重新整合

tello控制

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/PC_Transfer/config/ip.json

@@ -1,3 +1,8 @@
 {
+<<<<<<< HEAD
+  "ip": "rtsp://admin:admin888@192.168.1.67:555"
+}
+=======
   "ip": "udp://@192.168.39.58:11111"
-}
+}
+>>>>>>> develop

src/PC_Transfer/config/setting.json

@@ -1,6 +1,11 @@
 {
+<<<<<<< HEAD
+  "iou": 0.42,
+  "conf": 0.43,
+=======
   "iou": 0.3,
   "conf": 0.45,
+>>>>>>> develop
   "rate": 20,
   "check": 0,
   "savecheck": 0

src/PC_Transfer/dialog/rtsp_dialog.py

@@ -2,7 +2,11 @@
 
 # Form implementation generated from reading ui file 'rtsp_dialog.ui'
 #
+<<<<<<< HEAD
+# Created by: PyQt5 UI code generator 5.15.2
+=======
 # Created by: PyQt5 UI code generator 5.15.9
+>>>>>>> develop
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic5 is
 # run again.  Do not edit this file unless you know what you are doing.
@@ -84,7 +88,13 @@ class Ui_Form(object):
 
     def retranslateUi(self, Form):
         _translate = QtCore.QCoreApplication.translate
+<<<<<<< HEAD
+        Form.setWindowTitle(_translate("Form", "Form"))
+        self.label.setText(_translate("Form", "rtsp address:"))
+        self.rtspButton.setText(_translate("Form", "confirm"))
+=======
         Form.setWindowTitle(_translate("Form", "表单"))
         self.label.setText(_translate("Form", "rtsp地址:"))
         self.rtspButton.setText(_translate("Form", "确认"))
+>>>>>>> develop
 import apprcc_rc

src/PC_Transfer/dialog/rtsp_dialog.ui

@@ -23,7 +23,11 @@
    </size>
   </property>
   <property name="windowTitle">
+<<<<<<< HEAD
+   <string>Form</string>
+=======
    <string>表单</string>
+>>>>>>> develop
   </property>
   <property name="windowIcon">
    <iconset resource="../apprcc.qrc">
@@ -60,7 +64,11 @@ font-weight: bold;
 color:white;}</string>
      </property>
      <property name="text">
+<<<<<<< HEAD
+      <string>rtsp address:</string>
+=======
       <string>rtsp地址:</string>
+>>>>>>> develop
      </property>
     </widget>
    </item>
@@ -119,7 +127,11 @@ border-radius: 0px;
 background-color: rgba(255,255,255,50);}</string>
      </property>
      <property name="text">
+<<<<<<< HEAD
+      <string>confirm</string>
+=======
       <string>确认</string>
+>>>>>>> develop
      </property>
     </widget>
    </item>

src/PC_Transfer/main.py

@@ -16,10 +16,13 @@ import time
 import cv2
 
 import socket
+<<<<<<< HEAD
+=======
 import select
 import tello_control
 import datetime
 import threading
+>>>>>>> develop
 
 from models.experimental import attempt_load
 from utils.datasets import LoadImages, LoadWebcam
@@ -34,7 +37,10 @@ from utils.capnums import Camera
 from dialog.rtsp_win import Window
 
 
+<<<<<<< HEAD
+=======
 
+>>>>>>> develop
 class DetThread(QThread):
     send_img = pyqtSignal(np.ndarray)
     send_raw = pyqtSignal(np.ndarray)
@@ -58,6 +64,10 @@ class DetThread(QThread):
         self.rate = 100
         self.save_fold = './result'
 
+<<<<<<< HEAD
+        self.socket_host = '192.168.39.219'
+        self.socket_port = 9999
+=======
         self.socket_host = '192.168.39.145'
         self.socket_port = 9999
 
@@ -66,6 +76,7 @@ class DetThread(QThread):
         # 多线程运行recive
         self.drone = tello_control.TelloControl()
 
+>>>>>>> develop
     @torch.no_grad()
     def run(self,
             imgsz=640,  # inference size (pixels)
@@ -110,14 +121,22 @@ class DetThread(QThread):
                 model.half()  # to FP16
 
             # Dataloader
+<<<<<<< HEAD
+            if self.source.isnumeric() or self.source.lower().startswith(('rtsp://', 'rtmp://', 'http://', 'https://')):
+=======
             if self.source.isnumeric() or self.source.lower().startswith(('rtsp://', 'rtmp://', 'http://', 'https://', 'udp://')):
+>>>>>>> develop
                 view_img = check_imshow()
                 cudnn.benchmark = True  # set True to speed up constant image size inference
                 dataset = LoadWebcam(self.source, img_size=imgsz, stride=stride)
                 # bs = len(dataset)  # batch_size
             else:
                 dataset = LoadImages(self.source, img_size=imgsz, stride=stride)
+<<<<<<< HEAD
+
+=======
             print('device.type', device.type)
+>>>>>>> develop
             # Run inference
             if device.type != 'cpu':
                 model(torch.zeros(1, 3, imgsz, imgsz).to(device).type_as(next(model.parameters())))  # run once
@@ -126,9 +145,13 @@ class DetThread(QThread):
             start_time = time.time()
             dataset = iter(dataset)
 
+<<<<<<< HEAD
+            while True:
+=======
 
             while True:
 
+>>>>>>> develop
                 if self.jump_out:
                     self.vid_cap.release()
                     self.send_percent.emit(0)
@@ -154,9 +177,15 @@ class DetThread(QThread):
                     self.current_weight = self.weights
                 if self.is_continue:
                     path, img, im0s, self.vid_cap = next(dataset)
+<<<<<<< HEAD
+                    # jump_count += 1
+                    # if jump_count % 5 != 0:
+                    #     continue
+=======
                     jump_count += 1
                     if jump_count % 10 != 0:
                         continue
+>>>>>>> develop
                     count += 1
                     if count % 30 == 0 and count >= 30:
                         fps = int(30/(time.time()-start_time))
@@ -221,8 +250,12 @@ class DetThread(QThread):
                             self.out.write(im0)
 
                     # Send frame via UDP socket
+<<<<<<< HEAD
+                    _, frame_encoded = cv2.imencode('.jpg', im0, [cv2.IMWRITE_JPEG_QUALITY, 50])
+=======
                     # if self.source in ['udp', 'rtp', 'rtsp', 'http', 'https']:
                     _, frame_encoded = cv2.imencode('.jpg', im0, [cv2.IMWRITE_JPEG_QUALITY, self.drone.photo_quality])
+>>>>>>> develop
                     # frame_bytes = frame_encoded.tobytes()
                     # print(len(frame_encoded))
                     sock.sendto(frame_encoded, (self.socket_host, self.socket_port))
@@ -306,9 +339,12 @@ class MainWindow(QMainWindow, Ui_mainWindow):
         self.saveCheckBox.clicked.connect(self.is_save)
         self.load_setting()
 
+<<<<<<< HEAD
+=======
         # self.chose_rtsp()
         self.load_rtsp("udp://@192.168.39.58:11111")
 
+>>>>>>> develop
     def search_pt(self):
         pt_list = os.listdir('./pt')
         pt_list = [file for file in pt_list if file.endswith('.pt')]
@@ -335,8 +371,12 @@ class MainWindow(QMainWindow, Ui_mainWindow):
         self.rtsp_window = Window()
         config_file = 'config/ip.json'
         if not os.path.exists(config_file):
+<<<<<<< HEAD
+            ip = "rtsp://admin:admin888@192.168.1.67:555"
+=======
             # ip = "rtsp://admin:admin888@192.168.1.67:555"
             ip = "udp://@192.168.39.58:11111"
+>>>>>>> develop
             new_config = {"ip": ip}
             new_json = json.dumps(new_config, ensure_ascii=False, indent=2)
             with open(config_file, 'w', encoding='utf-8') as f:
@@ -352,7 +392,11 @@ class MainWindow(QMainWindow, Ui_mainWindow):
         try:
             self.stop()
             MessageBox(
+<<<<<<< HEAD
+                self.closeButton, title='Tips', text='Loading rtsp stream', time=1000, auto=True).exec_()
+=======
                 self.closeButton, title='提示', text='加载rtsp流', time=1000, auto=True).exec_()
+>>>>>>> develop
             self.det_thread.source = ip
             new_config = {"ip": ip}
             new_json = json.dumps(new_config, ensure_ascii=False, indent=2)
@@ -367,7 +411,11 @@ class MainWindow(QMainWindow, Ui_mainWindow):
         try:
             self.stop()
             MessageBox(
+<<<<<<< HEAD
+                self.closeButton, title='Tips', text='Loading camera', time=2000, auto=True).exec_()
+=======
                 self.closeButton, title='提示', text='加载摄像头', time=2000, auto=True).exec_()
+>>>>>>> develop
             # get the number of local cameras
             _, cams = Camera().get_cam_num()
             popMenu = QMenu()
@@ -587,6 +635,15 @@ class MainWindow(QMainWindow, Ui_mainWindow):
         with open(config_file, 'w', encoding='utf-8') as f:
             f.write(config_json)
         MessageBox(
+<<<<<<< HEAD
+            self.closeButton, title='Tips', text='正在关闭', time=2000, auto=True).exec_()
+        sys.exit(0)
+
+class TestWindow(QMainWindow, TEST):
+    def __init__(self):
+        super(TestWindow, self).__init__()
+        self.setupUi(self)
+=======
             self.closeButton, title='提示', text='正在关闭', time=2000, auto=True).exec_()
         sys.exit(0)
 
