Merge remote-tracking branch 'origin/master'

实现截图功能

src/app/build.gradle

@@ -52,6 +52,7 @@ android {
 }
 
 dependencies {
+    implementation 'io.github.litao0621:nifty-slider:1.4.6'
     implementation fileTree(dir: 'libs', include: ['*.jar'])
     implementation 'androidx.appcompat:appcompat:1.6.1'
     implementation 'com.google.android.material:material:1.8.0'

src/app/src/main/AndroidManifest.xml

@@ -7,12 +7,14 @@
     <uses-permission android:name="android.permission.WAKE_LOCK" />
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="adnroid.permission.CHANGE_WIFI_STATE" /> <!-- 在SDCard中创建与删除文件权限 -->
-    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS" /> <!-- 往SDCard写入数据权限 -->
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.RESTART_PACKAGES" /> <!-- 在SDCard中创建与删除文件权限 -->
-    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS" /> <!-- 往SDCard写入数据权限 -->
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
-    <uses-permission android:name="android.permission.RESTART_PACKAGES" />
+    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
+    <uses-permission android:name="android.permission.VIBRATE" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.READ_PHONE_STATE" />
+    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
 
     <application
         android:icon="@drawable/icon"

src/app/src/main/java/wificar/Configuration.java

@@ -0,0 +1,37 @@
+package wificar;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.ThreadLocalRandom;
+
+public class Configuration {
+    public String videoUrl = "http://192.168.1.1:8080/?action=stream";
+    public String controlIp = "192.168.1.1";
+    public String controlPort = "2001";
+
+    public final List<String> suggestions = new ArrayList<>();
+
+    public boolean poseCheck = true;
+
+    public boolean needSaveScreenShot = false;
+    ThreadLocalRandom random;
+    private Configuration(){
+
+        random = ThreadLocalRandom.current();
+        suggestions.add("优先确认安全： 在搜救任务开始前，请确保救援队员和机器人的安全。评估搜救区域的潜在风险，并采取必要的安全措施。");
+        suggestions.add("建立通讯联系： 与被救援者建立有效的通讯联系，了解他们的状况、位置和任何紧急情况。稳定的通讯有助于更好地协调救援行动。");
+        suggestions.add("分析搜救区域： 对搜救区域进行细致的分析，了解可能的藏匿点和障碍物。这有助于制定更有效的搜救策略。");
+        suggestions.add("协同工作： 救援机器人应与救援队协同工作，相互支持。机器人可以用于进入危险区域，而救援队员则可以提供更多的人工智能无法覆盖的人文关怀。");
+        suggestions.add("紧急医疗救援： 如果搜救现场有伤者，立即调配医疗救援人员，优先进行紧急医疗救援。");
+        suggestions.add("数据采集： 利用机器人的传感器和摄像头收集详细的现场信息，有助于更准确地定位和救援被困者。");
+
+    }
+    public String getRandomSuggestion() {
+        return suggestions.get(random.nextInt(suggestions.size()));
+    }
+    private static Configuration INSTANCE;
+    public static Configuration getInstance() {
+        if(INSTANCE == null) INSTANCE = new Configuration();
+        return INSTANCE;
+    }
+}

src/app/src/main/java/wificar/MyMainFrm.java

@@ -27,7 +27,7 @@ import my.wificar.R;
 
 public class MyMainFrm extends Activity {
     
-    EditText CameraIP, ControlIP, Port;
+//    EditText CameraIP, ControlIP, Port;
     LinearLayout Button_go;
     LinearLayout Button_set;
     String videoUrl, controlUrl, port;
@@ -55,16 +55,12 @@ public class MyMainFrm extends Activity {
 
         setContentView(R.layout.mymainfrm);
 
-        CameraIP = findViewById(R.id.editIP);
-        ControlIP = findViewById(R.id.ip);
-        Port = findViewById(R.id.port);
-
         Button_go = findViewById(R.id.button_go);
         Button_set = findViewById(R.id.button_set);
 
-        videoUrl = CameraIP.getText().toString();
+        videoUrl = Configuration.getInstance().videoUrl;
-        controlUrl = ControlIP.getText().toString();
+        controlUrl = Configuration.getInstance().controlIp;
-        port = Port.getText().toString();
+        port = Configuration.getInstance().controlPort;
 
         Button_go.requestFocusFromTouch();
         Button_set.requestFocusFromTouch();

src/app/src/main/java/wificar/MySurfaceView.java

@@ -19,8 +19,10 @@ import android.graphics.Matrix;
 import android.graphics.Paint;
 import android.graphics.Rect;
 import android.graphics.YuvImage;
+import android.graphics.drawable.BitmapDrawable;
 import android.net.Uri;
 import android.os.Bundle;
+import android.os.Environment;
 import android.os.Handler;
 import android.os.Message;
 import android.util.AttributeSet;
@@ -45,6 +47,7 @@ import java.io.FileNotFoundException;
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
+import java.io.OutputStream;
 import java.net.HttpURLConnection;
 import java.net.URL;
 import java.nio.ByteBuffer;
@@ -72,7 +75,7 @@ public class MySurfaceView extends SurfaceView implements Callback {
     private boolean isThreadRunning = true;
 
     private MyVideo activity;
-    private ImageView floatingView;
+    private MySurfaceView floatingView;
 
     public MySurfaceView(Context context, AttributeSet attrs) {
         super(context, attrs);
@@ -377,6 +380,10 @@ public class MySurfaceView extends SurfaceView implements Callback {
                                                                     false);
 
