes;
uns::ByteArray arr = aes.RunAES(env->GetStringUTFChars(text, 0));
jbyte barr[6] = { 0 };
uns::Box arr = aes.Run("chinaskills", env->GetStringUTFChars(text, 0));
jbyte barr[6] = {0};
for(int i = 0; i < 6; i++)
barr[i] = (jbyte)arr[i].to_ulong();
barr[i] = (jbyte) arr[i];
env->SetByteArrayRegion(result, 0, 6, barr);
delete[] arr;
return true;
}
app/src/main/cpp/main_car_aes.h
+13 -76
View File
@@ -8,7 +8,7 @@
//数据处理算法
#define MAIN_CAR_AES_VERSION "1.0.0"
#define MAIN_CAR_AES_VERSION "2.0.0"
#include <jni.h>
#include <bitset>
@@ -17,87 +17,24 @@
namespace uns
{
using byte = std::bitset<8>;
using word = std::bitset<32>;
using ByteArray = byte*;
using WordArray = word*;
using BinaryByteArray = byte**;
using BinaryWordArray = word**;
union WordSpliter
{
unsigned long long _word;
char _result[4];
};
using Box = std::vector<int>;
class MC_AES
{
private:
byte S_Box[16][16] =
{
{0x63, 0x7C, 0x77, 0x7B, 0xF2, 0x6B, 0x6F, 0xC5,
0x30, 0x01, 0x67, 0x2B, 0xFE, 0xD7, 0xAB, 0x76},
{0xCA, 0x82, 0xC9, 0x7D, 0xFA, 0x59, 0x47, 0xF0,
0xAD, 0xD4, 0xA2, 0xAF, 0x9C, 0xA4, 0x72, 0xC0},
{0xB7, 0xFD, 0x93, 0x26, 0x36, 0x3F, 0xF7, 0xCC,
0x34, 0xA5, 0xE5, 0xF1, 0x71, 0xD8, 0x31, 0x15},
{0x04, 0xC7, 0x23, 0xC3, 0x18, 0x96, 0x05, 0x9A,
0x07, 0x12, 0x80, 0xE2, 0xEB, 0x27, 0xB2, 0x75},
{0x09, 0x83, 0x2C, 0x1A, 0x1B, 0x6E, 0x5A, 0xA0,
0x52, 0x3B, 0xD6, 0xB3, 0x29, 0xE3, 0x2F, 0x84},
{0x53, 0xD1, 0x00, 0xED, 0x20, 0xFC, 0xB1, 0x5B,
0x6A, 0xCB, 0xBE, 0x39, 0x4A, 0x4C, 0x58, 0xCF},
{0xD0, 0xEF, 0xAA, 0xFB, 0x43, 0x4D, 0x33, 0x85,
0x45, 0xF9, 0x02, 0x7F, 0x50, 0x3C, 0x9F, 0xA8},
{0x51, 0xA3, 0x40, 0x8F, 0x92, 0x9D, 0x38, 0xF5,
0xBC, 0xB6, 0xDA, 0x21, 0x10, 0xFF, 0xF3, 0xD2},
{0xCD, 0x0C, 0x13, 0xEC, 0x5F, 0x97, 0x44, 0x17,
0xC4, 0xA7, 0x7E, 0x3D, 0x64, 0x5D, 0x19, 0x73},
{0x60, 0x81, 0x4F, 0xDC, 0x22, 0x2A, 0x90, 0x88,
0x46, 0xEE, 0xB8, 0x14, 0xDE, 0x5E, 0x0B, 0xDB},
{0xE0, 0x32, 0x3A, 0x0A, 0x49, 0x06, 0x24, 0x5C,
0xC2, 0xD3, 0xAC, 0x62, 0x91, 0x95, 0xE4, 0x79},
{0xE7, 0xC8, 0x37, 0x6D, 0x8D, 0xD5, 0x4E, 0xA9,
0x6C, 0x56, 0xF4, 0xEA, 0x65, 0x7A, 0xAE, 0x08},
{0xBA, 0x78, 0x25, 0x2E, 0x1C, 0xA6, 0xB4, 0xC6,
0xE8, 0xDD, 0x74, 0x1F, 0x4B, 0xBD, 0x8B, 0x8A},
{0x70, 0x3E, 0xB5, 0x66, 0x48, 0x03, 0xF6, 0x0E,
0x61, 0x35, 0x57, 0xB9, 0x86, 0xC1, 0x1D, 0x9E},
{0xE1, 0xF8, 0x98, 0x11, 0x69, 0xD9, 0x8E, 0x94,
0x9B, 0x1E, 0x87, 0xE9, 0xCE, 0x55, 0x28, 0xDF},
{0x8C, 0xA1, 0x89, 0x0D, 0xBF, 0xE6, 0x42, 0x68,
0x41, 0x99, 0x2D, 0x0F, 0xB0, 0x54, 0xBB, 0x16}
};
word Rcon[10] =
{
0x01000000, 0x02000000, 0x04000000, 0x08000000, 0x10000000,
0x20000000, 0x40000000, 0x80000000, 0x1b000000, 0x36000000
};
byte Columns[4][4] =
{
{0x0E, 0x09, 0x0D, 0x0B},
{0x0B, 0x0E, 0x0D, 0x09},
{0x0D, 0x09, 0x0B, 0x0E},
{0x09, 0x0D, 0x0B, 0x0E}
};
Box S, K;
int i = 0, j = 0;
private:
BinaryByteArray CreateTextArray(std::string str);
word Byte2Word(std::string str_4);
WordArray CreateKeyArray(std::string key);
word CircleLeft(word rw);
ByteArray MoveLeft(ByteArray bytes, int bits);
word SubWord(word sw);
WordArray KeyExpansion(WordArray fix_key);
BinaryByteArray BytesReplace(BinaryByteArray bytes);
BinaryByteArray ByteShift(BinaryByteArray bytes);
BinaryByteArray ColumnMix(BinaryByteArray bytes);
byte SplitWord(word w, int index);
WordArray GetCurrentKeys(WordArray keys, int times);
BinaryByteArray ColumnMix(BinaryByteArray bytes, WordArray keys);
ByteArray GetAlarmCode(BinaryByteArray bytes);
void KSA();
int PRGA();
void Swap(int &a, int &b);
void InitBox(std::string data);
public:
ByteArray RunAES(std::string text, std::string key = "abcdefghijklmnop");
Box Run(std::string info, std::string data);
};
};
app/src/main/cpp/ocr_text.h
+1 -2
View File
@@ -19,11 +19,10 @@ namespace uns
class OCRSupport
{
private:
const int limit = 90;
const int limit = 105;
cv::Rect roi = cv::Rect(150, 60, 350, 300);
private:
bool PixelCheck(const cv::Vec3b &pixel);
public:
cv::Mat CutImageSize(const cv::Mat &img);
app/src/main/java/com/uns/maincar/constants/Commands.java
+6
View File
@@ -73,6 +73,12 @@ public class Commands
public static byte TASK_NUMBER_7 = 0x07;
public static byte TASK_NUMBER_8 = 0x08;
public static byte TASK_NUMBER_9 = 0x09;
public static byte TASK_NUMBER_10 = 0x10;
public static byte TASK_NUMBER_11 = 0x11;
public static byte TASK_NUMBER_12 = 0x12;
public static byte TASK_NUMBER_13 = 0x13;
public static byte TASK_NUMBER_14 = 0x14;
