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package com.example.logistics.tools;
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import android.util.Log;
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import org.java_websocket.client.WebSocketClient;
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import org.java_websocket.drafts.Draft_6455;
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import org.java_websocket.handshake.ServerHandshake;
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import java.net.URI;
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public class JWebSocketClient extends WebSocketClient {
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public JWebSocketClient(URI serverUri) {
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super(serverUri, new Draft_6455());
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}
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@Override
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public void onOpen(ServerHandshake handshakedata) {
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Log.e("JWebSocketClient", "onOpen()");
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}
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@Override
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public void onMessage(String message) {
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Log.e("JWebSocketClient", "onMessage()");
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}
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@Override
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public void onClose(int code, String reason, boolean remote) {
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Log.e("JWebSocketClient", "onClose()");
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}
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@Override
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public void onError(Exception ex) {
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Log.e("JWebSocketClient", "onError()");
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}
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}
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@ -1,220 +0,0 @@
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package com.example.logistics.ui;
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import androidx.fragment.app.Fragment;
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import android.annotation.SuppressLint;
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import android.app.AlertDialog;
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import android.content.Context;
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import android.content.Intent;
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import android.os.Bundle;
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import android.os.Handler;
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import android.os.Message;
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import android.util.Log;
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import android.view.LayoutInflater;
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import android.view.View;
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import android.view.ViewGroup;
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import android.webkit.WebSettings;
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import android.webkit.WebView;
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import android.webkit.WebViewClient;
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import android.widget.Button;
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import android.widget.EditText;
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import android.widget.TextView;
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import android.widget.Toast;
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import androidx.annotation.Nullable;
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import com.example.logistics.R;
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import com.example.logistics.dao.goodDao;
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import com.example.logistics.dao.operationDao;
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import com.example.logistics.dao.userDao;
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import com.example.logistics.entity.User;
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import com.google.zxing.integration.android.IntentIntegrator;
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import com.google.zxing.integration.android.IntentResult;
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import com.journeyapps.barcodescanner.CaptureActivity;
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import java.io.ByteArrayOutputStream;
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import java.io.IOException;
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import java.io.InputStream;
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public class MyFragment2 extends Fragment implements View.OnClickListener{
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private Button mButton;
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private Context mContext;
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private WebView mWebView;
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public MyFragment2(){
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}
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@Nullable
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@Override
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public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
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View view = inflater.inflate(R.layout.my_fragment2,container,false);
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mWebView = (WebView) view.findViewById(R.id.webview);
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WebSettings webSettings = mWebView.getSettings();
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mButton = (Button)view.findViewById(R.id.Pick_Button);
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mButton.setOnClickListener(this);
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mContext = getActivity();
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webSettings.setJavaScriptEnabled(true);
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mWebView.loadUrl("file:///android_asset/js.html");
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Log.i("set", "listner");
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mWebView.setWebViewClient(new WebViewClient(){
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@Override
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public void onPageFinished(WebView view, String url){
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super.onPageFinished(view, url);
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String jsStr1 = "";
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try{
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InputStream in1 = mContext.getAssets().open("em.js");
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byte buff[] = new byte[1024];
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ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
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do {
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int numRead = in1.read(buff);
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if (numRead <= 0) {
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break;
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}
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fromFile.write(buff, 0, numRead);
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} while (true);
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jsStr1 = fromFile.toString();
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in1.close();
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fromFile.close();
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} catch (IOException e) {
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e.printStackTrace();
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}
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mWebView.loadUrl("javascript:" + jsStr1);
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String jsStr2 = "";
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try{
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InputStream in2 = mContext.getAssets().open("roslib.min.js");
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byte buff[] = new byte[1024];
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ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
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do {
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int numRead = in2.read(buff);
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if (numRead <= 0) {
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break;
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}
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fromFile.write(buff, 0, numRead);
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} while (true);
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jsStr2 = fromFile.toString();
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in2.close();
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fromFile.close();
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} catch (IOException e) {
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e.printStackTrace();
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}
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mWebView.loadUrl("javascript:" + jsStr2);
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}
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});
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return view;
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}
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@Override
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public void onClick(View view) {
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switch(view.getId()){
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case R.id.Pick_Button:
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/*new IntentIntegrator(getActivity())
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.setDesiredBarcodeFormats(IntentIntegrator.QR_CODE)// 扫码的类型,一维码，二维码，一/二维码，默认为一/二维码
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.setPrompt("请对准摄像头")
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.setCameraId(0)
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.setBeepEnabled(false)
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.setCaptureActivity(CaptureActivity.class)
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.initiateScan();*/
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pickup("abnc");
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}
