整合代码，文档

src/Monitor/test_udp.ino

@@ -0,0 +1,64 @@
+#include <ESP8266WiFi.h>
+#include <WiFiUdp.h>
+
+const char* ssid     = "xiu"; // 请替换成您的WiFi热点名称（SSID）
+const char* password = "12345678"; // 请替换成您的WiFi热点密码
+
+const char* host = "192.168.39.219"; // 请替换成您的服务端IP地址
+const uint16_t port = 9975; // 请替换成您的服务端监听端口号
+
+int pirPin = 13; //out引脚接到GPIO_13
+bool motionDetected = false; // 初始状态设定为没有检测到人
+unsigned long motionDetectedTimestamp = 0; // 记录最近一次检测到人的时间戳
+unsigned long motionThreshold = 3000; // 设置人体运动持续时间阈值为3秒
+
+WiFiUDP udp;
+
+void setup() {
+  pinMode(pirPin, INPUT);
+  Serial.begin(115200);
+  WiFi.mode(WIFI_STA);
+  //连接wifi
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(1000);
+    Serial.println("Connecting to WiFi...");
+  }
+  Serial.println("Connected to WiFi");
+  Serial.println(WiFi.localIP());
+  udp.begin(8888);
+}
+
+void loop() {
+  bool currentMotionState = digitalRead(pirPin); // 读取HCSR-501输出引脚的状态
+  if (currentMotionState == HIGH) { // 如果检测到人
+    
+      //motionDetected = true;
+      //motionDetectedTimestamp = millis(); // 记录最近一次检测到人的时间戳
+      // 发送消息到服务端
+      udp.beginPacket(host, port);
+      udp.write("Motion detected!");
+      udp.endPacket();
+      Serial.println("Motion detected!"); // 在串口打印检测到信息
+    
+  } else if (motionDetected && (millis() - motionDetectedTimestamp > motionThreshold)) {
+    // 如果当前没有检测到人，并且已经超过了阈值时间，重置状态
+    motionDetected = false;
+    motionDetectedTimestamp = 0;
+    Serial.println("Motion disapper");
+  }
+
+  // 接收服务端的回复
+  /*
+  int packetSize = udp.parsePacket();
+  if (packetSize) {
+    String response = "";
+    while (udp.available()) {
+      response += (char) udp.read();
+    }
+    Serial.println("Response received: " + response);
+  }*/
+
+  // 每隔1秒钟执行一次循环
+  delay(1000);  
+}

src/sixaunyi/.idea/deploymentTargetDropDown.xml

@@ -1,17 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="deploymentTargetDropDown">
-    <targetSelectedWithDropDown>
+    <runningDeviceTargetSelectedWithDropDown>
       <Target>
-        <type value="QUICK_BOOT_TARGET" />
+        <type value="RUNNING_DEVICE_TARGET" />
         <deviceKey>
           <Key>
-            <type value="VIRTUAL_DEVICE_PATH" />
+            <type value="SERIAL_NUMBER" />
-            <value value="C:\Users\zqy04\.android\avd\Pixel_XL_API_31.avd" />
+            <value value="W3VBB21918206146" />
           </Key>
         </deviceKey>
       </Target>
-    </targetSelectedWithDropDown>
+    </runningDeviceTargetSelectedWithDropDown>
-    <timeTargetWasSelectedWithDropDown value="2023-06-25T00:54:24.006491100Z" />
+    <timeTargetWasSelectedWithDropDown value="2023-06-28T03:24:01.996639400Z" />
   </component>
 </project>

src/sixaunyi/.idea/sonarlint/issuestore/0/3/0336633037f72ee431c162e8d6cbc29d1cd6fa5d

@@ -1,5 +0,0 @@
-
-C
-java:S1604"(Make this anonymous inner class a lambda(ìäÔéùÿÿÿÿ

-P
-java:S1161":Add the "@Override" annotation above this method signature(¼²Á÷

src/sixaunyi/.idea/sonarlint/issuestore/1/2/12963d86ac5c2888cc2a9ae459de5665bc06b01f