public static byte TASK_NUMBER_15 = 0x15;
//全自动模式
public static final byte RECEIVE_FULL_AUTO = (byte) 0xA0;
app/src/main/java/com/uns/maincar/constants/Flags.java
+1
View File
@@ -12,6 +12,7 @@ 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";
public static final String SUB_ACTIVITY_TAG = "SUB-ACTIVITY";
//摄像头控制指令
public static final int CAMERA_UP = 0;
app/src/main/java/com/uns/maincar/gui/DebugPage.java
+41
View File
@@ -0,0 +1,41 @@
/*
* Copyright (c) 2023. UnknownNetworkService Group
* This file is created by UnknownObject at 2023 - 5 - 1
*/
package com.uns.maincar.gui;
import android.annotation.SuppressLint;
import android.os.Bundle;
import android.util.Log;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
import com.uns.maincar.R;
import com.uns.maincar.constants.Flags;
public class DebugPage extends AppCompatActivity
{
@SuppressLint("StaticFieldLeak")
protected static MainActivity Parent = null; //用于调用MainActivity内函数的静态成员变量
@Override
protected void onCreate(Bundle savedInstanceState)
{
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_debug_page);
if (Parent == null)
{
Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();
Log.e(Flags.SUB_ACTIVITY_TAG, "Context IS NULL");
finish();
}
findViewById(R.id.btn_debug_send).setOnClickListener(view -> Parent.DebugPageCallback_DebugSend());
findViewById(R.id.btn_send).setOnClickListener(view -> Parent.DebugPageCallback_SendByInput(this));
}
}
app/src/main/java/com/uns/maincar/gui/MainActivity.java
+174 -138
View File
@@ -6,6 +6,7 @@
package com.uns.maincar.gui;
import android.annotation.SuppressLint;
import android.app.Activity;
import android.content.Context;
import android.content.Intent;
import android.graphics.Bitmap;
@@ -26,8 +27,6 @@ import android.widget.Toast;
import androidx.annotation.Nullable;
import androidx.appcompat.app.AppCompatActivity;
import com.bkrcl.control_car_video.camerautil.CameraCommandUtil;
import com.bkrcl.control_car_video.camerautil.SearchCameraUtil;
import com.uns.maincar.R;
import com.uns.maincar.communication.CommandDecoder;
import com.uns.maincar.communication.CommandEncoder;
@@ -49,6 +48,8 @@ import com.uns.maincar.cpp_interface.TrafficSign;
import com.uns.maincar.tools.ImageReleaser;
import com.uns.maincar.tools.OCRDataReleaser;
import com.uns.maincar.tools.TextFilter;
import com.uns.maincar.tools.camera.CameraOperator;
import com.uns.maincar.tools.camera.CameraSearcher;
import java.io.UnsupportedEncodingException;
import java.util.ArrayList;
@@ -74,10 +75,8 @@ public class MainActivity extends AppCompatActivity
private ImageView pic_received;
//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;
//寻找主车相机
private SearchCameraUtil searchCameraUtil = null;
private CameraSearcher cameraSearcher = null;
//程序状态，通过所有自检后会设置为true
private boolean SystemStatus = false;
//文件状态，获取到存储权限并释放完毕所有文件会设置为true
@@ -224,7 +223,22 @@ public class MainActivity extends AppCompatActivity
//处理二维码数据，使用从C++代码中导出的算法
private byte[] ProcessQRData(ArrayList<String> qr_data)
{
return MainCarAES.CalcAES(qr_data.get(0));
String validate_result = "";
CommandEncoder encoder = new CommandEncoder();
TextFilter filter = new TextFilter();
for (String data : qr_data)
{
String processed_data = filter.LetterAndNumber(data);
if (processed_data.length() > 0)
{
validate_result = processed_data;
break;
}
}
if (validate_result.equals(""))
return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
else
return MainCarAES.CalcAES(validate_result);
}
//获取程序自检指令，根据自检状态返回成功或失败
@@ -414,7 +428,7 @@ public class MainActivity extends AppCompatActivity
private void OCRRecognizeText()
{
TextFilter filter = new TextFilter();
String str = filter.NoUnderLine(filter.RemoveEmptyCharacter(OCR.DecodeImage(currImage)));
String str = filter.ChineseOnly(filter.RemoveEmptyCharacter(OCR.DecodeImage(currImage)));
ToastLog("OCR Result: [" + str + "]", false, true);
byte[] b_str;
try
@@ -455,8 +469,8 @@ 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)
//向主车发送一条任务指令（改为protected允许类外调用）
protected void SendTaskCommand(byte task_cmd)
{
CommandEncoder encoder = new CommandEncoder();
Thread th_send = new Thread(() ->
@@ -469,21 +483,140 @@ public class MainActivity extends AppCompatActivity
th_send.start();
}
//初始化比赛任务按钮
private void InitTaskButton()
/*
以下protected函数用于在主界面外允许对主界面功能的调用，利用静态MainActivity对象绕过Android对不同Activity间函数调用的限制
此操(mo)作(fa)仅用于实现UI分离和操作逻辑优化，与实际功能代码无关。
