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41 Commits

Author SHA1 Message Date
p6z7sf4pe 865a222005 MainActivity更新
2 years ago
p6z7sf4pe 642c14b307 backup_rules
2 years ago
p6z7sf4pe 36243b5916 原有安卓图标
2 years ago
p6z7sf4pe d63f05d50e 部署图
2 years ago
p6z7sf4pe 173a788131 设计架构
2 years ago
p6z7sf4pe e32b648b5e MVC
2 years ago
p6z7sf4pe d5d4b87c95 终端
2 years ago
p6z7sf4pe cd630be5f8 attempt
2 years ago
p6z7sf4pe 966af5560b uav
2 years ago
p6z7sf4pe 7e71bd20d4 接受无人机回传
2 years ago
p6z7sf4pe 8b18cf1c6b 无人机自动巡航
2 years ago
p6z7sf4pe 5b7900dd12 异常情况处理
2 years ago
p6z7sf4pe 74401acce8 登录
2 years ago
p6z7sf4pe dd730862bc 操纵无人机状态图
2 years ago
p6z7sf4pe d2a6f8fcb2 1
2 years ago
p6z7sf4pe 2b5693974d APP应用图标调整
2 years ago
p6z7sf4pe 9c67c82e2a APP应用图标
2 years ago
p6z7sf4pe 74c0eb034d 增加传感器报警弹窗
2 years ago
p6z7sf4pe b9c409e12c ADD file via upload
2 years ago
p6z7sf4pe 6e230d4cb1 标点方式及平滑控制更新
2 years ago
p6z7sf4pe 7da2e2c751 图标更新
2 years ago
p6z7sf4pe 0b80cb6573 图标更新
2 years ago
p6z7sf4pe accd8152d4 文档更新
2 years ago
p6z7sf4pe 73f7bc4f6e first
2 years ago
p6z7sf4pe 0befd97ab5 主类
2 years ago
p6z7sf4pe 4484618b04 控制
2 years ago
p6z7sf4pe cc4cb2f77b login界面
2 years ago
p6z7sf4pe b76ee3b271 map
2 years ago
p6z7sf4pe 25a1801f69 video
2 years ago
p6z7sf4pe e40b495287 update
2 years ago
p6z7sf4pe 286ecfc0da second
2 years ago
p6z7sf4pe e5a908e0d8 first
2 years ago
p6z7sf4pe 8d50f93253 detect
2 years ago
p6z7sf4pe 56a47fd408 main
2 years ago
p6z7sf4pe 5ad78c5c17 画面组件
2 years ago
p6z7sf4pe 2abf752ea5 控制组件
2 years ago
p6z7sf4pe 81edcc03a1 飞行速度组件
2 years ago
p6z7sf4pe b888c706be 文档更新
2 years ago
p6z7sf4pe 8b030e5886 软件设计约束文档更新
3 years ago
p6z7sf4pe 64b09aa11e ADD file via upload
3 years ago
p6z7sf4pe 41498fc42a update
3 years ago