@@ -594,13 +651,19 @@ class MainWindow(QMainWindow, Ui_mainWindow):
 #     def __init__(self):
 #         super(TestWindow, self).__init__()
 #         self.setupUi(self)
+>>>>>>> develop
 
 
 if __name__ == "__main__":
     app = QApplication(sys.argv)
     myWin = MainWindow()
     myWin.show()
+<<<<<<< HEAD
+    myTest = TestWindow()
+    myTest.show()
+=======
     # myTest = TestWindow()
     # myTest.show()
+>>>>>>> develop
     # myWin.showMaximized()
     sys.exit(app.exec_())

src/PC_Transfer/main_win/test.py

@@ -0,0 +1,436 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'Mainwindow.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+import os
+import sys
+
+import cv2
+from PyQt5.QtCore import Qt
+from PyQt5.QtGui import QPixmap, QPalette, QBrush
+from PyQt5.QtWidgets import QApplication
+from PyQt5.QtWidgets import *
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class TEST(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(450,705)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap("window_png/main-icon.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        MainWindow.setWindowIcon(icon)
+
+
+        # 创建QLabel对象
+        self.background_label = QLabel(self)
+        self.background_label.setGeometry(0, 0, self.width(), self.height())
+        self.background_label.setAutoFillBackground(True)  # 允许填充背景
+
+        # 设置窗口透明
+        self.setWindowFlags(Qt.FramelessWindowHint)  # 去掉窗口边框
+        self.setAttribute(Qt.WA_TranslucentBackground)  # 设置窗口背景透明
+
+        # 设置背景图像
+        image = QPixmap("icon/back.jpg").scaled(self.size(), Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
+        self.background_label.setPixmap(image)
+
+        # palette = QPalette()
+        # background_image = QPixmap("icon/back.jpg")
+        # palette.setBrush(QPalette.Background, QBrush(background_image))
+        # self.setPalette(palette)
+
+        MainWindow.setAnimated(True)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.frame = QtWidgets.QFrame(self.centralwidget)
+        self.frame.setGeometry(QtCore.QRect(50, 25, 391, 161))
+        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame.setObjectName("frame")
+        #设置无人机状态
+        self.tellostate = QtWidgets.QLabel(self.frame)
+        self.tellostate.setGeometry(QtCore.QRect(0, 0, 111, 25))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(80)
+        self.tellostate.setFont(font)
+        self.tellostate.setStyleSheet("QLabel\n"
+                                 "{\n"
+                                 "    color:white\n"
+                                 "}")
+        self.tellostate.setObjectName("tellostate")
+        #设置充电状态
+        self.charge = QtWidgets.QLabel(self.frame)
+        self.charge.setGeometry(QtCore.QRect(20, 30, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.charge.setFont(font)
+        self.charge.setStyleSheet("QLabel\n"
+                                      "{\n"
+                                      "    color:blue\n"
+                                      "}\n"
+                                      "")
+        self.charge.setObjectName("charge")
+        self.chargetxt = QtWidgets.QLabel(self.frame)
+        self.chargetxt.setGeometry(QtCore.QRect(100, 30, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.chargetxt.setFont(font)
+        self.chargetxt.setStyleSheet("QLabel\n"
+                                      "{\n"
+                                      "    color:green\n"
+                                      "}\n"
+                                      "")
+        self.chargetxt.setObjectName("chargetxt")
+        #设置WIFI状态
+        self.Wifi = QtWidgets.QLabel(self.frame)
+        self.Wifi.setGeometry(QtCore.QRect(20, 100, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.Wifi.setFont(font)
+        self.Wifi.setObjectName("Wifi")
+        self.Wifitxt = QtWidgets.QLabel(self.frame)
+        self.Wifitxt.setGeometry(QtCore.QRect(100, 100, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.Wifitxt.setFont(font)
+        self.Wifitxt.setObjectName("Wifitxt")
+        self.frame_2 = QtWidgets.QFrame(self.centralwidget)
+        self.frame_2.setGeometry(QtCore.QRect(50, 175, 391, 421))
+        self.frame_2.setStyleSheet("QPushButton\n"
+                                   "{\n"
+                                   "    color:white\n"
+                                   "}")
+        self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_2.setObjectName("frame_2")
+        #设置无人机控制部分
+        self.tellocontrol = QtWidgets.QLabel(self.frame_2)
+        self.tellocontrol.setGeometry(QtCore.QRect(0, 0, 101, 31))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(75)
+        self.tellocontrol.setFont(font)
+        self.tellocontrol.setStyleSheet("QLabel\n"
+                                   "{\n"
+                                   "    color:white\n"
+                                   "}\n"
+                                   "")
+        self.tellocontrol.setObjectName("tellocontrol")
+        self.btn_tello_up = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_up.setGeometry(QtCore.QRect(60, 30, 231, 91))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.btn_tello_up.setFont(font)
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap("tello_png/qifei.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_up.setIcon(icon1)
+        self.btn_tello_up.setIconSize(QtCore.QSize(150, 150))
+        self.btn_tello_up.setObjectName("btn_tello_up")
+        self.upload = QtWidgets.QPushButton(self.frame_2)
+        self.upload.setGeometry(QtCore.QRect(300, 30, 50, 180))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.upload.setFont(font)
+        self.upload.setObjectName("upload")
+        self.download = QtWidgets.QPushButton(self.frame_2)
+        self.download.setGeometry(QtCore.QRect(300, 220, 50, 180))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.download.setFont(font)
+        self.download.setObjectName("download")
+        self.btn_tello_down = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_down.setGeometry(QtCore.QRect(60, 310, 231, 91))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setItalic(False)
+        font.setWeight(75)
+        self.btn_tello_down.setFont(font)
+        icon2 = QtGui.QIcon()
+        icon2.addPixmap(QtGui.QPixmap("tello_png/jiangluo.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_down.setIcon(icon2)
+        self.btn_tello_down.setIconSize(QtCore.QSize(150, 150))
+        self.btn_tello_down.setObjectName("btn_tello_down")
+        self.btn_tello_right = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_right.setGeometry(QtCore.QRect(220, 220, 71, 71))
+        self.btn_tello_right.setText("")
+        icon3 = QtGui.QIcon()
+        icon3.addPixmap(QtGui.QPixmap("tello_png/right.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_right.setIcon(icon3)
+        self.btn_tello_right.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_right.setObjectName("btn_tello_right")
+        self.btn_tello_left = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_left.setGeometry(QtCore.QRect(60, 220, 71, 71))
+        self.btn_tello_left.setText("")
+        icon4 = QtGui.QIcon()
+        icon4.addPixmap(QtGui.QPixmap("tello_png/left.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_left.setIcon(icon4)
+        self.btn_tello_left.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_left.setObjectName("btn_tello_left")
+        self.btn_tello_hold = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_hold.setGeometry(QtCore.QRect(140, 220, 71, 71))
+        self.btn_tello_hold.setText("")
+        icon5 = QtGui.QIcon()
+        icon5.addPixmap(QtGui.QPixmap("tello_png/hold.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_hold.setIcon(icon5)
+        self.btn_tello_hold.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_hold.setObjectName("btn_tello_hold")
+        self.btn_tello_forward = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_forward.setGeometry(QtCore.QRect(140, 140, 71, 71))
+        self.btn_tello_forward.setText("")
+        icon6 = QtGui.QIcon()
+        icon6.addPixmap(QtGui.QPixmap("tello_png/up.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_forward.setIcon(icon6)
+        self.btn_tello_forward.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_forward.setObjectName("btn_tello_forward")
+        self.btn_tello_turnright = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_turnright.setGeometry(QtCore.QRect(220, 140, 71, 71))
+        self.btn_tello_turnright.setText("")
+        icon6 = QtGui.QIcon()
+        icon6.addPixmap(QtGui.QPixmap("tello_png/return.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_turnright.setIcon(icon6)
