整合现有代码，更新

src/sixaunyi/app/src/main/AndroidManifest.xml

@@ -22,7 +22,7 @@
         android:label="@string/app_name"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.Sixaunyi"
+        android:theme="@style/Theme.Sixaunyi.NoActionBar"
         tools:targetApi="31">
         <activity
             android:name=".SettingActivity"

src/sixaunyi/app/src/main/java/com/example/sixaunyi/LoginActivity.java

@@ -0,0 +1,57 @@
+package com.example.sixaunyi;
+import android.app.Activity;
+import android.content.Intent;
+import android.os.Bundle;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.Toast;
+import androidx.appcompat.app.AppCompatActivity;
+import java.util.HashMap;
+import java.util.Map;
+
+public class LoginActivity extends AppCompatActivity {
+
+    private EditText mUsername;
+    private EditText mPassword;
+    private Button mLoginButton;
+    private Map<String, String> mUsers = new HashMap<>();
+    {
+        mUsers.put("admin", "123456");
+        mUsers.put("tiequan", "8731");
+        mUsers.put("zhenghaoyuan", "6666");
+    }
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_login);
+        // 获取输入框和按钮的实例
+        mUsername = findViewById(R.id.username);
+        mPassword = findViewById(R.id.password);
+        mLoginButton = findViewById(R.id.login);
+        // 设置登录按钮的点击事件
+        mLoginButton.setOnClickListener(v -> {
+            attemptLogin();
+        });
+    }
+    private void attemptLogin() {
+        String username = mUsername.getText().toString();
+        String password = mPassword.getText().toString();
+        boolean if_correct = verifyUser(username,password);
+        if (if_correct) {
+            Toast.makeText(this, "登录成功", Toast.LENGTH_SHORT).show();
+            Intent intent = new Intent(LoginActivity.this, MainActivity.class);
+            startActivity(intent);
+            finish(); // 关闭登录界面
+        } else {
+            Toast.makeText(this, "用户名或密码错误", Toast.LENGTH_SHORT).show();
+        }
+    }
+
+    private boolean verifyUser(String username, String password){
+        if (mUsers.containsKey(username) && mUsers.get(username).equals(password)) {
+            return true;
+        } else {
+            return false;
+        }
+    }
+}

src/sixaunyi/app/src/main/java/com/example/sixaunyi/MainActivity.java

@@ -3,10 +3,10 @@ package com.example.sixaunyi;
 import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
 
 import static java.lang.Math.PI;
-
 import androidx.annotation.NonNull;
 import androidx.appcompat.app.AppCompatActivity;
-
+import android.app.AlertDialog;
+import android.content.Context;
 import android.Manifest;
 import android.annotation.SuppressLint;
 import android.content.Intent;
@@ -21,7 +21,8 @@ import android.util.Log;
 import android.view.View;
 import android.widget.TextView;
 import android.widget.Toast;
-
+import android.animation.Animator;
+import android.animation.ValueAnimator;
 import com.amap.api.location.AMapLocation;
 import com.amap.api.location.AMapLocationClient;
 import com.amap.api.location.AMapLocationClientOption;
@@ -34,6 +35,8 @@ import com.amap.api.maps.model.BitmapDescriptorFactory;
 import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
+import com.amap.api.maps.model.animation.Animation;
+import com.amap.api.maps.model.animation.TranslateAnimation;
 import com.amap.api.services.core.AMapException;
 import com.amap.api.services.core.LatLonPoint;
 import com.amap.api.services.core.PoiItem;
@@ -45,20 +48,23 @@ import com.amap.api.services.geocoder.RegeocodeResult;
 import com.amap.api.services.poisearch.PoiResult;
 import com.amap.api.services.poisearch.PoiSearch;
 import com.google.android.material.floatingactionbutton.FloatingActionButton;
-
+import android.view.animation.LinearInterpolator;
 import java.io.ByteArrayInputStream;
 import java.io.IOException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.SocketException;
+import java.net.UnknownHostException;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 import pub.devrel.easypermissions.AfterPermissionGranted;
 import pub.devrel.easypermissions.EasyPermissions;
 
-public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
+public  class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
         AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
         AMap.OnMarkerClickListener{
 
@@ -79,10 +85,6 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
     private GeocodeSearch geocodeSearch;
     //解析成功标识码
     private static final int PARSE_SUCCESS_CODE = 1000;
-    //POI查询对象
-    private PoiSearch.Query query;
-    //POI搜索对象
-    private PoiSearch poiSearch;
     //城市码
     private String cityCode = null;
     //浮动按钮
@@ -97,11 +99,15 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
     private MarkerOptions markerOption = new MarkerOptions();
     //
     private DatagramSocket reveSocket;
-    private final static String Recieve_IP = "192.168.240.46";
+    private ExecutorService mThreadPool = Executors.newCachedThreadPool();
-    private final static int RECEIVE_PORT = 9999;
+    ////////////////////////////可修改部分/////////////////////////////
-    private boolean listenStatus = true;
+    private final LatLng Monitorlatlng = new LatLng(28.258348849051746,113.04552182879037);
+    private final static String Recieve_IP = "192.168.39.46";
+    private final static int RECEIVE_PORT = 9987;
+    private final static String SEND_to_IP = "192.168.39.47";
+    private final static int SEND_PORT = 8888;
+    /////////////////////////////////////////////////////////////////
     private InetAddress serverAddr;
-    //private MainActivity.ReceiveHandler receiveHandler = new ReceiveHandler();
     private String Angle;
     private String MonitorAngle;
     private float distance;
@@ -129,7 +135,7 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
 
