更新文档

src/Logistics/.idea/deploymentTargetDropDown.xml

@@ -12,6 +12,6 @@
         </deviceKey>
       </Target>
     </targetSelectedWithDropDown>
-    <timeTargetWasSelectedWithDropDown value="2022-04-05T13:12:36.745229500Z" />
+    <timeTargetWasSelectedWithDropDown value="2022-05-08T06:33:21.724571700Z" />
   </component>
 </project>

src/Logistics/.idea/misc.xml

@@ -16,15 +16,19 @@
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/drawable/tab_menu_text.xml" value="0.1" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/drawable/translucent_button.xml" value="0.194" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/drawable/translucent_edit.xml" value="0.1135" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_history.xml" value="0.22" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_main.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_main2.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_menu.xml" value="0.33" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_no_pick.xml" value="0.2" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_sign_up.xml" value="0.10235507246376811" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_wait.xml" value="0.18" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/buttom.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/fragment_my.xml" value="0.10235507246376811" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/item.xml" value="0.22" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/my_fragment1.xml" value="0.1" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/my_fragment2.xml" value="0.18489583333333334" />
-        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/my_fragment3.xml" value="0.18489583333333334" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/my_fragment3.xml" value="0.2" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/pickup.xml" value="0.5" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/tab1.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/top.xml" value="0.3717105263157895" />

src/Logistics/app/build.gradle

@@ -28,12 +28,18 @@ android {
 }
 
 dependencies {
+    implementation fileTree(include: ['*.jar'], dir: 'libs')
+    implementation 'com.jakewharton:butterknife:10.0.0'
+    annotationProcessor 'com.jakewharton:butterknife-compiler:10.0.0'
+    implementation files('libs/json-simple-1.1.jar')
 
     implementation 'com.journeyapps:zxing-android-embedded:3.6.0'
     implementation 'androidx.appcompat:appcompat:1.3.0'
     implementation 'com.google.android.material:material:1.4.0'
     implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
     implementation files('libs\\mysql-connector-java-5.0.7.jar')
+    implementation 'androidx.navigation:navigation-fragment:2.3.5'
+    implementation 'androidx.navigation:navigation-ui:2.3.5'
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'

src/Logistics/app/release/output-metadata.json

@@ -0,0 +1,20 @@
+{
+  "version": 3,
+  "artifactType": {
+    "type": "APK",
+    "kind": "Directory"
+  },
+  "applicationId": "com.example.logistics",
+  "variantName": "release",
+  "elements": [
+    {
+      "type": "SINGLE",
+      "filters": [],
+      "attributes": [],
+      "versionCode": 1,
+      "versionName": "1.0",
+      "outputFile": "app-release.apk"
+    }
+  ],
+  "elementType": "File"
+}

src/Logistics/app/src/main/AndroidManifest.xml

@@ -1,23 +1,32 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.example.logistics"
+    xmlns:tools="http://schemas.android.com/tools"
-    xmlns:tools="http://schemas.android.com/tools">
+    package="com.example.logistics">
 
     <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
 
     <application
         android:allowBackup="true"
         android:icon="@mipmap/ic_launcher"
         android:label="@string/app_name"
+        android:usesCleartextTraffic="true"
+        android:name="com.example.logistics.tools.RCApplication"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.Logistics" >
+        android:theme="@style/Theme.Logistics">
+        <activity
+            android:name=".ui.HistoryActivity"
+            android:exported="false" />
+        <activity
+            android:name=".ui.NoPickActivity"
+            android:exported="false" />
         <activity
             android:name=".ui.MenuActivity"
             android:exported="false" />
         <activity
             android:name=".ui.MainActivity"
-            android:exported="true" >
+            android:exported="true">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
 

src/Logistics/app/src/main/assets/js.html

@@ -0,0 +1,121 @@
+
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8" />
+
+    <script type="text/javascript" type="text/javascript">
+
+     function callJS(){
+  var ros = new ROSLIB.Ros({
+    url : 'ws://192.168.43.164:9090'
+  });
+
+  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.');
+  });
+
+  // 发布一个话题
+
+
+
+  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_mux/input/navi',
+    messageType : 'geometry_msgs/Twist'
+  });
+
+  var twist = new ROSLIB.Message({
+    linear : {
+      x : 0.2,
+      y : 0.0,
+      z : 0.0
+    },
+    angular : {
+      x : 0.0,
+      y : 0.0,
+      z : 0.0
+    }
+  });
+  cmdVel.publish(twist);*/
+}
+
+</script>
+
+</head>
+
+<body>
+<h1>Simple roslib Example</h1>
+<p>Check your Web Console for output.</p>
+
+</body>
+</html>

src/Logistics/app/src/main/java/com/example/logistics/dao/goodDao.java

@@ -13,7 +13,10 @@ import com.example.logistics.ui.MenuActivity;
 import java.sql.Connection;
 import java.sql.PreparedStatement;
 import java.sql.ResultSet;
+import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
 
 public class goodDao {
 
@@ -24,6 +27,7 @@ public class goodDao {
 
         Connection connection = DBOpenHelper.getConn();
 
+
         int msg = 0;
         try{
             String sql = "select * from goods where id = ?";
@@ -48,7 +52,9 @@ public class goodDao {
                         StringBuilder s = new StringBuilder();
                         for(String key:map.keySet()){
                             if(key.equals("phonenum")){
-                                if(phonenum.equals(map.get(key))){
+                                String strphone = String.valueOf(map.get(key));
+                                Log.d("abc", strphone);
+                                if(phonenum.equals(strphone.substring(7,11))){
                                     msg = 1;        //phonenum correct
                                     AlertDialog.Builder builder = new AlertDialog.Builder(context);
                                     builder.setTitle("快件位置");
@@ -81,4 +87,83 @@ public class goodDao {
         }
         return msg;
     }
+
+    public boolean delete(String pickupcode){
+
+        Connection connection = DBOpenHelper.getConn();
+        try{
+            String sql = "delete from goods where id = ?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "pickupcode: " + pickupcode);
+                    ps.setString(1,pickupcode);
+
+                    ps.executeUpdate();
+
+                    connection.close();
+                    ps.close();
+                    return true;
+                }else{
+                    Log.e(TAG, "ps is null");
+                    return false;
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+                return false;
+            }
+        }catch(Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "delete bug" + e.getMessage());
+        }
+        return false;
+    }
+
+    public List<Map<String, Object>> nopick(String phonenum){
+
+        Connection connection = DBOpenHelper.getConn();
+
+        List<Map<String, Object>> datalist;
+        datalist = new ArrayList<Map<String, Object>>();
+        try{
+            String sql = "select * from goods where phonenum = ?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "phonenum: " + phonenum);
+                    ps.setString(1,phonenum);
+                    ResultSet rs = ps.executeQuery();
+
+                    int count = rs.getMetaData().getColumnCount();
+                    while(rs.next()){
+                        Map<String, Object> map = new HashMap<String, Object>();
+                        for(int i = 1; i <= count; i++){
+                            String field = rs.getMetaData().getColumnName(i);
+                            if(field.equals("id")){
+                                map.put(field, rs.getString(field));
+                            }
+                            if(field.equals("time")) {
+                                map.put(field, rs.getString(field));
+                            }
+                        }
+                        datalist.add(map);
+                    }
+                    connection.close();
+                    ps.close();
+                }else{
+                    Log.e(TAG, "ps is null");
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "search bug: " + e.getMessage());
+        }
+        return datalist;
+    }
+
+
 }

