merge

src/readme.md

@@ -0,0 +1 @@
+srouce code

src/sixaunyi/.idea/deploymentTargetDropDown.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="deploymentTargetDropDown">
+    <targetSelectedWithDropDown>
+      <Target>
+        <type value="QUICK_BOOT_TARGET" />
+        <deviceKey>
+          <Key>
+            <type value="VIRTUAL_DEVICE_PATH" />
+            <value value="C:\Users\zqy04\.android\avd\Pixel_XL_API_31.avd" />
+          </Key>
+        </deviceKey>
+      </Target>
+    </targetSelectedWithDropDown>
+    <timeTargetWasSelectedWithDropDown value="2023-06-25T00:54:24.006491100Z" />
+  </component>
+</project>

src/sixaunyi/.idea/sonarlint/issuestore/9/6/9668392b13e33166876f2a7d3f10eb5405e757ad

@@ -0,0 +1,33 @@
+
+o
+java:S2293Z"YReplace the type specification in this constructor call with the diamond operator ("<>").(œœÕ¼
+K
+java:S1066<18>
"/Merge this if statement with the enclosing one.(¦­Üˆûÿÿÿÿ

+K
+java:S1066‘
"/Merge this if statement with the enclosing one.(þÆÅ÷üÿÿÿÿ

+>
+java:S1604„
"(Make this anonymous inner class a lambda(ô§ê
+i
+java:S1104%"SMake TV_show a static final constant or non-public and provide accessors if needed.(úÀŸõ
+>
+java:S2189‡
""Add an end condition to this loop.(˜ïˆžÿÿÿÿÿ

+>
+java:S2189±
""Add an end condition to this loop.(˜ïˆžÿÿÿÿÿ

+k	java:S116!"VRename this field "receive_Msg" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(ŒßÙú
+g	java:S116%"RRename this field "TV_show" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(úÀŸõ
+^
+java:S1659#"CDeclare "total1" and all following declarations on a separate line.(Æ‘ç¡üÿÿÿÿ

+c	java:S100<"NRename this method name to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(Íš“è
+h
+java:S3776~"RRefactor this method to reduce its Cognitive Complexity from 50 to the 15 allowed.(“–ýþ
+u
+java:S2142Œ
"^Either re-interrupt this method or rethrow the "InterruptedException" that can be caught here.(‘<>í†
+W	java:S125•
"<This block of commented-out lines of code should be removed.(‹ãà‘úÿÿÿÿ

+R	java:S125–
"<This block of commented-out lines of code should be removed.(çÓ®Ë
+U
+java:S1155·
">Use isEmpty() to check whether the collection is empty or not.(†”“”
+u
+java:S2142È
"^Either re-interrupt this method or rethrow the "InterruptedException" that can be caught here.(ä ¹€
+V	java:S106Õ
"9Replace this use of System.out or System.err by a logger.(ŒŸÍÞ8‹¬ª<C2AC>‰1
+A
+java:S1068$"+Remove this unused "button0" private field.(Îÿæ¡

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

@@ -13,17 +13,11 @@ i
 9app/src/main/java/com/example/sixaunyi/FirstFragment.java,0\3\0336633037f72ee431c162e8d6cbc29d1cd6fa5d
 ?
 settings.gradle,0\5\05efc8b1657769a27696d478ded1e95f38737233
-@
-app/build.gradle,f\4\f4a01d6a4fcb971362ec00a83903fd3902f52164
-k
-;app/src/main/java/com/example/sixaunyi/ControlActivity.java,c\9\c99a584c2117ed2df42496451bb97ac1147f5ea0
 j
 :app/src/main/java/com/example/sixaunyi/SecondFragment.java,1\2\12963d86ac5c2888cc2a9ae459de5665bc06b01f
+j
+:app/src/main/java/com/example/sixaunyi/MapApplication.java,7\7\776a4b5f215e52628a4164ac15ef90fa338360ce
+j
+:app/src/main/java/com/example/sixaunyi/DetectActivity.java,9\6\9668392b13e33166876f2a7d3f10eb5405e757ad
 k
-;app/src/main/java/com/example/sixaunyi/SettingActivity.java,2\a\2ab0711d9aa5839cecbb6cf0ed96f5a3f6470de5
+;app/src/main/java/com/example/sixaunyi/ControlActivity.java,c\9\c99a584c2117ed2df42496451bb97ac1147f5ea0
-i
-9app/src/main/java/com/example/sixaunyi/VideoActivity.java,7\1\71fd1993763df2214bbdad8cfee650733993fe44
-P
- app/src/main/AndroidManifest.xml,8\c\8c55c3ccc257e5907959013f99656e4c8ec3903e
-h
-8app/src/main/java/com/example/sixaunyi/MainActivity.java,7\c\7c120b7216f76ce98d1573d90803ab36f481640c