         udpReceiveThread = new UdpReceiveThread();
         udpReceiveThread.startListening();
-
+        addSensorMarker(Monitorlatlng);
     }
     /**
      * 检查Android版本
@@ -282,6 +288,7 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
                 city = aMapLocation.getCity();
                 //当前位置经纬度坐标
                 Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
                 //获取纬度
                 double latitude = aMapLocation.getLatitude();
                 //获取经度
@@ -344,19 +351,16 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
     @Override
     public void onMapLongClick(LatLng latLng) {
         distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
-        LatLng Monitorlatlng = new LatLng(113.05370390725032,28.256794281117525);
-        MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
         Angle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, latLng.latitude,latLng.longitude);
         MonitorAngle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, 113.05370390725032,28.256794281117525);
         //showMsg("长按了地图，经度："+latLng.longitude+"，纬度："+latLng.latitude);
-        Log.i(TAG,String.valueOf(latLng.longitude));
+        Log.i(TAG, String.valueOf(latLng.longitude));
-        Log.i(TAG,String.valueOf(latLng.latitude));
+        Log.i(TAG, String.valueOf(latLng.latitude));
         showMsg("直线距离："+distance+"米"+"角度"+Angle);
         //坐标转地址113.05370390725032 28.256794281117525
         latlonToAddress(latLng);
         //添加标点
         addMarker(latLng);
-
     }
 
     /**
@@ -381,6 +385,126 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
         marker.showInfoWindow();
         markerList.add(marker);
     }
+
+    // 添加传感器标点
+    private Marker sensorMarker = null;
+
+    private void addSensorMarker(LatLng latLng) {
+        // 显示浮动按钮
+
+        // 添加传感器标点
+        MarkerOptions sensorMarkerOption = new MarkerOptions();
+        sensorMarker = aMap.addMarker(sensorMarkerOption
+                .position(latLng)
+                .draggable(false)
+                // 标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.sensor)))
+                // 备注
+                .title("传感器")
+                .snippet("距离：")
+
+        );
+        sensorMarker.showInfoWindow();
+    }
+
+    // 添加无人机标点
+    private Marker droneMarker = null;
+
+    private void addDroneMarker() {
+        // 添加无人机标点
+        MarkerOptions droneMarkerOption = new MarkerOptions();
+        droneMarker = aMap.addMarker(droneMarkerOption
+                .position(Current_latlng)
+                .draggable(false)
+                // 标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
+                // 备注
+                .title("无人机")
+                .snippet("距离：")
+        );
+        droneMarker.showInfoWindow();
+    }
+
+    // 移动无人机标点到传感器标点并显示平移动画
+    public static class SmoothMoveUtil {
+
+        private Marker droneMarker;
+        private LatLng startLatLng;
+        private LatLng endLatLng;
+        private long duration;
+
+        public SmoothMoveUtil(Marker marker) {
+            this.droneMarker = marker;
+        }
+        public void moveDroneMarker(LatLng sensorLatLng, long duration) {
+            if (droneMarker != null) {
+                startLatLng = droneMarker.getPosition();
+                endLatLng = sensorLatLng;
+                this.duration = duration;
+                // 开始动画
+                startSmoothMove();
+            }
+        }
+
+        private void startSmoothMove() {
+            LatLngInterpolator latLngInterpolator = new LatLngInterpolator.LinearFixed();
+            ValueAnimator valueAnimator = ValueAnimator.ofFloat(0, 1);
+            valueAnimator.setDuration(duration);
+            valueAnimator.setInterpolator(new LinearInterpolator());
+            valueAnimator.addUpdateListener(new ValueAnimator.AnimatorUpdateListener() {
+                @Override
+                public void onAnimationUpdate(ValueAnimator animation) {
+                    float fraction = animation.getAnimatedFraction();
+                    LatLng newPosition = latLngInterpolator.interpolate(fraction, startLatLng, endLatLng);
+                    droneMarker.setPosition(newPosition);
+                }
+            });
+            valueAnimator.addListener(new Animator.AnimatorListener() {
+                @Override
+                public void onAnimationStart(Animator animation) {
+                }
+
+                @Override
+                public void onAnimationEnd(Animator animation) {
+                    // 动画结束
+                    droneMarker.setPosition(endLatLng);
+                }
+
+                @Override
+                public void onAnimationCancel(Animator animation) {
+                }
+
+                @Override
+                public void onAnimationRepeat(Animator animation) {
+                }
+            });
+            valueAnimator.start();
+        }
+
+        // LatLng 插值器接口——算经纬度过渡用的
+        public interface LatLngInterpolator {
+            LatLng interpolate(float fraction, LatLng a, LatLng b);
+
+            class LinearFixed implements LatLngInterpolator {
+                @Override
+                public LatLng interpolate(float fraction, LatLng a, LatLng b) {
+                    double lat = (b.latitude - a.latitude) * fraction + a.latitude;
+                    double lngDelta = b.longitude - a.longitude;
+
+                    // 如果跨越了 180 度经度，则进行调整
+                    if (Math.abs(lngDelta) > 180) {
+                        lngDelta -= Math.signum(lngDelta) * 360;
+                    }
+
+                    double lng = lngDelta * fraction + a.longitude;
+                    return new LatLng(lat, lng);
+                }
+            }
+        }
+    }
+
     /**
      * 清空地图Marker
      * @param view
@@ -394,12 +518,21 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
         ClearMarker_btn.hide();
     }
 