+        self.btn_tello_turnright.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_turnright.setObjectName("btn_tello_turnright")
+        self.btn_tello_turnleft = QtWidgets.QPushButton(self.frame_2)
+        self.btn_tello_turnleft.setGeometry(QtCore.QRect(60, 140, 71, 71))
+        self.btn_tello_turnleft.setText("")
+        icon6 = QtGui.QIcon()
+        icon6.addPixmap(QtGui.QPixmap("tello_png/return_2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_turnleft.setIcon(icon6)
+        self.btn_tello_turnleft.setIconSize(QtCore.QSize(70, 100))
+        self.btn_tello_turnleft.setObjectName("btn_tello_turnleft")
+        #设置无人机连接部分
+        self.frame_3 = QtWidgets.QFrame(self.centralwidget)
+        self.frame_3.setGeometry(QtCore.QRect(50, 605, 391, 80))
+        self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_3.setObjectName("frame_3")
+        self.btn_tello_connect = QtWidgets.QPushButton(self.frame_3)
+        self.btn_tello_connect.setGeometry(QtCore.QRect(20, 10, 75, 61))
+        self.btn_tello_connect.setText("")
+        icon7 = QtGui.QIcon()
+        icon7.addPixmap(QtGui.QPixmap("window_png/连接.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.btn_tello_connect.setIcon(icon7)
+        self.btn_tello_connect.setIconSize(QtCore.QSize(60, 60))
+        self.btn_tello_connect.setObjectName("btn_tello_connect")
+        self.connectstate = QtWidgets.QLabel(self.frame_3)
+        self.connectstate.setGeometry(QtCore.QRect(120, 15, 231, 51))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.connectstate.setFont(font)
+        self.connectstate.setObjectName("connectstate")
+        self.connecttxt = QtWidgets.QLabel(self.frame_3)
+        self.connecttxt.setGeometry(QtCore.QRect(200, 15, 231, 51))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.connecttxt.setFont(font)
+        self.connecttxt.setStyleSheet("QLabel\n"
+                                   "{\n"
+                                   "    color:red\n"
+                                   "}\n"
+                                   "")
+        self.connecttxt.setObjectName("connecttxt")
+        MainWindow.setCentralWidget(self.centralwidget)
+        #上方工具栏
+        # self.menubar = QtWidgets.QMenuBar(MainWindow)
+        # self.menubar.setGeometry(QtCore.QRect(0, 0, 1260, 23))
+        # self.menubar.setObjectName("menubar")
+        # self.menu = QtWidgets.QMenu(self.menubar)
+        # self.menu.setObjectName("menu")
+        # self.menu_2 = QtWidgets.QMenu(self.menubar)
+        # self.menu_2.setObjectName("menu_2")
+        # MainWindow.setMenuBar(self.menubar)
+        # self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        # self.statusbar.setObjectName("statusbar")
+        # MainWindow.setStatusBar(self.statusbar)
+        # self.toolBar = QtWidgets.QToolBar(MainWindow)
+        # self.toolBar.setMinimumSize(QtCore.QSize(0, 0))
+        # self.toolBar.setIconSize(QtCore.QSize(50, 24))
+        # self.toolBar.setObjectName("toolBar")
+        # MainWindow.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar)
+        # self.tello = QtWidgets.QAction(MainWindow)
+        # icon8 = QtGui.QIcon()
+        # icon8.addPixmap(QtGui.QPixmap("window_png/实时画面-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        # self.tello.setIcon(icon8)
+        # self.tello.setObjectName("tello")
+        # self.pathfind = QtWidgets.QAction(MainWindow)
+        # icon9 = QtGui.QIcon()
+        # icon9.addPixmap(QtGui.QPixmap("window_png/路径分析-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        # self.pathfind.setIcon(icon9)
+        # self.pathfind.setObjectName("pathfind")
+        # self.screenshot = QtWidgets.QAction(MainWindow)
+        # icon10 = QtGui.QIcon()
+        # icon10.addPixmap(QtGui.QPixmap("window_png/录像.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        # self.screenshot.setIcon(icon10)
+        # self.screenshot.setObjectName("screenshot")
+        # self.menubar.addAction(self.menu.menuAction())
+        # self.menubar.addAction(self.menu_2.menuAction())
+        # self.toolBar.addAction(self.tello)
+        # self.toolBar.addAction(self.pathfind)
+        # self.toolBar.addAction(self.screenshot)
+        self.img_label = QtWidgets.QLabel()
+        self.connect_flag = False
+        #槽函数部分
+        # self.pathfind.triggered.connect(lambda: self.path())
+        # self.screenshot.triggered.connect(lambda: self.video())
+        self.btn_tello_connect.clicked.connect(lambda: self.connect())
+        self.btn_tello_up.clicked.connect(lambda: self.up())
+        self.btn_tello_down.clicked.connect(lambda: self.down())
+        self.btn_tello_forward.clicked.connect(lambda: self.forward())
+        self.btn_tello_right.clicked.connect(lambda: self.right())
+        self.btn_tello_left.clicked.connect(lambda: self.left())
+        self.btn_tello_hold.clicked.connect(lambda: self.Return())
+
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+    #点击路径分析事件
+    def path(self):
+        pass
+        # self.MainWindow1 = QMainWindow()
+        # ui = Ui_MainWindow1()
+        # ui.setupUi(self.MainWindow1)
+        # self.MainWindow1.show()
+    #点击屏幕录制事件
+    def video(self):
+        pass
+        # bar.show()
+    #点击连接无人机事件
+    def connect(self):
+        pass
+            # self.connect_flag = True
+            # self.connecttxt.setStyleSheet("QLabel\n"
+            #                            "{\n"
+            #                            "    color:green\n"
+            #                            "}\n"
+            #                            "")
+            # self.connecttxt.setText("已连接")
+            # self.chargetxt.setStyleSheet("QLabel\n"
+            #                            "{\n"
+            #                            "    color:green\n"
+            #                            "}\n"
+            #                            "")
+            # self.chargetxt.setText("100%")
+            # self.Wifitxt.setStyleSheet("QLabel\n"
+            #                            "{\n"
+            #                            "    color:green\n"
+            #                            "}\n"
+            #                            "")
+            # self.Wifitxt.setText("强")
+            # KeyControl.connect()
+
+    #点击无人机起飞事件
+    def up(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("UP")
+        # else:
+        #     return
+    #点击无人机降落事件
+    def down(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("DOWN")
+        # else:
+        #     return
+    #点击无人机前进事件
+    def forward(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("i")
+        # else:
+        #     return
+    #点击无人机右偏事件
+    def right(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("l")
+        # else:
+        #     return
+    #点击无人机左偏事件
+    def left(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("j")
+        # else:
+        #     return
+    #点击无人机停止事件
+    def Return(self):
+        pass
+        # if self.connect_flag:
+        #     KeyControl.getKeyboardInput("a")
+        #     KeyControl.getKeyboardInput("dffsfdsa")
+        # else:
+        #     return
+
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "无人机路径生成系统"))
+        self.tellostate.setText(_translate("MainWindow", "无人机状态"))
+        self.charge.setText(_translate("MainWindow", "剩余电量："))
+        self.chargetxt.setText(_translate("MainWindow", "--"))
+        self.Wifi.setText(_translate("MainWindow", "WIFI强度："))
+        self.Wifitxt.setText(_translate("MainWindow", "--"))
+        self.tellocontrol.setText(_translate("MainWindow", "控制面板"))
+        self.btn_tello_up.setText(_translate("MainWindow", "起飞"))
+        self.btn_tello_down.setText(_translate("MainWindow", "降落"))
+        self.upload.setText(_translate("MainWindow", "上升"))
+        self.download.setText(_translate("MainWindow", "下降"))
+        self.connectstate.setText(_translate("MainWindow", "连接状态："))
+        self.connecttxt.setText(_translate("MainWindow", "未连接"))
+        # self.menu.setTitle(_translate("MainWindow", "实时画面"))
+        # self.menu_2.setTitle(_translate("MainWindow", "路径分析"))
+        # self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar"))
+        # self.tello.setText(_translate("MainWindow", "实时画面"))
+        # self.pathfind.setText(_translate("MainWindow", "路径分析"))
+
+
+# if __name__ == '__main__':
+#     app = QApplication(sys.argv)
+#     MainWindow = QMainWindow()
+#     ui = Ui_MainWindow()
+#     ui.setupUi(MainWindow)
+#     app.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
+#     MainWindow.show()
+#     bar = ScreenBar()
+#     bar.setWindowFlags(Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint)
+#     sys.exit(app.exec_())

