MainActivity更新

src/Android

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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();
+            }
+        }
+    }
+}
+
+

src/AndroidManifest.xml

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+<?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>

src/ControlActivity.java

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+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);
+    }
+}

src/FirstFragment.java

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

src/LoginActivity.java

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+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();
+            }
+        });
+    }
+}

src/MainActivity(zuixin).java

@@ -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);
+        /*初始化定位,需要在检查版本之前
+         *因为配置好之后才能启动定位，否则会报错
+         */
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+
+        udpReceiveThread = new UdpReceiveThread();
+        udpReceiveThread.startListening();
+
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
+        aMap.setMyLocationEnabled(true);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                city = aMapLocation.getCity();
+                //当前位置经纬度坐标
+                Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                //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);
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.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);
+                }
+            }
+        }
+    }
+
+    /**
+     * 清空地图Marker
+     * @param view
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void changeAct(View view) {
+        udpReceiveThread.stopListening();
+        Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+        intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
+        startActivity(intent);
+
+    }
+
+    /**
+     * Marker点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        } else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+
+    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);
+    }
+
+}

src/MainActivity.java

@@ -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);
+        /*初始化定位,需要在检查版本之前
+         *因为配置好之后才能启动定位，否则会报错
+         */
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
+        aMap.setMyLocationEnabled(true);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                city = aMapLocation.getCity();
+                //当前位置经纬度坐标
+                Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                //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);
+
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
+                //备注
+                .title("路径点")
+                .snippet("距离：")
+
+        );
+        marker.showInfoWindow();
+        markerList.add(marker);
+    }
+    /**
+     * 清空地图Marker
+     * @param view
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void changeAct(View view) {
+        Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+        intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
+        startActivity(intent);
+
+    }
+
+    /**
+     * Marker点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        }else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+/*
+    @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) {
+
+    }*/
+}

src/MainActivity1.java

@@ -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);
+        /*初始化定位,需要在检查版本之前
+         *因为配置好之后才能启动定位，否则会报错
+         */
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+
+        udpReceiveThread = new UdpReceiveThread();
+        udpReceiveThread.startListening();
+
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
+        aMap.setMyLocationEnabled(true);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                city = aMapLocation.getCity();
+                //当前位置经纬度坐标
+                Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                //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);
+
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.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();
+        }
+    }
+
+    /**
+     * 清空地图Marker
+     * @param view
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void changeAct(View view) {
+        udpReceiveThread.stopListening();
+        Intent intent = new Intent(MainActivity.this, VideoActivity.class);
+        intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
+        startActivity(intent);
+
+    }
+
+    /**
+     * Marker点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        } else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+
+    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);
+    }
+
+}

src/MainActivity2.java

@@ -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);
+        /*初始化定位,需要在检查版本之前
+         *因为配置好之后才能启动定位，否则会报错
+         */
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+
+        udpReceiveThread = new UdpReceiveThread();
+        udpReceiveThread.startListening();
+        addSensorMarker(Monitorlatlng);
+
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
+        aMap.setMyLocationEnabled(true);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                city = aMapLocation.getCity();
+                //当前位置经纬度坐标
+                Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
+                //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);
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.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);
+                }
+            }
+        }
+    }
+
+    /**
+     * 清空地图Marker
+     * @param view
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void moveDrone(){
+        SmoothMoveUtil moveUtil = new SmoothMoveUtil(droneMarker);
+        long time = (long) MonitorDistance/2*1000;
+        moveUtil.moveDroneMarker(Monitorlatlng,time);
+    }
+
+    public void changeAct(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点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        } else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+
+    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发送线程
+     */
+    class SendRunnable implements Runnable {
+        byte[] mData;
+        InetAddress mAddress;
+        int mPort;
+
+        public SendRunnable(byte[] data, InetAddress address, int port) {
+            mData = data;
+            mAddress = address;
+            mPort = port;
+        }
+
+        @Override
+        public void run() {
+            try {
+                // 创建发送数据报文
+                DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
+                // 创建 DatagramSocket 对象并发送数据报文
+                DatagramSocket socket = new DatagramSocket();
+                socket.send(packet);
+
+                // 关闭 DatagramSocket 对象
+                socket.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+    //封装好的接口函数
+    private void sendCommand(String str) throws UnknownHostException {
+        byte[] sendData = str.getBytes();
+        InetAddress address = InetAddress.getByName(SEND_to_IP);
+        SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
+        mThreadPool.execute(sendRunnable1);
+    }
+
+}

