wifi小车android手机控制端源码

package com.hanry; import java.io.BufferedInputStream; import android.app.Activity; import android.content.Context; import android.content.Intent; import android.content.SharedPreferences; import android.graphics.Color; import android.graphics.drawable.Drawable; import android.net.ConnectivityManager; import android.net.NetworkInfo.State; import android.net.wifi.WifiInfo; import android.net.wifi.WifiManager; import android.os.Bundle; import android.os.Handler; import android.os.Message; import android.preference.PreferenceManager; import android.util.Log; import android.view.MotionEvent; import android.view.View; import android.view.View.OnLongClickListener; import android.view.Window; import android.view.WindowManager; import android.view.View.OnClickListener; import android.widget.ImageButton; import android.widget.ImageView; import android.widget.TextView; import android.widget.Toast; import com.hanry.Constant; import com.hanry.R; import com.hanry.WifiCarSettings; import com.hanry.Constant.CommandArray; public class Main extends Activity implements SeekBar.OnSeekBarChangeListener { private final int MSG_ID_ERR_CONN = 1001; //private final int MSG_ID_ERR_SEND = 1002; private final int MSG_ID_ERR_RECEIVE = 1003; private final int MSG_ID_CON_READ = 1004; private final int MSG_ID_CON_SUCCESS = 1005; private final int MSG_ID_START_CHECK = 1006; private final int MSG_ID_ERR_INIT_READ = 1007; private final int MSG_ID_CLEAR_QUIT_FLAG = 1008; private final int MSG_ID_LOOP_START = 1010; private final int MSG_ID_HEART_BREAK_RECEIVE = 1011; private final int MSG_ID_HEART_BREAK_SEND = 1012; private final int MSG_ID_LOOP_END = 1013; private final int STATUS_INIT = 0x2001; //private final int STATUS_CONNECTING = 0x2002; private final int STATUS_CONNECTED = 0x2003; private final int WARNING_ICON_OFF_DURATION_MSEC = 600; private final int WARNING_ICON_ON_DURATION_MSEC = 800; private final int WIFI_STATE_UNKNOW = 0x3000; private final int WIFI_STATE_DISABLED = 0x3001; private final int WIFI_STATE_NOT_CONNECTED = 0x3002; private final int WIFI_STATE_CONNECTED = 0x3003; private final int MIN_GEAR_STEP = 5; private final int MAX_GEAR_VALUE = 180; private final int INIT_GEAR_VALUE = 50; private final byte COMMAND_PERFIX = -1; private final int HEART_BREAK_CHECK_INTERVAL = 8000;//ms private final int QUIT_BUTTON_PRESS_INTERVAL = 2500;//ms private final int HEART_BREAK_SEND_INTERVAL = 2500;//ms private boolean m4test = false; private String CAMERA_VIDEO_URL = "http://192.168.2.1:8080/?action=stream"; private String CAMERA_VIDEO_URL_TEST = ""; private String ROUTER_CONTROL_URL = "192.168.2.1"; private String ROUTER_CONTROL_URL_TEST = "192.168.1.1"; private int ROUTER_CONTROL_PORT = 2001; private int ROUTER_CONTROL_PORT_TEST = 2001; private final String WIFI_SSID_PERFIX = "robot"; private ImageButton ForWard; private ImageButton BackWard; private ImageButton TurnLeft; private ImageButton TurnRight; private ImageButton TakePicture; private ImageView mAnimIndicator; private boolean bAnimationEnabled = true; private Drawable mWarningIcon; private boolean bReaddyToSendCmd = false; private TextView mLogText; private Drawable ForWardon; private Drawable ForWardoff; private Drawable BackWardon; private Drawable BackWardoff; private Drawable TurnLefton; private Drawable TurnLeftoff; private Drawable TurnRighton; private Drawable TurnRightoff; private Drawable buttonLenon; private