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package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import androidx.appcompat.app.AppCompatActivity;
import android.content.Intent;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.Button;
import android.widget.ImageButton;
import android.widget.ImageView;
import android.widget.TextView;
import android.widget.Toast;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.*;
import android.os.Bundle;
public class VideoActivity extends AppCompatActivity {
private final static String SEND_to_IP = "192.168.43.165"; //填写接收方IP
private final static String Recieve_IP = "192.168.43.165";//填服务器IP
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 boolean listenStatus = true; //接收线程的循环标识
private byte[] buf;
Bitmap bp;
private DatagramSocket receiveSocket;
private DatagramSocket sendSocket;
private DatagramSocket reveSocket;
private 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 TakeOff_btn;
private Button Landing_btn;
@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);
TurnRight_btn = findViewById(R.id.rotate_right_button);
TakeOff_btn = findViewById(R.id.takeoff_button);
//Trans_to_Detect = findViewById(R.id.transfer_to_detect);
TakeOff_btn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
UdpSendThread udpSendThread = new UdpSendThread();
udpSendThread.start();
udpSendThread.Send("TakeOff");
UdpReceiveThread udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.start();
Log.i(TAG, "onClick: 2222222222222222222222222");
}
});
/*Trans_to_Detect.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent = new Intent(VideoActivity.this, DetectActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
});*/
}
class ReceiveHandler extends Handler{
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
imgShow.setImageBitmap(bp);
}
}
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
{
@Override
public void run()
{
try
{
reveSocket = new DatagramSocket(RECEIVE_PORT);
serverAddr = InetAddress.getByName(Recieve_IP);
//ByteArrayOutputStream out = new ByteArrayOutputStream();
while(listenStatus)
{
byte[] inBuf= new byte[1024*1024];
DatagramPacket inPacket=new DatagramPacket(inBuf,inBuf.length);
//out.write(inPacket.getData());
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 (Exception e)
{
e.printStackTrace();
}finally {
reveSocket.close();
}
}
}
/*
* UDP数据发送线程
* */
public class UdpSendThread extends Thread {
@Override
public void run() {
try {
buf ="test".getBytes();
// 创建DatagramSocket对象使用端口8888
sendSocket = new DatagramSocket(8888);
serverAddr = InetAddress.getByName(SEND_to_IP);
DatagramPacket outPacket = new DatagramPacket(buf, buf.length, serverAddr, SEND_PORT);
sendSocket.send(outPacket);
sendSocket.close();
sendHandler.sendEmptyMessage(1);
Log.i(TAG, "run: 111111111111111111111111111111111111111111111111");
} catch (Exception e) {
e.printStackTrace();
}
}
public void Send(String str){
try {
buf =str.getBytes();
// 创建DatagramSocket对象使用端口8888
sendSocket = new DatagramSocket(8888);
serverAddr = InetAddress.getByName(SEND_to_IP);
DatagramPacket outPacket = new DatagramPacket(buf, buf.length, serverAddr, SEND_PORT);
sendSocket.send(outPacket);
sendSocket.close();
sendHandler.sendEmptyMessage(1);
Log.i(TAG, "run: 111111111111111111111111111111111111111111111111");
} catch (Exception e) {
e.printStackTrace();
}
}
}
}

@ -0,0 +1,69 @@
<?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/desktop"
android:label="哨兵"
android:roundIcon="@drawable/desktop"
android:supportsRtl="true"
android:theme="@style/Theme.Sixaunyi"
tools:targetApi="31">
<activity
android:name=".SettingActivity"
android:exported="false"
android:screenOrientation="landscape"
android:theme="@style/TransparentTheme"/>
<activity
android:name=".ControlActivity"
android:exported="false"
android:screenOrientation="landscape" /> <!-- 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=".DetectActivity"
android:exported="false"
android:label="@string/title_activity_detect"
android:theme="@style/Theme.Sixaunyi.NoActionBar" />
<activity
android:name=".MainActivity"
android:exported="true"
android:label="@string/app_name"
android:theme="@style/Theme.AppCompat">
</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>

@ -0,0 +1,14 @@
package com.example.sixaunyi;
import androidx.appcompat.app.AppCompatActivity;
import android.os.Bundle;
public class ControlActivity extends AppCompatActivity {
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_control);
}
}

@ -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;
}
}

@ -0,0 +1,40 @@
package com.example.sixaunyi;
import android.content.Intent;
import android.os.Bundle;
import android.widget.Button;
import android.widget.EditText;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
public class LoginActivity extends AppCompatActivity {
private EditText mUsername;
private EditText mPassword;
private Button mLoginButton;
@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);
// 设置登录按钮的点击事件
mLoginButton.setOnClickListener(v -> {
// 获取用户输入的用户名和密码
String username = mUsername.getText().toString();
String password = mPassword.getText().toString();
// 验证用户名和密码是否正确
if (username.equals("admin") && password.equals("123456") || username.equals("tiequan") && password.equals("8731")) {
// 如果验证成功,跳转到主界面
Intent intent = new Intent(LoginActivity.this, MainActivity.class);
startActivity(intent);
finish(); // 关闭登录界面
} else {
// 如果验证失败,在输入框下方提示错误信息
Toast.makeText(LoginActivity.this, "用户名或密码错误", Toast.LENGTH_SHORT).show();
}
});
}
}

