/*
 * Copyright (c) 2022. UnknownNetworkService Group
 * This file is created by UnknownObject at 2022 - 9 - 18
 */

package com.uns.maincar.gui;

import android.annotation.SuppressLint;
import android.content.Context;
import android.content.Intent;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.net.DhcpInfo;
import android.net.wifi.WifiManager;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.text.format.Formatter;
import android.text.method.ScrollingMovementMethod;
import android.util.Log;
import android.widget.EditText;
import android.widget.ImageView;
import android.widget.TextView;
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;
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;
import com.uns.maincar.constants.Flags.TrafficLightColors;
import com.uns.maincar.constants.GlobalSignType;
import com.uns.maincar.cpp_interface.CarLicense;
import com.uns.maincar.cpp_interface.EnvTest;
import com.uns.maincar.cpp_interface.MainCarAES;
import com.uns.maincar.cpp_interface.OCR;
import com.uns.maincar.cpp_interface.QRDecoder;
import com.uns.maincar.cpp_interface.ShapeColor;
import com.uns.maincar.cpp_interface.TrafficLight;
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 java.io.UnsupportedEncodingException;
import java.util.ArrayList;
import java.util.Objects;

public class MainActivity extends AppCompatActivity
{
	//数据接收处理器
	private final Handler recvHandler;
	//主车相机地址，默认值不重要
	private String IPCamera = "192.168.1.101:81";
	//摄像头当前图像
	private Bitmap currImage;
	//存储小车的IP
	private String IPCar;
	//通信客户端
	private DataTransferCore dtc_client;
	//DHCP相关信息，用于获取IP地址
	private DhcpInfo dhcpInfo;
	//WIFI管理器
	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;
	//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
	private boolean FileStatus = false;
	//申请存储空间使用的请求码
	private final int permission_request_code = 0x100942;
	//串口通信的设备名
	private final String SerialPortPath = "/dev/ttyS4";
	//通信通道标志，true为Wifi，false为串口
	private final boolean CommunicationUsingWifi = true;
	//调试用16进制数组
	private final String[] byte_str = {
			"0x00", "0x01", "0x02", "0x03", "0x04", "0x05", "0x06", "0x07", "0x08", "0x09", "0x0A", "0x0B", "0x0C", "0x0D", "0x0E", "0x0F",
			"0x10", "0x11", "0x12", "0x13", "0x14", "0x15", "0x16", "0x17", "0x18", "0x19", "0x1A", "0x1B", "0x1C", "0x1D", "0x1E", "0x1F",
			"0x20", "0x21", "0x22", "0x23", "0x24", "0x25", "0x26", "0x27", "0x28", "0x29", "0x2A", "0x2B", "0x2C", "0x2D", "0x2E", "0x2F",
			"0x30", "0x31", "0x32", "0x33", "0x34", "0x35", "0x36", "0x37", "0x38", "0x39", "0x3A", "0x3B", "0x3C", "0x3D", "0x3E", "0x3F",
			"0x40", "0x41", "0x42", "0x43", "0x44", "0x45", "0x46", "0x47", "0x48", "0x49", "0x4A", "0x4B", "0x4C", "0x4D", "0x4E", "0x4F",
			"0x50", "0x51", "0x52", "0x53", "0x54", "0x55", "0x56", "0x57", "0x58", "0x59", "0x5A", "0x5B", "0x5C", "0x5D", "0x5E", "0x5F",
			"0x60", "0x61", "0x62", "0x63", "0x64", "0x65", "0x66", "0x67", "0x68", "0x69", "0x6A", "0x6B", "0x6C", "0x6D", "0x6E", "0x6F",
			"0x70", "0x71", "0x72", "0x73", "0x74", "0x75", "0x76", "0x77", "0x78", "0x79", "0x7A", "0x7B", "0x7C", "0x7D", "0x7E", "0x7F",
			"0x80", "0x81", "0x82", "0x83", "0x84", "0x85", "0x86", "0x87", "0x88", "0x89", "0x8A", "0x8B", "0x8C", "0x8D", "0x8E", "0x8F",
			"0x90", "0x91", "0x92", "0x93", "0x94", "0x95", "0x96", "0x97", "0x98", "0x99", "0x9A", "0x9B", "0x9C", "0x9D", "0x9E", "0x9F",
			"0xA0", "0xA1", "0xA2", "0xA3", "0xA4", "0xA5", "0xA6", "0xA7", "0xA8", "0xA9", "0xAA", "0xAB", "0xAC", "0xAD", "0xAE", "0xAF",
			"0xB0", "0xB1", "0xB2", "0xB3", "0xB4", "0xB5", "0xB6", "0xB7", "0xB8", "0xB9", "0xBA", "0xBB", "0xBC", "0xBD", "0xBE", "0xBF",
			"0xC0", "0xC1", "0xC2", "0xC3", "0xC4", "0xC5", "0xC6", "0xC7", "0xC8", "0xC9", "0xCA", "0xCB", "0xCC", "0xCD", "0xCE", "0xCF",
			"0xD0", "0xD1", "0xD2", "0xD3", "0xD4", "0xD5", "0xD6", "0xD7", "0xD8", "0xD9", "0xDA", "0xDB", "0xDC", "0xDD", "0xDE", "0xDF",
			"0xE0", "0xE1", "0xE2", "0xE3", "0xE4", "0xE5", "0xE6", "0xE7", "0xE8", "0xE9", "0xEA", "0xEB", "0xEC", "0xED", "0xEE", "0xEF",
			"0xF0", "0xF1", "0xF2", "0xF3", "0xF4", "0xF5", "0xF6", "0xF7", "0xF8", "0xF9", "0xFA", "0xFB", "0xFC", "0xFD", "0xFE", "0xFF"};
	