+    public void moveDrone(){
+        SmoothMoveUtil moveUtil = new SmoothMoveUtil(droneMarker);
+        long time = (long) MonitorDistance/2*1000;
+        moveUtil.moveDroneMarker(Monitorlatlng,time);
+    }
+
     public void changeAct(View view) {
         udpReceiveThread.stopListening();
         Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+        Bundle b = new Bundle();
+        b.putString("Angle", MonitorAngle);
+        b.putFloat("Distance", MonitorDistance);
+        intent.putExtras(b);
         intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
         startActivity(intent);
-
     }
 
     /**
@@ -474,7 +607,7 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
             RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
             //显示解析后的地址
             showMsg("地址："+regeocodeAddress.getFormatAddress());
-        }else {
+        } else {
             showMsg("获取地址失败");
         }
     }
@@ -486,33 +619,35 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
 
     public class UdpReceiveThread extends Thread {
         private static final String TAG = "UdpReceiveThread";
-        private static final int RECEIVE_PORT = 9999;
+        private static final int mRECEIVE_PORT = RECEIVE_PORT;
         private boolean mRunning;
         private String mReceiveIp = Recieve_IP;
         private String mExpectedData = "Motion detected!";
-        private float mMonitorDistance = MonitorDistance;
+        private float udpMonitorDistance = MonitorDistance;
-        private String mMonitorAngle = MonitorAngle;
+        private String udpMonitorAngle = MonitorAngle;
 
         @Override
         public void run() {
             try {
-                DatagramSocket socket = new DatagramSocket(RECEIVE_PORT);
+                DatagramSocket socket = new DatagramSocket(mRECEIVE_PORT);
                 byte[] buffer = new byte[1024];
                 DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
                 while (mRunning) {
+                    Log.i(TAG, "run: 111111111111111111");
                     socket.receive(packet);
                     byte[] data = packet.getData();
                     String receivedString = new String(data, 0, packet.getLength());
                     Log.d(TAG, "Received data: " + receivedString);
                     if (receivedString.equals(mExpectedData)) {
-                        Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+                        Log.i(TAG, "run: 222222222222222222222222222");
-                        Bundle b = new Bundle();
+                        sendCommand("WARNING");
-                        b.putString("Angle", mMonitorAngle);
+                        Context context = MainActivity.this;
-                        b.putFloat("Distance", mMonitorDistance);
+                        showAlert(context,"传感器报警");
-                        intent.putExtras(b);
+                        addDroneMarker();
-                        intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
+                        moveDrone();
-                        startActivity(intent);
                         mRunning = false;
+
+
                     }
                 }
                 socket.close();
@@ -523,6 +658,16 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
                 e.printStackTrace();
             }
         }
+        public void showAlert(Context context, String message) {
+            AlertDialog.Builder builder = new AlertDialog.Builder(context);
+            builder.setTitle("警告");
+            builder.setMessage(message);
+            builder.setIcon(R.drawable.warning);
+            builder.setPositiveButton("确定", null);
+
+            AlertDialog dialog = builder.create();
+            dialog.show();
+        }
 
         public void startListening() {
             mRunning = true;
@@ -585,11 +730,48 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
                     angle = 90-angle;
                 } else if (subLat < 0) {
                     // 此时的点在中心点的左下角
-                    angle += 180;
+                    angle = 270-angle;
                 }
             }
         }
         return String.valueOf(angle);
     }
+    /*
+     *UDP发送线程
+     */
+    class SendRunnable implements Runnable {
+        byte[] mData;
+        InetAddress mAddress;
+        int mPort;
+
+        public SendRunnable(byte[] data, InetAddress address, int port) {
+            mData = data;
+            mAddress = address;
+            mPort = port;
+        }
+
+        @Override
+        public void run() {
+            try {
+                // 创建发送数据报文
+                DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
+                // 创建 DatagramSocket 对象并发送数据报文
+                DatagramSocket socket = new DatagramSocket();
+                socket.send(packet);
+
+                // 关闭 DatagramSocket 对象
+                socket.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+    //封装好的接口函数
+    private void sendCommand(String str) throws UnknownHostException {
+        byte[] sendData = str.getBytes();
+        InetAddress address = InetAddress.getByName(SEND_to_IP);
+        SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
+        mThreadPool.execute(sendRunnable1);
+    }
 