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}
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public void test(){
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mWebView.loadUrl("javascript:callJS()");
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Log.i("abc", "bcd");
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}
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@Override
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@SuppressLint("MissingSuperCall")
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public void onActivityResult(int requestCode, int resultCode, Intent data) {
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IntentResult result = IntentIntegrator.parseActivityResult(requestCode, resultCode, data);
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if(result != null) {
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if(result.getContents() != null) {
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//Toast.makeText(mContext, "Scanned: " + result.getContents(), Toast.LENGTH_LONG).show();
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pickup(result.getContents());
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}
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}
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}
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public void pickup(String result){
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AlertDialog.Builder builder = new AlertDialog.Builder(mContext);
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View view2 = View.inflate(mContext, R.layout.pickup, null);
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EditText PickUpCode = (EditText) view2.findViewById(R.id.pk_PickUp);
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EditText PhoneNum = (EditText) view2.findViewById(R.id.pk_PhoneNum);
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Button button = (Button) view2.findViewById(R.id.pk_button);
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builder.setTitle("取件").setView(view2);
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builder.create().show();
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button.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View view) {
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String pickupcode = PickUpCode.getText().toString().trim();
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String phonenum = PhoneNum.getText().toString().trim();
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Log.d("onclick", "123");
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//String QR_pickup = result.split(" ")[0];
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//String QR_phone = result.split(" ")[1];
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if(true){
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//if (pickupcode.equals(QR_pickup) && phonenum.equals(QR_phone)) {
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/*new Thread() {
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@Override
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public void run() {
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int msg = 0;
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operationDao operationDao = new operationDao();
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goodDao goodDao = new goodDao();
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Bundle bundle = getArguments();
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String user = bundle.getString("user");
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boolean flag1 = operationDao.add(pickupcode, user);
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boolean flag2 = goodDao.delete(pickupcode);
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boolean flag = flag1 & flag2;
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if (flag) {
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msg = 1;
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}
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int msg = 1;
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test();
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hand1.sendEmptyMessage(msg);
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}
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}.start();*/
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Toast.makeText(mContext, "取件成功", Toast.LENGTH_LONG).show();
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test();
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} else {
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Toast.makeText(mContext, "取件失败", Toast.LENGTH_LONG).show();
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}
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}
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});
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}
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@SuppressLint("HandlerLeak")
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final Handler hand1 = new Handler() {
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@Override
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public void handleMessage(Message msg) {
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if (msg.what == 1) {
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Toast.makeText(mContext, "取件成功", Toast.LENGTH_SHORT).show();
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} else {
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Toast.makeText(mContext, "取件失败", Toast.LENGTH_SHORT);
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}
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}
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};
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}
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@ -0,0 +1,33 @@
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HELP.md
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target/
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!.mvn/wrapper/maven-wrapper.jar
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!**/src/main/**/target/
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!**/src/test/**/target/
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### STS ###
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.apt_generated
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.classpath
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.factorypath
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|
.project
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|
.settings
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||||||
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.springBeans
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|
.sts4-cache
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|
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|
### IntelliJ IDEA ###
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|
.idea
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||||||
|
*.iws
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|
*.iml
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|
*.ipr
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|
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|
### NetBeans ###
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||||||
|
/nbproject/private/
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|
/nbbuild/
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/dist/
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|
/nbdist/
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||||||
|
/.nb-gradle/
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||||||
|
build/
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||||||
|
!**/src/main/**/build/
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||||||
|
!**/src/test/**/build/
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### VS Code ###
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.vscode/
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distributionUrl=https://repo.maven.apache.org/maven2/org/apache/maven/apache-maven/3.8.4/apache-maven-3.8.4-bin.zip
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|
wrapperUrl=https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar
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#!/bin/sh
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# ----------------------------------------------------------------------------
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|
# Licensed to the Apache Software Foundation (ASF) under one
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||||||
|
# or more contributor license agreements. See the NOTICE file
|
||||||
|
# distributed with this work for additional information
|
||||||
|
# regarding copyright ownership. The ASF licenses this file
|
||||||
|
# to you under the Apache License, Version 2.0 (the
|
||||||
|
# "License"); you may not use this file except in compliance
|
||||||
|
# with the License. You may obtain a copy of the License at
|
||||||
|
#
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||||||
|
# https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
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||||||
|
# Unless required by applicable law or agreed to in writing,
|
||||||
|
# software distributed under the License is distributed on an
|
||||||
|
# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
|
||||||
|
# KIND, either express or implied. See the License for the
|
||||||
|
# specific language governing permissions and limitations
|
||||||
|
# under the License.
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
# ----------------------------------------------------------------------------
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||||||
|
# Maven Start Up Batch script
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||||||
|
#
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||||||
|
# Required ENV vars:
|
||||||
|
# ------------------
|
||||||
|
# JAVA_HOME - location of a JDK home dir
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||||||
|
#
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||||||
|
# Optional ENV vars
|
||||||
|
# -----------------
|
||||||
|
# M2_HOME - location of maven2's installed home dir
|
||||||
|
# MAVEN_OPTS - parameters passed to the Java VM when running Maven
|
||||||
|
# e.g. to debug Maven itself, use
|
||||||
|
# set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
|
||||||
|
# MAVEN_SKIP_RC - flag to disable loading of mavenrc files
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
if [ -z "$MAVEN_SKIP_RC" ] ; then
|
||||||
|
|
||||||
|
if [ -f /usr/local/etc/mavenrc ] ; then
|
||||||
|
. /usr/local/etc/mavenrc
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -f /etc/mavenrc ] ; then
|
||||||
|
. /etc/mavenrc
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -f "$HOME/.mavenrc" ] ; then
|
||||||
|
. "$HOME/.mavenrc"
|
||||||
|
fi
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# OS specific support. $var _must_ be set to either true or false.