src/Logistics/app/src/main/java/com/example/logistics/dao/operationDao.java

@@ -0,0 +1,106 @@
+package com.example.logistics.dao;
+
+import android.util.Log;
+
+import com.example.logistics.entity.User;
+import com.example.logistics.tools.DBOpenHelper;
+import com.example.logistics.tools.MD5Utils;
+
+import java.sql.Connection;
+import java.sql.PreparedStatement;
+import java.sql.ResultSet;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+public class operationDao {
+    private static final String TAG = "operationDao";
+
+    public boolean add(String pickupcode, String phonenum){
+        HashMap<String, Object> map = new HashMap<>();
+
+        Connection connection = DBOpenHelper.getConn();
+        try{
+            SimpleDateFormat format1 = new SimpleDateFormat("yyyy-MM-dd-HH:mm:ss");
+
+            Date date = new Date();
+
+            String time = format1.format(date);
+
+            String sql = "insert into operations(pickupcode, phonenum, time) values (?,?,?)";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+
+                if(ps != null){
+                    ps.setString(1, pickupcode);
+                    ps.setString(2, phonenum);
+                    ps.setString(3, time);
+
+                    int rs = ps.executeUpdate();
+                    if(rs > 0){
+                        return true;
+                    }else{
+                        return false;
+                    }
+                }else{
+                    return false;
+                }
+            }else{
+                return false;
+            }
+        }catch(Exception e){
+            e.printStackTrace();
+            Log.e(TAG, "异常 add operation");
+            return false;
+        }
+    }
+
+    public List<Map<String, Object>> history(String phonenum){
+
+        Connection connection = DBOpenHelper.getConn();
+
+        List<Map<String, Object>> datalist;
+        datalist = new ArrayList<Map<String, Object>>();
+        try{
+            String sql = "select * from operations where phonenum = ?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "phonenum: " + phonenum);
+                    ps.setString(1,phonenum);
+                    ResultSet rs = ps.executeQuery();
+
+                    int count = rs.getMetaData().getColumnCount();
+                    while(rs.next()){
+                        Map<String, Object> map = new HashMap<String, Object>();
+                        for(int i = 1; i <= count; i++){
+                            String field = rs.getMetaData().getColumnName(i);
+                            if(field.equals("pickupcode")){
+                                map.put(field, rs.getString(field));
+                            }
+                            if(field.equals("time")) {
+                                map.put(field, rs.getString(field));
+                            }
+                        }
+                        datalist.add(map);
+                    }
+                    connection.close();
+                    ps.close();
+                }else{
+                    Log.e(TAG, "ps is null");
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "search bug: " + e.getMessage());
+        }
+        return datalist;
+    }
+}

src/Logistics/app/src/main/java/com/example/logistics/entity/Operation.java

@@ -0,0 +1,47 @@
+package com.example.logistics.entity;
+
+import android.provider.ContactsContract;
+
+public class Operation {
+    private int id;
+    private String pickUpCode;
+    private String phoneNum;
+    private String time;
+
+    public Operation(){
+
+    }
+
+    public int getId(){
+        return id;
+    }
+
+    public void setId(int id){
+        this.id = id;
+    }
+
+    public String getPickUpCode(){
+        return pickUpCode;
+    }
+
+    public void setPickUpCode(String PickUpCode){
+        this.pickUpCode =  PickUpCode;
+    }
+
+    public String getPhoneNum(){
+        return phoneNum;
+    }
+
+    public void setPhoneNum(String PhoneNum){
+        this.phoneNum = PhoneNum;
+    }
+
+    public String getTime(){
+        return time;
+    }
+
+    public void setTime(String time){
+        this.time = time;
+    }
+
+}

src/Logistics/app/src/main/java/com/example/logistics/mysqlconnection/DBOpenHelper.java

@@ -1,28 +0,0 @@
-package com.example.logistics.mysqlconnection;
-
-import java.sql.Connection;
-import java.sql.DriverManager;
-import java.sql.SQLException;
-
-public class DBOpenHelper {
-    private static String diver = "com.mysql.jdbc.Driver";
-    //加入utf-8是为了后面往表中输入中文，表中不会出现乱码的情况
-    private static String url = "jdbc:mysql://49.235.83.73:3306/logistics?characterEncoding=utf-8";
-    private static String user = "root";//用户名
-    private static String password = "123";//密码
-    /*
-     * 连接数据库
-     * */
-    public static Connection getConn(){
-        Connection conn = null;
-        try {
-            Class.forName(diver);
-            conn = (Connection) DriverManager.getConnection(url,user,password);//获取连接
-        } catch (ClassNotFoundException e) {
-            e.printStackTrace();
-        } catch (SQLException e) {
-            e.printStackTrace();
-        }
-        return conn;
-    }
-}

src/Logistics/app/src/main/java/com/example/logistics/tools/RCApplication.java

@@ -0,0 +1,42 @@
+package com.example.logistics.tools;
+
+import android.app.Application;
+
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+
+/**
+ * @ Create by dadac on 2018/10/8.
+ * @Function:
+ * @Return:
+ */
+public class RCApplication extends Application {
+
+
+    ROSBridgeClient client;
+
+    @Override
+    public void onCreate() {
+        super.onCreate();
+    }
+
+    @Override
+    public void onTerminate() {
+        if (client != null)
+            client.disconnect();
+        super.onTerminate();
+
+    }
+
+    public ROSBridgeClient getRosClient() {
+        return client;
+    }
+
+    public void setRosClient(ROSBridgeClient client) {
+        this.client = client;
+    }
+
+
+}
+
+
+