src/PC_Transfer/main_win/test.ui

@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QTableView" name="tableView">
+    <property name="geometry">
+     <rect>
+      <x>200</x>
+      <y>130</y>
+      <width>256</width>
+      <height>192</height>
+     </rect>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/PC_Transfer/main_win/win.py

@@ -1066,10 +1066,17 @@ class Ui_mainWindow(object):
         self.fileButton.setToolTip(_translate("mainWindow", "file"))
         self.cameraButton.setToolTip(_translate("mainWindow", "camera"))
         self.rtspButton.setToolTip(_translate("mainWindow", "rtsp"))
+<<<<<<< HEAD
+        self.label_2.setText(_translate("mainWindow", "IoU"))
+        self.label.setText(_translate("mainWindow", "conf"))
+        self.label_8.setText(_translate("mainWindow", "latency"))
+        self.checkBox.setText(_translate("mainWindow", "enable"))
+=======
         self.label_2.setText(_translate("mainWindow", "交并比"))
         self.label.setText(_translate("mainWindow", "置信度"))
         self.label_8.setText(_translate("mainWindow", "延迟"))
         self.checkBox.setText(_translate("mainWindow", "启用"))
+>>>>>>> develop
         self.saveCheckBox.setText(_translate("mainWindow", "自动保存"))
         self.label_11.setText(_translate("mainWindow", "结果统计\n"
 "\n"

src/PC_Transfer/main_win/win.ui

@@ -837,7 +837,11 @@ color: rgb(218, 218, 218);
 </string>
                 </property>
                 <property name="text">
+<<<<<<< HEAD
+                 <string>IoU</string>
+=======
                  <string>交并比</string>
+>>>>>>> develop
                 </property>
                </widget>
               </item>
@@ -965,7 +969,11 @@ color: rgb(218, 218, 218);
 </string>
                 </property>
                 <property name="text">
+<<<<<<< HEAD
+                 <string>conf</string>
+=======
                  <string>置信度</string>
+>>>>>>> develop
                 </property>
                </widget>
               </item>
@@ -1107,7 +1115,11 @@ color: rgb(218, 218, 218);
 </string>
                   </property>
                   <property name="text">
+<<<<<<< HEAD
+                   <string>latency</string>
+=======
                    <string>延迟</string>
+>>>>>>> develop
                   </property>
                  </widget>
                 </item>
@@ -1138,7 +1150,11 @@ QCheckBox::indicator:checked {
 </string>
                   </property>
                   <property name="text">
+<<<<<<< HEAD
+                   <string>enable</string>
+=======
                    <string>启用</string>
+>>>>>>> develop
                   </property>
                   <property name="checked">
                    <bool>true</bool>

src/PC_Transfer/tello_control.py

@@ -0,0 +1,325 @@
+from djitellopy import tello
+import datetime
+import time
+import threading
+import socket
+import json
+
+class TelloControl:
+    '''
+    tello控制类
+    '''
+    def __init__(self):
+        self.drone = tello.Tello(host="192.168.39.58")
+        self.speed = 50
+        self.timestamp = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+        log_filename = f"log/log_{self.timestamp}.txt"
+        self.log_file = open(file=log_filename, mode="a+", encoding="utf-8",buffering=1)
+        self.log_file.write(f"{self.timestamp}\n")
+
+        self.socket_recv_host = ''
+        self.socket_recv_port = 8888
+
+        self.recv_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.recv_sock.bind((self.socket_recv_host, self.socket_recv_port))
+        self.recv_thread = threading.Thread(target=self.recive)
+        self.recv_thread.setDaemon(True)
+        self.recv_thread.start()
+
+        self.auto_fly_flag = False
+        self.auto_home_flag = False
+
+        self.photo_quality = 50
+
+        self.send_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.send_address = ('192.168.39.145', 6666)
+
+        self.start_time = None
+        
+        self.distance=100
+        self.angle=20
+
+        self.send_info_thread = threading.Thread(target=self.send_info)
+        self.send_info_thread.setDaemon(True)
+        self.send_info_thread.start()
+
+
+    def recive(self):
+        while True:
+            data, addr = self.recv_sock.recvfrom(1024)
+            print('Received: ', data.decode('utf-8'))
+            if data:
+                self.control(data.decode('utf-8'))
+
+    def control(self, data):
+        """
+        tello控制
+        :param data:
+        :return:
+        """
+        try:
+            if data == "TAKEOFF":
+                self.drone.takeoff()
+                self.drone.set_speed(self.speed)
+                self.log_file.write(str(datetime.datetime.now()) + "\tTAKEOFF" + "\n")
+            elif data == "LAND":
+                self.drone.land()
+                self.log_file.write(str(datetime.datetime.now()) + "\tLAND" + "\n")
+            elif data == "FORWARD":
+                self.drone.move_forward(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tFORWARD {self.distance}" + "\n")
+            elif data == "BACKWORD":
+                self.drone.move_back(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tBACK {self.distance}" + "\n")
+            elif data == "LEFT":
+                self.drone.move_left(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tLEFT {self.distance}" + "\n")
+            elif data == "RIGHT":
+                self.drone.move_right(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tRIGHT {self.distance}" + "\n")
+            elif data == "UP":
+                self.drone.move_up(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tUP {self.distance}" + "\n")
+            elif data == "DOWN":
+                self.drone.move_down(self.distance)
+#                time.sleep(self.distance / self.speed)
+
+                self.log_file.write(str(datetime.datetime.now()) + f"\tDOWN {self.distance}" + "\n")
+            elif data == "TURN_LEFT":
+                self.drone.rotate_counter_clockwise(self.angle)
+                self.log_file.write(str(datetime.datetime.now()) + f"\tTURN_LEFT {self.angle}" + "\n")
+            elif data == "TURN_RIGHT":
+                self.drone.rotate_clockwise(self.angle)
+                self.log_file.write(str(datetime.datetime.now()) + f"\tTURN_RIGHT {self.angle}" + "\n")
+            elif "SPEED" in data:
+                speed = int(data.split(" ")[1])
+                self.drone.set_speed(speed)
+                self.speed = speed
+                self.log_file.write(str(datetime.datetime.now()) +"\t"+ data + "\n")
+            # elif "AUTOF" in data:
+            #     distance = int(data.split(" ")[1])
+            #     angle = int(data.split(" ")[2])
+            #     self.autofly(distance, angle)
+            #     self.log_file.write(str(datetime.datetime.now()) + data + "\n")
+
+            elif data == "STOP":
+                self.log_file.write(str(datetime.datetime.now()) + "\tSTOP" + "\n")
+                self.auto_fly_flag = True
+                self.auto_home_flag = True
+                self.drone.stopmove()
+
+            elif data == "PHOTO_LOW":
+                self.photo_quality = 50
+
+            elif data == "PHOTO_HIGH":
+                self.photo_quality = 100
+
+            elif "WARNING" in data:
+                self.auto_fly_flag = False
+                self.drone.connect()
+                self.drone.streamon()
+                self.drone.takeoff()
+                self.log_file.write( str(datetime.datetime.now()) +"\t"+ data + "\n")
+
+                distance = int(data.split(" ")[1])
+                angle = int(data.split(" ")[2])
+                self.log_file.write(f"TURN_RIGHT {angle}\n")
+                self.log_file.write(f"FORWARD {distance}\n")
+                self.autofly(distance, angle)
+            # elif data == "INFO":
+            #     data_thread = threading.Thread(target=self.send_info)
+            #     data_thread.setDaemon(True)
+            #     data_thread.start()
+            elif data == "DIRECTHOME":
+                self.auto_home_flag = False
+                self.return_home_line()
+                self.log_file.write(str(datetime.datetime.now()) + "\tDIRECTHOME" + "\n")
+
+        except Exception as e:
+            print(e)
+            self.log_file.write(str(datetime.datetime.now()) + "\t" + str(e) + "\n")
+            if "Command" not in str(e):
+                self.drone.land()
+                self.drone.streamoff()
+                self.drone.end()
+                self.log_file.close()
+
+    def autofly(self, distance, angle):
+        '''
+        自动飞行
+        :param distance:
+        :param angle:
+        :return:
+        '''
+        self.start_time = datetime.datetime.now()
+        self.drone.rotate_clockwise(angle)
+        while distance > 500:
+            if self.auto_fly_flag:
+                self.auto_fly_flag = False
+                return
+            self.drone.move_forward(500)
+            distance -= 500
+            # time.sleep(100 / self.speed)
+
+        self.drone.move_forward(distance)
+        time.sleep(distance / self.speed)
+
+    def return_home(self):
+        # 实现将无人机返回到出发点的逻辑
+        # 根据日志中的操作，执行相反的操作即可
+        # 例如，如果日志中有"FORWARD self.distance"的操作，则执行"BACK self.distance"来反向操作
+        # 注意控制时间间隔，可以使用time.sleep()方法
+
+        self.log_file.seek(0)  # 将文件指针移动到文件开头
+        for line in self.log_file:
+            if self.auto_home_flag:
+                self.drone.emergency()
+                return
+            if "FORWARD" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_back(distance)
+                time.sleep(distance / self.speed)
+            elif "BACK" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_forward(distance)
+                time.sleep(distance / self.speed)
+            elif "LEFT" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_right(distance)
+                time.sleep(distance / self.speed)
+            elif "RIGHT" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_left(distance)
+                time.sleep(distance / self.speed)
+            elif "UP" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_down(distance)
+                time.sleep(distance / self.speed)
+            elif "DOWN" in line:
+                distance = int(line.split(" ")[-1])
+                self.drone.move_up(distance)
+                time.sleep(distance / self.speed)
+            elif "TURN_LEFT" in line:
+                angle = int(line.split(" ")[-1])
+                self.drone.rotate_clockwise(angle)
+                time.sleep(angle / self.speed)
+            elif "TURN_RIGHT" in line:
+                angle = int(line.split(" ")[-1])
+                self.drone.rotate_counter_clockwise(angle)
+                time.sleep(angle / self.speed)
+
+        self.drone.land()
+        # 文件指针移动到文件末尾
+        self.log_file.seek(0, 2)
+
+    def return_home_line(self):
+        '''
+        通过直线距离返回
+        :return:
+        '''
+        self.log_file.seek(0)  # 将文件指针移动到文件开头
+        total_distance_forward = 0
+        total_distance_right = 0
+        total_distance_up = 0
+
+        for line in self.log_file:
+            if self.auto_home_flag:  # 如果标志变量为True，中断自动返回
+                self.auto_home_flag = False
+                break
+
+            if "FORWARD" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_forward += distance
+            elif "BACK" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_forward -= distance
+            elif "LEFT" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_right -= distance
+            elif "RIGHT" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_right += distance
+            elif "UP" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_up += distance
+            elif "DOWN" in line:
+                distance = int(line.split(" ")[-1])
+                total_distance_up -= distance
+        print(total_distance_forward, total_distance_right, total_distance_up)
+        self.log_file.seek(0, 2)
+        while total_distance_forward != 0:
+            distance = min(500, abs(total_distance_forward))
+            if self.auto_home_flag:  # 如果标志变量为True，中断自动返回
+                self.auto_home_flag = False
+                return
+            if total_distance_forward > 0:
+                self.drone.move_back(distance)
+                total_distance_forward -= distance
+            else:
+                self.drone.move_forward(distance)
+                total_distance_forward += distance
+            time.sleep(distance / self.speed)
+
+        while total_distance_right != 0:
+            distance = min(500, abs(total_distance_right))
+            if self.auto_home_flag:  # 如果标志变量为True，中断自动返回
+                self.auto_home_flag = False
+                return
+            if total_distance_right > 0:
+                self.drone.move_left(distance)
+                total_distance_right -= distance
+            else:
+                self.drone.move_right(distance)
+                total_distance_right += distance
+            time.sleep(distance / self.speed)
+
+        while total_distance_up != 0:
+            distance = min(500, abs(total_distance_up))
+            if self.auto_home_flag:  # 如果标志变量为True，中断自动返回
+                self.auto_home_flag = False
+                return
+            if total_distance_up > 0:
+                self.drone.move_down(distance)
+                total_distance_up -= distance
+            else:
+                self.drone.move_up(distance)
+                total_distance_up += distance
+            time.sleep(distance / self.speed)
+
+
+
+    def send_info(self):
+        '''
+        发送无人机的信息
+        :return:
+        '''
+        while True:
+            battery = self.drone.query_battery()
+            data = {
+                "battery": battery,
+                "speed": self.speed,
+                "distance": self.calculate_distance(self.start_time)}
+            self.send_sock.send(json.dumps(data).encode())
+            time.sleep(2)
+
+    def calculate_distance(self, start_time ):
+        '''
+        计算无人机飞行的距离
+        :param start_time:
+        :return distance_diff:
+        '''
+        current_time = datetime.datetime.now()
+        time_diff = current_time - start_time
+        distance_diff = time_diff.total_seconds() * self.speed
+        return distance_diff
+