|
||||||
|
cygwin=false;
|
||||||
|
darwin=false;
|
||||||
|
mingw=false
|
||||||
|
case "`uname`" in
|
||||||
|
CYGWIN*) cygwin=true ;;
|
||||||
|
MINGW*) mingw=true;;
|
||||||
|
Darwin*) darwin=true
|
||||||
|
# Use /usr/libexec/java_home if available, otherwise fall back to /Library/Java/Home
|
||||||
|
# See https://developer.apple.com/library/mac/qa/qa1170/_index.html
|
||||||
|
if [ -z "$JAVA_HOME" ]; then
|
||||||
|
if [ -x "/usr/libexec/java_home" ]; then
|
||||||
|
export JAVA_HOME="`/usr/libexec/java_home`"
|
||||||
|
else
|
||||||
|
export JAVA_HOME="/Library/Java/Home"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ] ; then
|
||||||
|
if [ -r /etc/gentoo-release ] ; then
|
||||||
|
JAVA_HOME=`java-config --jre-home`
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$M2_HOME" ] ; then
|
||||||
|
## resolve links - $0 may be a link to maven's home
|
||||||
|
PRG="$0"
|
||||||
|
|
||||||
|
# need this for relative symlinks
|
||||||
|
while [ -h "$PRG" ] ; do
|
||||||
|
ls=`ls -ld "$PRG"`
|
||||||
|
link=`expr "$ls" : '.*-> \(.*\)$'`
|
||||||
|
if expr "$link" : '/.*' > /dev/null; then
|
||||||
|
PRG="$link"
|
||||||
|
else
|
||||||
|
PRG="`dirname "$PRG"`/$link"
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
|
saveddir=`pwd`
|
||||||
|
|
||||||
|
M2_HOME=`dirname "$PRG"`/..
|
||||||
|
|
||||||
|
# make it fully qualified
|
||||||
|
M2_HOME=`cd "$M2_HOME" && pwd`
|
||||||
|
|
||||||
|
cd "$saveddir"
|
||||||
|
# echo Using m2 at $M2_HOME
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Cygwin, ensure paths are in UNIX format before anything is touched
|
||||||
|
if $cygwin ; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME=`cygpath --unix "$M2_HOME"`
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
|
||||||
|
[ -n "$CLASSPATH" ] &&
|
||||||
|
CLASSPATH=`cygpath --path --unix "$CLASSPATH"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Mingw, ensure paths are in UNIX format before anything is touched
|
||||||
|
if $mingw ; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME="`(cd "$M2_HOME"; pwd)`"
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME="`(cd "$JAVA_HOME"; pwd)`"
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ]; then
|
||||||
|
javaExecutable="`which javac`"
|
||||||
|
if [ -n "$javaExecutable" ] && ! [ "`expr \"$javaExecutable\" : '\([^ ]*\)'`" = "no" ]; then
|
||||||
|
# readlink(1) is not available as standard on Solaris 10.
|
||||||
|
readLink=`which readlink`
|
||||||
|
if [ ! `expr "$readLink" : '\([^ ]*\)'` = "no" ]; then
|
||||||
|
if $darwin ; then
|
||||||
|
javaHome="`dirname \"$javaExecutable\"`"
|
||||||
|
javaExecutable="`cd \"$javaHome\" && pwd -P`/javac"
|
||||||
|
else
|
||||||
|
javaExecutable="`readlink -f \"$javaExecutable\"`"
|
||||||
|
fi
|
||||||
|
javaHome="`dirname \"$javaExecutable\"`"
|
||||||
|
javaHome=`expr "$javaHome" : '\(.*\)/bin'`
|
||||||
|
JAVA_HOME="$javaHome"
|
||||||
|
export JAVA_HOME
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVACMD" ] ; then
|
||||||
|
if [ -n "$JAVA_HOME" ] ; then
|
||||||
|
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
|
||||||
|
# IBM's JDK on AIX uses strange locations for the executables
|
||||||
|
JAVACMD="$JAVA_HOME/jre/sh/java"
|
||||||
|
else
|
||||||
|
JAVACMD="$JAVA_HOME/bin/java"
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
JAVACMD="`\\unset -f command; \\command -v java`"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ ! -x "$JAVACMD" ] ; then
|
||||||
|
echo "Error: JAVA_HOME is not defined correctly." >&2
|
||||||
|
echo " We cannot execute $JAVACMD" >&2
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ] ; then
|
||||||
|
echo "Warning: JAVA_HOME environment variable is not set."
|
||||||
|
fi
|
||||||
|
|
||||||
|
CLASSWORLDS_LAUNCHER=org.codehaus.plexus.classworlds.launcher.Launcher
|
||||||
|
|
||||||
|
# traverses directory structure from process work directory to filesystem root
|
||||||
|
# first directory with .mvn subdirectory is considered project base directory
|
||||||
|
find_maven_basedir() {
|
||||||
|
|
||||||
|
if [ -z "$1" ]
|
||||||
|
then
|
||||||
|
echo "Path not specified to find_maven_basedir"
|
||||||
|
return 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
basedir="$1"
|
||||||
|
wdir="$1"
|
||||||
|
while [ "$wdir" != '/' ] ; do
|
||||||
|
if [ -d "$wdir"/.mvn ] ; then
|
||||||
|
basedir=$wdir
|
||||||
|
break
|
||||||
|
fi
|
||||||
|
# workaround for JBEAP-8937 (on Solaris 10/Sparc)
|
||||||
|
if [ -d "${wdir}" ]; then
|
||||||
|
wdir=`cd "$wdir/.."; pwd`
|
||||||
|
fi
|
||||||
|
# end of workaround
|
||||||
|
done
|
||||||
|
echo "${basedir}"
|
||||||
|
}
|
||||||
|
|
||||||
|
# concatenates all lines of a file
|
||||||
|
concat_lines() {
|
||||||
|
if [ -f "$1" ]; then
|
||||||
|
echo "$(tr -s '\n' ' ' < "$1")"
|
||||||
|
fi
|
||||||
|
}
|
||||||
|
|
||||||
|
BASE_DIR=`find_maven_basedir "$(pwd)"`
|
||||||
|
if [ -z "$BASE_DIR" ]; then
|
||||||
|
exit 1;
|
||||||
|
fi
|
||||||
|
|
||||||
|
##########################################################################################