src/Logistics/app/src/main/java/com/example/logistics/ui/HistoryActivity.java

@@ -0,0 +1,123 @@
+package com.example.logistics.ui;
+
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.content.Intent;
+import android.media.Image;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+import android.view.View;
+import android.widget.AbsListView;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.ImageButton;
+import android.widget.ListView;
+import android.widget.SimpleAdapter;
+import android.widget.AbsListView.OnScrollListener;
+import android.widget.AdapterView.OnItemClickListener;
+import android.widget.Toast;
+
+import com.example.logistics.R;
+import com.example.logistics.dao.goodDao;
+import com.example.logistics.dao.operationDao;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+
+public class HistoryActivity extends Activity implements OnItemClickListener, OnScrollListener, View.OnClickListener  {
+
+    private String TAG = "HistoryActivity";
+    private ListView lv_history;
+    private ArrayAdapter<String> arr_adapter;
+    private SimpleAdapter simp_adapter;
+    private String phonenum;
+    private List<Map<String, Object>> dataList;
+    private ImageButton sync_his;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_history);
+        sync_his = (ImageButton) findViewById(R.id.sync_his);
+        dataList=new ArrayList<Map<String,Object>>();
+        lv_history = (ListView) findViewById(R.id.lv_history);
+
+        simp_adapter=new SimpleAdapter(this, dataList, R.layout.item, new String[]{"pickupcode","time"}, new int[]{R.id.np_id,R.id.np_time});
+        lv_history.setAdapter(simp_adapter);
+        lv_history.setOnItemClickListener(this);
+        lv_history.setOnScrollListener(this);
+        sync_his.setOnClickListener(this);
+
+        Intent intent = getIntent();
+        phonenum = intent.getStringExtra("user");
+
+        sync();
+    }
+
+    @Override
+    public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
+        // TODO Auto-generated method stub
+        String text=lv_history.getItemAtPosition(position)+"";
+        Toast.makeText(this, "position="+position+" text="+text, Toast.LENGTH_SHORT).show();
+    }
+
+    @Override
+    public void onClick(View v){
+        switch(v.getId()){
+            case R.id.sync_his:
+                sync();
+                Toast.makeText(this, "同步成功", Toast.LENGTH_SHORT).show();
+        }
+    }
+    @Override
+    public void onScrollStateChanged(AbsListView view, int scrollState){
+        // TODO Auto-generated method stub
+        switch(scrollState){
+            case SCROLL_STATE_FLING:
+                Log.i(TAG, "用户在手指离开屏幕之前，由于用力划了一下，试图仍依靠惯性继续滑动");
+                break;
+            case SCROLL_STATE_IDLE:
+                Log.i(TAG, "视图已经停止滑动");
+                break;
+            case SCROLL_STATE_TOUCH_SCROLL:
+                Log.i(TAG, "手指没有离开屏幕，视图正在滑动");
+                break;
+            default:
+                break;
+        }
+    }
+
+    @Override
+    public void onScroll(AbsListView view, int arg1, int arg2, int arg3){
+        // TODO Auto-generated method stub
+    }
+
+    public void sync(){
+        new Thread(){
+            @Override
+            public void run(){
+                operationDao operationDao = new operationDao();
+                dataList = operationDao.history(phonenum);
+
+                int msg = 1;
+                hand1.sendEmptyMessage(msg);
+            }
+        }.start();
+    }
+
+    @SuppressLint("HandlerLeak")
+    final Handler hand1 = new Handler(){
+        @Override
+        public void handleMessage(Message msg){
+            if(msg.what == 1){
+                simp_adapter=new SimpleAdapter(HistoryActivity.this, dataList, R.layout.item, new String[]{"pickupcode","time"}, new int[]{R.id.np_id,R.id.np_time});
+                lv_history.setAdapter(simp_adapter);
+            }
+        }
+    };
+}

src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java

@@ -2,6 +2,7 @@ package com.example.logistics.ui;
 
 import com.example.logistics.R;
 import com.example.logistics.dao.userDao;
+import com.example.logistics.entity.User;
 import com.example.logistics.tools.MD5Utils;
 
 import android.annotation.SuppressLint;
@@ -28,8 +29,7 @@ public class MainActivity extends Activity {
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_main);
-        Intent intent = new Intent(MainActivity.this, MenuActivity.class);
+
-        startActivity(intent);
         Button loginButton = (Button) this.findViewById(R.id.LoginButton);
         Button signUpButton = (Button) this.findViewById(R.id.SignUpButton);
 
@@ -65,8 +65,11 @@ public class MainActivity extends Activity {
                 Log.e("MAin", "msg");
                 hand1.sendEmptyMessage(msg);
                 if(msg == 1){
+                    User owner = userDao.findUser(userName.getText().toString().trim());
                     Intent intent = new Intent(MainActivity.this, MenuActivity.class);
+                    intent.putExtra("user", owner.getPhoneNum());
                     startActivity(intent);
+                    finish();
                 }
             }
         }.start();

src/Logistics/app/src/main/java/com/example/logistics/ui/MenuActivity.java

@@ -2,7 +2,10 @@ package com.example.logistics.ui;
 
 import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentTransaction;
+
+import android.content.Intent;
 import android.os.Bundle;
+import android.util.Log;
 import android.view.View;
 import android.widget.ImageView;
 import android.widget.LinearLayout;
@@ -23,12 +26,17 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
     private Fragment mFrag2;
     private Fragment mFrag3;
 
+    private String owner;
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_menu);
 
         bindView();
+
+        Intent intent = getIntent();
+        owner = intent.getStringExtra("user");
+
         selectTab(0);
     }
 
@@ -86,6 +94,8 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextNum1.setVisibility(View.INVISIBLE);
                 if (mFrag1 == null) {
                     mFrag1 = new MyFragment1();
+
+
                     transaction.add(R.id.fragment_container, mFrag1);
                 } else {
                     //如果第一页对应的Fragment已经实例化，则直接显示出来
@@ -97,7 +107,11 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextNum2.setVisibility(View.INVISIBLE);
                 if (mFrag2 == null) {
                     mFrag2 = new MyFragment2();
-                    transaction.add(R.id.fragment_container, mFrag2);
+                    Bundle bundle = new Bundle();
+                    bundle.putString("user", owner);
+                    mFrag2.setArguments(bundle);
+
+                    transaction.add(R.id.fragment_container, mFrag2, "frag2");
                 } else {
                     transaction.show(mFrag2);
                 }
@@ -107,6 +121,10 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextNum3.setVisibility(View.INVISIBLE);
                 if (mFrag3 == null) {
                     mFrag3 = new MyFragment3();
+                    Bundle bundle = new Bundle();
+                    bundle.putString("user", owner);
+                    mFrag3.setArguments(bundle);
+
                     transaction.add(R.id.fragment_container, mFrag3);
                 } else {
                     transaction.show(mFrag3);
@@ -129,4 +147,17 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
         }
     }
 
+    @Override
+    protected void onActivityResult(int requestCode, int resultCode, Intent data){
+        super.onActivityResult(requestCode, resultCode, data);
+        Log.d("on", "Activity");
+        FragmentManager fm = getSupportFragmentManager();
+        Fragment fr = fm.findFragmentByTag("frag2");
+        fr.onActivityResult(requestCode, resultCode, data);
+    }
+
+    public String getOwner(){
+        return owner;
+    }
+
 }

src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment2.java

@@ -7,9 +7,15 @@ import android.app.AlertDialog;
 import android.content.Context;
 import android.content.Intent;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.webkit.WebSettings;
+import android.webkit.WebView;
+import android.webkit.WebViewClient;
 import android.widget.Button;
 import android.widget.EditText;
 import android.widget.TextView;
@@ -18,14 +24,25 @@ import android.widget.Toast;
 import androidx.annotation.Nullable;
 
 import com.example.logistics.R;
+import com.example.logistics.dao.goodDao;
+import com.example.logistics.dao.operationDao;
+import com.example.logistics.dao.userDao;
+import com.example.logistics.entity.User;
 import com.google.zxing.integration.android.IntentIntegrator;
 import com.google.zxing.integration.android.IntentResult;
 import com.journeyapps.barcodescanner.CaptureActivity;
 