Drawable buttonLenoff; private SeekBar mSeekBar; private int mSeekBarValue = -1; private ImageButton buttonCus1; private ImageButton buttonLen; private boolean bLenon = false; private int mWifiStatus = STATUS_INIT; private Thread mThreadClient = null; private boolean mThreadFlag = false; private boolean mQuitFlag = false; private boolean bHeartBreakFlag = false; private int mHeartBreakCounter = 0; private int mLastCounter = 0; private Context mContext; SocketClient mtcpSocket; MjpegView backgroundView = null; private byte[] COMM_FORWARD = {(byte) 0xFF, (byte)0x00, (byte)0x01, (byte)0x00, (byte) 0xFF}; private byte[] COMM_BACKWARD = {(byte) 0xFF, 0x00, 0x02, 0x00, (byte) 0xFF}; private byte[] COMM_STOP = {(byte) 0xFF, 0x00, 0x00, 0x00, (byte) 0xFF}; private byte[] COMM_LEFT = {(byte) 0xFF, 0x00, 0x03, 0x00, (byte) 0xFF}; private byte[] COMM_RIGHT = {(byte) 0xFF, 0x00, 0x04, 0x00, (byte) 0xFF}; private byte[] COMM_LEN_ON = {(byte) 0xFF, 0x04, 0x03, 0x00, (byte) 0xFF}; private byte[] COMM_LEN_OFF = {(byte) 0xFF, 0x04, 0x02, 0x00, (byte) 0xFF}; private byte[] COMM_GEAR_CONTROL = {(byte) 0xFF, 0x01, 0x01, 0x00, (byte) 0xFF}; private byte[] COMM_SELF_CHECK = {(byte) 0xFF, (byte)0xEE, (byte)0xEE, 0x00, (byte) 0xFF}; private byte[] COMM_SELF_CHECK_ALL = {(byte) 0xFF, (byte)0xEE, (byte)0xE0, 0x00, (byte) 0xFF}; private byte[] COMM_HEART_BREAK = {(byte) 0xFF, (byte)0xEE, (byte)0xE1, 0x00, (byte) 0xFF}; @Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); mContext = this; initSettings(); this.requestWindowFeature(Window.FEATURE_NO_TITLE);//隐去标题（应用的名字必须要写在setContentView之前，否则会有异常） this.getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN); setContentView(R.layout.main); ForWard= (ImageButton)findViewById(R.id.btnForward); TurnLeft= (ImageButton)findViewById(R.id.btnLeft); TurnRight=(ImageButton)findViewById(R.id.btnRight); BackWard= (ImageButton)findViewById(R.id.btnBack); buttonCus1= (ImageButton)findViewById(R.id.ButtonCus1); buttonCus1.setOnClickListener(buttonCus1ClickListener); buttonCus1.setOnLongClickListener(buttonCus1ClickListener2); buttonLen= (ImageButton)findViewById(R.id.btnLen); buttonLen.setOnClickListener(buttonLenClickListener); buttonLen.setLongClickable(true); TakePicture = (ImageButton)findViewById(R.id.ButtonTakePic); TakePicture.setOnClickListener(buttonTakePicClickListener); mAnimIndicator = (ImageView)findViewById(R.id.btnIndicator); mWarningIcon = getResources().getDrawable(R.drawable.sym_indicator1); ForWardon = getResources().getDrawable(R.drawable.sym_forward_1); ForWardoff = getResources().getDrawable(R.drawable.sym_forward); TurnLefton = getResources().getDrawable(R.drawable.sym_left_1); TurnLeftoff = getResources().getDrawable(R.drawable.sym_left); TurnRighton = getResources().getDrawable(R.drawable.sym_right_1); TurnRightoff = getResources().getDrawable(R.drawable.sym_right); BackWardon = getResources().getDrawable(R.drawable.sym_backward_1); BackWardoff = getResources().getDrawable(R.drawable.sym_backward); buttonLenon = getResources().getDrawable(R.drawable.sym_light); buttonLenoff = getResources().getDrawable(R.drawable.sym_light_off); backgroundView = (MjpegView)findViewById(R.id.mySurfaceView1); mLogText = (TextView)findViewById(R.id.logTextView); if (null != mLogText) { mLogText.setBackgroundColor(Color.argb(0, 0, 255, 0));//0~255透明度值 mLogText.setTextColor(Color.argb(90, 0, 255, 0)); } mSeekBar = (SeekBar)findViewById(R.id.ge