                                                     //TODO »ñÈ¡µ½ bitmap ÁË
+                                                    if(Configuration.getInstance().needSaveScreenShot) {
+                                                        saveBitmap(mBitmap);
+                                                        Configuration.getInstance().needSaveScreenShot = false;
+                                                    }
                                                     detectOnModel(mBitmap);
                                                     canvas.drawBitmap(
                                                             mBitmap,
@@ -457,6 +464,17 @@ public class MySurfaceView extends SurfaceView implements Callback {
 
     private static boolean useCamera = true;
 
+    private void saveBitmap(Bitmap bmp) throws IOException {
+        File childFolder = Environment.getExternalStoragePublicDirectory(Environment
+                .DIRECTORY_PICTURES);
+        File imageFile = new File(childFolder.getAbsolutePath() + "/" + System.currentTimeMillis
+                () + ".jpg");
+        OutputStream fOut = new FileOutputStream(imageFile);
+        bmp.compress(Bitmap.CompressFormat.JPEG, 60, fOut);//½«bgÊä³öÖÁÎļþ
+        fOut.flush();
+        fOut.close(); // do not forget to close the stream
+        activity.sendBroadcast(new Intent(Intent.ACTION_MEDIA_SCANNER_SCAN_FILE, Uri.fromFile(imageFile)));
+    }
     private void detectOnModel(Bitmap image) {
         startTime = System.currentTimeMillis();
         detectService.execute(() -> {
@@ -467,15 +485,15 @@ public class MySurfaceView extends SurfaceView implements Callback {
 
     protected void showResultOnUI() {
         if(floatingView == null) {
-            floatingView = activity.findViewById(R.id.floatingView);
+            floatingView = activity.findViewById(R.id.mySurfaceViewVideo);
         }
         activity.runOnUiThread(() -> {
             if(mutableBitmap == null)return;
-            floatingView.setImageBitmap(mutableBitmap);
+            floatingView.setBackground(new BitmapDrawable(getResources(),mutableBitmap));
         });
     }
     protected Bitmap drawPersonPose(Bitmap mutableBitmap, KeyPoint[] keyPoints) {
-        if (keyPoints == null || keyPoints.length <= 0) {
+        if (keyPoints == null || keyPoints.length <= 0 || !Configuration.getInstance().poseCheck) {
             return mutableBitmap;
         }
         int[][] joint_pairs = {{0, 1}, {1, 3}, {0, 2}, {2, 4}, {5, 6}, {5, 7}, {7, 9}, {6, 8}, {8, 10}, {5, 11}, {6, 12}, {11, 12}, {11, 13}, {12, 14}, {13, 15}, {14, 16}};
@@ -520,11 +538,14 @@ public class MySurfaceView extends SurfaceView implements Callback {
 
     protected Bitmap detectAndDraw(Bitmap image) {
         Box[] result = null;
-        KeyPoint[] keyPoints = null;
+        KeyPoint[] keyPoints;
         if (USE_MODEL == YOLOV5S) {
+            keyPoints = null;
             result = YOLOv5.detect(image, threshold, nms_threshold);
         } else if (USE_MODEL == SIMPLE_POSE) {
             keyPoints = SimplePose.detect(image);
+        } else {
+            keyPoints = null;
         }
         if (result == null && keyPoints == null) {
             detectCamera.set(false);

src/app/src/main/java/wificar/MyVideo.java

@@ -2,29 +2,29 @@ package wificar;
 
 import android.app.Activity;
 import android.content.Intent;
+import android.os.AsyncTask;
 import android.os.Bundle;
-import android.os.Message;
 import android.os.StrictMode;
 import android.util.Log;
 import android.view.KeyEvent;
 import android.view.View;
-import android.view.View.OnClickListener;
 import android.view.Window;
 import android.view.WindowManager;
 import android.widget.Button;
-import android.widget.ImageButton;
+import android.widget.CheckBox;
 import android.widget.LinearLayout;
-import android.widget.RelativeLayout;
+import android.widget.SeekBar;
+import android.widget.TextView;
 import android.widget.Toast;
 
-import androidx.annotation.BinderThread;
+import java.io.IOException;
-
+import java.io.InputStream;
 import java.io.OutputStream;
 import java.net.InetAddress;
 import java.net.Socket;
-import java.net.URL;
 import java.net.UnknownHostException;
-import java.sql.Time;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 
@@ -34,28 +34,181 @@ public class MyVideo extends Activity {
     public static String CameraIp;
     public static String CtrlIp;
     public static String CtrlPort;
-    URL videoUrl;
     MySurfaceView r;
     OutputStream socketWriter;
-    private ImageButton TakePhotos;
+    InputStream socketReader;
-    private ImageButton ViewPhotos;
+    SocketListener socketListener2001;
+    SoundSocketListener socketListener2002;
+    SeekBar xSeekbar;
+    Button menuIcon;
+    TextView distanceText,lifeCheckText,poseCheckText,suggestionText,avoidText;
+    CheckBox distanceBtn,lifeCheckBtn,poseCheckBtn,suggestionBtn,avoidBtn;
     private Socket socket;
+    private Socket soundSocket;
     private RockerView rockerView;
+    LinearLayout menu;
     private long exitTime = 0;
 