|
||||||
|
# Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
|
||||||
|
# This allows using the maven wrapper in projects that prohibit checking in binary data.
|
||||||
|
##########################################################################################
|
||||||
|
if [ -r "$BASE_DIR/.mvn/wrapper/maven-wrapper.jar" ]; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found .mvn/wrapper/maven-wrapper.jar"
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Couldn't find .mvn/wrapper/maven-wrapper.jar, downloading it ..."
|
||||||
|
fi
|
||||||
|
if [ -n "$MVNW_REPOURL" ]; then
|
||||||
|
jarUrl="$MVNW_REPOURL/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
else
|
||||||
|
jarUrl="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
fi
|
||||||
|
while IFS="=" read key value; do
|
||||||
|
case "$key" in (wrapperUrl) jarUrl="$value"; break ;;
|
||||||
|
esac
|
||||||
|
done < "$BASE_DIR/.mvn/wrapper/maven-wrapper.properties"
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Downloading from: $jarUrl"
|
||||||
|
fi
|
||||||
|
wrapperJarPath="$BASE_DIR/.mvn/wrapper/maven-wrapper.jar"
|
||||||
|
if $cygwin; then
|
||||||
|
wrapperJarPath=`cygpath --path --windows "$wrapperJarPath"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
if command -v wget > /dev/null; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found wget ... using wget"
|
||||||
|
fi
|
||||||
|
if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
|
||||||
|
wget "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
|
||||||
|
else
|
||||||
|
wget --http-user=$MVNW_USERNAME --http-password=$MVNW_PASSWORD "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
|
||||||
|
fi
|
||||||
|
elif command -v curl > /dev/null; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found curl ... using curl"
|
||||||
|
fi
|
||||||
|
if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
|
||||||
|
curl -o "$wrapperJarPath" "$jarUrl" -f
|
||||||
|
else
|
||||||
|
curl --user $MVNW_USERNAME:$MVNW_PASSWORD -o "$wrapperJarPath" "$jarUrl" -f
|
||||||
|
fi
|
||||||
|
|
||||||
|
else
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Falling back to using Java to download"
|
||||||
|
fi
|
||||||
|
javaClass="$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.java"
|
||||||
|
# For Cygwin, switch paths to Windows format before running javac
|
||||||
|
if $cygwin; then
|
||||||
|
javaClass=`cygpath --path --windows "$javaClass"`
|
||||||
|
fi
|
||||||
|
if [ -e "$javaClass" ]; then
|
||||||
|
if [ ! -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo " - Compiling MavenWrapperDownloader.java ..."
|
||||||
|
fi
|
||||||
|
# Compiling the Java class
|
||||||
|
("$JAVA_HOME/bin/javac" "$javaClass")
|
||||||
|
fi
|
||||||
|
if [ -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
|
||||||
|
# Running the downloader
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo " - Running MavenWrapperDownloader.java ..."
|
||||||
|
fi
|
||||||
|
("$JAVA_HOME/bin/java" -cp .mvn/wrapper MavenWrapperDownloader "$MAVEN_PROJECTBASEDIR")
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
##########################################################################################
|
||||||
|
# End of extension
|
||||||
|
##########################################################################################
|
||||||
|
|
||||||
|
export MAVEN_PROJECTBASEDIR=${MAVEN_BASEDIR:-"$BASE_DIR"}
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo $MAVEN_PROJECTBASEDIR
|
||||||
|
fi
|
||||||
|
MAVEN_OPTS="$(concat_lines "$MAVEN_PROJECTBASEDIR/.mvn/jvm.config") $MAVEN_OPTS"
|
||||||
|
|
||||||
|
# For Cygwin, switch paths to Windows format before running java
|
||||||
|
if $cygwin; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME=`cygpath --path --windows "$M2_HOME"`
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME=`cygpath --path --windows "$JAVA_HOME"`
|
||||||
|
[ -n "$CLASSPATH" ] &&
|
||||||
|
CLASSPATH=`cygpath --path --windows "$CLASSPATH"`
|
||||||
|
[ -n "$MAVEN_PROJECTBASEDIR" ] &&
|
||||||
|
MAVEN_PROJECTBASEDIR=`cygpath --path --windows "$MAVEN_PROJECTBASEDIR"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Provide a "standardized" way to retrieve the CLI args that will