src/MainActivity3.java

@@ -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);
+        /*初始化定位,需要在检查版本之前
+         *因为配置好之后才能启动定位，否则会报错
+         */
+        initLocation();
+        //初始化地图
+        initMap(savedInstanceState);
+        //检查安卓版本
+        checkingAndroidVersion();
+
+        udpReceiveThread = new UdpReceiveThread();
+        udpReceiveThread.startListening();
+        addSensorMarker(Monitorlatlng);
+
+    }
+    /**
+     * 检查Android版本
+     */
+    private void checkingAndroidVersion() {
+        //Android6.0及以上先获取权限再定位
+        if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
+            requestPermission();
+        }
+        //Android6.0以下直接定位
+        else {
+            //直接定位
+            mLocationClient.startLocation();
+        }
+    }
+    /**
+     * 动态请求权限
+     */
+    @AfterPermissionGranted(REQUEST_PERMISSIONS)
+    private void requestPermission() {
+        String[] permissions = {
+                Manifest.permission.ACCESS_COARSE_LOCATION,
+                Manifest.permission.ACCESS_FINE_LOCATION,
+                Manifest.permission.READ_PHONE_STATE,
+                Manifest.permission.WRITE_EXTERNAL_STORAGE
+        };
+
+        if (EasyPermissions.hasPermissions(this, permissions)) {
+            //有权限
+            //******
+            Log.d(TAG, "已获得权限，可以定位啦！");
+            showMsg("已获得权限，可以定位啦！");
+            //开始定位
+            mLocationClient.startLocation();
+        } else {
+            //false 无权限
+            EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
+        }
+    }
+    //提示框显示文本
+    private void showMsg(String msg) {
+        Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
+    }
+    /**
+     * 请求权限结果
+     * @param requestCode
+     * @param permissions
+     * @param grantResults
+     */
+    @Override
+    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
+        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
+        //设置请求到的权限结果
+        EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
+    }
+
+    /********   初始化定位     *******/
+    private void initLocation() {
+        //初始化定位
+        try {
+            mLocationClient = new AMapLocationClient(getApplicationContext());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (mLocationClient != null) {
+            //设置定位回调监听
+            mLocationClient.setLocationListener(this);
+            //初始化AMapLocationClientOption对象
+            mLocationOption = new AMapLocationClientOption();
+            //设置定位模式为AMapLocationMode.Hight_Accuracy，高精度模式。
+            mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
+            //获取最近3s内精度最高的一次定位结果：
+            //设置setOnceLocationLatest(boolean b)接口为true，启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为true，setOnceLocation(boolean b)接口也会被设置为true，反之不会，默认为false。
+            mLocationOption.setOnceLocationLatest(true);
+            //设置是否返回地址信息（默认返回地址信息）
+            mLocationOption.setNeedAddress(true);
+            //设置定位请求超时时间，单位是毫秒，默认30000毫秒，建议超时时间不要低于8000毫秒。
+            mLocationOption.setHttpTimeOut(20000);
+            //关闭缓存机制，高精度定位会产生缓存。
+            mLocationOption.setLocationCacheEnable(false);
+            //给定位客户端对象设置定位参数
+            mLocationClient.setLocationOption(mLocationOption);
+        }
+    }
+    /**
+     * 初始化地图
+     * @param savedInstanceState
+     */
+    private void initMap(Bundle savedInstanceState) {
+        //因为mapView为null，所以要加上这个括号，不可常规的mapView.findViewById
+        mapView = (MapView) findViewById(R.id.map_view);
+        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        mapView.onCreate(savedInstanceState);
+        //初始化地图控制器对象
+        aMap = mapView.getMap();
+        // 设置定位监听
+        aMap.setLocationSource(this);
+        // 设置为true表示显示定位层并可触发定位，false表示隐藏定位层并不可触发定位，默认是false
+        aMap.setMyLocationEnabled(true);
+        //设置地图标志点击事件
+        aMap.setOnMarkerClickListener(this);
+        //设置地图标志拖拽事件
+        aMap.setOnMarkerDragListener(this);
+        //开启室内地图
+        //aMap.showIndoorMap(true);
+        //设置地图长按事件
+        aMap.setOnMapLongClickListener(this);
+        //构造 GeocodeSearch 对象
+        try {
+            geocodeSearch = new GeocodeSearch(this);
+        } catch (AMapException e) {
+            e.printStackTrace();
+        }
+        //设置监听
+        geocodeSearch.setOnGeocodeSearchListener(this);
+    }
+
+    /**
+     * 激活定位
+     */
+    @Override
+    public void activate(OnLocationChangedListener onLocationChangedListener) {
+        mListener = onLocationChangedListener;
+        if (mLocationClient == null) {
+            mLocationClient.startLocation();//启动定位
+        }
+    }
+    /**
+     * 停止定位
+     */
+    @Override
+    public void deactivate() {
+        mListener = null;
+        if (mLocationClient != null) {
+            mLocationClient.stopLocation();
+            mLocationClient.onDestroy();
+        }
+        mLocationClient = null;
+    }
+
+
+    @Override
+    public void onLocationChanged(AMapLocation aMapLocation) {
+        if (aMapLocation != null) {
+            //定位成功
+            if (aMapLocation.getErrorCode() == 0) {
+                //地址
+                String address = aMapLocation.getAddress();
+                //城市赋值