 }

src/sixaunyi/app/src/main/java/com/example/sixaunyi/SettingActivity.java

@@ -1,14 +1,181 @@
 package com.example.sixaunyi;
 
+import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
+
 import androidx.appcompat.app.AppCompatActivity;
 
+import android.content.Context;
+import android.content.Intent;
+import android.content.SharedPreferences;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.preference.PreferenceManager;
+import android.util.Log;
+import android.view.View;
+import android.widget.Button;
+import android.widget.CompoundButton;
+import android.widget.ImageButton;
+import android.widget.ImageView;
+import android.widget.SeekBar;
+import android.widget.Switch;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import java.io.ByteArrayInputStream;
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 public class SettingActivity extends AppCompatActivity {
 
+    private final static String SEND_to_IP = "192.168.39.47";
+    private SeekBar Speed_btn;
+    private Switch Battery_btn;
+    private ImageButton return_btn;
+    private final static int SEND_PORT = 8888;
+    private ExecutorService mThreadPool = Executors.newCachedThreadPool();
+    private Switch photo_btn;
+    private Context context;
+    private SharedPreferences sharedPreferences;
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_setting);
+        Speed_btn= findViewById(R.id.speed);
+        return_btn=findViewById(R.id.returns);
+        photo_btn = findViewById(R.id.photo);
+        Battery_btn = findViewById(R.id.Battery_warning);
+        TextView tvProgress = (TextView) findViewById(R.id.tvProgress);
+        sharedPreferences = getSharedPreferences("control_state", MODE_PRIVATE);
+        boolean photo_btn_state= sharedPreferences.getBoolean("photo_btn_state", false);
+        photo_btn.setChecked(photo_btn_state);
+        // 恢复SeekBar状态
+        int speedProgress = sharedPreferences.getInt("speed_progress", 0);
+        Speed_btn.setProgress(speedProgress);
+        tvProgress.setText(String.valueOf(speedProgress+10));
+        photo_btn.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+                // 保存Switch状态
+                SharedPreferences.Editor editor = sharedPreferences.edit();
+                editor.putBoolean("photo_btn_state", isChecked);
+                editor.apply();
+            }
+        });
+        Speed_btn.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tvProgress.setText(String.valueOf(progress+10));
+                int speed=progress+10;
+                String s = "SPEED " + Integer.toString(speed);
+                try {
+                    sendCommand(s);
+                } catch (UnknownHostException e) {
+                    e.printStackTrace();
+                }
+
+                SharedPreferences.Editor editor = sharedPreferences.edit();
+                editor.putInt("speed_progress", progress);
+                editor.apply();
+
+            }
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+
+        });
+        Battery_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if (Battery_btn.isChecked()) {
+                    try {
+                        sendCommand("battery_warning");
+                    } catch (UnknownHostException e) {
+                        e.printStackTrace();
+                    }
+                }else
+                {
+                    try {
+                        sendCommand("warning_cancel");
+                    } catch (UnknownHostException e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        });
+        return_btn.setOnClickListener(new View.OnClickListener(){
+            public void onClick(View v) {
+                Intent intent = new Intent(SettingActivity.this, VideoActivity.class);
+                // 启动目标 Activity
+                finish();
+            }
+        });
+        photo_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if (photo_btn.isChecked()) {
+                    try {
+                        sendCommand("photo_high");
+                    } catch (UnknownHostException e) {
+                        e.printStackTrace();
+                    }
+                }else
+                {
+                    try {
+                        sendCommand("photo_low");
+                    } catch (UnknownHostException e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        });
     }
+    /*
+     *   UDP数据发送线程
+     * */
+    class SendRunnable implements Runnable {
+        byte[] mData;
+        InetAddress mAddress;
+        int mPort;
+        public SendRunnable(byte[] data, InetAddress address, int port) {
+            mData = data;
+            mAddress = address;
+            mPort = port;
+        }
+
+        @Override
+        public void run() {
+            try {
+                // 创建发送数据报文
+                DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
+                // 创建 DatagramSocket 对象并发送数据报文
+                DatagramSocket socket = new DatagramSocket();
+                socket.send(packet);
+
+                // 关闭 DatagramSocket 对象
+                socket.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    /*封装函数*/
+    private void sendCommand(String str) throws UnknownHostException {
+        byte[] sendData = str.getBytes();
+        InetAddress address = InetAddress.getByName(SEND_to_IP);
+        SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
+        mThreadPool.execute(sendRunnable1);
+    }
+
+
 }

src/sixaunyi/app/src/main/java/com/example/sixaunyi/VideoActivity.java

@@ -20,12 +20,16 @@ import android.graphics.RectF;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
+import android.provider.ContactsContract;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
+import android.view.animation.AlphaAnimation;
+import android.view.animation.Animation;
 import android.widget.Button;
+import android.widget.CompoundButton;
 import android.widget.ImageButton;
 import android.widget.ImageView;
 import android.widget.TextView;
@@ -38,15 +42,17 @@ import java.net.DatagramPacket;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.*;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 import android.os.Bundle;
+import android.widget.ToggleButton;
 
