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@ -20,6 +20,7 @@ import android.graphics.RectF;
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import android.os.Bundle;
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import android.os.Handler;
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import android.os.Message;
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import android.provider.ContactsContract;
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import android.util.AttributeSet;
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import android.util.Log;
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import android.view.MotionEvent;
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@ -48,7 +49,6 @@ public class VideoActivity extends AppCompatActivity {
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private final static String Recieve_IP = "192.168.39.47";//填服务器IP，与send_to_IP为同一个
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private final static int SEND_PORT = 8888; //发送端口号
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private final static int RECEIVE_PORT = 9999; //接收端口号
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int TimeInterval = 5;
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private static boolean listenStatus = true; //接收线程的循环标识
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private byte[] buf;
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static Bitmap bp;
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@ -71,8 +71,8 @@ public class VideoActivity extends AppCompatActivity {
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private ImageButton Setting_btn;
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private ImageButton TakeOff_btn;
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private ImageButton Landing_btn;
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private String angle;
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private float distance;
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private String mangle;
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private float mdistance;
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// 创建一个可缓存的线程池
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private ExecutorService mThreadPool = Executors.newCachedThreadPool();
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//ReceiveData()显示到imageView
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@ -99,31 +99,40 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("TAKEOFF");
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sendCommand("TAKEOFF");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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Log.i(TAG, "onClick: BBBBBBBBackward");
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Log.i(TAG, "onClick: TTTTTTTTTTTTTTakeoff");
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}
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});
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Landing_btn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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new UdpReceiveThread().start();
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ReceiveHandler receiveHandler = new ReceiveHandler();
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UdpReceiveThread StreamThread = new UdpReceiveThread(Recieve_IP,RECEIVE_PORT,receiveHandler);
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try {
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StreamThread.startListen();
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StreamThread.start();
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} catch (SocketException | UnknownHostException e) {
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e.printStackTrace();
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}
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}
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});
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Setting_btn = findViewById(R.id.setting_button);
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Button_Init();
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Intent i = getIntent();
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distance = i.getFloatExtra("Distance",0);
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angle = i.getStringExtra("Angle");
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mdistance = i.getFloatExtra("Distance",0);
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mangle = i.getStringExtra("Angle");
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}
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private void Button_Init(){
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Forward_btn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("FORWARD");
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sendCommand("FORWARD");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -134,7 +143,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("BACKWORD");
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sendCommand("BACKWORD");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -145,7 +154,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("LEFT");
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sendCommand("LEFT");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -156,7 +165,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("RIGHT");
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sendCommand("RIGHT");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -167,7 +176,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("DOWN");
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sendCommand("DOWN");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -178,7 +187,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("UP");
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sendCommand("UP");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -189,7 +198,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("TURN_LEFT");
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sendCommand("TURN_LEFT");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -200,7 +209,7 @@ public class VideoActivity extends AppCompatActivity {
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@Override
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public void onClick(View v) {
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try {
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sendOrder("TURN_RIGHT");
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sendCommand("TURN_RIGHT");
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} catch (UnknownHostException e) {
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throw new RuntimeException(e);
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}
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@ -218,8 +227,14 @@ public class VideoActivity extends AppCompatActivity {
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class ReceiveHandler extends Handler{
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@Override
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public void handleMessage(Message msg) {
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super.handleMessage(msg);
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imgShow.setImageBitmap(bp);
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if (msg.what == 1) {
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runOnUiThread(new Runnable() {
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@Override
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public void run() {
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imgShow.setImageBitmap(bp);
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}
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});
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}
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}
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}
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@ -233,38 +248,91 @@ public class VideoActivity extends AppCompatActivity {
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/*
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* UDP数据接受线程
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* */
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public class UdpReceiveThread extends Thread
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{
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public class UdpReceiveThread extends Thread {
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private DatagramSocket reveSocket;
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private String Recieve_IP;
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private int RECEIVE_PORT;
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private Handler receiveHandler;
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public UdpReceiveThread(String ip, int port, Handler handler) {