|
||||||
|
# work with both Windows and non-Windows executions.
|
||||||
|
MAVEN_CMD_LINE_ARGS="$MAVEN_CONFIG $@"
|
||||||
|
export MAVEN_CMD_LINE_ARGS
|
||||||
|
|
||||||
|
WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
|
||||||
|
|
||||||
|
exec "$JAVACMD" \
|
||||||
|
$MAVEN_OPTS \
|
||||||
|
$MAVEN_DEBUG_OPTS \
|
||||||
|
-classpath "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.jar" \
|
||||||
|
"-Dmaven.home=${M2_HOME}" \
|
||||||
|
"-Dmaven.multiModuleProjectDirectory=${MAVEN_PROJECTBASEDIR}" \
|
||||||
|
${WRAPPER_LAUNCHER} $MAVEN_CONFIG "$@"
|
||||||
@ -0,0 +1,188 @@
|
|||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
@REM Licensed to the Apache Software Foundation (ASF) under one
|
||||||
|
@REM or more contributor license agreements. See the NOTICE file
|
||||||
|
@REM distributed with this work for additional information
|
||||||
|
@REM regarding copyright ownership. The ASF licenses this file
|
||||||
|
@REM to you under the Apache License, Version 2.0 (the
|
||||||
|
@REM "License"); you may not use this file except in compliance
|
||||||
|
@REM with the License. You may obtain a copy of the License at
|
||||||
|
@REM
|
||||||
|
@REM https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
@REM
|
||||||
|
@REM Unless required by applicable law or agreed to in writing,
|
||||||
|
@REM software distributed under the License is distributed on an
|
||||||
|
@REM "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
|
||||||
|
@REM KIND, either express or implied. See the License for the
|
||||||
|
@REM specific language governing permissions and limitations
|
||||||
|
@REM under the License.
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
@REM Maven Start Up Batch script
|
||||||
|
@REM
|
||||||
|
@REM Required ENV vars:
|
||||||
|
@REM JAVA_HOME - location of a JDK home dir
|
||||||
|
@REM
|
||||||
|
@REM Optional ENV vars
|
||||||
|
@REM M2_HOME - location of maven2's installed home dir
|
||||||
|
@REM MAVEN_BATCH_ECHO - set to 'on' to enable the echoing of the batch commands
|
||||||
|
@REM MAVEN_BATCH_PAUSE - set to 'on' to wait for a keystroke before ending
|
||||||
|
@REM MAVEN_OPTS - parameters passed to the Java VM when running Maven
|
||||||
|
@REM e.g. to debug Maven itself, use
|
||||||
|
@REM set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
|
||||||
|
@REM MAVEN_SKIP_RC - flag to disable loading of mavenrc files
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
@REM Begin all REM lines with '@' in case MAVEN_BATCH_ECHO is 'on'
|
||||||
|
@echo off
|
||||||
|
@REM set title of command window
|
||||||
|
title %0
|
||||||
|
@REM enable echoing by setting MAVEN_BATCH_ECHO to 'on'
|
||||||
|
@if "%MAVEN_BATCH_ECHO%" == "on" echo %MAVEN_BATCH_ECHO%
|
||||||
|
|
||||||
|
@REM set %HOME% to equivalent of $HOME
|
||||||
|
if "%HOME%" == "" (set "HOME=%HOMEDRIVE%%HOMEPATH%")
|
||||||
|
|
||||||
|
@REM Execute a user defined script before this one
|
||||||
|
if not "%MAVEN_SKIP_RC%" == "" goto skipRcPre
|
||||||
|
@REM check for pre script, once with legacy .bat ending and once with .cmd ending
|
||||||
|
if exist "%USERPROFILE%\mavenrc_pre.bat" call "%USERPROFILE%\mavenrc_pre.bat" %*
|
||||||
|
if exist "%USERPROFILE%\mavenrc_pre.cmd" call "%USERPROFILE%\mavenrc_pre.cmd" %*
|
||||||
|
:skipRcPre
|
||||||
|
|
||||||
|
@setlocal
|
||||||
|
|
||||||
|
set ERROR_CODE=0
|
||||||
|
|
||||||
|
@REM To isolate internal variables from possible post scripts, we use another setlocal
|
||||||
|
@setlocal
|
||||||
|
|
||||||
|
@REM ==== START VALIDATION ====
|
||||||
|
if not "%JAVA_HOME%" == "" goto OkJHome
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo Error: JAVA_HOME not found in your environment. >&2
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the >&2
|
||||||
|
echo location of your Java installation. >&2
|
||||||
|
echo.
|
||||||
|
goto error
|
||||||
|
|
||||||
|
:OkJHome
|
||||||
|
if exist "%JAVA_HOME%\bin\java.exe" goto init
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo Error: JAVA_HOME is set to an invalid directory. >&2
|
||||||
|
echo JAVA_HOME = "%JAVA_HOME%" >&2
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the >&2
|
||||||
|
echo location of your Java installation. >&2
|
||||||
|
echo.
|
||||||
|
goto error
|
||||||
|
|
||||||
|
@REM ==== END VALIDATION ====
|
||||||
|
|
||||||
|
:init
|
||||||
|
|
||||||
|
@REM Find the project base dir, i.e. the directory that contains the folder ".mvn".
|
||||||
|
@REM Fallback to current working directory if not found.
|
||||||
|
|
||||||
|
set MAVEN_PROJECTBASEDIR=%MAVEN_BASEDIR%
|
||||||
|
IF NOT "%MAVEN_PROJECTBASEDIR%"=="" goto endDetectBaseDir
|
||||||
|
|
||||||
|
set EXEC_DIR=%CD%
|
||||||
|
set WDIR=%EXEC_DIR%
|
||||||
|
:findBaseDir
|
||||||
|
IF EXIST "%WDIR%"\.mvn goto baseDirFound
|
||||||
|
cd ..