 public class VideoActivity extends AppCompatActivity {
     private final static String SEND_to_IP = "192.168.39.47"; //填写接收方IP
     private final static String Recieve_IP = "192.168.39.47";//填服务器IP，与send_to_IP为同一个
     private final static int SEND_PORT = 8888;               //发送端口号
     private final static int RECEIVE_PORT = 9999;            //接收端口号
-
     private static boolean listenStatus = true;  //接收线程的循环标识
     private byte[] buf;
     static Bitmap bp;
@@ -68,9 +74,17 @@ public class VideoActivity extends AppCompatActivity {
     private ImageButton TurnRight_btn;
     private ImageButton Setting_btn;
     private ImageButton TakeOff_btn;
-    private Button Landing_btn;
+    private ImageButton Landing_btn;
-    private String angle;
+    private ToggleButton Mode_btn;
-    private float distance;
+    private String mangle;
+    private float mdistance;
+    // 创建一个可缓存的线程池
+    private ExecutorService mThreadPool = Executors.newCachedThreadPool();
+    private UdpDataThread warning_thread;
+    private TextView battery_warning;
+    //ReceiveData()显示到imageView
+    //manager部分：打开线程，接收
+    //model部分：发送视频流
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -84,27 +98,59 @@ public class VideoActivity extends AppCompatActivity {
         Down_btn = findViewById(R.id.down_button);
         Up_btn = findViewById(R.id.up_button);
         TurnLeft_btn = findViewById(R.id.rotate_left_button);
+        Landing_btn = findViewById(R.id.landing_button);
         TurnRight_btn = findViewById(R.id.rotate_right_button);
         TakeOff_btn = findViewById(R.id.takeoff_button);
+        Mode_btn = findViewById(R.id.toggleButton2);
+        Setting_btn = findViewById(R.id.setting_button);
+        battery_warning =findViewById(R.id.warning);
+        battery_warning.setTextColor(Color.RED);
+        Animation anim = new AlphaAnimation(0.0f, 1.0f);
+        anim.setDuration(500); // 闪烁时间间隔
+        anim.setStartOffset(20);
+        anim.setRepeatMode(Animation.REVERSE);
+        anim.setRepeatCount(Animation.INFINITE);
+        battery_warning.startAnimation(anim);
+        Intent i = getIntent();
+        mdistance = i.getFloatExtra("Distance",0);
+        mangle = i.getStringExtra("Angle");
+        warning_thread = new UdpDataThread();
+        warning_thread.start();
+        try {
+            Condition_Init();
+        } catch (UnknownHostException e) {
+            throw new RuntimeException(e);
+        }
+    }
+    private void Control_Button_Init(){
+
         TakeOff_btn.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
-                new UdpReceiveThread().start();
+                try {
-                Log.i(TAG, "onClick: BBBBBBBBackward");
+                    sendCommand("TAKEOFF");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: TTTTTTTTTTTTTTakeoff");
+            }
+        });
+        Landing_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("LAND");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: LLLLLLLLLLLLLLLLLLand");
             }
         });
-        Setting_btn = findViewById(R.id.setting_button);
-        Button_Init();
-        Intent i = getIntent();
-        distance = i.getFloatExtra("Distance",0);
-        angle = i.getStringExtra("Angle");
-    }
-    private void Button_Init(){
         Forward_btn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                try {
-                   InitUdpSend("FORWARD");
+                   sendCommand("FORWARD");
                } catch (UnknownHostException e) {
                    throw new RuntimeException(e);
                }
@@ -115,7 +161,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("BACKWORD");
+                    sendCommand("BACKWORD");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -126,7 +172,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("LEFT");
+                    sendCommand("LEFT");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -137,7 +183,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("RIGHT");
+                    sendCommand("RIGHT");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -148,7 +194,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("DOWN");
+                    sendCommand("DOWN");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -159,7 +205,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("UP");
+                    sendCommand("UP");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -170,7 +216,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("TURN_LEFT");
+                    sendCommand("TURN_LEFT");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -181,7 +227,7 @@ public class VideoActivity extends AppCompatActivity {
             @Override
             public void onClick(View v) {
                 try {
-                    InitUdpSend("TURN_RIGHT");
+                    sendCommand("TURN_RIGHT");
                 } catch (UnknownHostException e) {
                     throw new RuntimeException(e);
                 }
@@ -196,11 +242,59 @@ public class VideoActivity extends AppCompatActivity {
             }
         });
     }
+
+    private void Condition_Init() throws UnknownHostException {
+        sendCommand("AUTO");
+        ReceiveHandler receiveHandler = new ReceiveHandler();
+        UdpReceiveThread StreamThread = new UdpReceiveThread(Recieve_IP,RECEIVE_PORT,receiveHandler);
+        try {
+            StreamThread.startListen();
+            StreamThread.start();
+        } catch (SocketException | UnknownHostException e) {
+            e.printStackTrace();
+        }
+        Mode_btn.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+                if (isChecked) {
+                    // 执行功能2
+                    try {
+                        changetoManual();
+                        Control_Button_Init();
+                    } catch (UnknownHostException e) {
+                        throw new RuntimeException(e);
+                    }
+                } else {
+                    // 执行功能1
+                    try {
+                        changetoAuto();
+                    } catch (UnknownHostException e) {
+                        throw new RuntimeException(e);
+                    }
+                }
+            }
+        });
+    }
+
+    private void changetoAuto() throws UnknownHostException {
+        sendCommand("AUTO");
+    }
+
+    private void changetoManual() throws UnknownHostException {
+        sendCommand("STOP");
+    }
+
     class ReceiveHandler extends Handler{
         @Override
         public void handleMessage(Message msg) {
-            super.handleMessage(msg);
+            if (msg.what == 1) {
-            imgShow.setImageBitmap(bp);
+                runOnUiThread(new Runnable() {
+                    @Override
+                    public void run() {
+                        imgShow.setImageBitmap(bp);
+                    }
+                });
+            }
         }
     }
 