*/
//----------------------------------------由此处开始----------------------------------------
//用于调试页面的发送调试信息函数
protected void DebugPageCallback_DebugSend()
{
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));
byte[] data = new byte[]{0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
dtc_client.ThreadSend(data);
}
//用于调试页面的发送调试信息函数
protected void DebugPageCallback_SendByInput(Activity context)
{
try
{
byte cmd0 = (byte) Integer.parseInt(((EditText) context.findViewById(R.id.edit_cmd0)).getText().toString(), 16);
byte cmd1 = (byte) Integer.parseInt(((EditText) context.findViewById(R.id.edit_cmd1)).getText().toString(), 16);
byte cmd2 = (byte) Integer.parseInt(((EditText) context.findViewById(R.id.edit_cmd2)).getText().toString(), 16);
byte cmd3 = (byte) Integer.parseInt(((EditText) context.findViewById(R.id.edit_cmd3)).getText().toString(), 16);
CommandEncoder encoder = new CommandEncoder();
byte[] cmd = encoder.GenerateCommand(cmd0, cmd1, cmd2, cmd3);
dtc_client.ThreadSend(cmd);
//print debug information
Message.obtain(recvHandler, Flags.PRINT_DATA_ARRAY, cmd).sendToTarget();
}
catch (Exception e)
{
ToastLog("Input Data Invalidate", true, false);
}
}
//提供给单元测试页面用于初始化按钮的回调函数
protected void InitSingleFunctionTestUnit(Activity context)
{
context.findViewById(R.id.btn_camera_up).setOnClickListener(view ->
{
Thread th_send = new Thread(() ->
{
if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_UP, 5))
ToastLog("Camera Command (UP) Failure.", false, true);
});
th_send.start();
});
context.findViewById(R.id.btn_camera_down).setOnClickListener(view ->
{
Thread th_send = new Thread(() ->
{
if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_DOWN, 5))
ToastLog("Camera Command (DOWN) Failure.", false, true);
});
th_send.start();
});
context.findViewById(R.id.btn_camera_left).setOnClickListener(view ->
{
Thread th_send = new Thread(() ->
{
if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_LEFT, 5))
ToastLog("Camera Command (LEFT) Failure.", false, true);
});
th_send.start();
});
context.findViewById(R.id.btn_camera_right).setOnClickListener(view ->
{
Thread th_send = new Thread(() ->
{
if (!CameraOperator.SendCommand(IPCamera, Flags.CAMERA_RIGHT, 5))
ToastLog("Camera Command (RIGHT) Failure.", false, true);
});
th_send.start();
});
context.findViewById(R.id.btn_start_qr).setOnClickListener(view ->
{
ToastLog("QR Code Started", false, false);
ToastLog("QR Result: " + ByteArray2String(RecognizeQrCode()), false, false);
});
context.findViewById(R.id.btn_start_light).setOnClickListener(view ->
{
ToastLog("Traffic Light Started", false, false);
ToastLog("TL Result: " + ByteArray2String(RecognizeTrafficLight()), false, false);
});
context.findViewById(R.id.btn_start_color_shape).setOnClickListener(view ->
{
ToastLog("Color Shape Started", false, false);
ToastLog("CS Result: " + ByteArray2String(RecognizeShapeColor()), false, false);
});
context.findViewById(R.id.btn_start_car_id).setOnClickListener(view ->
{
ToastLog("Car ID Started", false, false);
Thread th_debug = new Thread(this::RecognizeCarID);
th_debug.start();
ToastLog("CID Finished", false, false);
});
context.findViewById(R.id.btn_start_sign).setOnClickListener(view ->
{
ToastLog("Traffic Sign Started", false, false);
ToastLog("TS Result: " + ByteArray2String(RecognizeTrafficSign()), false, false);
});
context.findViewById(R.id.btn_start_ocr).setOnClickListener(view ->
{
ToastLog("OCR Started", false, false);
Thread th_debug = new Thread(this::OCRRecognizeText);
th_debug.start();
});
context.findViewById(R.id.btn_tft_page_down).setOnClickListener(view ->
{
CommandEncoder encoder = new CommandEncoder();
dtc_client.ThreadSend(encoder.GenerateCommand(Commands.TFT_PAGE_DOWN, (byte) 0, (byte) 0, (byte) 0));
ToastLog("TFT Page Down Command Send.", false, true);
});
context.findViewById(R.id.btn_movement_control).setOnClickListener(view -> startActivity(new Intent(this, MovementController.class)));
context.findViewById(R.id.btn_crash).setOnClickListener(view ->
{
//崩溃按钮的作用：频繁调试时省去手动退出程序，清理后台的操作，节省时间。
dtc_client.DisableAutoReconnect();
dtc_client.CloseConnection(); //关闭通信
throw new NullPointerException(); //通过异常来崩溃。
});
}
//----------------------------------------到此处终止----------------------------------------
//初始化图形界面
private void InitGUI()
{
@@ -492,113 +625,29 @@ public class MainActivity extends AppCompatActivity