src/sixaunyi/app/build.gradle

@@ -46,6 +46,7 @@ dependencies {
     implementation 'pub.devrel:easypermissions:3.0.0'
     //Material库
     implementation 'com.google.android.material:material:1.6.1'
+    implementation 'androidx.media:media:1.3.0'
 
 
     //定位功能

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

@@ -51,6 +51,7 @@
         <activity
             android:name=".MainActivity"
             android:exported="true"
+            android:launchMode="singleInstance"
             android:label="@string/app_name"
             android:theme="@style/Theme.AppCompat">
         </activity>

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

@@ -1,8 +1,12 @@
 package com.example.sixaunyi;
 import android.app.Activity;
+import android.content.Context;
 import android.content.Intent;
+import android.content.SharedPreferences;
 import android.os.Bundle;
 import android.widget.Button;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
 import android.widget.EditText;
 import android.widget.Toast;
 import androidx.appcompat.app.AppCompatActivity;
@@ -14,6 +18,8 @@ public class LoginActivity extends AppCompatActivity {
     private EditText mUsername;
     private EditText mPassword;
     private Button mLoginButton;
+    private CheckBox Account_remember;
+    private SharedPreferences sharedPreferences;
     private Map<String, String> mUsers = new HashMap<>();
     {
         mUsers.put("admin", "123456");
@@ -28,6 +34,14 @@ public class LoginActivity extends AppCompatActivity {
         mUsername = findViewById(R.id.username);
         mPassword = findViewById(R.id.password);
         mLoginButton = findViewById(R.id.login);
+        Account_remember = findViewById(R.id.remember_check);
+        sharedPreferences = getSharedPreferences("account", Context.MODE_PRIVATE);
+        String username = sharedPreferences.getString("username", "");
+        String password =sharedPreferences.getString("password", "");
+        boolean isChecked = sharedPreferences.getBoolean("checkbox_state", false);
+        mUsername.setText(username);
+        mPassword.setText(password);
+        Account_remember.setChecked(isChecked);
         // 设置登录按钮的点击事件
         mLoginButton.setOnClickListener(v -> {
             attemptLogin();
@@ -38,15 +52,23 @@ public class LoginActivity extends AppCompatActivity {
         String password = mPassword.getText().toString();
         boolean if_correct = verifyUser(username,password);
         if (if_correct) {
+            SharedPreferences.Editor editor = sharedPreferences.edit();
+            editor.putString("username", username);
+            editor.putBoolean("checkbox_state", Account_remember.isChecked());
+            editor.apply();
+            if (Account_remember.isChecked()){
+                editor.putString("password", password);
+            }else{
+                editor.putString("password", "");
+            }
+            editor.apply();
             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;

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

@@ -527,6 +527,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
     public void changeAct(View view) {
         udpReceiveThread.stopListening();
         Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+        intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK | Intent.FLAG_ACTIVITY_CLEAR_TOP);
         Bundle b = new Bundle();
         b.putString("Angle", MonitorAngle);
         b.putFloat("Distance", MonitorDistance);
@@ -640,7 +641,7 @@ public  class MainActivity extends AppCompatActivity implements AMapLocationList
                     Log.d(TAG, "Received data: " + receivedString);
                     if (receivedString.equals(mExpectedData)) {
                         Log.i(TAG, "run: 222222222222222222222222222");
-                        sendCommand("WARNING");
+                        sendCommand("WARNING "+String.valueOf(udpMonitorDistance)+" "+udpMonitorAngle);
                         Context context = MainActivity.this;
                         showAlert(context,"传感器报警");
                         addDroneMarker();