src/readme.md

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

src/sixaunyi/.gitignore

@@ -0,0 +1,15 @@
+*.iml
+.gradle
+/local.properties
+/.idea/caches
+/.idea/libraries
+/.idea/modules.xml
+/.idea/workspace.xml
+/.idea/navEditor.xml
+/.idea/assetWizardSettings.xml
+.DS_Store
+/build
+/captures
+.externalNativeBuild
+.cxx
+local.properties

src/sixaunyi/.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

src/sixaunyi/.idea/compiler.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CompilerConfiguration">
+    <bytecodeTargetLevel target="11" />
+  </component>
+</project>

src/sixaunyi/.idea/deploymentTargetDropDown.xml

@@ -0,0 +1,17 @@
+<?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="2023-06-28T03:24:01.996639400Z" />
+  </component>
+</project>

src/sixaunyi/.idea/gradle.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="testRunner" value="GRADLE" />
+        <option name="distributionType" value="DEFAULT_WRAPPED" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/app" />
+          </set>
+        </option>
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>

src/sixaunyi/.idea/misc.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="DesignSurface">
+    <option name="filePathToZoomLevelMap">
+      <map>
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/drawable/icon_favorite_red.xml" value="0.12" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/activity_detect.xml" value="0.1" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/activity_main.xml" value="0.1" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/activity_map.xml" value="0.1125" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/activity_video.xml" value="0.1" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/content_detect.xml" value="0.1358695652173913" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/fragment_first.xml" value="0.1358695652173913" />
+        <entry key="..\:/MiNote_maintain/new_MiCode/src/sixaunyi/app/src/main/res/layout/fragment_second.xml" value="0.1358695652173913" />
+      </map>
+    </option>
+  </component>
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

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

@@ -0,0 +1,15 @@
+
+z
+Japp/src/androidTest/java/com/example/sixaunyi/ExampleInstrumentedTest.java,7\e\7e2dc811cc280952b5bbbfb02aa0e4fa16a75d7c
+F
+app/proguard-rules.pro,9\e\9e08934d811afe28fbc77aaa3c0d747b94348db9
+X
+(gradle/wrapper/gradle-wrapper.properties,f\b\fbe448ebfc3eb2d4e308f6b8b043666f5b57235e
+A
+gradle.properties,2\a\2afbb999f001938c88fa43fc2ef52abf0f8213e4
+k
+;app/src/test/java/com/example/sixaunyi/ExampleUnitTest.java,8\9\892f839083a73d776402535dde27e522288853c9
+?
+settings.gradle,0\5\05efc8b1657769a27696d478ded1e95f38737233
+@
+app/build.gradle,f\4\f4a01d6a4fcb971362ec00a83903fd3902f52164

src/sixaunyi/app/.gitignore

@@ -0,0 +1 @@
+/build

src/sixaunyi/app/build.gradle

@@ -0,0 +1,58 @@
+plugins {
+    id 'com.android.application'
+}
+
+android {
+    compileSdk 32
+
+    defaultConfig {
+        applicationId "com.example.sixaunyi"
+        minSdk 22
+        targetSdk 32
+        versionCode 1
+        versionName "1.0"
+
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+    buildFeatures {
+        viewBinding true
+    }
+}
+
+dependencies {
+
+    implementation 'androidx.appcompat:appcompat:1.3.0'
+    implementation 'com.google.android.material:material:1.4.0'
+    implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
+    implementation 'androidx.navigation:navigation-fragment:2.3.5'
+    implementation 'androidx.navigation:navigation-ui:2.3.5'
+    implementation 'com.google.android.gms:play-services-maps:17.0.1'
+    testImplementation 'junit:junit:4.13.2'
+    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    //Google推荐的EasyPermission库
+    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
+    /*implementation 'com.amap.api:location:latest.integration'
+    //搜索功能
+    implementation 'com.amap.api:search:latest.integration'*/
+
+
+}

src/sixaunyi/app/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

src/sixaunyi/app/release/output-metadata.json

@@ -0,0 +1,20 @@
+{
+  "version": 3,
+  "artifactType": {
+    "type": "APK",
+    "kind": "Directory"
+  },
+  "applicationId": "com.example.sixaunyi",
+  "variantName": "release",
+  "elements": [
+    {
+      "type": "SINGLE",
+      "filters": [],
+      "attributes": [],
+      "versionCode": 1,
+      "versionName": "1.0",
+      "outputFile": "app-release.apk"
+    }
+  ],
+  "elementType": "File"
+}

src/sixaunyi/app/src/androidTest/java/com/example/sixaunyi/ExampleInstrumentedTest.java

@@ -0,0 +1,26 @@
+package com.example.sixaunyi;
+
+import android.content.Context;
+
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+    @Test
+    public void useAppContext() {
+        // Context of the app under test.
+        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+        assertEquals("com.example.sixaunyi", appContext.getPackageName());
+    }
+}

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

@@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    package="com.example.sixaunyi">
+    <!-- 用于访问网络，网络定位需要上网 -->
+    <uses-permission android:name="android.permission.INTERNET" /> <!-- 用于读取手机当前的状态 -->
+    <uses-permission android:name="android.permission.READ_PHONE_STATE" /> <!-- 用于写入缓存数据到扩展存储卡 -->
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <!-- 用于申请调用A-GPS模块 -->
+    <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- 用于进行网络定位 -->
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" /> <!-- 用于获取运营商信息，用于支持提供运营商信息相关的接口 -->
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" /> <!-- 用于访问wifi网络信息，wifi信息会用于进行网络定位 -->
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" /> <!-- 用于获取wifi的获取权限，wifi信息会用来进行网络定位 -->
+    <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
+
+    <application
+        android:name=".MapApplication"
+        android:allowBackup="true"
+        android:dataExtractionRules="@xml/data_extraction_rules"
+        android:fullBackupContent="@xml/backup_rules"
+        android:icon="@drawable/app"
+        android:label="哨兵"
+        android:roundIcon="@drawable/app"
+        android:supportsRtl="true"
+        android:theme="@style/Theme.Sixaunyi.NoActionBar"
+        tools:targetApi="31">
+        <activity
+            android:name=".SettingActivity"
+            android:exported="false"
+            android:screenOrientation="landscape"
+            android:theme="@style/TransparentTheme"/>
+        <!-- 定位service -->
+        <service android:name="com.amap.api.location.APSService" /> <!-- 设置高德Key -->
+        <meta-data
+            android:name="com.amap.api.v2.apikey"
+            android:value="530a964ff05e45d9efb905abc9480690" />
+
+        <activity
+            android:name=".VideoActivity"
+            android:exported="false"
+            android:screenOrientation="landscape"
+            />
+        <activity
+            android:name=".MainActivity"
+            android:exported="true"
+            android:launchMode="singleTop"
+            android:label="@string/app_name"
+            android:theme="@style/Theme.AppCompat.NoActionBar">
+        </activity>
+        <activity
+            android:name=".LoginActivity"
+            android:exported="true"
+            android:screenOrientation="portrait">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>