text_toast.setMovementMethod(ScrollingMovementMethod.getInstance());
findViewById(R.id.btn_debug_send).setOnClickListener(view ->
findViewById(R.id.btn_debug_page).setOnClickListener(view ->
{
byte[] data = new byte[]{0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
dtc_client.ThreadSend(data);
DebugPage.Parent = this;
startActivity(new Intent(this, DebugPage.class));
});
findViewById(R.id.btn_camera_up).setOnClickListener(view ->
findViewById(R.id.btn_function_test).setOnClickListener(view ->
{
Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_UP, 5));
th_send.start();
SingleFunctionTest.Parent = this;
startActivity(new Intent(this, SingleFunctionTest.class));
});
findViewById(R.id.btn_camera_down).setOnClickListener(view ->
findViewById(R.id.btn_race_tasks).setOnClickListener(view ->
{
Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_DOWN, 5));
th_send.start();
RaceTasks.Parent = this;
startActivity(new Intent(this, RaceTasks.class));
});
findViewById(R.id.btn_camera_left).setOnClickListener(view ->
findViewById(R.id.btn_program_exit).setOnClickListener(view ->
{
Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_LEFT, 5));
th_send.start();
});
findViewById(R.id.btn_camera_right).setOnClickListener(view ->
{
Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_RIGHT, 5));
th_send.start();
});
findViewById(R.id.btn_send).setOnClickListener(view ->
{
try
{
byte cmd0 = (byte) Integer.parseInt(((EditText) findViewById(R.id.edit_cmd0)).getText().toString(), 16);
byte cmd1 = (byte) Integer.parseInt(((EditText) findViewById(R.id.edit_cmd1)).getText().toString(), 16);
byte cmd2 = (byte) Integer.parseInt(((EditText) findViewById(R.id.edit_cmd2)).getText().toString(), 16);
byte cmd3 = (byte) Integer.parseInt(((EditText) findViewById(R.id.edit_cmd3)).getText().toString(), 16);
CommandEncoder encoder = new CommandEncoder();
byte[] cmd = encoder.GenerateCommand(cmd0, cmd1, cmd2, cmd3);
dtc_client.ThreadSend(cmd);
//print debug information
Message.obtain(recvHandler, Flags.PRINT_DATA_ARRAY, cmd).sendToTarget();
}
catch (Exception e)
{
ToastLog("Input Data Invalidate", true, false);
}
});
findViewById(R.id.btn_start_qr).setOnClickListener(view ->
{
ToastLog("QR Code Started", false, false);
ToastLog("QR Result: " + ByteArray2String(RecognizeQrCode()), false, false);
});
findViewById(R.id.btn_start_light).setOnClickListener(view ->
{
ToastLog("Traffic Light Started", false, false);
ToastLog("TL Result: " + ByteArray2String(RecognizeTrafficLight()), false, false);
});
findViewById(R.id.btn_start_color_shape).setOnClickListener(view ->
{
ToastLog("Color Shape Started", false, false);
ToastLog("CS Result: " + ByteArray2String(RecognizeShapeColor()), false, false);
});
findViewById(R.id.btn_start_car_id).setOnClickListener(view ->
{
ToastLog("Car ID Started", false, false);
Thread th_debug = new Thread(this::RecognizeCarID);
th_debug.start();
ToastLog("CID Finished", false, false);
});
findViewById(R.id.btn_start_sign).setOnClickListener(view ->
{
ToastLog("Traffic Sign Started", false, false);
ToastLog("TS Result: " + ByteArray2String(RecognizeTrafficSign()), false, false);
});
findViewById(R.id.btn_start_ocr).setOnClickListener(view ->
{
ToastLog("OCR Started", false, false);
Thread th_debug = new Thread(this::OCRRecognizeText);
th_debug.start();
});
findViewById(R.id.btn_tft_page_down).setOnClickListener(view ->
{
CommandEncoder encoder = new CommandEncoder();
dtc_client.ThreadSend(encoder.GenerateCommand(Commands.TFT_PAGE_DOWN, (byte) 0, (byte) 0, (byte) 0));
ToastLog("TFT Page Down Command Send.", false, true);
});
findViewById(R.id.btn_movement_control).setOnClickListener(view ->
{
startActivity(new Intent(this, MovementController.class));
});
findViewById(R.id.btn_crash).setOnClickListener(view ->
{
//崩溃按钮的作用：频繁调试时省去手动退出程序，清理后台的操作，节省时间。
dtc_client.DisableAutoReconnect();
dtc_client.CloseConnection(); //关闭通信
throw new NullPointerException(); //通过异常来崩溃。
System.exit(0);
});
findViewById(R.id.text_toast).setOnLongClickListener(view ->
@@ -617,8 +666,6 @@ public class MainActivity extends AppCompatActivity
ToastLog("Image Save Failure", true, false);
return true;
});
InitTaskButton();
}
//打印日志
@@ -650,14 +697,14 @@ public class MainActivity extends AppCompatActivity
}
}
//启动寻找摄像头的线程
//启动获取摄像头拍摄到的图片的线程
private void StartCameraImageUpdate(int duration)