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

@@ -17,13 +17,21 @@ import android.graphics.Color;
 import android.graphics.Paint;
 import android.graphics.Path;
 import android.graphics.RectF;
+import android.media.MediaCodec;
+import android.media.MediaCodecInfo;
+import android.media.MediaCodecList;
+import android.media.MediaFormat;
+import android.media.MediaScannerConnection;
 import android.os.Bundle;
+import android.os.Environment;
 import android.os.Handler;
 import android.os.Message;
 import android.provider.ContactsContract;
 import android.util.AttributeSet;
 import android.util.Log;
+import android.view.LayoutInflater;
 import android.view.MotionEvent;
+import android.view.Surface;
 import android.view.View;
 import android.view.ViewGroup;
 import android.view.animation.AlphaAnimation;
@@ -35,19 +43,26 @@ import android.widget.ImageView;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.io.BufferedOutputStream;
 import java.io.ByteArrayInputStream;
 import java.io.ByteArrayOutputStream;
+import java.io.File;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.*;
+import java.nio.ByteBuffer;
 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
@@ -75,13 +90,19 @@ public class VideoActivity extends AppCompatActivity {
     private ImageButton Setting_btn;
     private ImageButton TakeOff_btn;
     private ImageButton Landing_btn;
+    private ImageButton Record_btn;
     private ToggleButton Mode_btn;
+    private ImageButton selfHome_btn;
     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;
+    private ImageButton show_status;
+    private String batteryStatus="未获取";
+    private String speedStatus="未获取";
+    private String distanceStatus="未获取";
     //ReceiveData()显示到imageView
     //manager部分：打开线程，接收
     //model部分：发送视频流
@@ -102,8 +123,28 @@ public class VideoActivity extends AppCompatActivity {
         TurnRight_btn = findViewById(R.id.rotate_right_button);
         TakeOff_btn = findViewById(R.id.takeoff_button);
         Mode_btn = findViewById(R.id.toggleButton2);
+        Record_btn = findViewById(R.id.start_record_button);
         Setting_btn = findViewById(R.id.setting_button);
+        Setting_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                Intent intent = new Intent(VideoActivity.this, SettingActivity.class);
+                startActivity(intent);
+            }
+        });
+        selfHome_btn = findViewById(R.id.self_home);
+        selfHome_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                try {
+                    sendCommand("DIRECTHOME");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        });
         battery_warning =findViewById(R.id.warning);
+        show_status=findViewById(R.id.show_status_button);
         battery_warning.setTextColor(Color.RED);
         Animation anim = new AlphaAnimation(0.0f, 1.0f);
         anim.setDuration(500); // 闪烁时间间隔
@@ -121,6 +162,13 @@ public class VideoActivity extends AppCompatActivity {
         } catch (UnknownHostException e) {
             throw new RuntimeException(e);
         }
+        show_status.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                // 在这里编写 ImageButton 的点击事件处理逻辑
+                showPopup(speedStatus,batteryStatus,distanceStatus);
+            }
+        });
     }
     private void Control_Button_Init(){
 
@@ -147,16 +195,16 @@ public class VideoActivity extends AppCompatActivity {
             }
         });
         Forward_btn.setOnClickListener(new View.OnClickListener() {
-           @Override
+            @Override
-           public void onClick(View v) {
+            public void onClick(View v) {
-               try {
+                try {
-                   sendCommand("FORWARD");
+                    sendCommand("FORWARD");
-               } catch (UnknownHostException e) {
+                } catch (UnknownHostException e) {
-                   throw new RuntimeException(e);
+                    throw new RuntimeException(e);
-               }
+                }
-               Log.i(TAG, "onClick: FFFFFFFForward");
+                Log.i(TAG, "onClick: FFFFFFFForward");
-           }
+            }
-       });
+        });
         Back_btn.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
@@ -234,17 +282,10 @@ public class VideoActivity extends AppCompatActivity {
                 Log.i(TAG, "onClick: TTTTTTTTTTTTurnRRRRRRRRRRight");
             }
         });
-        Setting_btn.setOnClickListener(new View.OnClickListener() {
+
-            @Override
-            public void onClick(View v) {
-                Intent intent = new Intent(VideoActivity.this, SettingActivity.class);
-                startActivity(intent);
-            }
-        });
     }
 
     private void Condition_Init() throws UnknownHostException {
-        sendCommand("AUTO");
         ReceiveHandler receiveHandler = new ReceiveHandler();
         UdpReceiveThread StreamThread = new UdpReceiveThread(Recieve_IP,RECEIVE_PORT,receiveHandler);
         try {
@@ -266,19 +307,22 @@ public class VideoActivity extends AppCompatActivity {
                     }
                 } else {
                     // 执行功能1
-                    try {
+//                    try {
-                        changetoAuto();
+//                        changetoAuto();
-                    } catch (UnknownHostException e) {
+//                    } catch (UnknownHostException e) {
-                        throw new RuntimeException(e);
+//                        throw new RuntimeException(e);
-                    }
+//                    }
                 }
             }
         });
+        Record_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                saveVideo(bp);
+            }
+        });
     }
 