@@ -1,5 +0,0 @@
-
->
-java:S1604"(Make this anonymous inner class a lambda(ʆ<C38A>õ

-P
-java:S1161":Add the "@Override" annotation above this method signature(¼²Á÷

src/sixaunyi/.idea/sonarlint/issuestore/index.pb

@@ -9,11 +9,7 @@ A
 gradle.properties,2\a\2afbb999f001938c88fa43fc2ef52abf0f8213e4
 k
 ;app/src/test/java/com/example/sixaunyi/ExampleUnitTest.java,8\9\892f839083a73d776402535dde27e522288853c9
-i
-9app/src/main/java/com/example/sixaunyi/FirstFragment.java,0\3\0336633037f72ee431c162e8d6cbc29d1cd6fa5d
 ?
 settings.gradle,0\5\05efc8b1657769a27696d478ded1e95f38737233
-j
+@
-:app/src/main/java/com/example/sixaunyi/SecondFragment.java,1\2\12963d86ac5c2888cc2a9ae459de5665bc06b01f
+app/build.gradle,f\4\f4a01d6a4fcb971362ec00a83903fd3902f52164
-j
-:app/src/main/java/com/example/sixaunyi/MapApplication.java,7\7\776a4b5f215e52628a4164ac15ef90fa338360ce

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

@@ -18,9 +18,9 @@
         android:allowBackup="true"
         android:dataExtractionRules="@xml/data_extraction_rules"
         android:fullBackupContent="@xml/backup_rules"
-        android:icon="@mipmap/ic_launcher"
+        android:icon="@drawable/app"
-        android:label="@string/app_name"
+        android:label="哨兵"
-        android:roundIcon="@mipmap/ic_launcher_round"
+        android:roundIcon="@drawable/app"
         android:supportsRtl="true"
         android:theme="@style/Theme.Sixaunyi.NoActionBar"
         tools:targetApi="31">

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

@@ -13,6 +13,7 @@ import android.content.Context;
 import android.Manifest;
 import android.annotation.SuppressLint;
 import android.content.Intent;
+import android.graphics.Bitmap;
 import android.graphics.BitmapFactory;
 import android.location.Location;
 import android.nfc.Tag;
@@ -108,10 +109,11 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
     //private ActivityResultLauncher<Intent> launcher;
 
     ////////////////////////////可修改部分/////////////////////////////
-    private final LatLng Monitorlatlng = new LatLng(28.258348849051746,113.04552182879037);
+    private final LatLng Monitorlatlng = new LatLng(28.257553,113.0417);
+
     private final static String Recieve_IP = "192.168.39.46";
-    private final static int RECEIVE_PORT = 9987;
+    private final static int RECEIVE_PORT = 9975;
-    private final static String SEND_to_IP = "192.168.39.47";
+    private final static String SEND_to_IP = "192.168.39.195";
     private final static int SEND_PORT = 8888;
     /////////////////////////////////////////////////////////////////
     private InetAddress serverAddr;
@@ -126,6 +128,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_main);
+
         if (savedInstanceState != null) {
             // 从保存的状态数据中恢复状态
             value = savedInstanceState.getString("key");
@@ -145,9 +148,10 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
         //检查安卓版本
         checkingAndroidVersion();
 
-        udpReceiveThread = new UdpReceiveThread();
+
-        udpReceiveThread.startListening();
         addSensorMarker(Monitorlatlng);
+
+
     }
     /**
      * 检查Android版本
@@ -248,7 +252,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
         // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
         aMap.setMyLocationEnabled(true);
         //设置最小缩放等级为16 ，缩放级别范围为[3, 20]
-        aMap.setMinZoomLevel(18);
+        aMap.setMinZoomLevel(14);
         //设置地图标志点击事件
         aMap.setOnMarkerClickListener(this);
         //设置地图标志拖拽事件
@@ -302,7 +306,10 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                 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);
+                Log.i(TAG, String.valueOf(Current_latlng.longitude));
+                Log.i(TAG, String.valueOf(Current_latlng.latitude));
+//
                 //获取纬度
                 double latitude = aMapLocation.getLatitude();
                 //获取经度
@@ -310,6 +317,8 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
 