	static
	{
		System.loadLibrary("opencv_support");
	}
	
	//原生函数导入，用于长按保存的功能
	private static native boolean SaveImage(Bitmap img, String time);
	
	@SuppressLint("HandlerLeak")
	public MainActivity()
	{
		//接收内部消息的处理器，用于处理内部消息
		recvHandler = new Handler()
		{
			@Override
			public void handleMessage(Message msg)
			{
				super.handleMessage(msg);
				//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：收到主车数据；执行操作：解析指令并执行
				if (msg.what == Flags.RECEIVED_CAR_DATA)
				{
					byte[] recv = (byte[]) msg.obj;
					if (recv != null)
					{
						//打印接收到的指令
						ToastLog("RECV: [" + ByteArray2String(recv) + "]", true, false);
						//解析指令
						CommandDecoder decoder = new CommandDecoder(recv);
						if (decoder.CommandReady())
						{
							ToastLog("Command Decode Ready.", false, false);
							Thread th_run_command = new Thread(() ->
							{
								switch (decoder.GetMainCommand())
								{
									//收到全自动指令，返回程序自检状态
									case Commands.RECEIVE_FULL_AUTO:
										dtc_client.Send(SystemStatusCommand());
										break;
									//收到QR指令，开始识别二维码，回传识别成功的数据
									case Commands.RECEIVE_QR:
										byte[] cmd = RecognizeQrCode();
										if (cmd[2] == Commands.QR_FAILED)
											dtc_client.Send(cmd);
										else
										{
											CommandEncoder encoder = new CommandEncoder();
											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;
									//收到TRAFFIC_LIGHT指令，开始识别交通灯，回传识别成功的数据
									case Commands.RECEIVE_TRAFFIC_LIGHT:
										dtc_client.Send(RecognizeTrafficLight());
										break;
									//收到SHAPE_COLOR指令，开始识别形状颜色，回传识别成功的数据
									case Commands.RECEIVE_SHAPE_COLOR:
										dtc_client.Send(RecognizeShapeColor());
										break;
									//收到CAR_ID指令，开始识别车牌号，回传识别成功的数据
									case Commands.RECEIVE_CAR_ID:
										RecognizeCarID();
										break;
									//收到TRAFFIC_SIGN指令，开始识别交通标志，回传识别成功的数据
									case Commands.RECEIVE_TRAFFIC_SIGN:
										dtc_client.Send(RecognizeTrafficSign());
										break;
									//收到OCR指令，开始识别文本，回传识别成功的数据
									case Commands.RECEIVE_TEXT_OCR:
										OCRRecognizeText();
										break;
									//收到未知指令，回传异常指令，表示无法解析当前指令
									default:
										CommandEncoder error = new CommandEncoder();
										dtc_client.Send(error.GenerateCommand(Commands.CMD_NOT_MATCH, (byte) 0x00, (byte) 0x00, (byte) 0x00));
										break;
								}
							});
							th_run_command.start();
						}
						//指令解析失败，回传异常指令，表示无法解析当前指令
						else
						{
							CommandEncoder error = new CommandEncoder();
							dtc_client.ThreadSend(error.GenerateCommand(Commands.CMD_NOT_MATCH, (byte) 0x00, (byte) 0x00, (byte) 0x00));
						}
					}
					//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);
				}
			}
		};
	}
	
