diff --git a/doc/“哨兵”软件系统软件设计规格说明书.doc b/doc/“哨兵”软件系统软件设计规格说明书.doc
index 6a94d4a..1f1a7da 100644
Binary files a/doc/“哨兵”软件系统软件设计规格说明书.doc and b/doc/“哨兵”软件系统软件设计规格说明书.doc differ
diff --git a/src/sixaunyi/.idea/deploymentTargetDropDown.xml b/src/sixaunyi/.idea/deploymentTargetDropDown.xml
deleted file mode 100644
index 591cec3..0000000
--- a/src/sixaunyi/.idea/deploymentTargetDropDown.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="deploymentTargetDropDown">
-    <runningDeviceTargetSelectedWithDropDown>
-      <Target>
-        <type value="RUNNING_DEVICE_TARGET" />
-        <deviceKey>
-          <Key>
-            <type value="SERIAL_NUMBER" />
-            <value value="W3VBB21918206146" />
-          </Key>
-        </deviceKey>
-      </Target>
-    </runningDeviceTargetSelectedWithDropDown>
-    <timeTargetWasSelectedWithDropDown value="2023-06-06T18:29:59.885437200Z" />
-  </component>
-</project>
\ No newline at end of file
diff --git a/src/sixaunyi/.idea/sonarlint/issuestore/7/1/71fd1993763df2214bbdad8cfee650733993fe44 b/src/sixaunyi/.idea/sonarlint/issuestore/7/1/71fd1993763df2214bbdad8cfee650733993fe44
index 64de210..cacece0 100644
--- a/src/sixaunyi/.idea/sonarlint/issuestore/7/1/71fd1993763df2214bbdad8cfee650733993fe44
+++ b/src/sixaunyi/.idea/sonarlint/issuestore/7/1/71fd1993763df2214bbdad8cfee650733993fe44
@@ -1,60 +1,57 @@
 
-`	java:S112f"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-`	java:S112q"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-`	java:S112|"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-a	java:S112�"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

-n	java:S117�"QRename this local variable to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(����
8��͏�1
+`	java:S112m"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+`	java:S112x"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+a	java:S112�
"FDefine and throw a dedicated exception instead of using a generic one.(҂�������

+g	java:S117�"QRename this local variable to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(����

 >
-java:S1604`"(Make this anonymous inner class a lambda(����
+java:S1604Y"(Make this anonymous inner class a lambda(Ʒ��
+>
+java:S1604g"(Make this anonymous inner class a lambda(����
 C
-java:S1604k"(Make this anonymous inner class a lambda(�ݳ������

+java:S1604r"(Make this anonymous inner class a lambda(�ݳ������

 C
-java:S1604v"(Make this anonymous inner class a lambda(�������

+java:S1604}"(Make this anonymous inner class a lambda(�������

 D
-java:S1604�
"(Make this anonymous inner class a lambda(���������

+java:S1604�
"(Make this anonymous inner class a lambda(���������

 D
-java:S1604�
"(Make this anonymous inner class a lambda(���������

+java:S1604�
"(Make this anonymous inner class a lambda(���������

 ?
-java:S1604�
"(Make this anonymous inner class a lambda(����
+java:S1604�
"(Make this anonymous inner class a lambda(����
 ?
-java:S1604�
"(Make this anonymous inner class a lambda(ڊ��
+java:S1604�
"(Make this anonymous inner class a lambda(ڊ��
 ?
-java:S1604�
"(Make this anonymous inner class a lambda(����
+java:S1604�
"(Make this anonymous inner class a lambda(����
 ?
-java:S1604�
"(Make this anonymous inner class a lambda(���
-T
-java:S1153�"1Directly append the argument of String.valueOf().(��������
8��͏�1
+java:S1604�
"(Make this anonymous inner class a lambda(���
+V
+java:S2184�"@Cast one of the operands of this integer division to a "double".(���[
+X
+java:S2184�"ACast one of the operands of this division operation to a "float".(�ϓ�
+]
+java:S2184�"ACast one of the operands of this division operation to a "float".(���������

+[
+java:S2184�"DCast one of the operands of this subtraction operation to a "float".(����
 ]
-java:S2184�"@Cast one of the operands of this integer division to a "double".(���[8��͏�1
-_
-java:S2184�"ACast one of the operands of this division operation to a "float".(�ϓ�8��͏�1
-d
-java:S2184�"ACast one of the operands of this division operation to a "float".(���������
8��͏�1
-b
-java:S2184�"DCast one of the operands of this subtraction operation to a "float".(����8��͏�1
-d
-java:S2184�"ACast one of the operands of this division operation to a "float".(���������
8��͏�1
-b
-java:S2184�"DCast one of the operands of this subtraction operation to a "float".(����8��͏�1
+java:S2184�"ACast one of the operands of this division operation to a "float".(���������

+[
+java:S2184�"DCast one of the operands of this subtraction operation to a "float".(����
 [
-java:S2184�"DCast one of the operands of this subtraction operation to a "float".(���
-d
-java:S2184�"ACast one of the operands of this addition operation to a "float".(���������
8��͏�1
-g
-java:S2184�"DCast one of the operands of this subtraction operation to a "float".(���������
8��͏�1
-d
-java:S2184�"ACast one of the operands of this division operation to a "float".(�Ҍ������
8��͏�1
+java:S2184�"DCast one of the operands of this subtraction operation to a "float".(���
+]
+java:S2184�"ACast one of the operands of this addition operation to a "float".(���������

+`
+java:S2184�"DCast one of the operands of this subtraction operation to a "float".(���������

+]
+java:S2184�"ACast one of the operands of this division operation to a "float".(�Ҍ������

+\
+java:S2184�"@Cast one of the operands of this integer division to a "double".(���������

 c
-java:S2184�"@Cast one of the operands of this integer division to a "double".(���������
8��͏�1
-j
-java:S2095�
"LUse try-with-resources or close this "DatagramSocket" in a "finally" clause.(��в
8��̏�1
-j
-java:S2095�"LUse try-with-resources or close this "DatagramSocket" in a "finally" clause.(���8��͏�1
+java:S2095�"LUse try-with-resources or close this "DatagramSocket" in a "finally" clause.(���
 o	java:S115-"ZRename this constant name to match the regular expression '^[A-Z][A-Z0-9]*(_[A-Z0-9]+)*$'.(ƴư
 t	java:S115."ZRename this constant name to match the regular expression '^[A-Z][A-Z0-9]*(_[A-Z0-9]+)*$'.(��ܶ�����

 t	java:S116:"ZRename this field "Trans_to_Detect" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(���������

@@ -71,6 +68,10 @@ p	java:S116F"VRename this field "TakeOff_btn" to match the regular expression
 p	java:S116G"VRename this field "Landing_btn" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(�ԓ������

 u
 java:S1450F"ZRemove the "TakeOff_btn" field and declare it as a local variable in the relevant methods.(��������

+o
+java:S1450H"TRemove the "angle" field and declare it as a local variable in the relevant methods.(���������

+r
+java:S1450I"WRemove the "distance" field and declare it as a local variable in the relevant methods.(׾�������

 [
 java:S1124-"EReorder the modifiers to comply with the Java Language Specification.(ƴư
 `
@@ -79,35 +80,35 @@ java:S1124."EReorder the modifiers to comply with the Java Language Specificati
 java:S1124/"EReorder the modifiers to comply with the Java Language Specification.(��

 [
 java:S11240"EReorder the modifiers to comply with the Java Language Specification.(Ӿ��
-h	java:S100_"NRename this method name to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(���������

+h	java:S100f"NRename this method name to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(���������

 m
-java:S3776_"RRefactor this method to reduce its Cognitive Complexity from 16 to the 15 allowed.(���������

+java:S3776f"RRefactor this method to reduce its Cognitive Complexity from 16 to the 15 allowed.(���������

 D
-java:S1185�
"(Remove this method to simply inherit it.(��������

+java:S1185�
"(Remove this method to simply inherit it.(��������

 L
-java:S2696�
"6Make the enclosing method "static" or remove this set.(è�
-W	java:S125�
"<This block of commented-out lines of code should be removed.(���������

-W	java:S125�
"<This block of commented-out lines of code should be removed.(��Ÿ�����

+java:S2696�
"6Make the enclosing method "static" or remove this set.(è�
+W	java:S125�
"<This block of commented-out lines of code should be removed.(���������

+W	java:S125�
"<This block of commented-out lines of code should be removed.(��Ÿ�����

 R
-java:S2696�
"6Make the enclosing method "static" or remove this set.(���������

-k	java:S100�"NRename this method name to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(����
8ھ͏�1
-N
-java:S1172�"+Remove this unused method parameter "view".(������
8۾͏�1
-p	java:S116�"SRename this field "BG_COLOR" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(���8޾͏�1
-r
-java:S1450�"TRemove the "mPath" field and declare it as a local variable in the relevant methods.(䓍�8�͏�1
-c
-java:S1610�"@Convert the abstract class "OnUnlockListener" into an interface.(׋�������
8�͏�1
-D	java:S131�""Add a default case to this switch.(���������
8�͏�1
-D	java:S131�""Add a default case to this switch.(��������
8�͏�1
+java:S2696�
"6Make the enclosing method "static" or remove this set.(���������

+W	java:S125�
"<This block of commented-out lines of code should be removed.(���������

+F
+java:S2093�
"*Change this "try" to a try-with-resources.(�������

+d	java:S100�"NRename this method name to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(����

+i	java:S116�"SRename this field "BG_COLOR" to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(���
+k
+java:S1450�"TRemove the "mPath" field and declare it as a local variable in the relevant methods.(䓍�
+R	java:S125�"<This block of commented-out lines of code should be removed.(�蘋
+\
+java:S1610�"@Convert the abstract class "OnUnlockListener" into an interface.(׋�������

+=	java:S131�""Add a default case to this switch.(���������

+=	java:S131�""Add a default case to this switch.(��������

 9
 java:S1128*"Remove this duplicated import.(���������

 C
 java:S1068/"-Remove this unused "SEND_PORT" private field.(��

 B
 java:S10683"'Remove this unused "buf" private field.(��������

-L
-java:S10685"1Remove this unused "receiveSocket" private field.(���������

 D
 java:S10686".Remove this unused "sendSocket" private field.(����
 J
@@ -117,10 +118,12 @@ java:S1068:"3Remove this unused "Trans_to_Detect" private field.(
 B
 java:S1068<"'Remove this unused "btn" private field.(�ȧ������

 J
-java:S1068F"/Remove this unused "TakeOff_btn" private field.(��������

-J
 java:S1068G"/Remove this unused "Landing_btn" private field.(�ԓ������

+D
+java:S1068H")Remove this unused "angle" private field.(���������

 G
-java:S1068�")Remove this unused "mPath" private field.(䓍�8�͏�1
-M
-java:S1068�"/Remove this unused "mIsUnlocked" private field.(����8�͏�1
\ No newline at end of file
+java:S1068I",Remove this unused "distance" private field.(׾�������

+@
+java:S1068�")Remove this unused "mPath" private field.(䓍�
+F
+java:S1068�"/Remove this unused "mIsUnlocked" private field.(����
\ No newline at end of file
diff --git a/src/sixaunyi/.idea/sonarlint/issuestore/index.pb b/src/sixaunyi/.idea/sonarlint/issuestore/index.pb
index 007b000..30ab46f 100644
--- a/src/sixaunyi/.idea/sonarlint/issuestore/index.pb
+++ b/src/sixaunyi/.idea/sonarlint/issuestore/index.pb
@@ -19,11 +19,11 @@ 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
+k
+;app/src/main/java/com/example/sixaunyi/SettingActivity.java,2\a\2ab0711d9aa5839cecbb6cf0ed96f5a3f6470de5
 i
 9app/src/main/java/com/example/sixaunyi/VideoActivity.java,7\1\71fd1993763df2214bbdad8cfee650733993fe44
-h
-8app/src/main/java/com/example/sixaunyi/MainActivity.java,7\c\7c120b7216f76ce98d1573d90803ab36f481640c
 P
  app/src/main/AndroidManifest.xml,8\c\8c55c3ccc257e5907959013f99656e4c8ec3903e
-k
-;app/src/main/java/com/example/sixaunyi/SettingActivity.java,2\a\2ab0711d9aa5839cecbb6cf0ed96f5a3f6470de5
\ No newline at end of file
+h
+8app/src/main/java/com/example/sixaunyi/MainActivity.java,7\c\7c120b7216f76ce98d1573d90803ab36f481640c
\ No newline at end of file
diff --git a/src/sixaunyi/app/src/main/java/com/example/sixaunyi/VideoActivity.java b/src/sixaunyi/app/src/main/java/com/example/sixaunyi/VideoActivity.java
index c93153e..1fc652b 100644
--- a/src/sixaunyi/app/src/main/java/com/example/sixaunyi/VideoActivity.java
+++ b/src/sixaunyi/app/src/main/java/com/example/sixaunyi/VideoActivity.java
@@ -50,11 +50,11 @@ public class VideoActivity extends AppCompatActivity {
     private static boolean listenStatus = true;  //接收线程的循环标识
     private byte[] buf;
     static Bitmap bp;
-    private DatagramSocket receiveSocket;
+    private DatagramSocket reveSocket;
     private DatagramSocket sendSocket;
     private static InetAddress serverAddr;
     private SendHandler sendHandler = new SendHandler();
-    private static ReceiveHandler receiveHandler;
+    private ReceiveHandler receiveHandler = new ReceiveHandler();
     private Button Trans_to_Detect;
     private ImageView imgShow;
     private Button btn;
@@ -86,6 +86,13 @@ public class VideoActivity extends AppCompatActivity {
         TurnLeft_btn = findViewById(R.id.rotate_left_button);
         TurnRight_btn = findViewById(R.id.rotate_right_button);
         TakeOff_btn = findViewById(R.id.takeoff_button);
+        TakeOff_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                new UdpReceiveThread().start();
+                Log.i(TAG, "onClick: BBBBBBBBackward");
+            }
+        });
         Setting_btn = findViewById(R.id.setting_button);
         Button_Init();
         Intent i = getIntent();
@@ -207,14 +214,14 @@ public class VideoActivity extends AppCompatActivity {
     /*
      *   UDP数据接受线程
      * */
-    public static class UdpReceiveThread extends Thread
+    public class UdpReceiveThread extends Thread
     {
         @Override
         public void run()
         {
             try
             {
-                DatagramSocket reveSocket = new DatagramSocket(RECEIVE_PORT);
+                reveSocket = new DatagramSocket(RECEIVE_PORT);
                 serverAddr = InetAddress.getByName(Recieve_IP);
                 //ByteArrayOutputStream out = new ByteArrayOutputStream();
                 while(listenStatus)
@@ -226,14 +233,18 @@ public class VideoActivity extends AppCompatActivity {
                     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);
+
+
                 }
-                reveSocket.close();
             } catch (Exception e)
             {
                 e.printStackTrace();
+            }finally {
+//                reveSocket.close();
             }
         }
     }
@@ -273,29 +284,35 @@ public class VideoActivity extends AppCompatActivity {
         UdpSendThread sendThread = new UdpSendThread(sendIP, sendPort, sendData);  // 创建新的线程对象
         sendThread.start();  // 启动线程发送数据
     }
-//设置按钮
-    public void showDialog(View view) {
-        Dialog dialog = new Dialog(VideoActivity.this);
-        dialog.setContentView(R.layout.dialog_takeoff);
 