+    Timer timer = new Timer();
+
+
+
+    private boolean btnEnabled = false;
+
+    private List<View> menuContent = new ArrayList<>();
+
+    private void showMenuContent() {
+        for (View view : menuContent) {
+            view.setVisibility(View.VISIBLE);
+        }
+    }
+    private void hideMenuContent() {
+        for (View view : menuContent) {
+            view.setVisibility(View.GONE);
+        }
+    }
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         this.requestWindowFeature(Window.FEATURE_NO_TITLE);//隐去标题（应用的名字必须要写在setContentView之前，否则会有异常）
         this.getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
+
         setContentView(R.layout.myvideo);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                while (true) {
+                    try {
+                        Thread.sleep(6000);
+                        runOnUiThread(()->{
+                            TextView textView = findViewById(R.id.suggestion);
+                            textView.setText(Configuration.getInstance().getRandomSuggestion());
+                        });
+                    } catch (InterruptedException e) {
+                        throw new RuntimeException(e);
+                    }
+                }
+            }
+        }, 1000L, 1000L);
+        distanceText = findViewById(R.id.distanceText);
+        distanceBtn = findViewById(R.id.distanceBtn);
+        distanceBtn.setChecked(true);
+        distanceBtn.setOnClickListener(view -> {
+            CheckBox checkBox = (CheckBox) view;
+            LinearLayout layout = findViewById(R.id.distanceLayout);
+            if(checkBox.isChecked()) {
+                layout.setVisibility(View.VISIBLE);
+            } else layout.setVisibility(View.GONE);
+        });
+
+        lifeCheckText = findViewById(R.id.lifeCheckText);
+        lifeCheckBtn = findViewById(R.id.lifeCheckBtn);
+        lifeCheckBtn.setChecked(true);
+        lifeCheckBtn.setOnClickListener(view -> {
+            CheckBox checkBox = (CheckBox) view;
+            LinearLayout layout = findViewById(R.id.lifeCheckLayout);
+            if(checkBox.isChecked()) {
+                layout.setVisibility(View.VISIBLE);
+            } else layout.setVisibility(View.GONE);
+        });
+
+        poseCheckText = findViewById(R.id.poseCheckText);
+        poseCheckBtn = findViewById(R.id.poseCheckBtn);
+        poseCheckBtn.setChecked(true);
+        poseCheckBtn.setOnClickListener(view -> {
+            CheckBox checkBox = (CheckBox) view;
+            LinearLayout layout = findViewById(R.id.poseCheckLayout);
+            if(checkBox.isChecked()) {
+                layout.setVisibility(View.VISIBLE);
+            } else layout.setVisibility(View.GONE);
+            Configuration.getInstance().poseCheck = checkBox.isChecked();
+        });
+
+        suggestionText = findViewById(R.id.suggestionText);
+        suggestionBtn = findViewById(R.id.suggestionBtn);
+        suggestionBtn.setChecked(false);
+        suggestionBtn.setOnClickListener(view -> {
+            CheckBox checkBox = (CheckBox) view;
+            TextView textView = findViewById(R.id.suggestion);
+            if(checkBox.isChecked()) {
+                textView.setVisibility(View.VISIBLE);
+            } else textView.setVisibility(View.GONE);
+        });
+
+        avoidBtn = findViewById(R.id.avoidBtn);
+        avoidText = findViewById(R.id.avoidText);
+        avoidBtn.setOnClickListener(view -> {
+            CheckBox checkBox = (CheckBox) view;
+            if(checkBox.isChecked()) {
+                try {
+                    socketWriter.write(new byte[]{(byte) 0xff, (byte) 0x13, (byte) 0x04, (byte)0x00, (byte) 0xff});
+                    socketWriter.flush();
+                } catch (IOException e) {
+                    runOnUiThread(()-> Toast.makeText(this,"网络异常！",Toast.LENGTH_SHORT).show());
+                    throw new RuntimeException(e);
+                }
+            } else {
+                try {
+                    socketWriter.write(new byte[]{(byte) 0xff, (byte) 0x13, (byte) 0x00, (byte)0x00, (byte) 0xff});
+                    socketWriter.flush();
+                } catch (IOException e) {
+                    runOnUiThread(()-> Toast.makeText(this,"网络异常！",Toast.LENGTH_SHORT).show());
+                    throw new RuntimeException(e);
+                }
+            }
+        });
+
+        menuContent.add(distanceText);
+        menuContent.add(lifeCheckText);
+        menuContent.add(poseCheckText);
+        menuContent.add(suggestionText);
+        menuContent.add(distanceBtn);
+        menuContent.add(lifeCheckBtn);
+        menuContent.add(poseCheckBtn);
+        menuContent.add(suggestionBtn);
+        menuContent.add(avoidBtn);
+        menuContent.add(avoidText);
+
+        hideMenuContent();
+
+        menu = findViewById(R.id.droppedMenu);
+        xSeekbar = findViewById(R.id.xSeekbar);
+
+        menuIcon = findViewById(R.id.menuIcon);
+        menuIcon.setOnClickListener(view -> {
+            btnEnabled = !btnEnabled;
+            if(btnEnabled) {
+                showMenuContent();
+            } else hideMenuContent();
+        });
+
+        xSeekbar.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean b) {
+                try {
+                    if(socketWriter == null) return;
+                    socketWriter.write(new byte[]{(byte) 0xff, (byte) 0x01, (byte) 0x08, (byte)((int)(progress * 0.9)+45), (byte) 0xff});
+                    socketWriter.flush();
+
+                } catch (IOException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {
+
+            }
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {
+
+            }
+        });
         if (android.os.Build.VERSION.SDK_INT > 9) {
             StrictMode.ThreadPolicy policy = new StrictMode.ThreadPolicy.Builder().permitAll().build();
             StrictMode.setThreadPolicy(policy);
         }
         r = findViewById(R.id.mySurfaceViewVideo);
-        TakePhotos = findViewById(R.id.TakePhoto);
-        ViewPhotos = findViewById(R.id.ViewPhoto);
 