	//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));
	}
	
	//获取程序自检指令，根据自检状态返回成功或失败
	private byte[] SystemStatusCommand()
	{
		CommandEncoder encoder = new CommandEncoder();
		if (SystemStatus && FileStatus)
			return encoder.GenerateCommand(Commands.STATUS_SUCCESS, (byte) 0, (byte) 0, (byte) 0);
		else
			return encoder.GenerateCommand(Commands.STATUS_FAILED, (byte) 0, (byte) 0, (byte) 0);
	}
	
	//识别二维码
	private byte[] RecognizeQrCode()
	{
		CommandEncoder encoder = new CommandEncoder();
		ArrayList<String> qr_result = new ArrayList<>();
		if (!QRDecoder.BeginQRDecode(currImage))
			return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
		while (QRDecoder.HasNextCode())
			qr_result.add(QRDecoder.DecodeNextQR());
		if (qr_result.size() <= 0)
			return encoder.GenerateCommand(Commands.QR_FAILED, (byte) 0, (byte) 0, (byte) 0);
		else
		{
			qr_result.forEach(qr -> ToastLog(qr, false, true));
			return ProcessQRData(qr_result);
		}
	}
	
	//识别交通灯
	private byte[] RecognizeTrafficLight()
	{
		TrafficLightColors color = TrafficLight.RecognizeTrafficLight(currImage);
		CommandEncoder encoder = new CommandEncoder();
		switch (color)
		{
			case RED:
				return encoder.GenerateCommand(Commands.TRAFFIC_LIGHT_SUCCESS, Commands.TRAFFIC_LIGHT_RED, (byte) 0, (byte) 0);
			case NULL:
				return encoder.GenerateCommand(Commands.TRAFFIC_LIGHT_FAILED, (byte) 0, (byte) 0, (byte) 0);
			case GREEN:
				return encoder.GenerateCommand(Commands.TRAFFIC_LIGHT_SUCCESS, Commands.TRAFFIC_LIGHT_GREEN, (byte) 0, (byte) 0);
			case YELLOW:
				return encoder.GenerateCommand(Commands.TRAFFIC_LIGHT_SUCCESS, Commands.TRAFFIC_LIGHT_YELLOW, (byte) 0, (byte) 0);
		}
		return encoder.GenerateCommand(Commands.TRAFFIC_LIGHT_FAILED, (byte) -1, (byte) -1, (byte) -1);
	}
	
	//识别形状颜色
	private byte[] RecognizeShapeColor()
	{
		CommandEncoder encoder = new CommandEncoder();
		if (!ShapeColor.RecognizeEverything(currImage))
			return encoder.GenerateCommand(Commands.COLOR_SHAPE_FAILED, (byte) 0, (byte) 0, (byte) 0);
		else
		{
			byte a = 0, b = 0, c = 0;
			//测试用输出
			/*ToastLog("C-R-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.RED), false, false);
			ToastLog("C-BL-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.BLACK), false, false);
			ToastLog("C-G-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.GREEN), false, false);
			ToastLog("C-BU-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.BLUE), false, false);
			ToastLog("C-C-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.CYAN), false, false);
			ToastLog("C-P-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.PURPLE), false, false);
			ToastLog("C-W-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.WHITE), false, false);
			ToastLog("C-Y-"+ShapeColor.LookupResult(GlobalShape.CIRCLE, GlobalColor.YELLOW), false, false);
			ToastLog("S-R-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.RED), false, false);
			ToastLog("S-BL-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.BLACK), false, false);
			ToastLog("S-G-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.GREEN), false, false);
			ToastLog("S-BU-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.BLUE), false, false);
			ToastLog("S-C-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.CYAN), false, false);
			ToastLog("S-P-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.PURPLE), false, false);
			ToastLog("S-W-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.WHITE), false, false);
			ToastLog("S-Y-"+ShapeColor.LookupResult(GlobalShape.STAR, GlobalColor.YELLOW), false, false);
			ToastLog("s-R-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.RED), false, false);
			ToastLog("s-BL-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.BLACK), false, false);
			ToastLog("s-G-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.GREEN), false, false);
			ToastLog("s-BU-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.BLUE), false, false);
			ToastLog("s-C-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.CYAN), false, false);
			ToastLog("s-P-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.PURPLE), false, false);
			ToastLog("s-W-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.WHITE), false, false);
			ToastLog("s-Y-"+ShapeColor.LookupResult(GlobalShape.SQUARE, GlobalColor.YELLOW), false, false);
			ToastLog("R-R-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.RED), false, false);
			ToastLog("R-BL-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.BLACK), false, false);
			ToastLog("R-G-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.GREEN), false, false);
			ToastLog("R-BU-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.BLUE), false, false);
			ToastLog("R-C-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.CYAN), false, false);
			ToastLog("R-P-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.PURPLE), false, false);
			ToastLog("R-W-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.WHITE), false, false);
			ToastLog("R-Y-"+ShapeColor.LookupResult(GlobalShape.RECTANGLE, GlobalColor.YELLOW), false, false);
			ToastLog("T-R-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.RED), false, false);
			ToastLog("T-BL-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.BLACK), false, false);
			ToastLog("T-G-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.GREEN), false, false);
			ToastLog("T-BU-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.BLUE), false, false);
			ToastLog("T-C-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.CYAN), false, false);
			ToastLog("T-P-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.PURPLE), false, false);
			ToastLog("T-W-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.WHITE), false, false);
			ToastLog("T-Y-"+ShapeColor.LookupResult(GlobalShape.TRIANGLE, GlobalColor.YELLOW), false, false);*/
			return encoder.GenerateCommand(Commands.COLOR_SHAPE_SUCCESS, a, b, c);
		}
	}
	