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

@@ -0,0 +1,46 @@
+package com.example.sixaunyi;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.annotation.NonNull;
+import androidx.fragment.app.Fragment;
+import androidx.navigation.fragment.NavHostFragment;
+import com.example.sixaunyi.databinding.FragmentFirstBinding;
+
+public class FirstFragment extends Fragment {
+
+private FragmentFirstBinding binding;
+
+    @Override
+    public View onCreateView(
+            LayoutInflater inflater, ViewGroup container,
+            Bundle savedInstanceState
+    ) {
+
+      binding = FragmentFirstBinding.inflate(inflater, container, false);
+      return binding.getRoot();
+
+    }
+
+    public void onViewCreated(@NonNull View view, Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+
+        binding.buttonFirst.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                NavHostFragment.findNavController(FirstFragment.this)
+                        .navigate(R.id.action_FirstFragment_to_SecondFragment);
+            }
+        });
+    }
+
+@Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        binding = null;
+    }
+
+}

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

@@ -0,0 +1,79 @@
+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;
+import java.util.HashMap;
+import java.util.Map;
+
+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");
+        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);
+        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();
+        });
+    }
+    private void attemptLogin() {
+        String username = mUsername.getText().toString();
+        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);
+        } 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

@@ -0,0 +1,816 @@
+package com.example.sixaunyi;
+
+import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
+
+import static java.lang.Math.PI;
+
+import androidx.activity.result.ActivityResultLauncher;
+import androidx.activity.result.contract.ActivityResultContracts;
+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;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.location.Location;
+import android.nfc.Tag;
+import android.os.Build;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+import android.view.View;
+import android.widget.ImageButton;
+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;
+import com.amap.api.location.AMapLocationListener;
+import com.amap.api.maps.AMap;
+import com.amap.api.maps.AMapUtils;
+import com.amap.api.maps.LocationSource;
+import com.amap.api.maps.MapView;
+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;
+import com.amap.api.services.geocoder.GeocodeResult;
+import com.amap.api.services.geocoder.GeocodeSearch;
+import com.amap.api.services.geocoder.RegeocodeAddress;
+import com.amap.api.services.geocoder.RegeocodeQuery;
+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,
+        AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
+        AMap.OnMarkerClickListener{
+
+    //请求权限码
+    private static final int REQUEST_PERMISSIONS = 9527;
+    //声明AMapLocationClient类对象
+    public AMapLocationClient mLocationClient = null;
+    //声明AMapLocationClientOption对象
+    public AMapLocationClientOption mLocationOption = null;
+    private MapView mapView = null;
+    private String city;
+    private LatLng Current_latlng;
+    //地图控制器*********非常重要！！！！！！
+    private AMap aMap = null;
+    //位置更改监听
+    private LocationSource.OnLocationChangedListener mListener;
+    //地理编码搜索
+    private GeocodeSearch geocodeSearch;
+    //解析成功标识码
+    private static final int PARSE_SUCCESS_CODE = 1000;
+    //城市码
+    private String cityCode = null;
+    //浮动按钮
+    private FloatingActionButton fabPOI;
+    //浮动按钮  清空地图标点
+    private FloatingActionButton ClearMarker_btn;
+    //浮动按钮 更换活动
+    private ImageButton ChangeAct_btn;
+    //标点列表
+    private List<Marker> markerList = new ArrayList<>();
+    //标识参数类
+    private MarkerOptions markerOption = new MarkerOptions();
+    //
+    private DatagramSocket reveSocket;
+    private String value;
+    private ExecutorService mThreadPool = Executors.newCachedThreadPool();
+    //private ActivityResultLauncher<Intent> launcher;
+
+    ////////////////////////////可修改部分/////////////////////////////
+    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 = 9975;
+    private final static String SEND_to_IP = "192.168.39.195";
+    private final static int SEND_PORT = 8888;
+    /////////////////////////////////////////////////////////////////
+    private InetAddress serverAddr;
+    private String Angle;
+    private String MonitorAngle;
+    private float distance;
+    private float MonitorDistance;
+    private UdpReceiveThread udpReceiveThread;
+
+    @SuppressLint("MissingInflatedId")
+    @Override
+    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");
+        }
+
+        ClearMarker_btn = findViewById(R.id.clearMarker_btn);
+        ChangeAct_btn = findViewById(R.id.change_btn);
+        ChangeAct_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                changeAct();
+            }
+        });
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+
+
+        addSensorMarker(Monitorlatlng);
+
+
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 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(14);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                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
+                double longitude = aMapLocation.getLongitude();
+
+                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) {
+                    // 显示系统图标
+                    mListener.onLocationChanged(aMapLocation);
+                }
+                //显示浮动按钮
+                fabPOI.show();
+                //赋值
+                cityCode = aMapLocation.getCityCode();
+            }
+            else {
+                //定位失败时，可通过ErrCode（错误码）信息来确定失败的原因，errInfo是错误信息，详见错误码表。
+                Log.e("AmapError", "location Error, ErrCode:"
+                        + aMapLocation.getErrorCode() + ", errInfo:"
+                        + aMapLocation.getErrorInfo());
+            }
+        }
+    }
+    /***********************Activity相关函数，其中添加了保证mapView与activity同步相关函数******************/
+    @Override
+    protected void onResume() {
+        super.onResume();
+        //在activity执行onResume时执行mMapView.onResume ()，重新绘制加载地图
+        mapView.onResume();
+    }
+    @Override
+    protected void onPause() {
+        super.onPause();
+        //在activity执行onPause时执行mMapView.onPause ()，暂停地图的绘制
+        mapView.onPause();
+    }
+    @Override
+    protected void onSaveInstanceState(Bundle outState) {
+        super.onSaveInstanceState(outState);
+        outState.putString("key", value);
+        //在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState)，保存地图当前的状态
+        mapView.onSaveInstanceState(outState);
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        //销毁定位客户端，同时销毁本地定位服务。
+        if (mLocationClient != null) {
+            mLocationClient.onDestroy();
+        }
+        //在activity执行onDestroy时执行mMapView.onDestroy()，销毁地图
+        mapView.onDestroy();
+    }
+    /******************************************************************/
+    /* * * 长按地图响应函数 * * */
+    //LatLng 为高德地图包自带的存储坐标对象
+    @Override
+    public void onMapLongClick(LatLng latLng) {
+        distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
+        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.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);
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.weizhi)))
+                //备注
+                .title("路径点")
+                .snippet("距离：")
+
+        );
+        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")
+
+        );
+        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")
+                
+        );
+        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
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void moveDrone(){
+        SmoothMoveUtil moveUtil = new SmoothMoveUtil(droneMarker);
+        long time = (long) MonitorDistance/2*1000;
+        moveUtil.moveDroneMarker(Monitorlatlng,time);
+    }
+
+    public void changeAct() {
+        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);
+        int requestCode = 1; // 可以是任何非负整数
+        startActivity(intent);
+
+    }
+
+    /**
+     * Marker点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        } else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+
+    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 = 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() {
+            try {
+                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)) {
+                        Log.i(TAG, "run: 222222222222222222222222222");
+                        receiveHandler.sendEmptyMessage(1);
+                        sendCommand("WARNING "+String.valueOf(udpMonitorDistance)+" "+udpMonitorAngle);
+
+                        mRunning = false;
+
+
+                    }
+                }
+                socket.close();
+
+            } catch (SocketException e) {
+                e.printStackTrace();
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+        public void startListening() {
+            mRunning = true;
+            start();
+        }
+
+        public void stopListening() {
+            mRunning = false;
+        }
+    }
+
+    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
+        double subLat = anotherLat - centerLat;
+        double subLon = anotherLon - centerLon;
+        double angle = 0;
+
+        if (subLat == 0) {
+            //纬度差值为0 表示两点在同一高度 此时点必然在x轴右侧 或者 x轴左侧
+            if (subLon > 0) {
+                //x轴右侧
+                angle = 90;
+            } else if (subLon < 0) {
+                //x轴左侧
+                angle = 270;
+            }
+        } else if (subLon == 0) {
+            //经度差值为0 说明点在y轴上方或者y轴下方
+            if (subLat > 0) {
+                //y轴上方
+                angle = 0;
+            } else if (subLat < 0) {
+                //y轴下方
+                angle = 180;
+            }
+        } else {
+            //根据tan的值，求角度 subLon不能为0  纬度差值 除以 经度差值 = tan的值
+            double v = subLat / subLon;
+            angle = Math.atan(v) * 180 / PI;
+            //angle的值在-180到180之间
+            System.out.println("未处理的角度值:" + (angle));
+            //第二种求角度的方法
+            //angle = Math.atan2(subLat,subLon) * 180 / PI  ;
+            //判断数据在第几象限
+            //1、正切小于0 在二四象限
+            if (angle < 0) {
+                if (subLon > 0) {
+                    //此时的点在中心点的右下角
+                    angle = Math.abs(angle)+ 90;
+                } else if (subLon < 0) {
+                    //此时的点在中心点的左上角
+                    angle = Math.abs(angle) + 270;
+                }
+            }
+            //2、正切大于0 在一三象限
+            else if (angle > 0) {
+                if (subLon > 0) {
+                    //此时的点在中心点的右上角  360-angle
+                    angle = 90-angle;
+                } else if (subLat < 0) {
+                    // 此时的点在中心点的左下角
+                    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/MapApplication.java