         Intent intent = getIntent();
         //从Intent当中根据key取得value
@@ -65,31 +218,14 @@ public class MyVideo extends Activity {
         Log.d("wifirobot", "control is :++++" + CtrlIp);
         Log.d("wifirobot", "CtrlPort is :++++" + CtrlPort);
         r.GetCameraIP(CameraIp);
-
+        InitSocket(this);
-        TakePhotos.setOnClickListener(arg0 -> {
-            // TODO Auto-generated method stub
-            if (null != Constant.handler) {
-                Message message = new Message();
-                message.what = 1;
-                Constant.handler.sendMessage(message);
     }
-        });
+    public void InitSocket(Activity activity) {
-
-        ViewPhotos.setOnClickListener(arg0 -> {
-            // TODO Auto-generated method stub
-            Intent intent1 = new Intent();
-            intent1.setClass(MyVideo.this, BgPictureShowActivity.class);
-            //ͨ¹ýIntent¶ÔÏóÆô¶¯ÁíÍâÒ»¸öActivity
-            MyVideo.this.startActivity(intent1);
-
-        });
-        new Thread(()->InitSocket()).run();
-    }
-
-    public void InitSocket() {
 
+        // TODO 测试
         try {
             socket = new Socket(InetAddress.getByName(CtrlIp), Integer.parseInt(CtrlPort));
+            soundSocket = new Socket(InetAddress.getByName(CtrlIp), 2002);
         } catch (UnknownHostException e) {
             // TODO Auto-generated catch block
             e.printStackTrace();
@@ -99,19 +235,21 @@ public class MyVideo extends Activity {
         }
         try {
             socketWriter = socket.getOutputStream();
+            socketReader = socket.getInputStream();
+            socketListener2001 = new SocketListener(activity,socketReader);
+            socketListener2002 = new SoundSocketListener(activity,soundSocket.getInputStream());
         } catch (Exception e) {
             // TODO Auto-generated catch block
             e.printStackTrace();
         }
+        LinearLayout rockerLayout = findViewById(R.id.rocketLayout);
         rockerView = new RockerView(this,socketWriter,this.getApplicationContext(),null);
-        RelativeLayout.LayoutParams params = new RelativeLayout.LayoutParams(1000,1000);
+        rockerLayout.addView(rockerView);
-        addContentView(rockerView,params);
         //Toast.makeText(this,"初始化网络失败！"+e.getMessage(),Toast.LENGTH_LONG).show();
     }
 
     public void onDestroy() {
         super.onDestroy();
-
     }
 
     @Override

src/app/src/main/java/wificar/RockerView.java

@@ -23,14 +23,17 @@ public class RockerView extends View{
     Paint backPaint = new Paint(); // 背景画笔
     Paint bubblePaint = new Paint(); // 气泡画笔
     Paint rectfPaint = new Paint();
-    float bubbleX = 300, bubbleY = 700; // 定义气泡的位置
+    float bubbleX = 200, bubbleY = 200; // 定义气泡的位置
-    float backX = 300, backY = 700; // 背景圆的位置
+    float backX = 200, backY = 200; // 背景圆的位置
     int radiusBack = 200, radiusBubble = 100; // 定义背景圆以及气泡的半径
     RectF mRectF = new RectF(backX-radiusBack,backY-radiusBack,backX+radiusBack,backY+radiusBack);
     Context mContext;
     OutputStream socketWriter;
     String status = "STOP";
-    private Activity activity;
+    Activity activity;
+    public RockerView(Context context) {
+        super(context);
+    }
     public RockerView(Activity activity,OutputStream socketWriter,Context context, @Nullable AttributeSet attrs) {
         super(context, attrs);
         this.activity = activity;

src/app/src/main/java/wificar/SocketListener.java

@@ -0,0 +1,89 @@
+package wificar;
+
+import android.app.Activity;
+import android.content.Intent;
+import android.graphics.Bitmap;
+import android.net.Uri;
+import android.os.AsyncTask;
+import android.os.Environment;
+import android.view.View;
+import android.widget.ImageView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.loader.content.AsyncTaskLoader;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+
+import my.wificar.R;
+
+public class SocketListener {
+    private Activity activity;
+    private InputStream inputStream;
+
+    public SocketListener(Activity activity,InputStream inputStream) {
+        this.activity = activity;
+        this.inputStream = inputStream;
+
+        AsyncTask.execute(()->{
+            while (true) {
+                try {
+                    if (inputStream.available() != 0) {
+                        int value = inputStream.read();
+                        int input1 = value % 2;
+                        int input2 = value >> 1;
+
+                        onMessage1(input1);
+                        onMessage2(input2);
+                    }
+                } catch (IOException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        });
+
+        AsyncTask.execute(()->{
+            while(true) {
+                try {
+                    Thread.sleep(1000);
+                    onMessage1(0);
+                } catch (InterruptedException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        });
+    }
+    int count = 0;
+    private void onMessage1(int inputValue) {
+        //TODO
+        activity.runOnUiThread(()->{
+            TextView textComponent = activity.findViewById(R.id.showLive);
+            ImageView redCircle = activity.findViewById(R.id.redCircle);
+            ImageView greenCircle = activity.findViewById(R.id.greenCircle);
+            if(inputValue == 1) {
+                textComponent.setText("画面中存在生命体");
+                greenCircle.setVisibility(View.VISIBLE);
+                redCircle.setVisibility(View.GONE);
+                count++;
+                if(count >= 60) {
+                    count = 0;
+                    Configuration.getInstance().needSaveScreenShot = true;
+                }
+            } else {
+                textComponent.setText("画面中未检测到生命体");
+                greenCircle.setVisibility(View.GONE);
+                redCircle.setVisibility(View.VISIBLE);
+            }
+        });
+    }
+    private void onMessage2(int inputValue) {
+        activity.runOnUiThread(()->{
+            TextView textView = activity.findViewById(R.id.distance);
+            textView.setText(inputValue+"");
+        });
+    }
+}