{
Thread th_image = new Thread(() ->
{
while (true)
{
currImage = cameraCommandUtil.httpForImage(IPCamera);
currImage = CameraOperator.GetImage(IPCamera);
recvHandler.sendEmptyMessage(Flags.RECEIVED_IMAGE);
Sleep(duration);
}
@@ -723,29 +770,20 @@ public class MainActivity extends AppCompatActivity
Sleep(10); //Wait for Connection Thread
dtc_client.EnableAutoReconnect(); //启动自动重连
//初始化摄像头控制
cameraCommandUtil = new CameraCommandUtil();
ToastLog("CameraCommandUtil Ready.", false, false);
//寻找摄像头，获取其IP地址
Thread camera_thread = new Thread(() ->
{
IPCamera = null;
boolean success;
ToastLog("CameraSearchThread: Camera Thread Start", false, true);
while (IPCamera == null || IPCamera.equals(""))
cameraSearcher = new CameraSearcher();
do
{
searchCameraUtil = new SearchCameraUtil();
try
{
IPCamera = searchCameraUtil.send();
}
catch (NullPointerException e)
{
IPCamera = null;
}
success = cameraSearcher.SearchOnce();
}
while (!success); //避免”while循环具有空体“警告
IPCamera = cameraSearcher.GetCameraIP();
ToastLog("CameraSearchThread: Camera Found. IP: " + IPCamera, false, true);
IPCamera = IPCamera + ":81";
IPCamera += ":81";
ToastLog("Camera Address: " + IPCamera, false, true);
StartCameraImageUpdate(50);
//这里是程序初始化的最后一步，能到达此处标志着自检通过
@@ -786,7 +824,5 @@ public class MainActivity extends AppCompatActivity
//Activity销毁时关闭通信
dtc_client.DisableAutoReconnect();
dtc_client.CloseConnection();
}
}
app/src/main/java/com/uns/maincar/gui/RaceTasks.java
+61
View File
@@ -0,0 +1,61 @@
/*
* Copyright (c) 2023. UnknownNetworkService Group
* This file is created by UnknownObject at 2023 - 5 - 1
*/
package com.uns.maincar.gui;
import android.annotation.SuppressLint;
import android.os.Bundle;
import android.util.Log;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
import com.uns.maincar.R;
import com.uns.maincar.constants.Commands;
import com.uns.maincar.constants.Flags;
public class RaceTasks extends AppCompatActivity
{
@SuppressLint("StaticFieldLeak")
protected static MainActivity Parent = null; //用于调用MainActivity内函数的静态成员变量
//初始化比赛任务按钮
private void InitTaskButton()
{
findViewById(R.id.btn_task_0).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_0));
findViewById(R.id.btn_task_1).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_1));
findViewById(R.id.btn_task_2).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_2));
findViewById(R.id.btn_task_3).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_3));
findViewById(R.id.btn_task_4).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_4));
findViewById(R.id.btn_task_5).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_5));
findViewById(R.id.btn_task_6).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_6));
findViewById(R.id.btn_task_7).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_7));
findViewById(R.id.btn_task_8).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_8));
findViewById(R.id.btn_task_9).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_9));
findViewById(R.id.btn_task_10).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_10));
findViewById(R.id.btn_task_11).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_11));
findViewById(R.id.btn_task_12).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_12));
/*findViewById(R.id.btn_task_13).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_13));
findViewById(R.id.btn_task_14).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_14));
findViewById(R.id.btn_task_15).setOnClickListener(view -> Parent.SendTaskCommand(Commands.TASK_NUMBER_15));*/
}
@Override
protected void onCreate(Bundle savedInstanceState)
{
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_race_tasks);
if (Parent == null)
{
Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();
Log.e(Flags.SUB_ACTIVITY_TAG, "Context IS NULL");
finish();
}
InitTaskButton();
}
}
app/src/main/java/com/uns/maincar/gui/SingleFunctionTest.java
+39
View File
@@ -0,0 +1,39 @@
/*
* Copyright (c) 2023. UnknownNetworkService Group
* This file is created by UnknownObject at 2023 - 5 - 1
*/
package com.uns.maincar.gui;
import android.annotation.SuppressLint;
import android.os.Bundle;
import android.util.Log;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
import com.uns.maincar.R;
import com.uns.maincar.constants.Flags;
public class SingleFunctionTest extends AppCompatActivity
{
@SuppressLint("StaticFieldLeak")