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this.Recieve_IP = ip;
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this.RECEIVE_PORT = port;
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this.receiveHandler = handler;
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}
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public void startListen() throws SocketException, UnknownHostException {
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reveSocket = new DatagramSocket(RECEIVE_PORT);
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}
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public void stopListen() {
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if (reveSocket != null && !reveSocket.isClosed()) {
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listenStatus = false;
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//reveSocket.close();
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}
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}
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@Override
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public void run()
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{
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try
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{
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reveSocket = new DatagramSocket(RECEIVE_PORT);
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serverAddr = InetAddress.getByName(Recieve_IP);
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//ByteArrayOutputStream out = new ByteArrayOutputStream();
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while(listenStatus)
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{
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byte[] inBuf= new byte[1024*1024];
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DatagramPacket inPacket=new DatagramPacket(inBuf,inBuf.length);
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//out.write(inPacket.getData());
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public void run() {
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try {
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InetAddress serverAddr = InetAddress.getByName(Recieve_IP);
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while (listenStatus) {
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byte[] inBuf = new byte[1024 * 1024];
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DatagramPacket inPacket = new DatagramPacket(inBuf, inBuf.length);
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reveSocket.receive(inPacket);
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if(!inPacket.getAddress().equals(serverAddr)){
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if (!inPacket.getAddress().equals(serverAddr)) {
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throw new IOException("未知名的报文");
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}
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ByteArrayInputStream in = new ByteArrayInputStream(inPacket.getData());
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receiveHandler.sendEmptyMessage(1);
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bp = BitmapFactory.decodeStream(in);
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}
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} catch (Exception e)
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{
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} catch (IOException e) {
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e.printStackTrace();
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}finally {
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reveSocket.close();
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}
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}
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}
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/*
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* UDP数据发送线程，Runnable方法
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* */
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class SendRunnable implements Runnable {
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byte[] mData;
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InetAddress mAddress;
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int mPort;
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public SendRunnable(byte[] data, InetAddress address, int port) {
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mData = data;
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mAddress = address;
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mPort = port;
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}
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@Override
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public void run() {
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try {
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// 创建发送数据报文
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DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
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// 创建 DatagramSocket 对象并发送数据报文
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DatagramSocket socket = new DatagramSocket();
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socket.send(packet);
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// 关闭 DatagramSocket 对象
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socket.close();
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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}
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/*封装函数*/
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private void sendCommand(String str) throws UnknownHostException {
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byte[] sendData = str.getBytes();
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InetAddress address = InetAddress.getByName(SEND_to_IP);
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SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
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mThreadPool.execute(sendRunnable1);
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}
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/*
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* UDP数据发送线程
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* */
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@ -294,13 +362,13 @@ public class VideoActivity extends AppCompatActivity {
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}
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//初始化UDP发送线程
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private static void sendOrder(String Sendstr) throws UnknownHostException {
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InetAddress sendIP = InetAddress.getByName(SEND_to_IP); // 目标 IP 地址
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int sendPort = 8888; // 目标端口号
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byte[] sendData = Sendstr.getBytes(); // 要发送的数据
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UdpSendThread sendOrderThread = new UdpSendThread(sendIP, sendPort, sendData); // 创建新的线程对象
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sendOrderThread.start(); // 启动线程发送数据
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}
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// private static void sendCommand(String Sendstr) throws UnknownHostException {
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// InetAddress sendIP = InetAddress.getByName(SEND_to_IP); // 目标 IP 地址
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// int sendPort = 8888; // 目标端口号
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// byte[] sendData = Sendstr.getBytes(); // 要发送的数据
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// UdpSendThread sendCommandThread = new UdpSendThread(sendIP, sendPort, sendData); // 创建新的线程对象
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// sendCommandThread.start(); // 启动线程发送数据
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// }
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@ -317,7 +385,7 @@ public class VideoActivity extends AppCompatActivity {
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// public void onUnlock() {
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// // 在用户滑动解锁后执行操作
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//// try {
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//// sendOrder("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
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//// sendCommand("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
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//// } catch (UnknownHostException e) {
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//// throw new RuntimeException(e);
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//// }
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