src/app/src/main/java/wificar/SoundSocketListener.java

@@ -0,0 +1,54 @@
+package wificar;
+
+import android.app.Activity;
+import android.os.AsyncTask;
+import android.view.View;
+import android.widget.ImageView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+import my.wificar.R;
+
+public class SoundSocketListener {
+    private Activity activity;
+    private InputStream inputStream;
+
+    public SoundSocketListener(Activity activity, InputStream inputStream) {
+        this.activity = activity;
+        this.inputStream = inputStream;
+
+        AsyncTask.execute(()->{
+            while (true) {
+                try {
+                    if (inputStream.available() != 0) {
+                        if(inputStream.read() == 255) {
+                            int value = inputStream.read();
+                            if(inputStream.read() == 255) {
+                                onMessage(value);
+                            }
+                        }
+                        if(inputStream.read() == 254) {
+                            int value = inputStream.read();
+                            if(inputStream.read() == 254) {
+                                activity.runOnUiThread(()->{
+                                    Toast.makeText(activity,"³¬Éù²¨Êý¾Ý£º"+value,Toast.LENGTH_SHORT).show();
+                                });
+                            }
+                        }
+                    }
+                } catch (IOException e) {
+                    throw new RuntimeException(e);
+                }
+            }
+        });
+    }
+    private void onMessage(int inputValue) {
+        //TODO
+        activity.runOnUiThread(()->{
+            Toast.makeText(activity, inputValue, Toast.LENGTH_SHORT).show();
+        });
+    }
+}

src/app/src/main/res/drawable/progress_drawable.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:id="@android:id/background">
+        <shape>
+            <corners android:radius="60dp" />
+
+            <gradient
+                android:angle="0"
+                android:centerColor="#F39801"
+                android:centerY="0.20"
+                android:endColor="#F39801"
+                android:startColor="#F39801" />
+        </shape>
+    </item>
+</layer-list>

src/app/src/main/res/drawable/red_circle.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    >
+    <corners
+        android:radius="100dp"
+        />
+    <solid
+        android:color="#B2FF0000"
+        />
+    <size
+        android:width="100dp"
+        android:height="100dp"
+        />
+</shape>

src/app/src/main/res/layout/activity_settings.xml

@@ -32,7 +32,7 @@
         android:id="@+id/button6"
         android:layout_width="100dp"
         android:layout_height="35dp"
-        android:layout_marginStart="144dp"
+        android:layout_marginStart="130dp"
         android:text="绝对位置模式"
         android:textSize="12sp"
         app:layout_constraintBottom_toBottomOf="@+id/textView"
@@ -40,10 +40,10 @@
         app:layout_constraintTop_toTopOf="@+id/textView" />
 
     <LinearLayout
-        android:id="@+id/linearLayout2"
+        android:id="@+id/poseCheckLayout"
-        android:layout_width="312dp"
+        android:layout_width="270dp"
         android:layout_height="wrap_content"
-        android:layout_marginStart="50dp"
+        android:layout_marginStart="5dp"
         android:orientation="horizontal"
         app:layout_constraintBottom_toBottomOf="@+id/button7"
         app:layout_constraintStart_toEndOf="@+id/button7"
@@ -62,7 +62,7 @@
             android:id="@+id/defaultsetting"
             android:layout_width="135dp"
             android:layout_height="40dp"
-            android:layout_marginStart="49dp"
+            android:layout_marginStart="5dp"
             android:layout_marginEnd="50dp"
             android:text="恢复默认设置"
             android:textSize="15sp"
@@ -94,7 +94,7 @@
         android:id="@+id/button7"
         android:layout_width="100dp"
         android:layout_height="35dp"
-        android:layout_marginStart="32dp"
+        android:layout_marginStart="5dp"
         android:text="相对位置模式"
         android:textSize="12sp"
         app:layout_constraintBottom_toBottomOf="@+id/button6"
@@ -144,13 +144,14 @@
         app:layout_constraintTop_toTopOf="parent" />
 
     <EditText
-        android:id="@+id/editTextText52"
+        android:id="@+id/controlPort"
         android:layout_width="125dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:clickable="true"
         android:ems="10"
         android:includeFontPadding="false"
         android:inputType="text"
+        android:text="2001"
         android:paddingLeft="16dp"
         android:paddingTop="8dp"
         android:paddingRight="16dp"
@@ -160,22 +161,24 @@
         app:layout_constraintStart_toEndOf="@+id/textView55" />
 
     <TextView
+        android:visibility="gone"
         android:id="@+id/textView54"
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="视频地址2："
+        android:text="视频地址2"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="@+id/textView53"
         app:layout_constraintTop_toBottomOf="@+id/textView53" />
 