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+
 public class MyFragment2 extends Fragment implements View.OnClickListener{
 
     private Button mButton;
     private Context mContext;
+
+    private WebView mWebView;
+
     public MyFragment2(){
 
     }
@@ -34,8 +51,66 @@ public class MyFragment2 extends Fragment implements View.OnClickListener{
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
         View view = inflater.inflate(R.layout.my_fragment2,container,false);
+        mWebView = (WebView) view.findViewById(R.id.webview);
+
+        WebSettings webSettings = mWebView.getSettings();
         mButton = (Button)view.findViewById(R.id.Pick_Button);
         mButton.setOnClickListener(this);
+        mContext = getActivity();
+
+        webSettings.setJavaScriptEnabled(true);
+        mWebView.loadUrl("file:///android_asset/js.html");
+
+        Log.i("set", "listner");
+
+        mWebView.setWebViewClient(new WebViewClient(){
+            @Override
+            public void onPageFinished(WebView view, String url){
+                super.onPageFinished(view, url);
+                String jsStr1 = "";
+                try{
+                    InputStream in1 = mContext.getAssets().open("em.js");
+                    byte buff[] = new byte[1024];
+                    ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
+                    do {
+                        int numRead = in1.read(buff);
+                        if (numRead <= 0) {
+                            break;
+                        }
+                        fromFile.write(buff, 0, numRead);
+                    } while (true);
+                    jsStr1 = fromFile.toString();
+                    in1.close();
+                    fromFile.close();
+                } catch (IOException e) {
+                    e.printStackTrace();
+                }
+                mWebView.loadUrl("javascript:" + jsStr1);
+
+                String jsStr2 = "";
+                try{
+                    InputStream in2 = mContext.getAssets().open("roslib.min.js");
+                    byte buff[] = new byte[1024];
+                    ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
+                    do {
+                        int numRead = in2.read(buff);
+                        if (numRead <= 0) {
+                            break;
+                        }
+                        fromFile.write(buff, 0, numRead);
+                    } while (true);
+                    jsStr2 = fromFile.toString();
+                    in2.close();
+                    fromFile.close();
+                } catch (IOException e) {
+                    e.printStackTrace();
+                }
+                mWebView.loadUrl("javascript:" + jsStr2);
+            }
+
+        });
+
+
         return view;
     }
 
@@ -43,18 +118,22 @@ public class MyFragment2 extends Fragment implements View.OnClickListener{
     public void onClick(View view) {
         switch(view.getId()){
             case R.id.Pick_Button:
-                new IntentIntegrator(getActivity())
+                /*new IntentIntegrator(getActivity())
                         .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
                         .setPrompt("请对准摄像头")
                         .setCameraId(0)
                         .setBeepEnabled(false)
                         .setCaptureActivity(CaptureActivity.class)
-                        .initiateScan();
+                        .initiateScan();*/
+                pickup("abnc");
 
         }
     }
 
-
+    public void test(){
+        mWebView.loadUrl("javascript:callJS()");
+        Log.i("abc", "bcd");
+    }
 
 
     @Override
@@ -86,20 +165,56 @@ public class MyFragment2 extends Fragment implements View.OnClickListener{
             public void onClick(View view) {
                 String pickupcode = PickUpCode.getText().toString().trim();
                 String phonenum = PhoneNum.getText().toString().trim();
-
+                Log.d("onclick", "123");
-                String QR_pickup = result.split(" ")[0];
+                //String QR_pickup = result.split(" ")[0];
-                String QR_phone = result.split(" ")[1];
+                //String QR_phone = result.split(" ")[1];
-
+
-                if(pickupcode.equals(QR_pickup) && pickupcode.equals(QR_phone)){
+                if(true){
+                //if (pickupcode.equals(QR_pickup) && phonenum.equals(QR_phone)) {
+                    /*new Thread() {
+                        @Override
+                        public void run() {
+                            int msg = 0;
+
+                            operationDao operationDao = new operationDao();
+                            goodDao goodDao = new goodDao();
+                            Bundle bundle = getArguments();
+
+                            String user = bundle.getString("user");
+
+                            boolean flag1 = operationDao.add(pickupcode, user);
+                            boolean flag2 = goodDao.delete(pickupcode);
+
+                            boolean flag = flag1 & flag2;
+                            if (flag) {
+                                msg = 1;
+                            }
+                            int msg = 1;
+                            test();
+                            hand1.sendEmptyMessage(msg);
+                        }
+                    }.start();*/
                     Toast.makeText(mContext, "取件成功", Toast.LENGTH_LONG).show();
+                    test();
 
-                }else{
+                } else {
                     Toast.makeText(mContext, "取件失败", Toast.LENGTH_LONG).show();
                 }
             }
-        });
 
+
+        });
     }
 
+    @SuppressLint("HandlerLeak")
+    final Handler hand1 = new Handler() {
+        @Override
+        public void handleMessage(Message msg) {
+            if (msg.what == 1) {
+                Toast.makeText(mContext, "取件成功", Toast.LENGTH_SHORT).show();
+            } else {
+                Toast.makeText(mContext, "取件失败", Toast.LENGTH_SHORT);
+            }
+        }
+    };
 }
-

src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment3.java

@@ -1,16 +1,30 @@
 package com.example.logistics.ui;
 
 import androidx.fragment.app.Fragment;
+
+import android.content.Context;
+import android.content.Intent;
 import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+import android.widget.Toast;
 
 import androidx.annotation.Nullable;
 
 import com.example.logistics.R;
 
+import org.w3c.dom.Text;
+
 public class MyFragment3 extends Fragment implements View.OnClickListener{
+    private LinearLayout ll_waiting;
+    private LinearLayout ll_history;
+    private LinearLayout ll_exit;
+    private Context mContext;
+    private String user;
+
     public MyFragment3(){
 
     }
@@ -20,12 +34,44 @@ public class MyFragment3 extends Fragment implements View.OnClickListener{
     public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
         View view = inflater.inflate(R.layout.my_fragment3,container,false);
 
+        ll_waiting = (LinearLayout) view.findViewById(R.id.waiting);
+        ll_history = (LinearLayout) view.findViewById(R.id.history);
+        ll_exit = (LinearLayout) view.findViewById(R.id.exit);
+
+        ll_waiting.setOnClickListener(this);
+        ll_history.setOnClickListener(this);
+        ll_exit.setOnClickListener(this);
+
+        mContext = getActivity();
+
+        Bundle bundle = getArguments();
+        user = bundle.getString("user");
+
         return view;
     }
 
     @Override
     public void onClick(View view) {
+        Intent intent;
+        switch(view.getId()){
+            case R.id.waiting:
+                intent = new Intent(mContext, NoPickActivity.class);
+                intent.putExtra("user", user);
+                startActivity(intent);
+                break;
+            case R.id.history:
 