	//识别车牌
	private void RecognizeCarID()
	{
		CommandEncoder encoder = new CommandEncoder();
//		CarLicense.Result result = CarLicense.Recognize(currImage);		//通过模板匹配识别车牌
//		CarLicense.Result result = CarLicense.RecognizeByOCR(currImage);	//通过OCR识别车牌
		CarLicense.Result result = CarLicense.RecognizeByAI(currImage, this);    //通过AI模型识别车牌
		if (!result.Success())
		{
			//OCR识别的自动重试功能
			/*final int OCR_MAX_RETRY = 5;
			int retry_time = 0;
			do
			{
				result = CarLicense.RecognizeByOCR(currImage);
				Sleep(100);
				retry_time++;
			}while (result.isEmpty() && (retry_time <= OCR_MAX_RETRY));
			if(retry_time > OCR_MAX_RETRY)
				dtc_client.Send(encoder.GenerateCommand(Commands.CAR_ID_FAILED, (byte) 0, (byte) 0, (byte) 0));
			else
			{
				encoder.AddMainCommand(Commands.CAR_ID_SUCCESS_FIRST);
				encoder.AddData(result.GetFirstThreeBits());
				dtc_client.Send(encoder.GenerateCommand());
				Sleep(500);
				encoder.Clear();
				encoder.AddMainCommand(Commands.CAR_ID_SUCCESS_SECOND);
				encoder.AddData(result.GetLastThreeBits());
				dtc_client.Send(encoder.GenerateCommand());
			}*/
			dtc_client.Send(encoder.GenerateCommand(Commands.CAR_ID_FAILED, (byte) 0, (byte) 0, (byte) 0));
		}
		else
		{
			//车牌信息分两次发送
			encoder.AddMainCommand(Commands.CAR_ID_SUCCESS_FIRST);
			encoder.AddData(result.GetFirstThreeBits());
			dtc_client.Send(encoder.GenerateCommand());
			Sleep(500);
			encoder.Clear();
			encoder.AddMainCommand(Commands.CAR_ID_SUCCESS_SECOND);
			encoder.AddData(result.GetLastThreeBits());
			dtc_client.Send(encoder.GenerateCommand());
		}
	}
	
	//识别交通标志
	private byte[] RecognizeTrafficSign()
	{
		CommandEncoder encoder = new CommandEncoder();
		GlobalSignType type = TrafficSign.SignRecognize(currImage);
		if (type == GlobalSignType.Failure)
			return encoder.GenerateCommand(Commands.TRAFFIC_SIGN_FAILED, (byte) 0, (byte) 0, (byte) 0);
		else
		{
			encoder.AddMainCommand(Commands.TRAFFIC_SIGN_SUCCESS);
			switch (type)
			{
				case NoEntry:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_NO_ENTRY, (byte) 0, (byte) 0);
					break;
				case StraightProhibited:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_NO_STRAIGHT, (byte) 0, (byte) 0);
					break;
				case TurnLeft:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_TURN_LEFT, (byte) 0, (byte) 0);
					break;
				case TurnRight:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_TURN_RIGHT, (byte) 0, (byte) 0);
					break;
				case GoStraight:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_STRAIGHT, (byte) 0, (byte) 0);
					break;
				case U_Turn:
					encoder.AddData(Commands.TRAFFIC_SIGN_TYPE_U_TURN, (byte) 0, (byte) 0);
					break;
			}
			return encoder.GenerateCommand();
		}
	}
	