                 Log.d("MainActivity", aMapLocation.getCity());
                 showMsg(address);
+                udpReceiveThread = new UdpReceiveThread();
+                udpReceiveThread.startListening();
                 //停止定位后，本地定位服务并不会被销毁
                 mLocationClient.stopLocation();
                 if (mListener != null) {
@@ -391,7 +400,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                 .draggable(true)
                 //标点图标
                 .icon(BitmapDescriptorFactory.
-                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.weizhi)))
                 //备注
                 .title("路径点")
                 .snippet("距离：")
@@ -435,7 +444,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                         fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
                 // 备注
                 .title("无人机")
-                .snippet("距离：")
+                
         );
         droneMarker.showInfoWindow();
     }
@@ -631,14 +640,32 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
 
     }
 
+    class ReceiveHandler extends Handler{
+        @Override
+        public void handleMessage(Message msg) {
+            if (msg.what == 1) {
+                runOnUiThread(new Runnable() {
+                    @Override
+                    public void run() {
+                        Context context = MainActivity.this;
+                        showAlert(context,"传感器报警");
+                        addDroneMarker();
+                        moveDrone();
+                    }
+                });
+            }
+        }
+    }
+
     public class UdpReceiveThread extends Thread {
         private static final String TAG = "UdpReceiveThread";
         private static final int mRECEIVE_PORT = RECEIVE_PORT;
-        private boolean mRunning;
+        private boolean mRunning = true;
         private String mReceiveIp = Recieve_IP;
         private String mExpectedData = "Motion detected!";
         private float udpMonitorDistance = MonitorDistance;
         private String udpMonitorAngle = MonitorAngle;
+        private Handler receiveHandler = new ReceiveHandler();
 
         @Override
         public void run() {
@@ -654,11 +681,9 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                     Log.d(TAG, "Received data: " + receivedString);
                     if (receivedString.equals(mExpectedData)) {
                         Log.i(TAG, "run: 222222222222222222222222222");
+                        receiveHandler.sendEmptyMessage(1);
                         sendCommand("WARNING "+String.valueOf(udpMonitorDistance)+" "+udpMonitorAngle);
-                        Context context = MainActivity.this;
+
-                        showAlert(context,"传感器报警");
-                        addDroneMarker();
-                        moveDrone();
                         mRunning = false;
 
 
@@ -672,17 +697,6 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                 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;
             start();
@@ -693,6 +707,17 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
         }
     }
 
+    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();
+    }
+
     //以北为0度
     public static String calcAngle(Double centerLat, Double centerLon, Double anotherLat, Double anotherLon) {
         //差值

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

@@ -37,13 +37,15 @@ 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 SeekBar 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;
+    private TextView tvProgress;
+    private TextView Battery_warning;
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -51,8 +53,9 @@ public class SettingActivity extends AppCompatActivity {
         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);
+        Battery_btn = findViewById(R.id.warning_num);
-        TextView tvProgress = (TextView) findViewById(R.id.tvProgress);
+        tvProgress = findViewById(R.id.tvProgress);
+        Battery_warning=findViewById(R.id.Battery_warning);
         sharedPreferences = getSharedPreferences("control_state", MODE_PRIVATE);
         boolean photo_btn_state= sharedPreferences.getBoolean("photo_btn_state", false);
         photo_btn.setChecked(photo_btn_state);
@@ -60,6 +63,9 @@ public class SettingActivity extends AppCompatActivity {
         int speedProgress = sharedPreferences.getInt("speed_progress", 0);
         Speed_btn.setProgress(speedProgress);
         tvProgress.setText(String.valueOf(speedProgress+10));
+        int warning_num= sharedPreferences.getInt("battery_num", 0);
+        Battery_btn.setProgress(warning_num);
+        Battery_warning.setText(String.valueOf(warning_num));
         photo_btn.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
             @Override
             public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
@@ -80,11 +86,9 @@ public class SettingActivity extends AppCompatActivity {
                 } catch (UnknownHostException e) {
                     e.printStackTrace();
                 }
-
                 SharedPreferences.Editor editor = sharedPreferences.edit();
                 editor.putInt("speed_progress", progress);
                 editor.apply();
-
             }
             @Override
             public void onStartTrackingTouch(SeekBar seekBar) {}
@@ -93,30 +97,25 @@ public class SettingActivity extends AppCompatActivity {
             public void onStopTrackingTouch(SeekBar seekBar) {}
 