@ -0,0 +1,719 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
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.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.util.ArrayList;
import java.util.List;
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;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//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 FloatingActionButton 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 final static String Recieve_IP = "192.168.240.46";
private final static int RECEIVE_PORT = 9999;
private boolean listenStatus = true;
private InetAddress serverAddr;
//private MainActivity.ReceiveHandler receiveHandler = new ReceiveHandler();
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);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
}
/**
* Android
*/
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();
}
}
/**
*
*/
@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();
}
/**
*
* @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truesetOnceLocation(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);
}
}
/**
*
* @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);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@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());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//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);
//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);
LatLng Monitorlatlng = new LatLng(113.05370390725032,28.256794281117525);
MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
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);
addSensorMarker(latLng);
addDroneMarker(latLng);
}
/**
*
* @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.img)))
//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
ClearMarker_btn.show();
// 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")
.snippet("距离:")
);
sensorMarker.showInfoWindow();
}
// 添加无人机标点
private Marker droneMarker = null;
private void addDroneMarker(LatLng latLng) {
// 添加无人机标点
MarkerOptions droneMarkerOption = new MarkerOptions();
droneMarker = aMap.addMarker(droneMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
// 备注
.title("无人机")
.snippet("距离:")
);
droneMarker.showInfoWindow();
}
// 移动无人机标点到传感器标点并显示平移动画
public class SmoothMoveUtil {
private Marker droneMarker;
private AMap aMap;
private LatLng startLatLng;
private LatLng endLatLng;
private long duration;
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
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);
}
}
}
}
/**
* 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 changeAct(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @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;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @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);
}
/*********************************************************
* @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) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int RECEIVE_PORT = 9999;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float mMonitorDistance = MonitorDistance;
private String mMonitorAngle = MonitorAngle;
@Override
public void run() {
try {
DatagramSocket socket = new DatagramSocket(RECEIVE_PORT);
byte[] buffer = new byte[1024];
DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
while (mRunning) {
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)) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", mMonitorAngle);
b.putFloat("Distance", mMonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
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;
}
}
//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);
}
}

@ -0,0 +1,472 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.BitmapFactory;
import android.nfc.Tag;
import android.os.Build;
import android.os.Bundle;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
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.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 java.util.ArrayList;
import java.util.List;
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;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//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 FloatingActionButton ChangeAct_btn;
//标点列表
private List<Marker> markerList = new ArrayList<>();
//标识参数类
private MarkerOptions markerOption = new MarkerOptions();
@SuppressLint("MissingInflatedId")
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
}
/**
* Android
*/
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();
}
}
/**
*
*/
@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();
}
/**
*
* @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truesetOnceLocation(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);
}
}
/**
*
* @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);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@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());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//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);
//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) {
float distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
//showMsg("长按了地图,经度:"+latLng.longitude+",纬度:"+latLng.latitude);
showMsg("直线距离:"+distance+"米");
//坐标转地址
latlonToAddress(latLng);
//添加标点
addMarker(latLng);
}
/**
*
* @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.img)))
//备注
.title("路径点")
.snippet("距离:")
);
marker.showInfoWindow();
markerList.add(marker);
}
/**
* 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 changeAct(View view) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @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;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @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);
}
/*********************************************************
* @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) {
}
/*
@Override
public void onPoiSearched(PoiResult poiResult, int i) {
//解析result获取POI信息
//获取POI组数列表
ArrayList<PoiItem> poiItems = poiResult.getPois();
for (PoiItem poiItem : poiItems) {
Log.d("MainActivity", " Title" + poiItem.getTitle() + " Snippet" + poiItem.getSnippet());
}
}*/
/*
@Override
public void (PoiItem poiItem, int i) {
}*/
}