+                intent = new Intent(mContext, HistoryActivity.class);
+                intent.putExtra("user", user);
+                startActivity(intent);
+                break;
+            case R.id.exit:
+                Toast.makeText(mContext, "exit", Toast.LENGTH_SHORT).show();
+                intent = new Intent(mContext, MainActivity.class);
+                startActivity(intent);
+                getActivity().finish();
+                break;
+        }
     }
 }
 

src/Logistics/app/src/main/java/com/example/logistics/ui/NoPickActivity.java

@@ -0,0 +1,134 @@
+package com.example.logistics.ui;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.content.Intent;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+import android.view.View;
+import android.widget.AbsListView;
+import android.widget.AbsListView.OnScrollListener;
+import android.widget.AdapterView.OnItemClickListener;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.ImageButton;
+import android.widget.ListView;
+import android.widget.NumberPicker;
+import android.widget.SimpleAdapter;
+import android.widget.Toast;
+
+import com.example.logistics.R;
+import com.example.logistics.dao.goodDao;
+import com.example.logistics.dao.userDao;
+import com.example.logistics.entity.User;
+
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.List;
+import java.util.ListIterator;
+import java.util.Map;
+
+public class NoPickActivity extends Activity implements OnItemClickListener, OnScrollListener, View.OnClickListener {
+
+    private String TAG = "NoPickActivity";
+    private ListView lv_nopick;
+    private ArrayAdapter<String> arr_adapter;
+    private SimpleAdapter simp_adapter;
+    private String phonenum;
+    private List<Map<String, Object>> dataList;
+    private ImageButton sync_np;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_no_pick);
+
+        dataList=new ArrayList<Map<String,Object>>();
+        lv_nopick = (ListView) findViewById(R.id.lv_nopick);
+        sync_np = (ImageButton) findViewById(R.id.sync_np);
+
+        simp_adapter=new SimpleAdapter(this, dataList, R.layout.item, new String[]{"id","time"}, new int[]{R.id.np_id,R.id.np_time});
+        lv_nopick.setAdapter(simp_adapter);
+        lv_nopick.setOnItemClickListener(this);
+        lv_nopick.setOnScrollListener(this);
+        sync_np.setOnClickListener(this);
+
+        Intent intent = getIntent();
+        phonenum = intent.getStringExtra("user");
+
+        sync();
+    }
+
+    @Override
+    public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
+        // TODO Auto-generated method stub
+        String text=lv_nopick.getItemAtPosition(position)+"";
+        Toast.makeText(this, "position="+position+" text="+text, Toast.LENGTH_SHORT).show();
+    }
+
+    @Override
+    public void onClick(View v){
+        switch(v.getId()){
+            case R.id.sync_np:
+                sync();
+                Toast.makeText(this, "同步成功", Toast.LENGTH_SHORT).show();
+        }
+    }
+
+    @Override
+    public void onScrollStateChanged(AbsListView view, int scrollState){
+        // TODO Auto-generated method stub
+        switch(scrollState){
+            case SCROLL_STATE_FLING:
+                Log.i(TAG, "用户在手指离开屏幕之前，由于用力划了一下，试图仍依靠惯性继续滑动");
+                break;
+            case SCROLL_STATE_IDLE:
+                Log.i(TAG, "视图已经停止滑动");
+                break;
+            case SCROLL_STATE_TOUCH_SCROLL:
+                Log.i(TAG, "手指没有离开屏幕，视图正在滑动");
+                break;
+            default:
+                break;
+        }
+    }
+
+    @Override
+    public void onScroll(AbsListView view, int arg1, int arg2, int arg3){
+        // TODO Auto-generated method stub
+    }
+
+    public void sync(){
+        new Thread(){
+            @Override
+            public void run(){
+                goodDao goodDao = new goodDao();
+                dataList = goodDao.nopick(phonenum);
+
+                int msg = 1;
+                hand1.sendEmptyMessage(msg);
+  }
+        }.start();
+    }
+
+    @SuppressLint("HandlerLeak")
+    final Handler hand1 = new Handler(){
+        @Override
+        public void handleMessage(Message msg){
+            if(msg.what == 1){
+                simp_adapter=new SimpleAdapter(NoPickActivity.this, dataList, R.layout.item, new String[]{"id","time"}, new int[]{R.id.np_id,R.id.np_time});
+                lv_nopick.setAdapter(simp_adapter);
+            }
+        }
+    };
+
+
+}

src/Logistics/app/src/main/java/com/jilk/ros/Example.java

@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Clock;
+import com.jilk.ros.message.Log;
+import com.jilk.ros.rosapi.message.Empty;
+import com.jilk.ros.rosapi.message.GetTime;
+import com.jilk.ros.rosapi.message.MessageDetails;
+import com.jilk.ros.rosapi.message.Type;
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+
+public class Example {
+    
+    public Example() {}
+    
+    public static void main(String[] args) {
+        ROSBridgeClient client = new ROSBridgeClient("ws://162.243.238.80:9090");
+        client.connect();
+        //testTopic(client);
+        try {
+        testService(client);
+        }
+        catch (RuntimeException ex) {
+            ex.printStackTrace();
+        }
+        finally {
+            client.disconnect();
+        }
+    }            
+    
+    public static void testService(ROSBridgeClient client) {
+        try {
+            Service<Empty, GetTime> timeService =
+                    new Service<Empty, GetTime>("/rosapi/get_time", Empty.class, GetTime.class, client);
+            timeService.verify();
+            //System.out.println("Time (secs): " + timeService.callBlocking(new Empty()).time.sec);
+            
+            Service<com.jilk.ros.rosapi.message.Service, Type> serviceTypeService =
+                    new Service<com.jilk.ros.rosapi.message.Service, Type>("/rosapi/service_type",
+                        com.jilk.ros.rosapi.message.Service.class, Type.class, client);
+            serviceTypeService.verify();
+            String type = serviceTypeService.callBlocking(new com.jilk.ros.rosapi.message.Service("/rosapi/service_response_details")).type;
+            
+            Service<Type, MessageDetails> serviceDetails =
+                    new Service<Type, MessageDetails>("/rosapi/service_response_details",
+                        Type.class, MessageDetails.class, client);
+            serviceDetails.verify();
+            //serviceDetails.callBlocking(new Type(type)).print();
+            
+            Topic<Log> logTopic =
+                    new Topic<Log>("/rosout", Log.class, client);
+            logTopic.verify();
+            
+            /*
+            System.out.println("Nodes");
+            for (String s : client.getNodes())
+                System.out.println("    " + s);
+            System.out.println("Topics");
+            for (String s : client.getTopics()) {
+                System.out.println(s + ":");
+                client.getTopicMessageDetails(s).print();
+            }
+            System.out.println("Services");
+            for (String s : client.getServices()) {
+                System.out.println(s + ":");
+                client.getServiceRequestDetails(s).print();
+                System.out.println("-----------------");
+                client.getServiceResponseDetails(s).print();
+            }
+            */
+        }
+        catch (InterruptedException ex) {
+            System.out.println("Process was interrupted.");
+        }
+        /*
+        Service<Empty, Topics> topicService =
+                new Service<Empty, Topics>("/rosapi/topics", Empty.class, Topics.class, client);
+        Service<Topic, Type> typeService =
+                new Service<Topic, Type>("/rosapi/topic_type", Topic.class, Type.class, client);
+        Service<Type, MessageDetails> messageService =
+                new Service<Type, MessageDetails>("/rosapi/message_details", Type.class, MessageDetails.class, client);
+        try {
+            Topics topics = topicService.callBlocking(new Empty());
+            for (String topicString : topics.topics) {
+                Topic topic = new Topic();
+                topic.topic = topicString;
+                Type type = typeService.callBlocking(topic);
+                MessageDetails details = messageService.callBlocking(type);
+                System.out.println("Topic: " + topic.topic + " Type: " + type.type);
+                details.print();
+                System.out.println();
+            }
+            Type type = new Type();
+            type.type = "time";
+            System.out.print("Single type check on \'time\': ");
+            messageService.callBlocking(type).print();
+        }
+        catch (InterruptedException ex) {
+            System.out.println("testService: process was interrupted.");
+        }
+        */
+    }
+    
+    public static void testTopic(ROSBridgeClient client) {
+        Topic<Clock> clockTopic = new Topic<Clock>("/clock", Clock.class, client);
+        clockTopic.subscribe();
+        try {
+            Thread.sleep(20000);} catch(InterruptedException ex) {}
+        Clock cl = null;
+        try {
+            cl = clockTopic.take(); // just gets one
+        }
+        catch (InterruptedException ex) {}
+        cl.print();
+        cl.clock.nsecs++;
+        clockTopic.unsubscribe();
+        clockTopic.advertise();
+        clockTopic.publish(cl);
+        clockTopic.unadvertise();
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/MessageHandler.java