-    private void changetoAuto() throws UnknownHostException {
-        sendCommand("AUTO");
-    }
 
     private void changetoManual() throws UnknownHostException {
         sendCommand("STOP");
@@ -291,7 +335,10 @@ public class VideoActivity extends AppCompatActivity {
                 runOnUiThread(new Runnable() {
                     @Override
                     public void run() {
-                        imgShow.setImageBitmap(bp);
+                        int targetWidth = imgShow.getWidth();
+                        int targetHeight = imgShow.getHeight();
+                        Bitmap scaledBitmap = Bitmap.createScaledBitmap(bp, targetWidth, targetHeight, true);
+                        imgShow.setImageBitmap(scaledBitmap);
                     }
                 });
             }
@@ -304,7 +351,6 @@ public class VideoActivity extends AppCompatActivity {
             super.handleMessage(msg);
         }
     }
-
     /*
      *   UDP数据接受线程
      * */
@@ -375,7 +421,6 @@ public class VideoActivity extends AppCompatActivity {
                 // 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) {
@@ -393,14 +438,14 @@ public class VideoActivity extends AppCompatActivity {
     }
 
     /*
-    *UDP数据接收线程
+     *UDP数据接收线程
      */
     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
-
+        private JSONObject jsonObject;
         public UdpDataThread() {
             buffer = new byte[BUFFER_SIZE];
         }
@@ -408,21 +453,26 @@ public class VideoActivity extends AppCompatActivity {
         @Override
         public void run() {
             running = true;
-
             try {
                 socket = new DatagramSocket(6666); // 设置接收端口号
                 while (running) {
                     DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
                     socket.receive(packet);
-                    String receivedData = new String(packet.getData(), 0, packet.getLength());
+                    String receivedData = new String(packet.getData(), 0, packet.getLength(), "UTF-8");
-                    if (receivedData.equals("电量低于10%")) {
+                    jsonObject = new JSONObject(receivedData);
-                        battery_warning.setText(receivedData);}else{
+                    batteryStatus = jsonObject.getString("battery");
+                    speedStatus = jsonObject.getString("speed");
+                    distanceStatus = jsonObject.getString("distance");
+                    if (batteryStatus.equals("10")) {
+                        battery_warning.setText("电量仅剩"+batteryStatus);}else{
                         battery_warning.setText("");
                     }
-                    System.out.println("接收到数据：" + receivedData);
+                    System.out.println("接收到数据：" + batteryStatus);
+                    System.out.println("接收到数据：" + speedStatus);
+                    System.out.println("接收到数据：" + distanceStatus);
                     // 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) {
+            } catch (IOException | JSONException e) {
                 e.printStackTrace();
             } finally {
                 if (socket != null) {
@@ -435,43 +485,129 @@ public class VideoActivity extends AppCompatActivity {
             running = false;
         }
     }
-    //初始化UDP发送线程
+
-//    private static void sendCommand(String Sendstr) throws UnknownHostException {
+    private String findEncoderCodecName(String mimeType) {
-//        InetAddress sendIP = InetAddress.getByName(SEND_to_IP);  // 目标 IP 地址
+        MediaCodecList codecList = new MediaCodecList(MediaCodecList.REGULAR_CODECS);
-//        int sendPort = 8888;  // 目标端口号
+        int numCodecs = codecList.getCodecInfos().length;
-//        byte[] sendData = Sendstr.getBytes();  // 要发送的数据
+        for (int i = 0; i < numCodecs; i++) {
-//        UdpSendThread sendCommandThread = new UdpSendThread(sendIP, sendPort, sendData);  // 创建新的线程对象
+            MediaCodecInfo codecInfo = MediaCodecList.getCodecInfoAt(i);
-//        sendCommandThread.start();  // 启动线程发送数据
+            if (!codecInfo.isEncoder()) {
-//    }
+                continue;
-
+            }
-
+            String[] types = codecInfo.getSupportedTypes();
-
+            for (String type : types) {
-
+                if (type.equalsIgnoreCase(mimeType)) {
-
+                    return codecInfo.getName();
-//设置按钮
+                }
-//    public void showDialog(View view) {
+            }
-//        Dialog dialog = new Dialog(VideoActivity.this);
+        }
-//        dialog.setContentView(R.layout.dialog_takeoff);
+        return null;
-//
+    }
-//        SlideUnlockView slideUnlockView = (SlideUnlockView) dialog.findViewById(R.id.slide_unlock_view);
+
-//        slideUnlockView.setOnUnlockListener(new SlideUnlockView.OnUnlockListener() {
+    MediaCodec codec;
-//            @Override
+    private void saveVideo(Bitmap videoBitmap) {
-//            public void onUnlock() {
+        try {
-//                // 在用户滑动解锁后执行操作
+            String codecName = findEncoderCodecName(MediaFormat.MIMETYPE_VIDEO_AVC);
-////                try {
+            if (codecName != null) {
-////                    sendCommand("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