+                city = aMapLocation.getCity();
+                //当前位置经纬度坐标
+                Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
+                MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
+                //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);
+    }
+
+    /**
+     * 添加地图标点
+     * @param latLng
+     */
+    private void addMarker(LatLng latLng) {
+        //显示浮动按钮
+        ClearMarker_btn.show();
+        //添加标点
+        Marker marker = aMap.addMarker(markerOption
+                .position(latLng)
+                .draggable(true)
+                //标点图标
+                .icon(BitmapDescriptorFactory.
+                        fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.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);
+                }
+            }
+        }
+    }
+
+    /**
+     * 清空地图Marker
+     * @param view
+     */
+    public void clearAllMarker(View view) {
+        if (markerList != null && markerList.size()>0){
+            for (Marker markerItem : markerList) {
+                markerItem.remove();
+            }
+        }
+        ClearMarker_btn.hide();
+    }
+
+    public void moveDrone(){
+        SmoothMoveUtil moveUtil = new SmoothMoveUtil(droneMarker);
+        long time = (long) MonitorDistance/2*1000;
+        moveUtil.moveDroneMarker(Monitorlatlng,time);
+    }
+
+    public void changeAct(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点击事件
+     *
+     * @param marker
+     * @return
+     */
+    @Override
+    public boolean onMarkerClick(Marker marker) {
+        Log.d(TAG,"点击了标点");
+        //显示InfoWindow
+        /*
+        if (!marker.isInfoWindowShown()) {
+            //显示
+            marker.showInfoWindow();
+        } else {
+            //隐藏
+            marker.hideInfoWindow();
+        }
+        */
+        return true;
+    }
+
+    /**
+     * 开始拖动
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragStart(Marker marker) {
+        Log.d(TAG,"开始拖动");
+    }
+
+    /**
+     * 拖动中
+     * @param marker
+     */
+    @Override
+    public void onMarkerDrag(Marker marker) {
+        Log.d(TAG,"拖动中");
+    }
+
+    /**
+     * 拖动完成
+     * @param marker
+     */
+    @Override
+    public void onMarkerDragEnd(Marker marker) {
+        Log.d(TAG,"拖动完成");
+    }
+
+
+    /* * * 通过坐标获取地址 * * *
+     *
+     * @param latLng
+     */
+    private void latlonToAddress(LatLng latLng) {
+        //位置点  通过经纬度进行构建
+        LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
+        //逆编码查询  第一个参数表示一个Latlng，第二参数表示范围多少米，第三个参数表示是火系坐标系还是GPS原生坐标系
+        RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
+        //异步获取地址信息
+        geocodeSearch.getFromLocationAsyn(query);
+    }
+    /*****************************坐标转地址****************************
+     * @param regeocodeResult
+     * @param rCode
+     */
+    @Override
+    public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
+        if(rCode == PARSE_SUCCESS_CODE){
+            RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
+            //显示解析后的地址
+            showMsg("地址："+regeocodeAddress.getFormatAddress());
+        } else {
+            showMsg("获取地址失败");
+        }
+    }
+
+    @Override
+    public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
+
+    }
+
+    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发送线程
+     */
+    class SendRunnable implements Runnable {
+        byte[] mData;
+        InetAddress mAddress;
+        int mPort;
+
+        public SendRunnable(byte[] data, InetAddress address, int port) {
+            mData = data;
+            mAddress = address;
+            mPort = port;
+        }
+
+        @Override
+        public void run() {
+            try {
+                // 创建发送数据报文
+                DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
+                // 创建 DatagramSocket 对象并发送数据报文
+                DatagramSocket socket = new DatagramSocket();
+                socket.send(packet);
+
+                // 关闭 DatagramSocket 对象
+                socket.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+    //封装好的接口函数
+    private void sendCommand(String str) throws UnknownHostException {
+        byte[] sendData = str.getBytes();
+        InetAddress address = InetAddress.getByName(SEND_to_IP);
+        SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
+        mThreadPool.execute(sendRunnable1);
+    }
+
+}

src/activity_control.xml

@@ -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>

src/activity_main.xml

@@ -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>

src/activity_speed.xml

@@ -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>

src/activity_video.xml

@@ -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>

src/backup_rules.xml

@@ -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>

src/content_detect.xml

@@ -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>

src/fragment_first.xml

@@ -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>

src/fragment_second.xml

@@ -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>

src/ic_launcher.xml

@@ -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>

src/map

@@ -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);
+    }
+}