     <EditText
-        android:id="@+id/editTextText51"
+        android:id="@+id/videoUrl"
-        android:layout_width="492dp"
+        android:layout_width="350dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:clickable="true"
         android:ems="10"
+        android:text="http://192.168.1.1:8080/?action=stream"
         android:includeFontPadding="false"
         android:inputType="text"
         android:paddingLeft="16dp"
@@ -186,22 +189,6 @@
         app:layout_constraintBottom_toBottomOf="@+id/textView53"
         app:layout_constraintStart_toEndOf="@+id/textView53" />
 
-    <EditText
-        android:id="@+id/editTextText50"
-        android:layout_width="492dp"
-        android:layout_height="25dp"
-        android:clickable="true"
-        android:ems="10"
-        android:includeFontPadding="false"
-        android:inputType="text"
-        android:paddingLeft="16dp"
-        android:paddingTop="8dp"
-        android:paddingRight="16dp"
-        android:paddingBottom="8dp"
-        android:textSize="16dp"
-        app:layout_constraintBottom_toBottomOf="@+id/textView54"
-        app:layout_constraintStart_toEndOf="@+id/textView54" />
-
     <EditText
         android:id="@+id/editTextText48"
         android:layout_width="125dp"
@@ -223,7 +210,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="控制端口"
+        android:text="云台灵敏度"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="@+id/editTextText25"
@@ -234,7 +221,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="右后："
+        android:text="右后"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="@+id/editTextText37"
@@ -261,7 +248,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="后退："
+        android:text="后退"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toTopOf="@+id/editTextText_left"
@@ -288,7 +275,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="右转："
+        android:text="右转"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="@+id/editTextText_left"
@@ -347,7 +334,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="右旋转："
+        android:text="右旋转"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="@+id/editTextText42"
@@ -358,7 +345,7 @@
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:gravity="center"
-        android:text="右前："
+        android:text="右前"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="@+id/editTextText38"
@@ -381,11 +368,12 @@
         app:layout_constraintStart_toEndOf="@+id/textView41" />
 
     <EditText
-        android:id="@+id/editTextText41"
+        android:id="@+id/controlIp"
         android:layout_width="125dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:clickable="true"
         android:ems="10"
+        android:text="192.168.1.1"
         android:includeFontPadding="false"
         android:inputType="text"
         android:paddingLeft="16dp"
@@ -482,7 +470,7 @@
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="左后："
+        android:text="左后"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -494,7 +482,7 @@
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="左旋转："
+        android:text="左旋转"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -506,7 +494,7 @@
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="停止："
+        android:text="停止"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -515,18 +503,18 @@
     <TextView
         android:id="@+id/textView55"
         android:layout_width="100dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:gravity="center"
-        android:text="云台灵敏度："
+        android:text="控制端口"
         android:textSize="16dp"
         android:textStyle="bold"
-        app:layout_constraintBottom_toBottomOf="@+id/editTextText41"
+        app:layout_constraintBottom_toBottomOf="@+id/controlIp"
-        app:layout_constraintStart_toEndOf="@+id/editTextText41" />
+        app:layout_constraintStart_toEndOf="@+id/controlIp" />
 
     <TextView
         android:id="@+id/textView44"
         android:layout_width="100dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
         android:text="控制地址"
@@ -538,10 +526,10 @@
     <TextView
         android:id="@+id/textView53"
         android:layout_width="100dp"
-        android:layout_height="25dp"
+        android:layout_height="40dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="视频地址1："
+        android:text="视频地址"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -553,7 +541,7 @@
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="左前："
+        android:text="左前"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -565,20 +553,21 @@
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:gravity="center"
-        android:text="左转："
+        android:text="左转"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toBottomOf="@+id/textView_forward" />
 
     <TextView
+
         android:id="@+id/textView_forward"
         android:layout_width="100dp"
         android:layout_height="25dp"
         android:layout_marginStart="48dp"
         android:layout_marginTop="52dp"
         android:gravity="center"
-        android:text="前进:"
+        android:text="前进"
         android:textSize="16dp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"
@@ -589,6 +578,8 @@
         android:layout_width="80dp"
         android:layout_height="40dp"
         android:text="返回"
+        android:layout_marginTop="5dp"
+        android:layout_marginLeft="5dp"
         android:textSize="15sp"
         android:textStyle="bold"
         app:layout_constraintStart_toStartOf="parent"

src/app/src/main/res/layout/mymainfrm.xml

@@ -7,73 +7,17 @@
     android:orientation="vertical"
     >
 
-    <EditText
-        android:id="@+id/editIP"
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:text="http://192.168.1.1:8080/?action=stream"
-        app:layout_constraintBottom_toBottomOf="@+id/textViewIP"
-        app:layout_constraintStart_toEndOf="@id/textViewIP"
-        app:layout_constraintTop_toTopOf="@+id/textViewIP"
-        app:layout_constraintWidth_percent="0.6" />
-
-    <TextView
-        android:id="@+id/textView2"
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:gravity="center"
-        android:text="控制地址"
-        app:layout_constraintStart_toStartOf="@+id/textViewIP"
-        app:layout_constraintTop_toBottomOf="@+id/textViewIP"
-        app:layout_constraintWidth_percent="0.15" />
-    <EditText
-        android:id="@+id/ip"
-        app:layout_constraintWidth_percent="0.6"
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:text="192.168.1.1"
-        app:layout_constraintStart_toEndOf="@+id/textViewIP"
-        app:layout_constraintTop_toBottomOf="@+id/editIP" />
-
-    <TextView
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:gravity="center"
-        android:text="控制端口"
-        app:layout_constraintStart_toStartOf="@+id/textViewIP"
-        app:layout_constraintTop_toBottomOf="@+id/textView2"
-        app:layout_constraintWidth_percent="0.15" />
-    <EditText
-        android:id="@+id/port"
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:text="2001"
-        app:layout_constraintStart_toStartOf="@+id/editIP"
-        app:layout_constraintTop_toBottomOf="@+id/ip"
-        app:layout_constraintWidth_percent="0.6" />
-
-    <TextView
-        android:id="@+id/textViewIP"
-        android:layout_width="0dp"
-        android:layout_height="50dp"
-        android:layout_marginStart="90dp"
-        android:layout_marginTop="100dp"
-        android:gravity="center"
-        android:text="视频地址"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintWidth_percent="0.15" />
-
     <LinearLayout
         android:id="@+id/linearLayout"
-        android:layout_marginBottom="40dp"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
         android:layout_gravity="bottom"
         android:gravity="center"
         android:orientation="horizontal"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintStart_toStartOf="parent">
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent">
 
