优化VideoActivity、MainActivity逻辑，符合用户使用习惯

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/f/7/f7730cde41931660f06cfc32899edf44acf4d104

@@ -0,0 +1,10 @@
+
+k	java:S117'"QRename this local variable to match the regular expression '^[a-z][a-zA-Z0-9]*$'.(ß<>±÷üÿÿÿÿ

+q
+java:S1450"[Remove the "mLoginButton" field and declare it as a local variable in the relevant methods.(žÉÕ<C389>
+t
+java:S1171"YMove the contents of this initializer to a standard constructor or to field initializers.(ÒÌâ–øÿÿÿÿ

+G
+java:S1602 ",Remove useless curly braces around statement(òã‘õúÿÿÿÿ

+V
+java:S11263"AReplace this if-then-else statement by a single return statement.(Ö<>¼z

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

@@ -23,3 +23,5 @@ j
 :app/src/main/java/com/example/sixaunyi/DetectActivity.java,9\6\9668392b13e33166876f2a7d3f10eb5405e757ad
 k
 ;app/src/main/java/com/example/sixaunyi/ControlActivity.java,c\9\c99a584c2117ed2df42496451bb97ac1147f5ea0
+i
+9app/src/main/java/com/example/sixaunyi/LoginActivity.java,f\7\f7730cde41931660f06cfc32899edf44acf4d104

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

@@ -52,8 +52,11 @@ 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;
@@ -107,6 +110,9 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
     private float distance;
     private float MonitorDistance;
     private UdpReceiveThread udpReceiveThread;
+    private ExecutorService mThreadPool = Executors.newCachedThreadPool();
+    private final static String SEND_to_IP = "192.168.39.47";
+    private final static int SEND_PORT = 8888;
 
     @SuppressLint("MissingInflatedId")
     @Override
@@ -117,6 +123,7 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
         ClearMarker_btn = findViewById(R.id.clearMarker_btn);
         ChangeAct_btn = findViewById(R.id.change_btn);
         ChangeAct_btn.show();
+
         //tvContent = findViewById(R.id.tv_content);
         /*初始化定位,需要在检查版本之前
          *因为配置好之后才能启动定位，否则会报错
@@ -397,9 +404,12 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
     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);
-
     }
 
     /**
@@ -490,8 +500,8 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
         private boolean mRunning;
         private String mReceiveIp = Recieve_IP;
         private String mExpectedData = "Motion detected!";
-        private float mMonitorDistance = MonitorDistance;
-        private String mMonitorAngle = MonitorAngle;
+        private float udpMonitorDistance = MonitorDistance;
+        private String udpMonitorAngle = MonitorAngle;
 
         @Override
         public void run() {
@@ -505,13 +515,7 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
                     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);
-                        Bundle b = new Bundle();
-                        b.putString("Angle", mMonitorAngle);
-                        b.putFloat("Distance", mMonitorDistance);
-                        intent.putExtras(b);
-                        intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
-                        startActivity(intent);
+                        sendCommand("WARNING");
                         mRunning = false;
                     }
                 }
@@ -591,5 +595,40 @@ public class MainActivity extends AppCompatActivity implements AMapLocationListe
         }
         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/VideoActivity.java

@@ -27,6 +27,7 @@ import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
+import android.widget.CompoundButton;
 import android.widget.ImageButton;
 import android.widget.ImageView;
 import android.widget.TextView;
@@ -43,6 +44,7 @@ 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
@@ -71,6 +73,7 @@ public class VideoActivity extends AppCompatActivity {
     private ImageButton Setting_btn;
     private ImageButton TakeOff_btn;
     private ImageButton Landing_btn;
+    private ToggleButton Mode_btn;
     private String mangle;
     private float mdistance;
     // 创建一个可缓存的线程池
@@ -85,7 +88,6 @@ public class VideoActivity extends AppCompatActivity {
         setContentView(R.layout.activity_control);
         imgShow = findViewById(R.id.imageView);
         Forward_btn = findViewById(R.id.forward_button);
-
         Back_btn = findViewById(R.id.backward_button);
         Left_btn = findViewById(R.id.left_button);
         Right_btn = findViewById(R.id.right_button);
@@ -95,6 +97,19 @@ public class VideoActivity extends AppCompatActivity {
         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);
+        Intent i = getIntent();
+        mdistance = i.getFloatExtra("Distance",0);
+        mangle = i.getStringExtra("Angle");
+        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) {
@@ -109,25 +124,14 @@ public class VideoActivity extends AppCompatActivity {
         Landing_btn.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
-                ReceiveHandler receiveHandler = new ReceiveHandler();
-                UdpReceiveThread StreamThread = new UdpReceiveThread(Recieve_IP,RECEIVE_PORT,receiveHandler);
-
-
                 try {
-                    StreamThread.startListen();
-                    StreamThread.start();
-                } catch (SocketException | UnknownHostException e) {
-                    e.printStackTrace();
+                    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();
-        mdistance = i.getFloatExtra("Distance",0);
-        mangle = i.getStringExtra("Angle");
-    }
-    private void Button_Init(){
         Forward_btn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
@@ -224,6 +228,48 @@ 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("MAN");
+    }
+
     class ReceiveHandler extends Handler{
         @Override
         public void handleMessage(Message msg) {
@@ -280,11 +326,9 @@ public class VideoActivity extends AppCompatActivity {
                     byte[] inBuf = new byte[1024 * 1024];
                     DatagramPacket inPacket = new DatagramPacket(inBuf, inBuf.length);
                     reveSocket.receive(inPacket);
-
                     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);
@@ -333,34 +377,7 @@ public class VideoActivity extends AppCompatActivity {
         SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
         mThreadPool.execute(sendRunnable1);
     }
-    /*
-     *   UDP数据发送线程
-     * */
-    public static class UdpSendThread extends Thread {
 
-        private InetAddress sendToIP;  // 目标 IP 地址
-        private int sendPort;  // 目标端口号
-        private byte[] sendData;  // 要发送的数据
-
-        public UdpSendThread(InetAddress sendToIP, int sendPort, byte[] sendData) {
-            this.sendToIP = sendToIP;
-            this.sendPort = sendPort;
-            this.sendData = sendData;
-        }
-
-        @Override
-        public void run() {
-            try {
-                DatagramSocket sendSocket = new DatagramSocket();  // 创建一个新的 DatagramSocket 对象
-                DatagramPacket sendPacket = new DatagramPacket(sendData, sendData.length, sendToIP, sendPort);  // 将要发送的数据打包成一个 DatagramPacket 对象
-                sendSocket.send(sendPacket);  // 发送 DatagramPacket
-                sendSocket.close();  // 发送完毕后关闭 DatagramSocket
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-        }
-
-    }
     //初始化UDP发送线程
 //    private static void sendCommand(String Sendstr) throws UnknownHostException {
 //        InetAddress sendIP = InetAddress.getByName(SEND_to_IP);  // 目标 IP 地址

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/layout-land/activity_control.xml

@@ -61,7 +61,7 @@
             android:background="@null"
             android:contentDescription="@string/turn_left_button"
             android:src="@drawable/turnleft"
-            android:scaleType="centerCrop"
+            android:scaleType="centerInside"
             />
 
         <!-- 右旋转按钮 -->
@@ -230,6 +230,24 @@
             />
 
     </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>
 
 </FrameLayout>