@@ -214,76 +308,141 @@ public class VideoActivity extends AppCompatActivity {
     /*
      *   UDP数据接受线程
      * */
-    public class UdpReceiveThread extends Thread
+    public class UdpReceiveThread extends Thread {
-    {
+        private DatagramSocket reveSocket;
+        private String Recieve_IP;
+        private int RECEIVE_PORT;
+        private Handler receiveHandler;
+
+        public UdpReceiveThread(String ip, int port, Handler handler) {
+            this.Recieve_IP = ip;
+            this.RECEIVE_PORT = port;
+            this.receiveHandler = handler;
+        }
+
+        public void startListen() throws SocketException, UnknownHostException {
+            reveSocket = new DatagramSocket(RECEIVE_PORT);
+        }
+
+        public void stopListen() {
+            if (reveSocket != null && !reveSocket.isClosed()) {
+                listenStatus = false;
+                //reveSocket.close();
+            }
+        }
+
         @Override
-        public void run()
+        public void run() {
-        {
+            try {
-            try
+                InetAddress serverAddr = InetAddress.getByName(Recieve_IP);
-            {
+
-                reveSocket = new DatagramSocket(RECEIVE_PORT);
+                while (listenStatus) {
-                serverAddr = InetAddress.getByName(Recieve_IP);
+                    byte[] inBuf = new byte[1024 * 1024];
-                //ByteArrayOutputStream out = new ByteArrayOutputStream();
+                    DatagramPacket inPacket = new DatagramPacket(inBuf, inBuf.length);
-                while(listenStatus)
-                {
-                    byte[] inBuf= new byte[1024*1024];
-                    DatagramPacket inPacket=new DatagramPacket(inBuf,inBuf.length);
-                    //out.write(inPacket.getData());
                     reveSocket.receive(inPacket);
-                    if(!inPacket.getAddress().equals(serverAddr)){
+                    if (!inPacket.getAddress().equals(serverAddr)) {
                         throw new IOException("未知名的报文");
                     }
-
                     ByteArrayInputStream in = new ByteArrayInputStream(inPacket.getData());
                     receiveHandler.sendEmptyMessage(1);
                     bp = BitmapFactory.decodeStream(in);
-
-
                 }
-            } catch (Exception e)
+            } catch (IOException e) {
-            {
                 e.printStackTrace();
-            }finally {
-//                reveSocket.close();
             }
         }
     }
 
     /*
-     *   UDP数据发送线程
+     *   UDP数据发送线程，Runnable方法
      * */
-    public static class UdpSendThread extends Thread {
+    class SendRunnable implements Runnable {
+        byte[] mData;
+        InetAddress mAddress;
+        int mPort;
+
+        public SendRunnable(byte[] data, InetAddress address, int port) {
+            mData = data;
+            mAddress = address;
+            mPort = port;
+        }
 
-        private InetAddress sendToIP;  // 目标 IP 地址
+        @Override
-        private int sendPort;  // 目标端口号
+        public void run() {
-        private byte[] sendData;  // 要发送的数据
+            try {
+                // 创建发送数据报文
+                DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
+                // 创建 DatagramSocket 对象并发送数据报文
+                DatagramSocket socket = new DatagramSocket();
+                socket.send(packet);
+
+                // 关闭 DatagramSocket 对象
+                socket.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    /*封装函数*/
+    private void sendCommand(String str) throws UnknownHostException {
+        byte[] sendData = str.getBytes();
+        InetAddress address = InetAddress.getByName(SEND_to_IP);
+        SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
+        mThreadPool.execute(sendRunnable1);
+    }
 
-        public UdpSendThread(InetAddress sendToIP, int sendPort, byte[] sendData) {
+    /*
-            this.sendToIP = sendToIP;
+    *UDP数据接收线程
-            this.sendPort = sendPort;
+     */
-            this.sendData = sendData;
+    public class UdpDataThread extends Thread {
+        private DatagramSocket socket;
+        private boolean running;
+        private byte[] buffer;
+        private static final int BUFFER_SIZE = 1024; // 设置接收缓冲区大小
+
+        public UdpDataThread() {
+            buffer = new byte[BUFFER_SIZE];
         }
 