         <LinearLayout
             android:id="@+id/button_go"

src/app/src/main/res/layout/myvideo.xml

@@ -1,6 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/constraintParent"
     android:layout_width="fill_parent"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_height="fill_parent">
     <!--    <wificar.RockerView-->
     <!--        android:layout_width="100dp"-->
@@ -11,88 +13,247 @@
     <!--        android:layout_marginBottom="200dp"-->
     <!--        android:visibility="visible"-->
     <!--        tools:visibility="visible" />-->
-
     <wificar.MySurfaceView
         android:id="@+id/mySurfaceViewVideo"
         android:layout_width="match_parent"
-        android:layout_height="match_parent" />
+        android:layout_height="match_parent"
-
+        app:layout_constraintStart_toStartOf="parent"
-    <ImageView
+        app:layout_constraintTop_toTopOf="parent"/>
-        android:id="@+id/floatingView"
+    <LinearLayout
-        android:layout_width="match_parent"
+        android:id="@+id/rocketLayout"
-        android:layout_height="match_parent" />
+        android:layout_width="200dp"
-
+        android:layout_height="200dp"
-    <ImageButton
+        app:layout_constraintBottom_toBottomOf="@+id/mySurfaceViewVideo"
-        android:id="@+id/TakePhoto"
+        app:layout_constraintStart_toStartOf="parent"
-        android:layout_marginTop="5dp"
+        app:flow_horizontalAlign="center"
-        android:layout_width="66dp"
+        app:flow_verticalAlign="center"
-        android:layout_height="55dp"
+        android:orientation="horizontal" />
-        android:scaleType="centerCrop"
+    <Button
-        android:layout_marginStart="20dp"
+        android:id="@+id/menuIcon"
-        android:src="@drawable/snapshot" />
+        android:layout_width="60dp"
+        android:layout_height="60dp"
+        android:text="菜单"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/mySurfaceViewVideo" />
+    <LinearLayout
+        android:id="@+id/droppedMenu"
+        android:layout_width="300dp"
+        android:layout_height="200dp"
+        android:layout_below="@+id/menuIcon"
+        android:layout_alignParentEnd="true"
+        android:animateLayoutChanges="true"
+        android:orientation="vertical"
+        app:layout_constraintEnd_toEndOf="@+id/mySurfaceViewVideo"
+        android:gravity="right"
+        app:layout_constraintTop_toBottomOf="@+id/menuIcon">
+        <LinearLayout
+            android:orientation="horizontal"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content">
+            <TextView
+                android:id="@+id/distanceText"
+                android:textColor="#FFFFFF"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="超声波距离显示" />
+            <CheckBox
+                android:id="@+id/distanceBtn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+        <LinearLayout
+            android:orientation="horizontal"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content">
+            <TextView
+                android:id="@+id/lifeCheckText"
+                android:textColor="#FFFFFF"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="生命体征检测" />
+            <CheckBox
+                android:id="@+id/lifeCheckBtn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+        <LinearLayout
+            android:orientation="horizontal"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content">
+            <TextView
+                android:id="@+id/poseCheckText"
+                android:textColor="#FFFFFF"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="关节特征识别" />
+            <CheckBox
+                android:id="@+id/poseCheckBtn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+        <LinearLayout
+            android:id="@+id/suggestionLayout"
+            android:orientation="horizontal"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content">
+            <TextView
+                android:id="@+id/suggestionText"
+                android:textColor="#FFFFFF"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="查看搜救建议" />
+            <CheckBox
+                android:checked="false"
+                android:id="@+id/suggestionBtn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+        <LinearLayout
+            android:id="@+id/avoidLayout"
+            android:orientation="horizontal"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content">
+            <TextView
+                android:id="@+id/avoidText"
+                android:textColor="#FFFFFF"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="超声波自动避障" />
+            <CheckBox
+                android:checked="false"
+                android:id="@+id/avoidBtn"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+    </LinearLayout>
+    <LinearLayout
+        android:id="@+id/linearLayout4"
+        android:layout_width="wrap_content"
+        android:layout_height="30dp"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent">
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="#ffffff"
+            android:textSize="18dp"
+            android:text="舵机控制" />
+        <SeekBar
+            android:id="@+id/xSeekbar"
+            android:progress="50"
+            android:layout_width="300dp"
+            android:layout_height="30dp" />
+    </LinearLayout>
 