	//识别静态文本
	private void OCRRecognizeText()
	{
		TextFilter filter = new TextFilter();
		String str = filter.RemoveEmptyCharacter(OCR.DecodeImage(currImage));
		ToastLog("OCR Result: [" + str + "]", false, true);
		byte[] b_str;
		try
		{
			b_str = str.getBytes("GBK");
		}
		catch (UnsupportedEncodingException e)
		{
			ToastLog("GBK Encoding is Not Supported", false, true);
			CommandEncoder encoder = new CommandEncoder();
			dtc_client.Send(encoder.GenerateCommand(Commands.OCR_TEXT_FAILED, (byte) 0x00, (byte) 0x00, (byte) 0x00));
			return;
		}
		CommandEncoder encoder = new CommandEncoder();
		dtc_client.Send(encoder.GenerateCommand(Commands.OCR_TEXT_SUCCESS, (byte) 0x00, (byte) 0x00, (byte) 0x00));
		Sleep(900);
		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)
		{
			Sleep(500);
			byte data_2 = ((i + 1) >= b_str.length ? 0x00 : b_str[i + 1]);
			byte checksum = (byte) ((b_str[i] + data_2) % 0xFF);
			byte main = ((i + 2) < b_str.length ? Commands.OCR_TEXT_DATA : Commands.OCR_TEXT_FINISH);
			if (!dtc_client.SendEx(encoder.GenerateCommand(main, b_str[i], data_2, checksum), Commands.RECEIVE_OCR_DATA_OK, 2000))
			{
				dtc_client.Send(encoder.GenerateCommand(Commands.OCR_TEXT_FAILED, (byte) 0x00, (byte) 0x00, (byte) 0x00));
				break;
			}
		}
	}
	
	//数组转字符串，仅用于调试输出
	private String ByteArray2String(byte[] arr)
	{
		StringBuilder msg_str = new StringBuilder();
		for (byte b : arr)
			msg_str.append(byte_str[b & 0xff]).append(" ");
		return msg_str.toString();
	}
	
	//初始化图形界面
	private void InitGUI()
	{
		pic_received = findViewById(R.id.camera_image);
		text_toast = findViewById(R.id.text_toast);
		
		text_toast.setMovementMethod(ScrollingMovementMethod.getInstance());
		
		findViewById(R.id.btn_debug_send).setOnClickListener(view ->
		{
			byte[] data = new byte[]{0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
			dtc_client.ThreadSend(data);
		});
		
		findViewById(R.id.btn_camera_up).setOnClickListener(view ->
		{
			Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_UP, 5));
			th_send.start();
		});
		
		findViewById(R.id.btn_camera_down).setOnClickListener(view ->
		{
			Thread th_send = new Thread(() -> cameraCommandUtil.postHttp(IPCamera, Flags.CAMERA_DOWN, 5));
			th_send.start();
		});
		
		findViewById(R.id.btn_camera_left).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);
			/*ToastLog("OCR Result: " + OCR.DecodeImage(currImage), 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。
		});
		
		findViewById(R.id.text_toast).setOnLongClickListener(view ->
		{
			ToastLog("Log Cleared", true, false);
			((TextView) view).setText("");
			return true;
		});
		
		findViewById(R.id.camera_image).setOnLongClickListener(view ->
		{
			String time = String.valueOf(System.currentTimeMillis());
			if (SaveImage(currImage, time))
				ToastLog("Image Saved", true, false);
			else
				ToastLog("Image Save Failure", true, false);
			return true;
		});
	}
	
	//打印日志
	@SuppressLint("SetTextI18n")
	private void ToastLog(String text, boolean real_toast, boolean on_thread)
	{
		if (text_toast == null)
			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);
		else
			text_toast.setText(text_toast.getText().toString() + "\n" + text);
	}
	
	//等待一段时间
	private void Sleep(long ms)
	{
		try
		{
			Thread.sleep(ms);
		}
		catch (InterruptedException ignored)
		{
		}
	}
	