         @Override
         public void run() {
+            running = true;
+
             try {
-                DatagramSocket sendSocket = new DatagramSocket();  // 创建一个新的 DatagramSocket 对象
+                socket = new DatagramSocket(6666); // 设置接收端口号
-                DatagramPacket sendPacket = new DatagramPacket(sendData, sendData.length, sendToIP, sendPort);  // 将要发送的数据打包成一个 DatagramPacket 对象
+                while (running) {
-                sendSocket.send(sendPacket);  // 发送 DatagramPacket
+                    DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
-                sendSocket.close();  // 发送完毕后关闭 DatagramSocket
+                    socket.receive(packet);
-            } catch (Exception e) {
+                    String receivedData = new String(packet.getData(), 0, packet.getLength());
+                    if (receivedData.equals("电量低于10%")) {
+                        battery_warning.setText(receivedData);}else{
+                        battery_warning.setText("");
+                    }
+                    System.out.println("接收到数据：" + receivedData);
+                    // 在这里处理收到的数据，可以根据实际需求进行解析或其他操作
+                }
+            } catch (IOException e) {
                 e.printStackTrace();
+            } finally {
+                if (socket != null) {
+                    socket.close();
+                }
             }
         }
+
+        public void stopThread() {
+            running = false;
+        }
     }
     //初始化UDP发送线程
-    private static void InitUdpSend(String Sendstr) throws UnknownHostException {
+//    private static void sendCommand(String Sendstr) throws UnknownHostException {
-        InetAddress sendIP = InetAddress.getByName(SEND_to_IP);  // 目标 IP 地址
+//        InetAddress sendIP = InetAddress.getByName(SEND_to_IP);  // 目标 IP 地址
-        int sendPort = 8888;  // 目标端口号
+//        int sendPort = 8888;  // 目标端口号
-        byte[] sendData = Sendstr.getBytes();  // 要发送的数据
+//        byte[] sendData = Sendstr.getBytes();  // 要发送的数据
-        UdpSendThread sendThread = new UdpSendThread(sendIP, sendPort, sendData);  // 创建新的线程对象
+//        UdpSendThread sendCommandThread = new UdpSendThread(sendIP, sendPort, sendData);  // 创建新的线程对象
-        sendThread.start();  // 启动线程发送数据
+//        sendCommandThread.start();  // 启动线程发送数据
-    }
+//    }
 
 
 
@@ -300,7 +459,7 @@ public class VideoActivity extends AppCompatActivity {
 //            public void onUnlock() {
 //                // 在用户滑动解锁后执行操作
 ////                try {
-////                    InitUdpSend("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
+////                    sendCommand("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
 ////                } catch (UnknownHostException e) {
 ////                    throw new RuntimeException(e);
 ////                }

src/sixaunyi/app/src/main/res/drawable/selector_toggle_background.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/auto" android:state_checked="false" /> <!-- 当未选中时的背景 -->
+    <item android:drawable="@drawable/manual" android:state_checked="true" /> <!-- 当选中时的背景 -->
+</selector>

src/sixaunyi/app/src/main/res/drawable/selector_toggle_icon.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/zidongkongzhi" android:state_checked="false" /> <!-- 当未选中时的图标 -->
+    <item android:drawable="@drawable/shoudong" android:state_checked="true" /> <!-- 当选中时的图标 -->
+</selector>

src/sixaunyi/app/src/main/res/drawable/txt_radiuborder.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <!-- 设置透明背景色 -->
+    <solid android:color="#80000000" />
+
+    <!-- 设置一个黑色边框 -->
+    <stroke
+        android:width="2px"
+        android:color="#000000" />
+    <!-- 设置四个圆角的半径 -->
+    <corners
+        android:bottomLeftRadius="10px"
+        android:bottomRightRadius="10px"
+        android:topLeftRadius="10px"
+        android:topRightRadius="10px" />
+    <!-- 设置一下边距,让空间大一点 -->
+    <padding
+        android:bottom="5dp"
+        android:left="5dp"
+        android:right="5dp"
+        android:top="5dp" />
+
+</shape>

src/sixaunyi/app/src/main/res/layout-land/activity_control.xml

@@ -199,11 +199,10 @@
             android:id="@+id/setting_button"
             android:layout_width="50dp"
             android:layout_height="50dp"
-            android:src="@drawable/setting"
             android:background="@null"
             android:contentDescription="@string/setting_button"
             android:scaleType="centerInside"
-            />
+            android:src="@drawable/setting" />
 
         <ImageButton
             android:id="@+id/start_record_button"
@@ -230,7 +229,32 @@
             />
 
     </LinearLayout>
+    <LinearLayout
+        android:id="@+id/top_right_buttons_layout"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:padding="10dp"
+        android:layout_gravity="right|top">
+
+        <ToggleButton
+            android:id="@+id/toggleButton2"
+            android:layout_width="50dp"
+            android:layout_height="50dp"
+            android:layout_weight="2"
+            android:background="@drawable/selector_toggle_icon"
+            android:text="ToggleButton"
+            android:textOff=""
+            android:textOn="" />
+    </LinearLayout>
 