-    <ImageButton
+<!--    <ImageView-->
-        android:id="@+id/ViewPhoto"
+<!--        android:id="@+id/floatingView"-->
-        android:layout_width="66dp"
+<!--        android:layout_width="match_parent"-->
-        android:layout_height="55dp"
+<!--        android:layout_height="match_parent"-->
-        android:layout_marginTop="5dp"
+<!--        app:layout_constraintTop_toTopOf="parent" />-->
-        android:layout_toRightOf="@+id/TakePhoto"
-        android:layout_x="90dp"
-        android:layout_marginStart="20dp"
-        android:scaleType="centerCrop"
-        android:src="@drawable/look" />
 
     <LinearLayout
+        android:id="@+id/poseCheckLayout"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_alignParentStart="true"
         android:layout_alignParentEnd="true"
+        android:layout_alignParentBottom="true"
         android:gravity="right"
-        android:layout_marginTop="15dp"
+        app:layout_constraintBottom_toBottomOf="parent"
-        android:layout_marginRight="15dp"
+        app:layout_constraintEnd_toEndOf="parent">
-        >
 
         <TextView
             android:layout_width="wrap_content"
             android:layout_height="25dp"
             android:layout_marginRight="10dp"
-            android:text="关节特征识别 启用"
+            android:text="关节特征识别"
-            android:textSize="18dp"
             android:textColor="@android:color/white"
-            android:textStyle="bold"/>
+            android:textSize="18dp"
+            android:textStyle="bold" />
 
         <ImageView
             android:layout_width="25dp"
             android:layout_height="25dp"
             android:scaleType="centerCrop"
             android:src="@drawable/circle" />
+
     </LinearLayout>
-    <!--    <ImageView-->
-    <!--        android:layout_width="wrap_content"-->
-    <!--        android:layout_height="wrap_content"-->
-    <!--        android:layout_alignParentStart="true"-->
-    <!--        android:layout_alignParentTop="true"-->
-    <!--        android:layout_marginStart="40dp"-->
-    <!--        android:layout_marginLeft="40dp"-->
-    <!--        android:layout_marginTop="260dp"-->
-    <!--        android:src="@drawable/rocket_circle1" />-->
 
-    <!--    <ImageView-->
+    <LinearLayout
-    <!--        android:layout_width="wrap_content"-->
+        android:id="@+id/lifeCheckLayout"
-    <!--        android:layout_height="wrap_content"-->
+        android:layout_width="wrap_content"
-    <!--        android:layout_alignParentStart="true"-->
+        android:layout_height="wrap_content"
-    <!--        android:layout_alignParentTop="true"-->
+        android:layout_above="@+id/poseCheckLayout"
-    <!--        android:layout_marginStart="65dp"-->
+        android:layout_alignEnd="@+id/poseCheckLayout"
-    <!--        android:layout_marginLeft="65dp"-->
+        app:layout_constraintBottom_toTopOf="@+id/poseCheckLayout"
-    <!--        android:layout_marginTop="285dp"-->
+        app:layout_constraintEnd_toEndOf="@+id/mySurfaceViewVideo">
-    <!--        android:src="@drawable/rocket_circle2" />-->
 
-    <!--    <wificar.RockerView-->
+        <TextView
-    <!--        android:id="@+id/rockerView"-->
+            android:id="@+id/showLive"
-    <!--        android:layout_width="265dp"-->
+            android:layout_width="wrap_content"
-    <!--        android:layout_height="300dp"-->
+            android:layout_height="25dp"
-    <!--        android:layout_alignParentStart="true"-->
+            android:layout_marginRight="10dp"
-    <!--        android:layout_alignParentTop="true"-->
+            android:text="未检测到生命体"
-    <!--        android:layout_marginStart="5dp"-->
+            android:textColor="@android:color/white"
-    <!--        android:layout_marginTop="167dp" />-->
+            android:textSize="18dp"
-</RelativeLayout>
+            android:textStyle="bold" />
+
+        <ImageView
+            android:id="@+id/greenCircle"
+            android:layout_width="25dp"
+            android:layout_height="25dp"
+            android:scaleType="centerCrop"
+            android:src="@drawable/circle"
+            android:visibility="gone" />
+
+        <ImageView
+            android:id="@+id/redCircle"
+            android:layout_width="25dp"
+            android:layout_height="25dp"
+            android:scaleType="centerCrop"
+            android:src="@drawable/red_circle"
+            android:visibility="visible" />
+    </LinearLayout>
+
+    <LinearLayout
+        android:id="@+id/distanceLayout"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_above="@+id/lifeCheckLayout"
+        android:layout_alignEnd="@+id/lifeCheckLayout"
+        android:gravity="right"
+        app:layout_constraintBottom_toTopOf="@+id/lifeCheckLayout"
+        app:layout_constraintEnd_toEndOf="@+id/mySurfaceViewVideo">
+
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="match_parent"
+            android:layout_marginRight="10dp"
+            android:text="超声波距离"
+            android:textColor="@android:color/white"
+            android:textSize="18dp"
+            android:textStyle="bold" />
+
+        <TextView
+            android:id="@+id/distance"
+            android:layout_width="wrap_content"
+            android:layout_height="25dp"
+            android:scaleType="centerCrop"
+            android:text="0"
+            android:textColor="#FFFFFF"
+            android:textSize="20dp" />
+    </LinearLayout>
+
+    <TextView
+        android:textSize="16dp"
+        android:visibility="gone"
+        android:id="@+id/suggestion"
+        android:textColor="#00FF35"
+        android:text="搜救建议：暂无"
+        android:layout_width="450dp"
+        android:layout_height="100dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="@+id/mySurfaceViewVideo"
+        app:layout_constraintStart_toStartOf="parent" />
+</androidx.constraintlayout.widget.ConstraintLayout>