@ -0,0 +1,654 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
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.TextView;
import android.widget.Toast;
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 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.util.ArrayList;
import java.util.List;
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;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//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 FloatingActionButton 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 final static String Recieve_IP = "192.168.240.46";
private final static int RECEIVE_PORT = 9999;
private boolean listenStatus = true;
private InetAddress serverAddr;
//private MainActivity.ReceiveHandler receiveHandler = new ReceiveHandler();
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);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
}
/**
* Android
*/
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();
}
}
/**
*
*/
@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();
}
/**
*
* @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truesetOnceLocation(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);
}
}
/**
*
* @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);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@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());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//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);
//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);
LatLng Monitorlatlng = new LatLng(113.05370390725032,28.256794281117525);
MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
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);
addSensorMarker(latLng);
addDroneMarker(latLng);
moveDroneMarker(latLng);
}
/**
*
* @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.img)))
//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
ClearMarker_btn.show();
// 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")
.snippet("距离:")
);
sensorMarker.showInfoWindow();
}
// 添加无人机标点
private Marker droneMarker = null;
private void addDroneMarker(LatLng latLng) {
// 添加无人机标点
MarkerOptions droneMarkerOption = new MarkerOptions();
droneMarker = aMap.addMarker(droneMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
// 备注
.title("无人机")
.snippet("距离:")
);
droneMarker.showInfoWindow();
}
// 移动无人机标点到传感器标点并显示平移动画
private void moveDroneMarker(LatLng sensorLatLng) {
if (droneMarker != null) {
// 平移动画
Animation animation = new TranslateAnimation(droneMarker.getPosition(), sensorLatLng);
animation.setDuration(5000);
droneMarker.setAnimation(animation);
droneMarker.startAnimation();
}
}
/**
* 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 changeAct(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @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;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @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);
}
/*********************************************************
* @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) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int RECEIVE_PORT = 9999;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float mMonitorDistance = MonitorDistance;
private String mMonitorAngle = MonitorAngle;
@Override
public void run() {
try {
DatagramSocket socket = new DatagramSocket(RECEIVE_PORT);
byte[] buffer = new byte[1024];
DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
while (mRunning) {
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)) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", mMonitorAngle);
b.putFloat("Distance", mMonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
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;
}
}
//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);
}
}

@ -0,0 +1,779 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
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.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.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 FloatingActionButton 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 ExecutorService mThreadPool = Executors.newCachedThreadPool();
////////////////////////////可修改部分/////////////////////////////
private final LatLng Monitorlatlng = new LatLng(28.258348849051746,113.04552182879037);
private final static String Recieve_IP = "192.168.39.46";
private final static int RECEIVE_PORT = 9987;
private final static String SEND_to_IP = "192.168.39.47";
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);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
addSensorMarker(Monitorlatlng);
}
/**
* Android
*/
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();
}
}
/**
*
*/
@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();
}
/**
*
* @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truesetOnceLocation(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);
}
}
/**
*
* @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);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@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);
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//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);
//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);
}
/**
*
* @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.img)))
//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")
.snippet("距离:")
);
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")
.snippet("距离:")
);
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);
}
}
}
}
/**
* 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(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", MonitorAngle);
b.putFloat("Distance", MonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @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;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @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);
}
/*********************************************************
* @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) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int mRECEIVE_PORT = RECEIVE_PORT;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float udpMonitorDistance = MonitorDistance;
private String udpMonitorAngle = MonitorAngle;
@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");
sendCommand("WARNING");
Context context = MainActivity.this;
showAlert(context,"传感器报警");
addDroneMarker();
moveDrone();
mRunning = false;
}
}
socket.close();
} catch (SocketException e) {
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
}
}
public void showAlert(Context context, String message) {
AlertDialog.Builder builder = new AlertDialog.Builder(context);
builder.setTitle("警告");
builder.setMessage(message);
builder.setIcon(R.drawable.warnning); // 将R.drawable.triangle_alert替换为你的三角警告图片资源的名称
builder.setPositiveButton("确定", null); // 可以添加确定按钮的点击处理逻辑
AlertDialog dialog = builder.create();
dialog.show();
}
public void startListening() {
mRunning = true;
start();
}
public void stopListening() {
mRunning = false;
}
}
//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线
*/
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);
}
}