|
||||||
|
IF "%WDIR%"=="%CD%" goto baseDirNotFound
|
||||||
|
set WDIR=%CD%
|
||||||
|
goto findBaseDir
|
||||||
|
|
||||||
|
:baseDirFound
|
||||||
|
set MAVEN_PROJECTBASEDIR=%WDIR%
|
||||||
|
cd "%EXEC_DIR%"
|
||||||
|
goto endDetectBaseDir
|
||||||
|
|
||||||
|
:baseDirNotFound
|
||||||
|
set MAVEN_PROJECTBASEDIR=%EXEC_DIR%
|
||||||
|
cd "%EXEC_DIR%"
|
||||||
|
|
||||||
|
:endDetectBaseDir
|
||||||
|
|
||||||
|
IF NOT EXIST "%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config" goto endReadAdditionalConfig
|
||||||
|
|
||||||
|
@setlocal EnableExtensions EnableDelayedExpansion
|
||||||
|
for /F "usebackq delims=" %%a in ("%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config") do set JVM_CONFIG_MAVEN_PROPS=!JVM_CONFIG_MAVEN_PROPS! %%a
|
||||||
|
@endlocal & set JVM_CONFIG_MAVEN_PROPS=%JVM_CONFIG_MAVEN_PROPS%
|
||||||
|
|
||||||
|
:endReadAdditionalConfig
|
||||||
|
|
||||||
|
SET MAVEN_JAVA_EXE="%JAVA_HOME%\bin\java.exe"
|
||||||
|
set WRAPPER_JAR="%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.jar"
|
||||||
|
set WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
|
||||||
|
|
||||||
|
set DOWNLOAD_URL="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
|
||||||
|
FOR /F "usebackq tokens=1,2 delims==" %%A IN ("%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.properties") DO (
|
||||||
|
IF "%%A"=="wrapperUrl" SET DOWNLOAD_URL=%%B
|
||||||
|
)
|
||||||
|
|
||||||
|
@REM Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
|
||||||
|
@REM This allows using the maven wrapper in projects that prohibit checking in binary data.
|
||||||
|
if exist %WRAPPER_JAR% (
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Found %WRAPPER_JAR%
|
||||||
|
)
|
||||||
|
) else (
|
||||||
|
if not "%MVNW_REPOURL%" == "" (
|
||||||
|
SET DOWNLOAD_URL="%MVNW_REPOURL%/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
)
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Couldn't find %WRAPPER_JAR%, downloading it ...
|
||||||
|
echo Downloading from: %DOWNLOAD_URL%
|
||||||
|
)
|
||||||
|
|
||||||
|
powershell -Command "&{"^
|
||||||
|
"$webclient = new-object System.Net.WebClient;"^
|
||||||
|
"if (-not ([string]::IsNullOrEmpty('%MVNW_USERNAME%') -and [string]::IsNullOrEmpty('%MVNW_PASSWORD%'))) {"^
|
||||||
|
"$webclient.Credentials = new-object System.Net.NetworkCredential('%MVNW_USERNAME%', '%MVNW_PASSWORD%');"^
|
||||||
|
"}"^
|
||||||
|
"[Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; $webclient.DownloadFile('%DOWNLOAD_URL%', '%WRAPPER_JAR%')"^
|
||||||
|
"}"
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Finished downloading %WRAPPER_JAR%
|
||||||
|
)
|
||||||
|
)
|
||||||
|
@REM End of extension
|
||||||
|
|
||||||
|
@REM Provide a "standardized" way to retrieve the CLI args that will
|
||||||
|
@REM work with both Windows and non-Windows executions.
|
||||||
|
set MAVEN_CMD_LINE_ARGS=%*
|
||||||
|
|
||||||
|
%MAVEN_JAVA_EXE% ^
|
||||||
|
%JVM_CONFIG_MAVEN_PROPS% ^
|
||||||
|
%MAVEN_OPTS% ^
|
||||||
|
%MAVEN_DEBUG_OPTS% ^
|
||||||
|
-classpath %WRAPPER_JAR% ^
|
||||||
|
"-Dmaven.multiModuleProjectDirectory=%MAVEN_PROJECTBASEDIR%" ^
|
||||||
|
%WRAPPER_LAUNCHER% %MAVEN_CONFIG% %*
|
||||||
|
if ERRORLEVEL 1 goto error
|
||||||
|
goto end
|
||||||
|
|
||||||
|
:error
|
||||||
|
set ERROR_CODE=1
|
||||||
|
|
||||||
|
:end
|
||||||
|
@endlocal & set ERROR_CODE=%ERROR_CODE%
|
||||||
|
|
||||||
|
if not "%MAVEN_SKIP_RC%"=="" goto skipRcPost
|
||||||
|
@REM check for post script, once with legacy .bat ending and once with .cmd ending
|
||||||
|
if exist "%USERPROFILE%\mavenrc_post.bat" call "%USERPROFILE%\mavenrc_post.bat"
|
||||||
|
if exist "%USERPROFILE%\mavenrc_post.cmd" call "%USERPROFILE%\mavenrc_post.cmd"
|
||||||
|
:skipRcPost
|
||||||
|
|
||||||
|
@REM pause the script if MAVEN_BATCH_PAUSE is set to 'on'
|
||||||
|
if "%MAVEN_BATCH_PAUSE%"=="on" pause
|
||||||
|
|
||||||
|
if "%MAVEN_TERMINATE_CMD%"=="on" exit %ERROR_CODE%
|
||||||
|
|
||||||
|
cmd /C exit /B %ERROR_CODE%
|
||||||
@ -0,0 +1,80 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||||
|
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
|
||||||
|
<modelVersion>4.0.0</modelVersion>
|
||||||
|
<parent>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-parent</artifactId>
|
||||||
|
<version>2.5.4</version>
|
||||||
|
<relativePath/> <!-- lookup parent from repository -->
|
||||||
|
</parent>