+    <TextView
+        android:id="@+id/warning"
+        android:layout_width="131dp"
+        android:layout_height="40dp"
+        android:layout_marginTop="70dp"
+        android:text=""
+        android:textSize="22dp"/>
 </FrameLayout>
 
 

src/sixaunyi/app/src/main/res/layout/activity_login.xml

@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical"
+    android:background="@drawable/bg"
+    tools:context=".MainActivity">
+
+    <ImageView
+        android:layout_width="100dp"
+        android:layout_height="100dp"
+        android:background="@drawable/android"
+        android:layout_marginTop="200dp"
+        android:layout_gravity="center"/>
+    <EditText
+        android:id="@+id/username"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:hint="账号："
+        android:layout_marginTop="30dp"
+        android:layout_marginLeft="30dp"
+        android:layout_marginRight="30dp"/>
+    <EditText
+        android:id="@+id/password"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:hint="密码："
+        android:layout_marginTop="10dp"
+        android:layout_marginLeft="30dp"
+        android:layout_marginRight="30dp"/>
+    <CheckBox
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="记住密码"
+        android:layout_marginLeft="280dp"/>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="vertical">
+
+        <Button
+            android:id="@+id/login"
+            android:layout_width="100dp"
+            android:layout_height="57dp"
+            android:gravity="center"
+            android:layout_gravity="center_horizontal"
+            android:text="登录" />
+
+    </LinearLayout>
+
+
+</LinearLayout>

src/sixaunyi/app/src/main/res/layout/activity_main.xml

@@ -22,7 +22,7 @@
         android:layout_alignParentBottom="true"
         android:layout_margin="20dp"
         android:clickable="true"
-
+        android:onClick="moveDrone"
         android:src="@drawable/icon_favorite_red"
         android:visibility="gone"
         app:backgroundTint="#FFF"

src/sixaunyi/app/src/main/res/layout/activity_setting.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_width="match_parent"
     android:layout_height="match_parent">
 
@@ -16,34 +17,67 @@
         android:background="#80FFFFFF"
         android:orientation="vertical"
         android:padding="16dp">
+        <ImageButton
+            android:id="@+id/returns"
+            android:layout_width="70dp"
+            android:layout_height="70dp"
+            android:layout_gravity="bottom"
+            android:background="#00000000"
+            android:scaleType="centerInside"
+            app:srcCompat="@drawable/returns" />
 
         <Switch
-            android:id="@+id/switch1"
+            android:id="@+id/Battery_warning"
             android:layout_width="match_parent"
             android:layout_height="50dp"
-            android:text="飞行速度（高）"
+            android:text="电量预警"
-            android:textSize="28dp" />
+            android:textColor="@color/white"
+            android:textSize="28dp"
+            android:background="@drawable/txt_radiuborder"/>
 
         <Switch
-            android:id="@+id/switch2"
+            android:id="@+id/photo"
             android:layout_width="match_parent"
             android:layout_height="50dp"
-            android:layout_marginTop="20dp"
+            android:layout_marginTop="10dp"
             android:text="图像高画质"
-            android:textSize="28dp" />
+            android:textSize="28dp"
+            android:textColor="@color/white"
+            android:background="@drawable/txt_radiuborder"/>
 
-        <TextView
+        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="20dp"
-            android:text="低电量预警"
-            android:textSize="28dp" />
-
-        <SeekBar
-            android:id="@+id/seekBar"
             android:layout_width="match_parent"
             android:layout_height="50dp"
-            android:layout_marginTop="16dp"
+            android:layout_marginTop="10dp"
-            android:thumbTint='@color/teal_200' />
+            android:orientation="horizontal"
+            android:background="@drawable/txt_radiuborder">
+
+            <TextView
+                android:layout_width="150dp"
+                android:layout_height="50dp"
+                android:text="飞行速度"
+                android:textColor="@color/white"
+                android:textSize="28dp" />
+
+            <SeekBar
+                android:id="@+id/speed"
+                android:layout_width="180dp"
+                android:layout_height="50dp"
+                android:max="90"
+                android:progress="0"
+                android:thumbTint='@color/teal_200' />
+
+            <TextView
+                android:id="@+id/tvProgress"
+                android:layout_width="77dp"
+                android:layout_height="30dp"
+                android:text="10"
+                android:textColor="@color/white"
+                android:textSize="18dp" />
+
+        </LinearLayout>
+
+
+
     </LinearLayout>
 </FrameLayout>

src/sixaunyi/app/src/main/res/values/transparent.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <style name="TransparentTheme" parent="Theme.AppCompat.Light.NoActionBar">
+    <item name="android:windowBackground">#00000000</item>
+    <item name="android:windowIsTranslucent">true</item>
+    <item name="android:windowContentOverlay">@null</item>
+    <item name="android:colorBackgroundCacheHint">@null</item>
+    <item name="android:windowAnimationStyle">@android:style/Animation</item>
+    </style>
+</resources>