@ -0,0 +1,779 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
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.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.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 FloatingActionButton 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 ExecutorService mThreadPool = Executors.newCachedThreadPool();
////////////////////////////可修改部分/////////////////////////////
private final LatLng Monitorlatlng = new LatLng(28.258348849051746,113.04552182879037);
private final static String Recieve_IP = "192.168.39.46";
private final static int RECEIVE_PORT = 9987;
private final static String SEND_to_IP = "192.168.39.47";
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);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
addSensorMarker(Monitorlatlng);
}
/**
* Android
*/
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();
}
}
/**
*
*/
@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();
}
/**
*
* @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truesetOnceLocation(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);
}
}
/**
*
* @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);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@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);
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//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);
//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);
}
/**
*
* @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.img)))
//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")
.snippet("距离:")
);
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")
.snippet("距离:")
);
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);
}
}
}
}
/**
* 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(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", MonitorAngle);
b.putFloat("Distance", MonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @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;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @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);
}
/*********************************************************
* @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) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int mRECEIVE_PORT = RECEIVE_PORT;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float udpMonitorDistance = MonitorDistance;
private String udpMonitorAngle = MonitorAngle;
@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");
sendCommand("WARNING");
Context context = MainActivity.this;
showAlert(context,"传感器报警");
addDroneMarker();
moveDrone();
mRunning = false;
}
}
socket.close();
} catch (SocketException e) {
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
}
}
public void showAlert(Context context, String message) {
AlertDialog.Builder builder = new AlertDialog.Builder(context);
builder.setTitle("警告");
builder.setMessage(message);
builder.setIcon(R.drawable.warnning);
builder.setPositiveButton("确定", null);
AlertDialog dialog = builder.create();
dialog.show();
}
public void startListening() {
mRunning = true;
start();
}
public void stopListening() {
mRunning = false;
}
}
//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线
*/
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);
}
}

@ -0,0 +1,238 @@
<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent">
<!-- 显示无人机回传图像的控件 -->
<ImageView
android:id="@+id/imageView"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_alignParentTop="true"
android:layout_alignParentBottom="true"
android:scaleType="centerCrop" />
<!-- 左侧竖直轴按钮 -->
<RelativeLayout
android:id="@+id/left_vertical_button_layout"
android:layout_width="150dp"
android:layout_height="150dp"
android:layout_above="@id/imageView"
android:layout_gravity="left|bottom"
android:layout_marginLeft="50dp"
android:layout_marginTop="20dp"
android:layout_marginBottom="10dp">
<!-- 上升按钮 -->
<ImageButton
android:id="@+id/up_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentTop="true"
android:layout_centerHorizontal="true"
android:background="@null"
android:contentDescription="@string/up_button"
android:scaleType="centerCrop"
android:src="@drawable/up" />
<!-- 下降按钮 -->
<ImageButton
android:id="@+id/down_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:background="@null"
android:contentDescription="@string/down_button"
android:scaleType="centerCrop"
android:src="@drawable/down" />
<!-- 左旋转按钮 -->
<ImageButton
android:id="@+id/rotate_left_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentStart="true"
android:layout_centerVertical="true"
android:background="@null"
android:contentDescription="@string/turn_left_button"
android:scaleType="centerCrop"
android:src="@drawable/turnleft" />
<!-- 右旋转按钮 -->
<ImageButton
android:id="@+id/rotate_right_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentEnd="true"
android:layout_centerVertical="true"
android:background="@null"
android:contentDescription="@string/turn_right_button"
android:scaleType="centerCrop"
android:src="@drawable/turnright" />
</RelativeLayout>
<RelativeLayout
android:id="@+id/top_horizontal_button_layout"
android:layout_width="150dp"
android:layout_height="150dp"
android:layout_above="@id/imageView"
android:layout_alignParentEnd="true"
android:layout_gravity="right|bottom"
android:layout_marginRight="50dp"
android:layout_marginBottom="10dp">
<!-- 向左按钮 -->
<!-- 每一个与image相关都需要设置contentDescription对其进行描述-->
<ImageButton
android:id="@+id/left_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentStart="true"
android:layout_centerVertical="true"
android:background="@null"
android:contentDescription="@string/move_left_button"
android:scaleType="centerCrop"
android:src="@drawable/moveleft" />
<!-- 向右按钮 -->
<ImageButton
android:id="@+id/right_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentEnd="true"
android:layout_centerVertical="true"
android:background="@null"
android:contentDescription="@string/move_right_button"
android:scaleType="centerCrop"
android:src="@drawable/moveright" />
<!-- 向前移动按钮 -->
<ImageButton
android:id="@+id/forward_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_centerHorizontal="true"
android:background="@null"
android:contentDescription="@string/move_forward_button"
android:scaleType="centerCrop"
android:src="@drawable/moveforward" />
<!-- 向后移动按钮 -->
<ImageButton
android:id="@+id/backward_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_alignParentEnd="true"
android:layout_alignParentBottom="true"
android:layout_marginEnd="50dp"
android:background="@null"
android:contentDescription="@string/move_back_button"
android:scaleType="centerCrop"
android:src="@drawable/movebackward" />
</RelativeLayout>
<LinearLayout
android:id="@+id/takeoff_landing_buttons_layout"
android:layout_width="100dp"
android:layout_height="50dp"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:layout_gravity="center|bottom"
android:layout_marginBottom="15dp"
android:orientation="horizontal">
<!-- 降落按钮 -->
<ImageButton
android:id="@+id/landing_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_gravity="left"
android:layout_weight="1"
android:background="@null"
android:contentDescription="@string/landing_button123"
android:scaleType="centerCrop"
android:src="@drawable/landing" />
<!-- 起飞按钮 -->
<ImageButton
android:id="@+id/takeoff_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_gravity="right"
android:layout_weight="1"
android:background="@null"
android:contentDescription="@string/takeoff_button"
android:scaleType="centerCrop"
android:src="@drawable/takeoff"
android:text="起飞" />
</LinearLayout>
<!-- 添加三个按钮,用于设置、开始录制和显示当前状态 -->
<LinearLayout
android:id="@+id/top_left_buttons_layout"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="left|top"
android:orientation="horizontal"
android:padding="10dp">
<ImageButton
android:id="@+id/setting_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:background="@null"
android:contentDescription="@string/setting_button"
android:scaleType="centerInside"
android:src="@drawable/setting" />
<ImageButton
android:id="@+id/start_record_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_marginLeft="20dp"
android:background="@null"
android:contentDescription="@string/start_record_button"
android:scaleType="centerCrop"
android:src="@drawable/record"
android:text="开始录制" />
<ImageButton
android:id="@+id/show_status_button"
android:layout_width="50dp"
android:layout_height="50dp"
android:layout_marginLeft="20dp"
android:background="@null"
android:contentDescription="@string/show_status_button"
android:scaleType="centerCrop"
android:src="@drawable/status"
android:text="当前状态" />
</LinearLayout>
<androidx.constraintlayout.widget.Guideline
android:id="@+id/guideline2"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="horizontal"
app:layout_constraintGuide_begin="20dp" />
<androidx.constraintlayout.widget.Barrier
android:id="@+id/barrier2"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:barrierDirection="top" />
<androidx.constraintlayout.widget.Guideline
android:id="@+id/guideline3"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="vertical"
app:layout_constraintGuide_begin="20dp" />
</FrameLayout>