+                codec = MediaCodec.createByCodecName(codecName);
-////                } catch (UnknownHostException e) {
+
-////                    throw new RuntimeException(e);
+                // 根据视频尺寸设置编码器参数
-////                }
+                MediaFormat format = MediaFormat.createVideoFormat(MediaFormat.MIMETYPE_VIDEO_AVC, videoBitmap.getWidth(), videoBitmap.getHeight());
-//                UdpReceiveThread udpReceiveThread = new UdpReceiveThread();
+                format.setInteger(MediaFormat.KEY_BIT_RATE, 2000000);
-//                udpReceiveThread.start();
+                format.setInteger(MediaFormat.KEY_FRAME_RATE, 30);
-//
+                format.setInteger(MediaFormat.KEY_COLOR_FORMAT, MediaCodecInfo.CodecCapabilities.COLOR_FormatSurface);
-//                Log.i(TAG, "onClick: 2222222222222222222222222");
+                format.setInteger(MediaFormat.KEY_I_FRAME_INTERVAL, 1);
-//
+
-//            }
+                // 配置编码器并启动
-//        });
+                codec.configure(format, null, null, MediaCodec.CONFIGURE_FLAG_ENCODE);
-//        dialog.show();
+                Surface inputSurface = codec.createInputSurface();
-//    }
+                codec.start();
+
+                // 创建保存视频的路径和文件名
+                String fileName = "video_" + System.currentTimeMillis() + ".mp4";
+                String filePath = Environment.getExternalStoragePublicDirectory(Environment.DIRECTORY_MOVIES) + "/" + fileName;
+                File videoFile = new File(filePath);
+
+                FileOutputStream fileOutputStream = new FileOutputStream(videoFile);
+                BufferedOutputStream bufferedOutputStream = new BufferedOutputStream(fileOutputStream);
+
+                // 循环编码每一帧
+                boolean isInputDone = false;
+                boolean isOutputDone = false;
+                while (!isOutputDone) {
+                    if (!isInputDone) {
+                        int index = codec.dequeueInputBuffer(10000);
+                        if (index >= 0) {
+                            ByteBuffer inputBuffer = codec.getInputBuffer(index);
+                            inputBuffer.clear();
+                            Canvas canvas = inputSurface.lockCanvas(null);
+                            canvas.drawBitmap(videoBitmap, 0, 0, null);
+                            inputSurface.unlockCanvasAndPost(canvas);
+                            codec.queueInputBuffer(index, 0, 0, 0, MediaCodec.BUFFER_FLAG_END_OF_STREAM);
+                            isInputDone = true;
+                        }
+                    }
+
+                    MediaCodec.BufferInfo bufferInfo = new MediaCodec.BufferInfo();
+                    int outputIndex = codec.dequeueOutputBuffer(bufferInfo, 10000);
+                    if (outputIndex >= 0) {
+                        ByteBuffer outputBuffer = codec.getOutputBuffer(outputIndex);
+                        byte[] outData = new byte[bufferInfo.size];
+                        outputBuffer.get(outData);
+                        bufferedOutputStream.write(outData);
+                        codec.releaseOutputBuffer(outputIndex, false);
+                    }
+
+                    if ((bufferInfo.flags & MediaCodec.BUFFER_FLAG_END_OF_STREAM) != 0) {
+                        isOutputDone = true;
+                    }
+                }
+
+                // 关闭文件流
+                bufferedOutputStream.flush();
+                bufferedOutputStream.close();
+                fileOutputStream.close();
+
+                // 通知媒体库更新文件
+                MediaScannerConnection.scanFile(this, new String[]{videoFile.getAbsolutePath()}, null, null);
+
+                Toast.makeText(this, "视频保存成功", Toast.LENGTH_SHORT).show();
+            } else {
+                Toast.makeText(this, "无法找到支持的视频编码器", Toast.LENGTH_SHORT).show();
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        } finally {
+            if (codec != null) {
+                codec.stop();
+                codec.release();
+            }
+        }
+    }
+
+    public void showPopup(String speedStatus,String batteryStatus,String distanceStatus) {
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        LayoutInflater inflater = getLayoutInflater();
+        View dialogView = inflater.inflate(R.layout.custom_dialog, null);
+        TextView speedstatus = dialogView.findViewById(R.id.speed);
+        speedstatus.setText("当前速度为："+speedStatus);
+        TextView batterystatus = dialogView.findViewById(R.id.battery);
+        batterystatus.setText("当前电量为："+batteryStatus);
+        TextView distancestatus = dialogView.findViewById(R.id.distance);
+        distancestatus.setText("当前距离为："+distanceStatus);
+        builder.setView(dialogView);
+        builder.setPositiveButton("确定", new DialogInterface.OnClickListener() {
+            @Override
+            public void onClick(DialogInterface dialog, int which) {
+                // 点击确定按钮后的操作
+                dialog.dismiss();
+            }
+        });
+
+        AlertDialog dialog = builder.create();
+        dialog.show();
+    }
+
 //////////////////////////////滑动开关//////////////////////////////
     public static class SlideUnlockView extends View{
 