	//启动寻找摄像头的线程
	private void StartCameraImageUpdate(int duration)
	{
		Thread th_image = new Thread(() ->
		{
			while (true)
			{
				currImage = cameraCommandUtil.httpForImage(IPCamera);
				recvHandler.sendEmptyMessage(Flags.RECEIVED_IMAGE);
				Sleep(duration);
			}
		});
		th_image.start();
		ToastLog("Camera Update Thread: " + th_image.getState(), false, true);
	}
	
	@Override
	protected void onCreate(Bundle savedInstanceState)
	{
		super.onCreate(savedInstanceState);
		setContentView(R.layout.activity_main);
		
		Objects.requireNonNull(getSupportActionBar()).setTitle("主车远端服务程序");
		
		//初始化图形用户界面
		InitGUI();
		ToastLog("GUI Init Finished.", false, false);
		
		//检查NDK及引用库
		ToastLog(EnvTest.TestNDK(), false, false);
		ToastLog(EnvTest.TestOpenCV(), false, false);
		ToastLog(EnvTest.TestTrafficLightReco(), false, false);
		ToastLog(EnvTest.TestImageProcessor(), false, false);
		ToastLog(EnvTest.TestColorReco(), false, false);
		ToastLog(EnvTest.TestShapeReco(), false, false);
		ToastLog(EnvTest.TestShapeColorReco(), false, false);
		ToastLog(EnvTest.TestCarLicenseReco(), false, false);
		ToastLog(EnvTest.TestTrafficSignReco(), false, false);
		ToastLog(EnvTest.TestOCRText(), false, false);
		ToastLog(EnvTest.TestMainCarAES(), false, false);
		
		byte[] demo = MainCarAES.CalcAES("ABCDEFGHabcdefgh");
		if (demo == null)
			ToastLog("AES Status: Error", false, false);
		else
			ToastLog("AES Status: " + ByteArray2String(demo), false, false);
		
		//二维码扫描自检
		ToastLog(QRDecoder.SelfTest(BitmapFactory.decodeResource(getResources(), R.drawable.qr_decode_test)), false, false);
		
		//获取主车IP地址
		wifiManager = (WifiManager) getApplicationContext().getSystemService(Context.WIFI_SERVICE);
		dhcpInfo = wifiManager.getDhcpInfo();
		IPCar = Formatter.formatIpAddress(dhcpInfo.gateway);
		ToastLog("DHCP Server Address: " + IPCar, false, false);
		
		//建立连接
		if (CommunicationUsingWifi)
			dtc_client = new WifiTransferCore(IPCar, 60000, recvHandler);
		else
			dtc_client = new SerialPortTransferCore(SerialPortPath, 115200, recvHandler);
		Thread th_connect = new Thread(() ->
		{
			if (dtc_client.Connect())
				ToastLog("Client Connected", false, true);
			else
				ToastLog("Client Connect Failed", false, true);
		});
		th_connect.start();
		while (th_connect.isAlive())
			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;
			ToastLog("CameraSearchThread: Camera Thread Start", false, true);
			while (IPCamera == null || IPCamera.equals(""))
			{
				searchCameraUtil = new SearchCameraUtil();
				try
				{
					IPCamera = searchCameraUtil.send();
				}
				catch (NullPointerException e)
				{
					IPCamera = null;
				}
			}
			ToastLog("CameraSearchThread: Camera Found. IP: " + IPCamera, false, true);
			IPCamera = 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
			SystemStatus = true;
		});
		camera_thread.start();
		
		//获取外部存储权限并释放识别使用的标准图和OCR的训练模型
		Intent permission_page = new Intent(this, PermissionGetter.class);
		startActivityForResult(permission_page, permission_request_code);
	}
	
	@Override
	protected void onActivityResult(int requestCode, int resultCode, @Nullable Intent data)
	{
		super.onActivityResult(requestCode, resultCode, data);
		if (requestCode == permission_request_code)
		{
			if (resultCode == RESULT_OK)
			{
				ImageReleaser releaser = new ImageReleaser(this);
				OCRDataReleaser releaser_ocr = new OCRDataReleaser(this);
				FileStatus = (releaser.ReleaseAllImage() && releaser_ocr.ReleaseAllFiles());
				ToastLog(releaser.toString(), false, false);
				ToastLog(releaser_ocr.toString(), false, false);
				if (FileStatus)
					ToastLog(OCR.SelfTest(this), false, false);    //OCR光学字符识别自检
			}
			else
				FileStatus = false;
		}
	}
	
	@Override
	protected void onDestroy()
	{
		super.onDestroy();
		//Activity销毁时关闭通信
		dtc_client.DisableAutoReconnect();
		dtc_client.CloseConnection();
	}
}