@ -0,0 +1,67 @@
<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:gravity="center"
tools:context=".MainActivity">
<!--地图-->
<com.amap.api.maps.MapView
android:id="@+id/map_view"
android:layout_width="match_parent"
android:layout_height="match_parent" />
<!--浮动按钮-->
<com.google.android.material.floatingactionbutton.FloatingActionButton
android:id="@+id/fab_poi"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentRight="true"
android:layout_alignParentBottom="true"
android:layout_margin="20dp"
android:clickable="true"
android:src="@drawable/icon_favorite_red"
android:visibility="gone"
app:backgroundTint="#FFF"
app:backgroundTintMode="screen"
app:hoveredFocusedTranslationZ="18dp"
app:pressedTranslationZ="18dp" />
<!--浮动按钮 清空marker-->
<com.google.android.material.floatingactionbutton.FloatingActionButton
android:id="@+id/clearMarker_btn"
android:layout_width="wrap_content"
android:layout_above="@+id/fab_poi"
android:layout_height="wrap_content"
android:layout_alignParentRight="true"
android:layout_marginEnd="20dp"
android:clickable="true"
android:onClick="clearAllMarker"
app:fabSize="normal"
android:src="@drawable/icon_clear"
app:backgroundTint="#FFF"
android:visibility="invisible"
app:backgroundTintMode="screen"
app:hoveredFocusedTranslationZ="18dp"
app:pressedTranslationZ="18dp" />
<com.google.android.material.floatingactionbutton.FloatingActionButton
android:id="@+id/change_btn"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentRight="true"
android:layout_marginEnd="20dp"
android:clickable="true"
android:onClick="changeAct"
app:fabSize="normal"
android:src="@drawable/wurenji"
app:backgroundTint="#FFF"
android:visibility="invisible"
app:backgroundTintMode="screen"
app:hoveredFocusedTranslationZ="18dp"
app:pressedTranslationZ="18dp" />
</RelativeLayout>