@@ -0,0 +1,27 @@
+package com.example.sixaunyi;
+
+
+import android.app.Application;
+import android.content.Context;
+
+import com.amap.api.location.AMapLocationClient;
+import com.amap.api.maps.MapsInitializer;
+import com.amap.api.services.core.ServiceSettings;
+
+public class MapApplication extends Application {
+
+    @Override
+    public void onCreate() {
+        super.onCreate();
+        Context context = this;
+        //定位隐私政策同意
+        AMapLocationClient.updatePrivacyShow(context,true,true);
+        AMapLocationClient.updatePrivacyAgree(context,true);
+        //地图隐私政策同意
+        MapsInitializer.updatePrivacyShow(context,true,true);
+        MapsInitializer.updatePrivacyAgree(context,true);
+        //搜索隐私政策同意
+        ServiceSettings.updatePrivacyShow(context,true,true);
+        ServiceSettings.updatePrivacyAgree(context,true);
+    }
+}

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

@@ -0,0 +1,46 @@
+package com.example.sixaunyi;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.annotation.NonNull;
+import androidx.fragment.app.Fragment;
+import androidx.navigation.fragment.NavHostFragment;
+import com.example.sixaunyi.databinding.FragmentSecondBinding;
+
+public class SecondFragment extends Fragment {
+
+private FragmentSecondBinding binding;
+
+    @Override
+    public View onCreateView(
+            LayoutInflater inflater, ViewGroup container,
+            Bundle savedInstanceState
+    ) {
+
+      binding = FragmentSecondBinding.inflate(inflater, container, false);
+      return binding.getRoot();
+
+    }
+
+    public void onViewCreated(@NonNull View view, Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+
+        binding.buttonSecond.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                NavHostFragment.findNavController(SecondFragment.this)
+                        .navigate(R.id.action_SecondFragment_to_FirstFragment);
+            }
+        });
+    }
+
+@Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        binding = null;
+    }
+
+}

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

@@ -0,0 +1,194 @@
+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 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);
+        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.warning_num);
+        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);
+        // 恢复SeekBar状态
+        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) {
+                // 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.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                Battery_warning.setText(String.valueOf(progress));
+                SharedPreferences.Editor editor = sharedPreferences.edit();
+                editor.putInt("battery_num", progress);
+                editor.apply();
+            }
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+
+        });
+        return_btn.setOnClickListener(new View.OnClickListener(){
+            public void onClick(View v) {
+                // 启动目标 Activity
+                passingParameters();
+            }
+        });
+        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);
+    }
+
+    @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