|
||||||
|
<groupId>com.example</groupId>
|
||||||
|
<artifactId>testdemo</artifactId>
|
||||||
|
<version>0.0.1-SNAPSHOT</version>
|
||||||
|
<name>testdemo</name>
|
||||||
|
<description>testdemo</description>
|
||||||
|
<properties>
|
||||||
|
<java.version>1.8</java.version>
|
||||||
|
</properties>
|
||||||
|
<dependencies>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-websocket</artifactId>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-test</artifactId>
|
||||||
|
<scope>test</scope>
|
||||||
|
</dependency>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.projectlombok</groupId>
|
||||||
|
<artifactId>lombok</artifactId>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
<dependency>
|
||||||
|
<groupId>com.alibaba</groupId>
|
||||||
|
<artifactId>fastjson</artifactId>
|
||||||
|
<version>1.2.73</version>
|
||||||
|
</dependency>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.seleniumhq.selenium</groupId>
|
||||||
|
<artifactId>selenium-java</artifactId>
|
||||||
|
<version>3.141.59</version>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
</dependencies>
|
||||||
|
<profiles>
|
||||||
|
<profile>
|
||||||
|
<id>sonar</id>
|
||||||
|
<activation>
|
||||||
|
<activeByDefault>true</activeByDefault>
|
||||||
|
</activation>
|
||||||
|
<properties>
|
||||||
|
<sonar.host.url>http://127.0.0.1:9000/</sonar.host.url>
|
||||||
|
</properties>
|
||||||
|
</profile>
|
||||||
|
</profiles>
|
||||||
|
<build>
|
||||||
|
<plugins>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-maven-plugin</artifactId>
|
||||||
|
</plugin>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.sonarsource.scanner.maven</groupId>
|
||||||
|
<artifactId>sonar-maven-plugin</artifactId>
|
||||||
|
<version>3.6.0.1398</version>
|
||||||
|
</plugin>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.apache.maven.plugins</groupId>
|
||||||
|
<artifactId>maven-compiler-plugin</artifactId>
|
||||||
|
<configuration>
|
||||||
|
<source>7</source>
|
||||||
|
<target>7</target>
|
||||||
|
</configuration>
|
||||||
|
</plugin>
|
||||||
|
</plugins>
|
||||||
|
</build>
|
||||||
|
|
||||||
|
</project>
|
||||||
@ -0,0 +1,42 @@
|
|||||||
|
package com.example.testdemo;
|
||||||
|
|
||||||
|
import com.alibaba.fastjson.JSON;
|
||||||
|
import com.alibaba.fastjson.JSONObject;
|
||||||
|
import com.sun.javafx.webkit.EventLoopImpl;
|
||||||
|
import org.openqa.selenium.*;
|
||||||
|
import org.openqa.selenium.chrome.ChromeDriver;
|
||||||
|
import org.openqa.selenium.chrome.ChromeOptions;
|
||||||
|
import org.springframework.boot.SpringApplication;
|
||||||
|
import org.springframework.boot.autoconfigure.SpringBootApplication;
|
||||||
|
import org.springframework.scheduling.annotation.EnableScheduling;
|
||||||
|
import org.springframework.scheduling.annotation.Scheduled;
|
||||||
|
import org.springframework.stereotype.Controller;
|
||||||
|
import org.springframework.web.bind.annotation.GetMapping;
|
||||||
|
import org.springframework.web.bind.annotation.RestController;
|
||||||
|
|
||||||
|
import javax.script.ScriptEngine;
|
||||||
|
import javax.script.ScriptEngineManager;
|
||||||
|
import javax.script.ScriptException;
|
||||||
|
import java.io.BufferedReader;
|
||||||
|
import java.io.File;
|
||||||
|
import java.io.FileNotFoundException;
|
||||||
|
import java.io.FileReader;
|
||||||
|
import java.sql.Driver;
|
||||||
|
import java.util.Arrays;
|
||||||
|
import java.util.List;
|
||||||
|
import java.util.Random;
|
||||||
|
import java.util.concurrent.ConcurrentLinkedQueue;
|
||||||
|
|
||||||
|
|
||||||
|
@SpringBootApplication
|
||||||
|
public class TestdemoApplication {
|
||||||
|
|
||||||
|
public static void main(String[] args) {
|
||||||
|
|
||||||
|
SpringApplication.run(TestdemoApplication.class, args);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,17 @@
|
|||||||
|
package com.example.testdemo.config;
|
||||||
|
|
||||||
|
import org.springframework.context.annotation.Bean;
|
||||||
|
import org.springframework.context.annotation.Configuration;
|
||||||
|
import org.springframework.web.socket.server.standard.ServerEndpointExporter;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @Description : websocket配置 //描述
|
||||||
|
*/
|
||||||
|
@Configuration
|
||||||
|
public class WebSocketConfig {
|
||||||
|
|
||||||
|
@Bean
|
||||||
|
public ServerEndpointExporter serverEndpointExporter(){