-        SlideUnlockView slideUnlockView = (SlideUnlockView) dialog.findViewById(R.id.slide_unlock_view);
-        slideUnlockView.setOnUnlockListener(new SlideUnlockView.OnUnlockListener() {
-            @Override
-            public void onUnlock() {
-                // 在用户滑动解锁后执行操作
-                try {
-                    InitUdpSend("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
-                } catch (UnknownHostException e) {
-                    throw new RuntimeException(e);
-                }
-                UdpReceiveThread udpReceiveThread = new UdpReceiveThread();
-                udpReceiveThread.start();
-                Log.i(TAG, "onClick: 2222222222222222222222222");
 
-            }
-        });
-        dialog.show();
-    }
+
+
+
+//设置按钮
+//    public void showDialog(View view) {
+//        Dialog dialog = new Dialog(VideoActivity.this);
+//        dialog.setContentView(R.layout.dialog_takeoff);
+//
+//        SlideUnlockView slideUnlockView = (SlideUnlockView) dialog.findViewById(R.id.slide_unlock_view);
+//        slideUnlockView.setOnUnlockListener(new SlideUnlockView.OnUnlockListener() {
+//            @Override
+//            public void onUnlock() {
+//                // 在用户滑动解锁后执行操作
+////                try {
+////                    InitUdpSend("TAKEOFF"+"___"+angle+"___"+String.valueOf(distance));
+////                } catch (UnknownHostException e) {
+////                    throw new RuntimeException(e);
+////                }
+//                UdpReceiveThread udpReceiveThread = new UdpReceiveThread();
+//                udpReceiveThread.start();
+//
+//                Log.i(TAG, "onClick: 2222222222222222222222222");
+//
+//            }
+//        });
+//        dialog.show();
+//    }
 //////////////////////////////滑动开关//////////////////////////////
     public static class SlideUnlockView extends View{
 
diff --git a/src/sixaunyi/app/src/main/res/layout-land/activity_control.xml b/src/sixaunyi/app/src/main/res/layout-land/activity_control.xml
index 2404caa..08c7341 100644
--- a/src/sixaunyi/app/src/main/res/layout-land/activity_control.xml
+++ b/src/sixaunyi/app/src/main/res/layout-land/activity_control.xml
@@ -180,9 +180,9 @@
             android:scaleType="centerCrop"
             android:src="@drawable/takeoff"
             android:text="起飞"
-            android:onClick="showDialog"
             android:contentDescription="@string/takeoff_button"
             />
+        <!--            android:onClick="showDialog"-->
 
     </LinearLayout>