@@ -0,0 +1,813 @@
+package com.example.sixaunyi;
+
+import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
+
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.app.AlertDialog;
+import android.app.Dialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.content.res.TypedArray;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.graphics.Canvas;
+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;
+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;
+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 = "192.168.39.195"; //填写接收方IP
+    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
+    private byte[] buf;
+    static Bitmap bp;
+    private DatagramSocket reveSocket;
+    private DatagramSocket sendSocket;
+    private static InetAddress serverAddr;
+    private SendHandler sendHandler = new SendHandler();
+    private ReceiveHandler receiveHandler = new ReceiveHandler();
+    private Button Trans_to_Detect;
+    private ImageView imgShow;
+    private Button btn;
+    private ImageButton Forward_btn;
+    private ImageButton Back_btn;
+    private ImageButton Left_btn;
+    private ImageButton Right_btn;
+    private ImageButton Down_btn;
+    private ImageButton Up_btn;
+    private ImageButton TurnLeft_btn;
+    private ImageButton TurnRight_btn;
+    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
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        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);
+        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);
+        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
+        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);
+        }
+        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(){
+
+        TakeOff_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    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");
+            }
+        });
+        Forward_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("FORWARD");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: FFFFFFFForward");
+            }
+        });
+        Back_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("BACKWORD");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: BBBBBBBBackward");
+            }
+        });
+        Left_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("LEFT");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: LLLLLLLLLLLLeft");
+            }
+        });
+        Right_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("RIGHT");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: RRRRRRRRRRight");
+            }
+        });
+        Down_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("DOWN");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: DDDDDDDDDown");
+            }
+        });
+        Up_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("UP");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: UUUUUUUUUUUUUUp");
+            }
+        });
+        TurnLeft_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("TURN_LEFT");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: TTTTTTTTTurnLLLLLLLLLLeft");
+            }
+        });
+        TurnRight_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                try {
+                    sendCommand("TURN_RIGHT");
+                } catch (UnknownHostException e) {
+                    throw new RuntimeException(e);
+                }
+                Log.i(TAG, "onClick: TTTTTTTTTTTTurnRRRRRRRRRRight");
+            }
+        });
+
+    }
+
+    private void Condition_Init() throws UnknownHostException {
+        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);
+//                    }
+                }
+            }
+        });
+        Record_btn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                saveVideo(bp);
+            }
+        });
+    }
+
+
+    private void changetoManual() throws UnknownHostException {
+        sendCommand("STOP");
+    }
+
+    class ReceiveHandler extends Handler{
+        @Override
+        public void handleMessage(Message msg) {
+            if (msg.what == 1) {
+                runOnUiThread(new Runnable() {
+                    @Override
+                    public void run() {
+                        int targetWidth = imgShow.getWidth();
+                        int targetHeight = imgShow.getHeight();
+                        Bitmap scaledBitmap = Bitmap.createScaledBitmap(bp, targetWidth, targetHeight, true);
+                        imgShow.setImageBitmap(scaledBitmap);
+                    }
+                });
+            }
+        }
+    }
+
+    class SendHandler extends Handler {
+        @Override
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+        }
+    }
+    /*
+     *   UDP数据接受线程
+     * */
+    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() {
+            try {
+                InetAddress serverAddr = InetAddress.getByName(Recieve_IP);
+
+                while (listenStatus) {
+                    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);
+                }
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    /*
+     *   UDP数据发送线程，Runnable方法
+     * */
+    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);
+    }
+
+    /*
+     *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];
+        }
+
+        @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(), "UTF-8");
+                    jsonObject = new JSONObject(receivedData);
+                    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：" + 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 | JSONException e) {
+                e.printStackTrace();
+            } finally {
+                if (socket != null) {
+                    socket.close();
+                }
+            }
+        }
+
+        public void stopThread() {
+            running = false;
+        }
+    }
+
+    private String findEncoderCodecName(String mimeType) {
+        MediaCodecList codecList = new MediaCodecList(MediaCodecList.REGULAR_CODECS);
+        int numCodecs = codecList.getCodecInfos().length;
+        for (int i = 0; i < numCodecs; i++) {
+            MediaCodecInfo codecInfo = MediaCodecList.getCodecInfoAt(i);
+            if (!codecInfo.isEncoder()) {
+                continue;
+            }
+            String[] types = codecInfo.getSupportedTypes();
+            for (String type : types) {
+                if (type.equalsIgnoreCase(mimeType)) {
+                    return codecInfo.getName();
+                }
+            }
+        }
+        return null;
+    }
+
+    MediaCodec codec;
+    private void saveVideo(Bitmap videoBitmap) {
+        try {
+            String codecName = findEncoderCodecName(MediaFormat.MIMETYPE_VIDEO_AVC);
+            if (codecName != null) {
+                codec = MediaCodec.createByCodecName(codecName);
+
+                // 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());
+                format.setInteger(MediaFormat.KEY_BIT_RATE, 2000000);
+                format.setInteger(MediaFormat.KEY_FRAME_RATE, 30);
+                format.setInteger(MediaFormat.KEY_COLOR_FORMAT, MediaCodecInfo.CodecCapabilities.COLOR_FormatSurface);
+                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);
+                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{
+
+        private final int BG_COLOR = Color.parseColor("#2D2E32");  // 背景颜色
+        private static final int GUIDE_TEXT_COLOR = Color.WHITE;  // 引导文本颜色
+        private static final int GUIDE_TEXT_SIZE = 100;  // 引导文本大小
+        private static final int INDICATOR_COLOR = Color.WHITE;  // 指示器颜色
+        private static final int INDICATOR_RADIUS = 40;  // 指示器半径
+        private static final int INDICATOR_GAP = 300;  // 指示器间距
+        private static final int ARROW_COLOR = Color.WHITE;  // 箭头颜色
+        private static final int ARROW_SIZE = 20;  // 箭头大小
+
+        private static final int STATE_LOCKED = 0;  // 锁屏状态
+        private static final int STATE_DRAGGING = 1;  // 拖动状态
+        private static final int STATE_UNLOCKED = 2;  // 解锁状态
+
+        private Paint mPaint;
+        private Path mPath;
+        private int mViewWidth;
+        private int mViewHeight;
+        private int mIndicatorCount;
+        private int mCurrentIndex;
+        private float mLastX;
+        private boolean mIsUnlocked;
+        private int mState;
+
+        private OnUnlockListener mOnUnlockListener;
+
+        public abstract static class OnUnlockListener {
+            public class SimpleOnUnlockListener extends OnUnlockListener {
+                @Override
+                public void onUnlock() {
+                    // 默认空实现
+                }
+            }
+            public abstract void onUnlock();
+        }
+
+        public void setOnUnlockListener(OnUnlockListener listener) {
+            this.mOnUnlockListener = listener;
+        }
+
+        public SlideUnlockView(Context context, AttributeSet attrs) {
+            super(context, attrs);
+            init();
+        }
+
+        private void init() {
+            mPaint = new Paint();
+            mPaint.setAntiAlias(true);  // 抗锯齿
+            mPaint.setStyle(Paint.Style.FILL);
+
+            mPath = new Path();
+
+            mIsUnlocked = false;
+            mState = STATE_LOCKED;
+
+            // 指示器个数为 3
+            mIndicatorCount = 3;
+        }
+
+        @Override
+        protected void onSizeChanged(int w, int h, int oldw, int oldh) {
+            super.onSizeChanged(w, h, oldw, oldh);
+            mViewWidth = w;
+            mViewHeight = h;
+        }
+        @Override
+        protected void onDraw(Canvas canvas) {
+            super.onDraw(canvas);
+            switch (mState) {
+                case STATE_LOCKED:
+                    drawGuideText(canvas);
+                    drawIndicatorCircles(canvas);
+                    break;
+                case STATE_DRAGGING:
+                    drawUnlockPath(canvas);
+                    drawUnlockArrow(canvas);
+                    break;
+                case STATE_UNLOCKED:
+                    if (mOnUnlockListener != null) {
+                        mOnUnlockListener.onUnlock();
+                    }
+                    break;
+            }
+        }
+
+        private void drawGuideText(Canvas canvas) {
+            mPaint.setColor(BG_COLOR);
+            canvas.drawRect(0, 0, mViewWidth, mViewHeight, mPaint);
+
+            mPaint.setColor(GUIDE_TEXT_COLOR);
+            mPaint.setTextSize(GUIDE_TEXT_SIZE);
+            String guideText = "即将起飞";
+            float textWidth = mPaint.measureText(guideText);
+            float textX = mViewWidth / 2 - textWidth / 2;
+            float textY = mViewHeight * 2 / 3;
+            canvas.drawText(guideText, textX, textY, mPaint);
+        }
+
+        private void drawIndicatorCircles(Canvas canvas) {
+            mPaint.setColor(INDICATOR_COLOR);
+            float cy = mViewHeight / 2;
+            float startX = mViewWidth / 2 - INDICATOR_GAP * (mIndicatorCount - 1) / 2;
+            float radius = INDICATOR_RADIUS;
+            Path path = new Path();
+            for (int i = 0; i < mIndicatorCount; i++) {
+                float cx = startX + INDICATOR_GAP * i;
+                path.addCircle(cx, cy, radius, Path.Direction.CCW);
+            }
+            canvas.drawPath(path, mPaint);
+        }
+
+        private void drawUnlockPath(Canvas canvas) {
+            mPaint.setColor(INDICATOR_COLOR);
+            float cy = mViewHeight / 2;
+            float startX = mViewWidth / 2 - INDICATOR_GAP * (mIndicatorCount - 1) / 2;
+            float currentX = Math.max(Math.min(mLastX, mViewWidth - INDICATOR_RADIUS), startX + INDICATOR_GAP * mCurrentIndex);
+            Path path = new Path();
+            path.moveTo(startX + INDICATOR_RADIUS, cy);
+            path.lineTo(currentX - INDICATOR_RADIUS, cy);
+            path.arcTo(new RectF(currentX - INDICATOR_RADIUS, cy - INDICATOR_RADIUS,
+                    currentX + INDICATOR_RADIUS, cy + INDICATOR_RADIUS), -90, 180);
+            path.lineTo(startX + INDICATOR_GAP * (mIndicatorCount - 1), cy);
+            canvas.drawPath(path, mPaint);
+        }
+
+        private void drawUnlockArrow(Canvas canvas) {
+            mPaint.setColor(ARROW_COLOR);
+            mPaint.setStyle(Paint.Style.STROKE);
+            mPaint.setStrokeWidth(5);
+            Path arrowPath = new Path();
+            float x = Math.max(Math.min(mLastX, mViewWidth - INDICATOR_RADIUS - ARROW_SIZE), mViewWidth / 2 + INDICATOR_GAP * (mCurrentIndex - 1));
+            float y = mViewHeight / 2;
+            arrowPath.moveTo(x - ARROW_SIZE, y - ARROW_SIZE);
+            arrowPath.lineTo(x, y);
+            arrowPath.lineTo(x - ARROW_SIZE, y + ARROW_SIZE);
+            canvas.drawPath(arrowPath, mPaint);
+        }
+
+        @Override
+        public boolean onTouchEvent(MotionEvent event) {
+            float x = event.getX();
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    if (mState == STATE_LOCKED) {
+                        mState = STATE_DRAGGING;
+                        mCurrentIndex = 0;
+                        invalidate();
+                        return true;
+                    }
+                    break;
+                case MotionEvent.ACTION_MOVE:
+                    if (mState == STATE_DRAGGING) {
+                        mLastX = x;
+                        int index = (int) ((x - mViewWidth / 2) / INDICATOR_GAP);
+                        index = Math.max(Math.min(index, mIndicatorCount - 1), 0);
+                        if (index != mCurrentIndex) {
+                            mCurrentIndex = index;
+                            invalidate();
+                        }
+                        if (mCurrentIndex == mIndicatorCount - 1) {
+                            mState = STATE_UNLOCKED;
+                            mIsUnlocked = true;
+                        }
+                        return true;
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    if (mState == STATE_DRAGGING) {
+                        mState = STATE_LOCKED;
+                        mCurrentIndex = 0;
+                        invalidate();
+                        return true;
+                    }
+                    break;
+            }
+            return super.onTouchEvent(event);
+        }
+    }
+
+    private void shutdown(){
+        warning_thread.stopThread();
+        mThreadPool.shutdownNow();
+    }
+
+    @Override
+    public void onBackPressed() {
+        // 返回到 MainActivity
+        Intent intent = new Intent(this, MainActivity.class);
+        intent.setFlags(Intent.FLAG_ACTIVITY_SINGLE_TOP);
+        startActivity(intent);
+        finish(); // 结束 VideoActivity
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        // 关闭线程
+        shutdown();
+    }
+}

src/sixaunyi/app/src/main/res/drawable-v24/ic_launcher_foreground.xml

@@ -0,0 +1,30 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:aapt="http://schemas.android.com/aapt"
+    android:width="108dp"
+    android:height="108dp"
+    android:viewportWidth="108"
+    android:viewportHeight="108">
+    <path android:pathData="M31,63.928c0,0 6.4,-11 12.1,-13.1c7.2,-2.6 26,-1.4 26,-1.4l38.1,38.1L107,108.928l-32,-1L31,63.928z">
+        <aapt:attr name="android:fillColor">
+            <gradient
+                android:endX="85.84757"
+                android:endY="92.4963"
+                android:startX="42.9492"
+                android:startY="49.59793"
+                android:type="linear">
+                <item
+                    android:color="#44000000"
+                    android:offset="0.0" />
+                <item
+                    android:color="#00000000"
+                    android:offset="1.0" />
+            </gradient>
+        </aapt:attr>
+    </path>
+    <path
+        android:fillColor="#FFFFFF"
+        android:fillType="nonZero"
+        android:pathData="M65.3,45.828l3.8,-6.6c0.2,-0.4 0.1,-0.9 -0.3,-1.1c-0.4,-0.2 -0.9,-0.1 -1.1,0.3l-3.9,6.7c-6.3,-2.8 -13.4,-2.8 -19.7,0l-3.9,-6.7c-0.2,-0.4 -0.7,-0.5 -1.1,-0.3C38.8,38.328 38.7,38.828 38.9,39.228l3.8,6.6C36.2,49.428 31.7,56.028 31,63.928h46C76.3,56.028 71.8,49.428 65.3,45.828zM43.4,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2c-0.3,-0.7 -0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C45.3,56.528 44.5,57.328 43.4,57.328L43.4,57.328zM64.6,57.328c-0.8,0 -1.5,-0.5 -1.8,-1.2s-0.1,-1.5 0.4,-2.1c0.5,-0.5 1.4,-0.7 2.1,-0.4c0.7,0.3 1.2,1 1.2,1.8C66.5,56.528 65.6,57.328 64.6,57.328L64.6,57.328z"
+        android:strokeWidth="1"
+        android:strokeColor="#00000000" />
+</vector>