|
||||||
|
return new ServerEndpointExporter();
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1 @@
|
|||||||
|
|
||||||
@ -0,0 +1,18 @@
|
|||||||
|
server:
|
||||||
|
port: 8080
|
||||||
|
servlet:
|
||||||
|
contest-path: /
|
||||||
|
spring:
|
||||||
|
application:
|
||||||
|
name: springboot websocket
|
||||||
|
mvc:
|
||||||
|
static-path-pattern: /**
|
||||||
|
thymeleaf:
|
||||||
|
mode: HTML5
|
||||||
|
suffix: .html
|
||||||
|
encoding: UTF-8
|
||||||
|
prefix:
|
||||||
|
classpath: /template
|
||||||
|
cache: false
|
||||||
|
|
||||||
|
|
||||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@ -0,0 +1,59 @@
|
|||||||
|
<!DOCTYPE html>
|
||||||
|
<html>
|
||||||
|
<head>
|
||||||
|
<meta charset="utf-8" />
|
||||||
|
|
||||||
|
<script type="text/javascript" src="./em.js"></script>
|
||||||
|
<script type="text/javascript" src="./roslib.min.js"></script>
|
||||||
|
|
||||||
|
<script type="text/javascript" type="text/javascript">
|
||||||
|
// Connecting to ROS
|
||||||
|
// -----------------
|
||||||
|
|
||||||
|
var ros = new ROSLIB.Ros({
|
||||||
|
url : 'ws://192.168.43.20:9090'
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
|
||||||
|
// Publishing a Topic
|
||||||
|
// ------------------
|
||||||
|
|
||||||
|
var cmdVel = new ROSLIB.Topic({
|
||||||
|
ros : ros,
|
||||||
|
name : '/cmd_vel',
|
||||||
|
messageType : 'geometry_msgs/Twist'
|
||||||
|
});
|
||||||
|
|
||||||
|
var twist = new ROSLIB.Message({
|
||||||
|
linear : {
|
||||||
|
x : 0.1,
|
||||||
|
y : 0.2,
|
||||||
|
z : 0.3
|
||||||
|
},
|
||||||
|
angular : {
|
||||||
|
x : -0.1,
|
||||||
|
y : -0.2,
|
||||||
|
z : -0.3
|
||||||
|
}
|
||||||
|
});
|
||||||
|
cmdVel.publish(twist);
|
||||||
|
|
||||||
|
</script>
|
||||||
|
</head>
|
||||||
|
|
||||||
|
<body>
|
||||||
|
<h1>Simple roslib Example</h1>
|
||||||
|
<p>Check your Web Console for output.</p>
|
||||||
|
</body>
|
||||||
|
</html>
|
||||||
@ -0,0 +1,97 @@
|
|||||||
|
|
||||||
|
// document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>\n');
|
||||||
|
// document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>\n');
|
||||||
|
|
||||||
|
var ros = new ROSLIB.Ros({
|
||||||
|
url : 'ws://192.168.43.20:9090'
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
var move_base= new ROSLIB.ActionClient({
|
||||||
|
ros : ros,
|
||||||
|
serverName : '/move_base',
|
||||||
|
actionName : 'move_base_msgs/MoveBaseAction'
|
||||||
|
});
|
||||||
|
|
||||||
|
var currentTime = new Date();
|
||||||
|
var secs = Math.floor(currentTime.getTime()/1000)
|
||||||
|
var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
|
||||||
|
|
||||||
|
var goal = new ROSLIB.Goal({
|
||||||
|
actionClient: move_base,
|
||||||
|
goalMessage:{
|
||||||
|
target_pose:{
|
||||||
|
header:{
|
||||||
|
frame_id:'map',
|
||||||
|
stamp:{
|
||||||
|
secs: secs,
|
||||||
|
nsecs:nsecs
|
||||||
|
}
|
||||||
|
},
|
||||||
|
pose:{
|
||||||
|
position:{
|
||||||
|
x:-3.97, //-0.743 -0.0273 取件点
|
||||||
|
y:1.68, //3.00 -0.09
|
||||||
|
z:0.000
|
||||||
|
},
|
||||||
|
orientation:{
|
||||||
|
x:0.000,
|
||||||
|
y:0.000,
|
||||||
|
z:0.000,
|
||||||
|
w:1.000
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
goal.on('feedback', function(feedback) {
|
||||||
|
console.log('Feedback: ' + feedback.sequence);
|
||||||
|
});
|
||||||
|
|
||||||
|
goal.on('result', function(result) {
|
||||||
|
console.log('Final Result: ' + result.sequence);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
|
||||||
|
//goal.send();
|
||||||
|
var cmdVel = new ROSLIB.Topic({
|
||||||
|
ros : ros,
|
||||||
|
name : '/cmd_vel',
|
||||||
|
messageType : 'geometry_msgs/Twist'
|
||||||
|
});
|
||||||
|
|
||||||
|
var twist = new ROSLIB.Message({
|
||||||
|
linear : {
|
||||||
|
x : 0.1,
|
||||||
|
y : 0.2,
|
||||||
|
z : 0.3
|
||||||
|
},
|
||||||
|
angular : {
|
||||||
|
x : -0.1,
|
||||||
|
y : -0.2,
|
||||||
|
z : -0.3
|
||||||
|
}
|
||||||
|
});
|
||||||
|
cmdVel.publish(twist);
|
||||||
|
|
||||||
@ -0,0 +1,13 @@
|
|||||||
|
package com.example.testdemo;
|
||||||
|
|
||||||
|
import org.junit.jupiter.api.Test;
|
||||||
|
import org.springframework.boot.test.context.SpringBootTest;
|
||||||
|
|
||||||
|
@SpringBootTest
|
||||||
|
class TestdemoApplicationTests {
|
||||||
|
|
||||||
|
@Test
|
||||||
|
void contextLoads() {
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
Reference in new issue