protected static MainActivity Parent = null; //用于调用MainActivity内函数的静态成员变量
@Override
protected void onCreate(Bundle savedInstanceState)
{
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_single_function_test);
if (Parent == null)
{
Toast.makeText(this, "Context is null!", Toast.LENGTH_SHORT).show();
Log.e(Flags.SUB_ACTIVITY_TAG, "Context IS NULL");
finish();
}
Parent.InitSingleFunctionTestUnit(this);
}
}
app/src/main/java/com/uns/maincar/tools/TextFilter.java
+11
View File
@@ -53,4 +53,15 @@ public class TextFilter
}
return result.toString();
}
public String ChineseOnly(String src)
{
StringBuilder result = new StringBuilder();
for (int i = 0; i < src.length(); i++)
{
if (src.charAt(i) > 1500)
result.append(src.charAt(i));
}
return result.toString();
}
}
app/src/main/java/com/uns/maincar/tools/camera/CameraOperator.java
+62
View File
@@ -0,0 +1,62 @@
/*
* Copyright (c) 2023. UnknownNetworkService Group
* This file is created by UnknownObject at 2023 - 5 - 1
*/
package com.uns.maincar.tools.camera;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import java.io.IOException;
import java.io.InputStream;
import java.net.HttpURLConnection;
import java.net.URL;
/*
重写声明：
此类由UnknownObject重写自BKRC官方库：CameraCommandUtil(camerautil.jar)。
”BKRC官方写的都是什么辣鸡代码啊“
————UnknownObject
*/
public class CameraOperator
{
public static Bitmap GetImage(String IP)
{
try
{
URL url = new URL("http://" + IP + "/snapshot.cgi?loginuse=admin&loginpas=888888&res=0");
HttpURLConnection httpURLConnection = (HttpURLConnection) url.openConnection();
httpURLConnection.setDoInput(true);
httpURLConnection.connect();
InputStream in = httpURLConnection.getInputStream();
Bitmap bitmap = BitmapFactory.decodeStream(in);
in.close();
httpURLConnection.disconnect();
return bitmap;
}
catch (IOException e)
{
return null;
}
}
public static boolean SendCommand(String IP, int command, int step)
{
if ((command < 0) || (step < 0))
return false;
try
{
URL url = new URL("http://" + IP + "/decoder_control.cgi?loginuse=admin&loginpas=888888&" + "command=" + command + "&onestep=" + step);
HttpURLConnection urlConnection = (HttpURLConnection) url.openConnection();
urlConnection.connect();
urlConnection.disconnect();
return true;
}
catch (IOException e)
{
return false;
}
}
}
app/src/main/java/com/uns/maincar/tools/camera/CameraSearcher.java
+83
View File
@@ -0,0 +1,83 @@
/*
* Copyright (c) 2023. UnknownNetworkService Group
* This file is created by UnknownObject at 2023 - 5 - 1
*/
package com.uns.maincar.tools.camera;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.nio.charset.StandardCharsets;
/*
重写声明：
此类由UnknownObject重写自BKRC官方库：SearchCameraUtil(camerautil.jar)。
”BKRC官方写的都是什么辣鸡代码啊“
————UnknownObject
*/
public class CameraSearcher
{
private String IP = "";
private final int PORT = 3565;
private final int SERVER_PORT = 8600;
private DatagramSocket socket = null;
private final byte[] recv = new byte[1024];
private final byte[] pkt_msg = new byte[]{68, 72, 1, 1};
public CameraSearcher()
{
}
private void DecodeIP(String text)
{
StringBuilder sb = new StringBuilder("");
byte[] ip_byte = text.getBytes(StandardCharsets.UTF_8);
for (int i = 4; (i < 22) && (ip_byte[i] != 0); ++i)
{
if (ip_byte[i] == 46)
sb.append('.');
else
sb.append((ip_byte[i] - 48));
}
IP = sb.toString();
}
public boolean SearchOnce()
{
try
{
InetAddress local = InetAddress.getByName("255.255.255.255");
if (socket != null)
{
socket.close();
socket = null;
}
socket = new DatagramSocket(PORT);
DatagramPacket sendPacket = new DatagramPacket(pkt_msg, 4, local, SERVER_PORT);
DatagramPacket recvPacket = new DatagramPacket(recv, recv.length);
socket.send(sendPacket);
socket.receive(recvPacket);
String text = new String(recv, 0, recvPacket.getLength());
socket.close();
if (text.startsWith("DH"))
{
DecodeIP(text);
return true;
}
else
return false;
}
catch (IOException e)
{
return false;
}
}
public String GetCameraIP()
{
return IP;
}
}
app/src/main/res/layout/activity_debug_page.xml
+77
View File
@@ -0,0 +1,77 @@
<?xml version="1.0" encoding="utf-8"?><!--
~ Copyright (c) 2023. UnknownNetworkService Group
~ This file is created by UnknownObject at 2023 - 5 - 1
-->
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
tools:context=".gui.DebugPage">
<Button
android:id="@+id/btn_debug_send"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:text="测试——发送一组测试数据"
