基于安卓-树莓派控制的智能小车项目完整源码(安卓端和树莓派端).zip

package com.example.a24915.design_competition; import android.os.AsyncTask; import android.os.Handler; import android.support.v7.app.AppCompatActivity; import android.os.Bundle; import android.view.Gravity; import android.view.LayoutInflater; import android.view.MotionEvent; import android.view.View; import android.view.ViewGroup; import android.widget.ImageButton; import android.widget.ImageView; import android.widget.LinearLayout; import android.widget.SeekBar; import android.widget.TextView; import android.widget.Toast; import java.io.IOException; import java.io.InputStream; import java.io.OutputStream; import java.net.InetAddress; import java.net.Socket; public class MainActivity extends AppCompatActivity { private Socket socket; Handler mHandler; private InputStream inputStream = null; private OutputStream outputStream = null; private int code,speed; private int[] a={0,0}; static boolean thiscode; private SeekBar seekBar; private TextView textView1,textView2,textView3; private ImageButton imageButton1,imageButton2,imageButton3,imageButton4; @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); System.out.println("执行控制界面的onCreate()"); socket = ((MySocket)getApplication()).getSocket(); code = 0; speed = 0; thiscode = true; seekBar=(SeekBar)findViewById(R.id.seekBar); textView1=(TextView)findViewById(R.id.textView2); textView2=(TextView)findViewById(R.id.textView4); textView3=(TextView)findViewById(R.id.textView5); imageButton1=(ImageButton)findViewById(R.id.imageButton); imageButton2=(ImageButton)findViewById(R.id.imageButton2); imageButton3=(ImageButton)findViewById(R.id.imageButton3); imageButton4=(ImageButton)findViewById(R.id.imageButton4); textView1.setText(Integer.toString(speed)); seekBar.setProgress(0); if(!socket.isConnected()){ Toast.makeText(MainActivity.this,"未连接",Toast.LENGTH_SHORT).show(); } seekBar.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() { @Override public void onProgressChanged(SeekBar seekBar, int i, boolean b) { textView1.setText(Integer.toString(i)); speed=i; } @Override public void onStartTrackingTouch(SeekBar seekBar) { } @Override public void onStopTrackingTouch(SeekBar seekBar) { //停止滑动，在这里发送 } }); imageButton1.setOnTouchListener(new View.OnTouchListener() { @Override public boolean onTouch(View view, MotionEvent motionEvent) { switch (motionEvent.getAction()){ case MotionEvent.ACTION_DOWN: code+=1; break; case MotionEvent.ACTION_UP: code-=1; break; } a[0]=code; a[1]=speed; new MyAsyncTask1().execute(a); return true; } }); imageButton2.setOnTouchListener(new View.OnTouchListener() { @Override public boolean onTouch(View view, MotionEvent motionEvent) { switch (motionEvent.getAction()){ case MotionEvent.ACTION_DOWN: code+=2; break; case MotionEvent.ACTION_UP: code-=2; break; } a[0]=code; a[1]=speed; new MyAsyncTask1().execute(a); return true; } }); imageButton3.setOnTouchListener(new View.OnTouchListener() { @Override public boolean onTouch(View view, MotionEvent motionEvent) { switch (motionEvent.getAction()){ case MotionEvent.ACTION_DOWN: code+=4; break; case MotionEvent.ACTION_UP: code-=4; break; } a[0]=code; a[1]=speed; new MyAsyncTask1().execute(a); return true; } }); imageButton4.setOnTouchListener(new View.OnTouchListener() { @Override public boolean onTouch(View view, MotionEvent motionEvent) { switch (motionEvent.getAction()){ case MotionEvent.ACTION_DOWN: code+=8; break; case MotionEvent.ACTION_UP: code-=8; break; } a[0]=code; a[1]=speed; new MyAsyncTask1().execute(a); return true; } }); // mHandler=new Handler(); // Runnable r=new Runnable() { // @Override // public void run() { // new MyAsyncTask2().execute("go"); // } // }; // mHandler.postDelayed(r,2000); Thread_Receive thread_receive = new Thread_Receive(); thread_receive.start(); } @Override protected void onStart() { super.onStart(); System.out.println("执行控制界面的onStart()"); } @Override protected void onResume() { super.onResume(); System.out.println("执行控制界面的onResume()"); } @Override protected void onRestart() { super.onRestart(); System.out.println("执行控制界面的onRestart()"); } @Override protected void onPause() { super.onPause(); System.out.println("执行控制界面的onPause()"); } @Override protected void onStop() { super.onStop(); System.out.println("执行控制界面的onStop()"); } @Override protected void onDestroy() { super.onDestroy(); System.out.println("执行控制界面的onDestroy()"); } private class MyAsyncTask1 extends AsyncTask<int[],Integer,String>{ @Override protected String doInBackground(int[]... params){ String sendStr = ""; try{ //计算并发送 int codetmp = params[0][0]; int speedtmp = params[0][1]; int sendcode = 0; if(codetmp==0) { sendcode=0; } else if(codetmp==1) { sendcode=1; } else if(codetmp==2) { sendcode=2; } else if(codetmp==5) { sendcode=3; } else if(codetmp==9) { sendcode=4; } else if(codetmp==6) { sendcode=5; } else if(codetmp==10) { sendcode=6; } else if(codetmp==4) { sendcode=7; } else if(codetmp==8) { sendcode=8; }else { return null; } sendStr = Integer.toString(sendcode)+"#"+Integer.toString(speedtmp); outputStream=socket.getOutputStream(); outputStream.write(sendStr.getBytes()); }catch (Exception e){ e.printStackTra