@@ -653,4 +789,25 @@ public class VideoActivity extends AppCompatActivity {
             return super.onTouchEvent(event);
         }
     }
+
+    private void shutdown(){
+        warning_thread.stopThread();
+        mThreadPool.shutdownNow();
+    }
+
+    @Override
+    public void onBackPressed() {
+        // 返回到 MainActivity
+        shutdown();
+        Intent intent = new Intent(this, MainActivity.class);
+        startActivity(intent);
+        finish(); // 结束 VideoActivity
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        // 关闭线程
+        shutdown();
+    }
 }

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

@@ -246,6 +246,17 @@
             android:text="ToggleButton"
             android:textOff=""
             android:textOn="" />
+        <ImageButton
+            android:id="@+id/self_home"
+            android:layout_width="50dp"
+            android:layout_height="50dp"
+            android:background="@null"
+            android:layout_marginLeft="20dp"
+            android:src="@drawable/selfhome"
+            android:text="自动返航"
+            android:scaleType="centerCrop"
+            android:contentDescription="@string/show_status_button"
+            />
     </LinearLayout>
 
     <TextView

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

@@ -31,8 +31,9 @@
         android:layout_marginLeft="30dp"
         android:layout_marginRight="30dp"/>
     <CheckBox
-        android:layout_width="wrap_content"
+        android:id="@+id/remember_check"
-        android:layout_height="wrap_content"
+        android:layout_width="100dp"
+        android:layout_height="100dp"
         android:text="记住密码"
         android:layout_marginLeft="280dp"/>
 
@@ -52,4 +53,4 @@
     </LinearLayout>
 
 
-</LinearLayout>
+</LinearLayout>

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

@@ -0,0 +1,40 @@
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <TextView
+        android:id="@+id/dialogTitle"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:gravity="center"
+        android:padding="16dp"
+        android:text="当前状态"
+        android:textColor="#000000"
+        android:textSize="28sp" />
+
+    <TextView
+        android:id="@+id/battery"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="当前电量："
+        android:padding="16dp"
+        android:textSize="18dp"
+        android:textColor="#000000" />
+    <TextView
+        android:id="@+id/speed"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:textSize="18dp"
+        android:text="当前速度："
+        android:padding="16dp"
+        android:textColor="#000000" />
+    <TextView
+        android:id="@+id/distance"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="当前距离："
+        android:textSize="18dp"
+        android:padding="16dp"
+        android:textColor="#000000" />
+</LinearLayout>

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

@@ -19,6 +19,7 @@
     <string name="show_status_button">查看状态</string>
     <string name="landing_button123">降落按钮</string>
     <string name="takeoff_button">降落按钮</string>
+    <string name="self_home_button">自动返航按钮</string>
     <string name="hello_first_fragment">Hello first fragment</string>
     <string name="hello_second_fragment">Hello second fragment. Arg: %1$s</string>
 </resources>