android:textStyle="bold" />
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<EditText
android:id="@+id/edit_cmd0"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_weight="1"
android:ems="10"
android:hint="主指令"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
<EditText
android:id="@+id/edit_cmd1"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_weight="1"
android:ems="10"
android:hint="数据1"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
<EditText
android:id="@+id/edit_cmd2"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_weight="1"
android:ems="10"
android:hint="数据2"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
<EditText
android:id="@+id/edit_cmd3"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_weight="1"
android:ems="10"
android:hint="数据3"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
</LinearLayout>
<Button
android:id="@+id/btn_send"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:text="发送数据" />
</LinearLayout>
app/src/main/res/layout/activity_main.xml
+19 -355
View File
@@ -4,389 +4,53 @@
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
tools:context=".gui.MainActivity" >
<TextView
android:id="@+id/textView"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginBottom="10dp"
android:text="主车远端服务程序"
android:textAlignment="center"
android:textColor="@color/black"
android:textSize="20sp" />
tools:context=".gui.MainActivity">
<ImageView
android:id="@+id/camera_image"
android:layout_width="match_parent"
android:layout_height="108dp"
android:layout_height="200dp"
app:srcCompat="@drawable/ic_launcher_background" />
<Button
android:id="@+id/btn_debug_send"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:text="测试——发送一组测试数据"
android:textStyle="bold" />
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<EditText
android:id="@+id/edit_cmd0"
<Button
android:id="@+id/btn_debug_page"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="4dp"
android:layout_weight="1"
android:ems="10"
android:hint="主指令"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
android:text="调试页面" />
<EditText
android:id="@+id/edit_cmd1"
<Button
android:id="@+id/btn_function_test"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="4dp"
android:layout_weight="1"
android:ems="10"
android:hint="数据1"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
android:text="功能测试" />
<EditText
android:id="@+id/edit_cmd2"
<Button
android:id="@+id/btn_race_tasks"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="4dp"
android:layout_weight="1"
android:ems="10"
android:hint="数据2"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
android:text="比赛任务" />
<EditText
android:id="@+id/edit_cmd3"
<Button
android:id="@+id/btn_program_exit"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="4dp"
android:layout_weight="1"
android:ems="10"
android:hint="数据3"
android:inputType="textPersonName"
android:minHeight="48dp"
tools:ignore="SpeakableTextPresentCheck" />
android:text="退出程序" />
</LinearLayout>
<Button
android:id="@+id/btn_send"
android:layout_width="match_parent"
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"
android:orientation="horizontal">
<Button
android:id="@+id/btn_camera_up"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向上" />
<Button
android:id="@+id/btn_camera_down"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向下" />
<Button
android:id="@+id/btn_camera_left"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向左" />
<Button
android:id="@+id/btn_camera_right"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向右" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_start_qr"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="二维码识别" />
<Button
android:id="@+id/btn_start_light"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="交通灯识别" />
<Button
android:id="@+id/btn_start_color_shape"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="形状颜色识别" />
<Button
android:id="@+id/btn_start_car_id"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="车牌识别" />
<Button
android:id="@+id/btn_start_sign"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="交通标志识别" />
<Button
android:id="@+id/btn_start_ocr"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="OCR" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_tft_page_down"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:text="TFT下翻一页" />
<Button