@ -0,0 +1,53 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent">
<Switch
android:id="@+id/switch1"
android:layout_width="290dp"
android:layout_height="51dp"
android:layout_marginTop="16dp"
android:clickable="false"
android:fontFamily="sans-serif"
android:scrollbarAlwaysDrawHorizontalTrack="false"
android:showText="true"
android:switchTextAppearance="@style/TextAppearance.AppCompat.Display1"
android:text="飞行速度"
android:textAlignment="textStart"
android:textAllCaps="true"
android:textColor="#2196F3"
android:textIsSelectable="false"
android:textOff="慢"
android:textOn="快"
android:textSize="24sp"
android:textStyle="bold"
android:thumbTint="#AFBAC3"
android:typeface="normal"
android:visibility="visible"
app:layout_constraintTop_toTopOf="parent"
tools:checked="true"
tools:ignore="MissingConstraints,UseSwitchCompatOrMaterialXml,VisualLintBounds,VisualLintButtonSize"
tools:layout_editor_absoluteX="440dp" />
<Switch
android:id="@+id/switch2"
android:layout_width="290dp"
android:layout_height="51dp"
android:checked="false"
android:showText="true"
android:splitTrack="false"
android:switchTextAppearance="@style/TextAppearance.AppCompat.Large"
android:text="图片质量"
android:textAlignment="textStart"
android:textColor="#0091EA"
android:textOff="普通"
android:textOn="高质量"
android:textSize="24sp"
android:textStyle="bold"
tools:layout_editor_absoluteX="440dp"
tools:layout_editor_absoluteY="78dp" />
</androidx.constraintlayout.widget.ConstraintLayout>

@ -0,0 +1,39 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".VideoActivity">
<LinearLayout
android:layout_width="match_parent"
android:layout_margin="5dp"
android:gravity="center_horizontal"
android:orientation="vertical"
android:layout_height="match_parent">
<ImageView
android:layout_width="match_parent"
android:id="@+id/img_show"
android:layout_marginTop="30dp"
android:background="#000000"
android:layout_height="300dp">
</ImageView>
<Button
android:layout_width="wrap_content"
android:layout_marginTop="10dp"
android:id="@+id/btn_send"
android:text="链接到服务器"
android:textSize="30sp"
android:layout_height="wrap_content">
</Button>
<Button
android:id="@+id/transfer_to_detect"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="切换" />
</LinearLayout>
</androidx.constraintlayout.widget.ConstraintLayout>

@ -0,0 +1,13 @@
<?xml version="1.0" encoding="utf-8"?><!--
Sample backup rules file; uncomment and customize as necessary.
See https://developer.android.com/guide/topics/data/autobackup
for details.
Note: This file is ignored for devices older that API 31
See https://developer.android.com/about/versions/12/backup-restore
-->
<full-backup-content>
<!--
<include domain="sharedpref" path="."/>
<exclude domain="sharedpref" path="device.xml"/>
-->
</full-backup-content>

@ -0,0 +1,20 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent"
app:layout_behavior="@string/appbar_scrolling_view_behavior">
<fragment
android:id="@+id/nav_host_fragment_content_detect"
android:name="androidx.navigation.fragment.NavHostFragment"
android:layout_width="0dp"
android:layout_height="0dp"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintBottom_toBottomOf="parent"
app:defaultNavHost="true"
app:navGraph="@navigation/nav_graph" />
</androidx.constraintlayout.widget.ConstraintLayout>

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@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".FirstFragment">
<TextView
android:id="@+id/textview_first"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/hello_first_fragment"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintBottom_toTopOf="@id/button_first"
/>
<Button
android:id="@+id/button_first"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/next"
app:layout_constraintTop_toBottomOf="@id/textview_first"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintBottom_toBottomOf="parent"
/>
</androidx.constraintlayout.widget.ConstraintLayout>

@ -0,0 +1,30 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".SecondFragment">
<TextView
android:id="@+id/textview_second"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
app:layout_constraintTop_toTopOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintBottom_toTopOf="@id/button_second"
/>
<Button
android:id="@+id/button_second"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/previous"
app:layout_constraintTop_toBottomOf="@id/textview_second"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintBottom_toBottomOf="parent"
/>
</androidx.constraintlayout.widget.ConstraintLayout>

@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
<background android:drawable="@drawable/ic_launcher_background" />
<foreground android:drawable="@drawable/ic_launcher_foreground" />
</adaptive-icon>

@ -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);
}
}

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