@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+
+public interface MessageHandler<T extends Message> {
+    public void onMessage(T message);
+}

src/Logistics/app/src/main/java/com/jilk/ros/ROSClient.java

@@ -0,0 +1,68 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosapi.message.TypeDef;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+import com.jilk.ros.rosbridge.operation.Operation;
+
+public abstract class ROSClient {
+
+    public ROSClient() {}
+    
+    public static ROSClient create(String uriString) {
+        // if we ever implement other ROSClient types, we'll key off the URI protocol (e.g., ws://)
+        // we'd also have to abstract out Topic and Service since they depend on the ROSBridge operations
+        return new ROSBridgeClient(uriString);
+    }
+    
+    public abstract boolean connect();
+    public abstract boolean connect(ConnectionStatusListener listener);
+    public abstract void disconnect();
+    public abstract void send(Operation operation);
+    public abstract void send(String json);
+    public abstract void register(Class<? extends Operation> c,
+            String s,
+            Class<? extends Message> m,
+            FullMessageHandler h);
+    public abstract void unregister(Class<? extends Operation> c, String s);
+    public abstract void setDebug(boolean debug);
+    public abstract String[] getNodes() throws InterruptedException;
+    public abstract String[] getTopics() throws InterruptedException;
+    public abstract String[] getServices() throws InterruptedException;
+    public abstract TypeDef getTopicMessageDetails(String topic) throws InterruptedException;
+    public abstract TypeDef[] getTopicMessageList(String topic) throws InterruptedException;
+    public abstract TypeDef getServiceRequestDetails(String service) throws InterruptedException;
+    public abstract TypeDef[] getServiceRequestList(String service) throws InterruptedException;
+    public abstract TypeDef getServiceResponseDetails(String service) throws InterruptedException;
+    public abstract TypeDef[] getServiceResponseList(String service) throws InterruptedException;
+    public abstract TypeDef getTypeDetails(String type) throws InterruptedException;
+    public abstract TypeDef[] getTypeList(String type) throws InterruptedException;
+    public abstract void typeMatch(TypeDef t, Class<? extends Message> c) throws InterruptedException; 
+    public abstract Object getUnderlyingClient(); // for debugging
+    
+    public interface ConnectionStatusListener {
+        public void onConnect();
+        public void onDisconnect(boolean normal, String reason, int code);
+        public void onError(Exception ex);
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/Service.java

@@ -0,0 +1,134 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.operation.CallService;
+import com.jilk.ros.rosbridge.operation.ServiceResponse;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.CountDownLatch;
+
+public class Service<CallType extends Message, ResponseType extends Message> extends Message implements FullMessageHandler {
+    private String service;
+    private Class<? extends ResponseType> responseType;
+    private Class<? extends CallType> callType;
+    private ROSClient client;
+    private Map<String, CallRecord> calls;
+    
+    public Service(String service, Class<? extends CallType> callType,
+                   Class<? extends ResponseType> responseType, ROSClient client) {
+        this.service = service;
+        this.client = client;
+        this.responseType = responseType;
+        this.callType = callType;
+        calls = new HashMap<String, CallRecord>();
+    }
+
+    // A result can only be returned once; it is cleared from the hash before 
+    //   being sent/returned. This is to ensure that results do not accumulate
+    //   indefinitely.  If callers need to keep these around they can set up their 
+    //   own hash.
+    
+    @Override
+    public void onMessage(String id, Message response) {
+        //System.out.print("Service.onMessage: ");
+        //response.print();
+        CallRecord call = calls.get(id);
+        if(call == null) {
+            System.out.print("No caller service response");
+            return;
+        }
+        if (call.handler != null) {
+            calls.remove(id);
+            call.handler.onMessage((ResponseType) response);
+        }
+        else {
+            call.result = (ResponseType) response;
+            call.latch.countDown();
+        }
+    }
+    
+    public String call(CallType args) {
+        return callImpl(args, null);
+    }
+    
+    public void callWithHandler(CallType args, MessageHandler<ResponseType> responseHandler) {
+        callImpl(args, responseHandler);
+    }
+    
+    public ResponseType callBlocking(CallType args) throws InterruptedException {
+        return take(call(args));
+    }
+    
+    private String callImpl(CallType args, MessageHandler<ResponseType> responseHandler) {
+        client.register(ServiceResponse.class, service, responseType, this);  // do this once on creation?
+        CallService messageCallService = new CallService(service, args);
+        String id = messageCallService.id;
+        CallRecord callRecord = new CallRecord(responseHandler);
+        calls.put(id, callRecord);
+        client.send(messageCallService);
+        return id;
+    }
+    
+    public ResponseType poll(String id) {
+        CallRecord call = calls.get(id);
+        if (call.result != null)
+            calls.remove(id);
+        return call.result;
+    }
+    
+    public ResponseType take(String id) throws InterruptedException {
+        CallRecord call = calls.get(id);
+        call.latch.await();
+        calls.remove(id);
+        return call.result;
+    }
+    
+    public void verify() throws InterruptedException {
+
+        boolean hasService = false;
+        for (String s : client.getServices()) {
+            if (s.equals(service)) {
+                hasService = true;
+                break;
+            }
+        }
+        if (!hasService)
+            throw new RuntimeException("Service \'" + service + "\' not available.");
+        
+        client.typeMatch(client.getServiceRequestDetails(service), callType);
+        client.typeMatch(client.getServiceResponseDetails(service), responseType);
+    }
+    
+    private class CallRecord {
+        public ResponseType result;
+        public CountDownLatch latch;
+        public MessageHandler<ResponseType> handler;
+        
+        public CallRecord(MessageHandler<ResponseType> handler) {
+            this.result = null;
+            this.latch = new CountDownLatch(1);
+            this.handler = handler;
+        }
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/Topic.java