android:id="@+id/btn_movement_control"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:layout_weight="1"
android:text="移动控制" />
<Button
android:id="@+id/btn_crash"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:layout_weight="1"
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"
app/src/main/res/layout/activity_race_tasks.xml
+201
View File
@@ -0,0 +1,201 @@
<?xml version="1.0" encoding="utf-8"?><!--
~ Copyright (c) 2023. UnknownNetworkService Group
~ This file is created by UnknownObject at 2023 - 5 - 1
-->
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
tools:context=".gui.RaceTasks">
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
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1" />
<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2" />
<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3" />
<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4" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<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5" />
<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6" />
<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7" />
<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8" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<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9" />
<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10" />
<Button
android:id="@+id/btn_task_10"
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11" />
<Button
android:id="@+id/btn_task_11"
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12" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_task_12"
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13" />
<Button
android:id="@+id/btn_task_13"
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="无效" />
<Button
android:id="@+id/btn_task_14"
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="无效" />
<Button
android:id="@+id/btn_task_15"
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="无效" />
</LinearLayout>
</LinearLayout>
app/src/main/res/layout/activity_single_function_test.xml
+188
View File
@@ -0,0 +1,188 @@
<?xml version="1.0" encoding="utf-8"?><!--
~ Copyright (c) 2023. UnknownNetworkService Group
~ This file is created by UnknownObject at 2023 - 5 - 1
-->
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
tools:context=".gui.SingleFunctionTest">
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_camera_up"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向上" />
<Button
android:id="@+id/btn_camera_down"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向下" />
<Button
android:id="@+id/btn_camera_left"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向左" />
<Button
android:id="@+id/btn_camera_right"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="3dp"
android:layout_marginRight="3dp"
android:layout_weight="1"
android:paddingLeft="10dp"
android:paddingRight="10dp"
android:text="摄像头\n向右" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_start_qr"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="二维码识别" />
<Button
android:id="@+id/btn_start_light"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="交通灯识别" />
<Button
android:id="@+id/btn_start_color_shape"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="形状颜色识别" />
<Button
android:id="@+id/btn_start_car_id"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="车牌识别" />
<Button
android:id="@+id/btn_start_sign"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="交通标志识别" />
<Button
android:id="@+id/btn_start_ocr"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_margin="2dp"
android:layout_weight="1"
android:insetTop="0dp"
android:insetBottom="0dp"
android:paddingHorizontal="2dp"
android:paddingLeft="0dp"
android:paddingTop="0dp"
android:paddingRight="0dp"
android:paddingBottom="0dp"
android:text="OCR" />
</LinearLayout>
<LinearLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:orientation="horizontal">
<Button
android:id="@+id/btn_tft_page_down"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:text="TFT下翻一页" />
<Button
android:id="@+id/btn_movement_control"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:layout_weight="1"
android:text="移动控制" />
<Button
android:id="@+id/btn_crash"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginHorizontal="3dp"
android:layout_weight="1"
android:text="立即崩溃" />
</LinearLayout>
</LinearLayout>