         });
-        Battery_btn.setOnClickListener(new View.OnClickListener() {
+        Battery_btn.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
             @Override
-            public void onClick(View v) {
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-                if (Battery_btn.isChecked()) {
+                Battery_warning.setText(String.valueOf(progress));
-                    try {
+                SharedPreferences.Editor editor = sharedPreferences.edit();
-                        sendCommand("battery_warning");
+                editor.putInt("battery_num", progress);
-                    } catch (UnknownHostException e) {
+                editor.apply();
-                        e.printStackTrace();
-                    }
-                }else
-                {
-                    try {
-                        sendCommand("warning_cancel");
-                    } catch (UnknownHostException e) {
-                        e.printStackTrace();
-                    }
-                }
             }
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+
         });
         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();
+                passingParameters();
             }
         });
         photo_btn.setOnClickListener(new View.OnClickListener() {
@@ -124,14 +123,14 @@ public class SettingActivity extends AppCompatActivity {
             public void onClick(View v) {
                 if (photo_btn.isChecked()) {
                     try {
-                        sendCommand("photo_high");
+                        sendCommand("PHOTO_HIGH");
                     } catch (UnknownHostException e) {
                         e.printStackTrace();
                     }
                 }else
                 {
                     try {
-                        sendCommand("photo_low");
+                        sendCommand("PHOTO_LOW");
                     } catch (UnknownHostException e) {
                         e.printStackTrace();
                     }
@@ -177,5 +176,19 @@ public class SettingActivity extends AppCompatActivity {
         mThreadPool.execute(sendRunnable1);
     }
 
+    @Override
+    public void onBackPressed() {
+        // 在这里处理返回事件的逻辑
+        super.onBackPressed(); // 调用父类的方法，执行默认的返回操作
+        passingParameters();
+    }
 
+    private void passingParameters(){
+        int warning_num= sharedPreferences.getInt("battery_num", 0);
+        Log.i(TAG, "111111111111111111111"+String.valueOf(warning_num));
+        Intent intent = new Intent(SettingActivity.this,VideoActivity.class);
+        intent.putExtra("BATTERY_NUM", warning_num); // 设置要传递的参数
+        setResult(RESULT_OK, intent);
+        finish();
+    }
 }

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

@@ -64,8 +64,8 @@ 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 SEND_to_IP = "192.168.39.195"; //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 String Recieve_IP = "192.168.39.195";//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

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

@@ -26,14 +26,37 @@
             android:scaleType="centerInside"
             app:srcCompat="@drawable/returns" />
 
-        <Switch
+        <LinearLayout
-            android:id="@+id/Battery_warning"
             android:layout_width="match_parent"
             android:layout_height="50dp"
-            android:text="电量预警"
+            android:layout_marginTop="10dp"
-            android:textColor="@color/white"
+            android:orientation="horizontal"
-            android:textSize="28dp"
+            android:background="@drawable/txt_radiuborder">
-            android:background="@drawable/txt_radiuborder"/>
+
+            <TextView
+                android:layout_width="150dp"
+                android:layout_height="50dp"
+                android:text="电量预警"
+                android:textColor="@color/white"
+                android:textSize="28dp" />
+
+            <SeekBar
+                android:id="@+id/warning_num"
+                android:layout_width="180dp"
+                android:layout_height="50dp"
+                android:max="100"
+                android:progress="0"
+                android:thumbTint='@color/teal_200' />
+
+            <TextView
+                android:id="@+id/Battery_warning"
+                android:layout_width="77dp"
+                android:layout_height="30dp"
+                android:text="0"
+                android:textColor="@color/white"
+                android:textSize="18dp" />
+
+        </LinearLayout>
 
         <Switch
             android:id="@+id/photo"