@@ -0,0 +1,144 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.operation.Advertise;
+import com.jilk.ros.rosbridge.operation.Operation;
+import com.jilk.ros.rosbridge.operation.Publish;
+import com.jilk.ros.rosbridge.operation.Subscribe;
+import com.jilk.ros.rosbridge.operation.Unadvertise;
+import com.jilk.ros.rosbridge.operation.Unsubscribe;
+
+import java.util.concurrent.LinkedBlockingQueue;
+
+
+public class Topic<T extends Message> extends LinkedBlockingQueue<T> implements FullMessageHandler {
+    protected String topic;
+    private Class<? extends T> type;
+    private String messageType;
+    private ROSClient client;
+    private Thread handlerThread;
+    
+    public Topic(String topic, Class<? extends T> type, ROSClient client) {
+        this.topic = topic;
+        this.client = client;
+        this.type = type;
+        messageType = Message.getMessageType(type);
+        handlerThread = null;
+    }
+    
+    @Override
+    public void onMessage(String id, Message message) {
+        add((T) message);
+    }
+    
+    
+    // warning: there is a delay between the completion of this method and 
+    //          the completion of the subscription; it takes longer than
+    //          publishing multiple other messages, for example.    
+    public void subscribe(MessageHandler<T> handler) {
+        startRunner(handler);
+        subscribe();
+    }
+    
+    public void subscribe() {
+        client.register(Publish.class, topic, type, this);
+        send(new Subscribe(topic, messageType));
+    }
+    
+    public void unsubscribe() {
+        // need to handle race conditions in incoming message handler
+        //    so that once unsubscribe has happened the handler gets no more
+        //    messages
+        send(new Unsubscribe(topic));        
+        client.unregister(Publish.class, topic);
+        stopRunner();
+    }
+    
+    private void startRunner(MessageHandler<T> handler) {
+        stopRunner();
+        handlerThread = new Thread(new MessageRunner(handler));
+        handlerThread.setName("Message handler for " + topic);
+        handlerThread.start();
+    }
+    
+    private void stopRunner() {
+        if (handlerThread != null) {
+            handlerThread.interrupt();
+            clear();
+            handlerThread = null;
+        }
+    }
+    
+    
+    public void advertise() {
+        send(new Advertise(topic, messageType));
+    }
+    
+    public void publish(T message) {
+        send(new Publish(topic, message));
+    }
+    
+    public void unadvertise() {
+        send(new Unadvertise(topic));
+    }
+    
+    private void send(Operation operation) {
+        client.send(operation);
+    }
+    
+    public void verify() throws InterruptedException {
+
+        boolean hasTopic = false;
+        for (String s : client.getTopics()) {
+            if (s.equals(topic)) {
+                hasTopic = true;
+                break;
+            }
+        }
+        if (!hasTopic)
+            throw new RuntimeException("Topic \'" + topic + "\' not available.");
+        
+        client.typeMatch(client.getTopicMessageDetails(topic), type);
+    }
+    
+    private class MessageRunner implements Runnable {
+        private MessageHandler<T> handler;
+
+        public MessageRunner(MessageHandler<T> handler) {
+            this.handler = handler;
+        }             
+        
+        @Override
+        public void run() {
+            while (!Thread.interrupted()) {
+                try {
+                    handler.onMessage(take());
+                }
+                catch (InterruptedException ex) {
+                    break;
+                }
+            }
+        }
+    }
+    
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/AudioMsg.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/Int16MultiArray")
+public class AudioMsg extends Message {
+    public short[] data;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Clock.java

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Clock")
+public class Clock extends Message {
+    public TimePrimitive clock;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Duration.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Duration")
+public class Duration extends DurationPrimitive {
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/DurationPrimitive.java

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "duration")
+public class DurationPrimitive extends TimePrimitive {
+
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Empty.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_srvs/Empty")
+public class Empty extends Message {
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Header.java

@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Header")
+public class Header extends Message {
+    public long seq;
+    public TimePrimitive stamp;
+    public String frame_id;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Log.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Log")
+public class Log extends Message {
+    public Header header;
+    public byte level;
+    public String name;
+    public String msg;
+    public String file;
+    public String function;
+    public long line;
+    public String[] topics;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Message.java

@@ -0,0 +1,202 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+import java.util.Map;
+
+
+@MessageType(string = "message")
+public abstract class Message {
+    
+    // Some requirements about message types:
+    //   - It must have a MessageType declaration to be recognized on inbound messages
+    //   - Every field must be explicitly designated as public
+    //   - Every field that is not a primitive or near-primitive must be another Message class
+    //   - If there is a non-empty constructor, you must also have an empty constructor
+    //   - If it is set up as an inner class, it needs an explicit nullary constructor
+    //     (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
+    
+    public static void register(Class c, Map<String, Class> messageClasses) {
+        try {
+            typecheck(c);
+
+            // Must register the class and not have duplicate
+            // This is not recursive because only the top level message class
+            //   needs to be determined from the string - others are top-down.
+            String messageString = getMessageType(c);
+            Class existingClass = messageClasses.get(messageString);
+            if (existingClass != null && !existingClass.equals(c))
+                throw new MessageException("Message String \'" + messageString +
+                    "\' is assigned to two different classes (" +
+                        c.getName() + " and " + existingClass.getName() + ")");
+            messageClasses.put(messageString, c);        
+        }
+        catch (MessageException ex) {
+            // should be changed to be a hooked method to give library user control
+            System.out.println(ex.getMessage());
+        }
+    }
+    
+    public static String getMessageType(Class c) {
+        return ((MessageType) c.getAnnotation(MessageType.class)).string();
+    }    
+    
+    // this has never been used or tested but kind of belongs here
+    // commented out because it uses ReflectiveOperationException which is not available on Android
+    /*
+    public static Message newInstance(String className) {
+        try {
+            Class messageClass = Class.forName(className);
+            if (Message.class.isAssignableFrom(messageClass))
+                return (Message) messageClass.newInstance();
+            else throw new ClassCastException();
+        }
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
+        }
+    }
+    */
+    
+    // Could probably do more checking here, but not sure what right now
+    private static void typecheck(Class c) throws MessageException {
+        
+        // Must inherit from Message
+        if (!Message.class.isAssignableFrom(c))
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' does not extend Message");
+
+        // Must have the MessageType annotation
+        if (getMessageType(c) == null)
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' is missing the MessageType annotation");
+                
+        // All fields must also be valid Message classes
+        // Note that this also serves to force-load all the message classes
+        //      so that they get registered
+        for (Field f : c.getFields()) {
+            Class fc = f.getType();
+            if (fc.isArray()) {
+                Class ac = fc.getComponentType();
+                if (!isPrimitive(ac))
+                    typecheck(ac);
+            }
+            else if (!isPrimitive(fc))
+                typecheck(fc);
+        }
+    }
+    
+    public void print() {
+        printMessage(this, "");
+    }
+    
+    private static void printMessage(Object o, String indent) {
+        for (Field f : o.getClass().getFields()) {
+            Class c = f.getType();
+            Object fieldObject = getFieldObject(f, o);
+            if (fieldObject != null) {
+                if (isPrimitive(c))
+                    System.out.println(indent + f.getName() + ": " + fieldObject);
+                else if (c.isArray()) {
+                    System.out.println(indent + f.getName() + ": [");
+                    printArray(fieldObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + f.getName() + ":");
+                    printMessage(fieldObject, indent + "  ");
+                }
+            }
+        }
+    }
+    
+    private static void printArray(Object array, String indent) {
+        Class arrayClass = array.getClass().getComponentType();
+        for (int i = 0; i < Array.getLength(array); i++) {
+            Object elementObject = Array.get(array, i);
+            if (elementObject != null) {
+                if (isPrimitive(arrayClass))
+                    System.out.println(indent + i + ": " + elementObject);
+                else if (arrayClass.isArray()) { // this is not actually allowed in ROS
+                    System.out.println(indent + i + ": [");
+                    printArray(elementObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + i + ":");
+                    printMessage(elementObject, indent + "  ");
+                }
+            }
+        }
+        // remember to print array indices
+    }
+    
+    public static boolean isPrimitive(Class c) {
+        return (c.isPrimitive() ||
+                c.equals(String.class) ||
+                Number.class.isAssignableFrom(c) ||
+                c.equals(Boolean.class));
+    }    
+    
+
+    // Copied from com.jilk.ros.rosbridge.JSON
+    private static Object getFieldObject(Field f, Object o) {
+        Object fo = null;
+        try {
+            fo = f.get(o);
+        }
+        catch (IllegalAccessException ex) {
+            ex.printStackTrace();
+        }
+        return fo;
+    }
+    
+    public void copyFrom(Message source) {
+        try {
+            if (source.getClass() != getClass())
+                throw new RuntimeException("Attempt to copy non-matching classes");
+            for (Field f : getClass().getFields()) {
+                Class fc = f.getType();
+                if (fc.isArray())
+                    throw new RuntimeException("copyFrom - array types not implemented");
+                else if (!isPrimitive(fc))
+                    ((Message) f.get(this)).copyFrom((Message) f.get(source));
+                else {
+                    Object value = f.get(source);
+                    f.set(this, value);
+                }
+            }
+        }
+        catch (IllegalAccessException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        catch (ClassCastException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        // ReflectiveOperationException is not available on Android (Java 1.6)
+        /*
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException ("copyFrom error", ex);
+        }
+        */
+    }
+    
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/MessageException.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+public class MessageException extends Exception {
+
+    public MessageException(String message) {
+        super(message);
+    }
+    
+    public MessageException(String message, Throwable cause) {
+        super(message, cause);
+    }    
+}
+

src/Logistics/app/src/main/java/com/jilk/ros/message/MessageType.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.TYPE)
+public @interface MessageType {
+    String string() default "";
+}
+

src/Logistics/app/src/main/java/com/jilk/ros/message/SemanticRequest.java

@@ -0,0 +1,13 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticRequest extends Message {
+    public  SemanticRequest(String args) {
+        jsonStr = args;
+    }
+
+    public String jsonStr;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/SemanticResponse.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticResponse extends Message {
+    public String result;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/StdMsg.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class StdMsg extends Message {
+    public String data;
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/Time.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Time")
+public class Time extends TimePrimitive {
+}

src/Logistics/app/src/main/java/com/jilk/ros/message/TimePrimitive.java

@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "time")
+public class TimePrimitive extends Message {
+    public int secs;  // when requesting this format from ROSbridge, it uses 'sec' (no 's')
+    public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Empty.java

@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "std_msgs/Empty")
+public class Empty extends Message {
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/GetTime.java

@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+import com.jilk.ros.message.TimePrimitive;
+
+
+@MessageType(string = "rosapi/GetTimeResponse")
+public class GetTime extends Message {
+    public TimePrimitive time;
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/MessageDetails.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/MessageDetails")
+public class MessageDetails extends Message {
+    public TypeDef[] typedefs;
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Nodes.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Nodes")
+public class Nodes extends Message {
+    public String[] nodes;
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Service.java

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Service")
+public class Service extends Message {
+    public String service;
+    
+    public Service() {}
+    
+    public Service(String service) {
+        this.service = service;
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Services.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Services")
+public class Services extends Message {
+    public String[] services;
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Topic.java

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Topic")
+public class Topic extends Message {
+    public String topic;
+    
+    public Topic() {}
+    
+    public Topic(String topic) {
+        this.topic = topic;
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Topics.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Topics")
+public class Topics extends Message {
+    public String[] topics;
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/Type.java

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Type")
+public class Type extends Message {
+    public String type;
+    
+    public Type() {}
+    
+    public Type(String type) {
+        this.type = type;
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosapi/message/TypeDef.java

@@ -0,0 +1,55 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/TypeDef")
+public class TypeDef extends Message {
+    public String type;
+    public String[] fieldnames;
+    public String[] fieldtypes;
+    public int[] fieldarraylen;
+    public String[] examples;
+    
+    public static boolean match(String type, Class c) {
+        boolean result = false;
+        if (
+            (type.equals("bool")    && ((boolean.class.equals(c)) || (Boolean.class.equals(c)))) ||
+            (type.equals("int8")    && ((byte.class.equals(c))    || (Byte.class.equals(c)))) ||
+            (type.equals("byte")    && ((byte.class.equals(c))    || (Byte.class.equals(c)))) ||            // deprecated
+            (type.equals("uint8")   && ((short.class.equals(c))   || (Short.class.equals(c)))) ||
+            (type.equals("char")    && ((short.class.equals(c))   || (Short.class.equals(c)))) ||           // deprecated
+            (type.equals("int16")   && ((short.class.equals(c))   || (Short.class.equals(c)))) ||
+            (type.equals("uint16")  && ((int.class.equals(c))     || (Integer.class.equals(c)))) ||
+            (type.equals("int32")   && ((int.class.equals(c))     || (Integer.class.equals(c)))) ||
+            (type.equals("uint32")  && ((long.class.equals(c))    || (Long.class.equals(c)))) ||
+            (type.equals("int64")   && ((long.class.equals(c))    || (Long.class.equals(c)))) ||
+            (type.equals("float32") && ((float.class.equals(c))   || (Float.class.equals(c)))) ||
+            (type.equals("float64") && ((double.class.equals(c))  || (Double.class.equals(c)))) ||
+            (type.equals("uint64")  &&                               (java.math.BigInteger.class.equals(c))) ||
+            (type.equals("string")  &&                               (String.class.equals(c)))
+        )
+                result = true;
+            
+        return result;
+    }
+}

src/Logistics/app/src/main/java/com/jilk/ros/rosbridge/FullMessageHandler.java

@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosbridge;
+
+import com.jilk.ros.message.Message;
+
+public interface FullMessageHandler<T extends Message> {
+    public void onMessage(String id, T message);
+}