Merge branch 'Wangzj' of https://bdgit.educoder.net/pmie756yv/Smart into develop

src/AndroidStudio_projects/.gitignore

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

src/AndroidStudio_projects/.idea/.gitignore

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

src/AndroidStudio_projects/.idea/.name

@@ -0,0 +1 @@
+Hamburger

src/AndroidStudio_projects/.idea/compiler.xml

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

src/AndroidStudio_projects/.idea/deploymentTargetDropDown.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="deploymentTargetDropDown">
+    <targetSelectedWithDropDown>
+      <Target>
+        <type value="QUICK_BOOT_TARGET" />
+        <deviceKey>
+          <Key>
+            <type value="VIRTUAL_DEVICE_PATH" />
+            <value value="C:\Users\Lenovo\.android\avd\Pixel_XL_API_30.avd" />
+          </Key>
+        </deviceKey>
+      </Target>
+    </targetSelectedWithDropDown>
+    <timeTargetWasSelectedWithDropDown value="2022-10-25T13:49:43.646135700Z" />
+  </component>
+</project>

src/AndroidStudio_projects/.idea/gradle.xml

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

src/AndroidStudio_projects/.idea/misc.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

src/AndroidStudio_projects/app/.gitignore

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

src/AndroidStudio_projects/app/.idea/.gitignore

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

src/AndroidStudio_projects/app/.idea/gradle.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="testRunner" value="GRADLE" />
+        <option name="distributionType" value="DEFAULT_WRAPPED" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>

src/AndroidStudio_projects/app/.idea/misc.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

src/AndroidStudio_projects/app/CMakeLists.txt

@@ -0,0 +1,44 @@
+# For more information about using CMake with Android Studio, read the
+# documentation: https://d.android.com/studio/projects/add-native-code.html
+
+# Sets the minimum version of CMake required to build the native library.
+
+cmake_minimum_required(VERSION 3.4.1)
+
+# Creates and names a library, sets it as either STATIC
+# or SHARED, and provides the relative paths to its source code.
+# You can define multiple libraries, and CMake builds them for you.
+# Gradle automatically packages shared libraries with your APK.
+
+add_library( # Sets the name of the library.
+             native-test
+
+             # Sets the library as a shared library.
+             SHARED
+
+             # Provides a relative path to your source file(s).
+             src/main/jni/native-test.c )
+
+# Searches for a specified prebuilt library and stores the path as a
+# variable. Because CMake includes system libraries in the search path by
+# default, you only need to specify the name of the public NDK library
+# you want to add. CMake verifies that the library exists before
+# completing its build.
+
+find_library( # Sets the name of the path variable.
+              log-lib
+
+              # Specifies the name of the NDK library that
+              # you want CMake to locate.
+              log )
+
+# Specifies libraries CMake should link to your target library. You
+# can link multiple libraries, such as libraries you define in this
+# build script, prebuilt third-party libraries, or system libraries.
+
+target_link_libraries( # Specifies the target library.
+                       native-test
+
+                       # Links the target library to the log library
+                       # included in the NDK.
+                       ${log-lib} )

src/AndroidStudio_projects/app/build.gradle

@@ -0,0 +1,75 @@
+plugins {
+    id 'com.android.application'
+}
+
+android {
+    namespace 'com.example.hamburger'
+    compileSdk 32
+
+    defaultConfig {
+        applicationId "com.example.hamburger"
+        minSdk 21
+        targetSdk 32
+        versionCode 1
+        versionName "1.0"
+
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        externalNativeBuild {
+            cmake {
+                cppFlags ""
+            }
+        }
+
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    externalNativeBuild {
+        cmake {
+            path "CMakeLists.txt"
+        }
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+    buildFeatures {
+        viewBinding true
+    }
+}
+
+dependencies {
+
+
+
+
+    implementation 'androidx.appcompat:appcompat:1.4.1'
+    implementation 'com.google.android.material:material:1.5.0'
+    implementation 'androidx.constraintlayout:constraintlayout:2.1.3'
+    implementation 'androidx.lifecycle:lifecycle-livedata-ktx:2.4.1'
+    implementation 'androidx.lifecycle:lifecycle-viewmodel-ktx:2.4.1'
+    implementation 'androidx.navigation:navigation-fragment:2.4.1'
+    implementation 'androidx.navigation:navigation-ui:2.4.1'
+    implementation files('libs\\mysql-connector-java-5.1.49.jar')
+    testImplementation 'junit:junit:4.13.2'
+    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
+
+    implementation 'com.jakewharton:butterknife:10.0.0'
+    annotationProcessor 'com.jakewharton:butterknife-compiler:10.0.0'
+    //noinspection GradleCompatible
+    androidTestImplementation 'com.android.support.test:runner:1.0.2'
+    //noinspection GradleCompatible
+    //implementation 'com.android.support:recyclerview-v7:28.0.0'
+    implementation 'androidx.appcompat:appcompat:1.0.0'
+    //noinspection DuplicatePlatformClasses
+    implementation fileTree(include: ['*.jar'], dir: 'libs')
+    implementation files('libs/json-simple-1.1.jar')
+
+
+
+}

src/AndroidStudio_projects/app/proguard-rules.pro

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

src/AndroidStudio_projects/app/src/androidTest/java/com/example/hamburger/Mtest.java

@@ -1,84 +0,0 @@
-package com.example.hamburger;
-import static androidx.test.core.app.ApplicationProvider.getApplicationContext;
-
-import android.content.Context;
-
-import androidx.test.platform.app.InstrumentationRegistry;
-import androidx.test.ext.junit.runners.AndroidJUnit4;
-
-import org.junit.Test;
-import org.junit.runner.RunWith;
-
-import static org.junit.Assert.*;
-
-import com.example.hamburger.dao.UserDao;
-
-import android.content.Intent;
-import android.os.Bundle;
-import android.widget.EditText;
-import android.view.View;
-import android.widget.Toast;
-import android.widget.Button;
-import android.os.Handler;
-import android.os.Message;
-import android.annotation.SuppressLint;
-import com.example.hamburger.dao.UserDao;
-import com.example.hamburger.entity.User;
-
-@RunWith(AndroidJUnit4.class)
-public class Mtest {
-
-    @Test
-    public void text_1() {
-        // Context of the app under test.
-        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
-        assertEquals("com.example.hamburger", appContext.getPackageName());
-
-        new Thread(){
-            @Override
-            public void run() {
-                UserDao userDao = new UserDao();
-                int msg = userDao.login("1","1");
-            }
-        }.start();
-    }
-
-    @Test
-    public void text_2() {
-        // Context of the app under test.
-        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
-        assertEquals("com.example.hamburger", appContext.getPackageName());
-
-        User user = new User();
-
-        user.setUserAccount("11");
-        user.setUserPassword("11");
-        user.setUserName("11");
-        user.setUserType(1);
-        user.setUserState(0);
-        user.setUserDel(0);
-
-        new Thread(){
-            @Override
-            public void run() {
-
-                int msg = 0;
-
-                UserDao userDao = new UserDao();
-
-                User uu = userDao.findUser(user.getUserAccount());
-                if(uu != null){
-                    msg = 1;
-                }
-                else{
-                    boolean flag = userDao.register(user);
-                    if(flag){
-                        msg = 2;
-                    }
-                }
-
-            }
-        }.start();
-
-    }
-}

src/AndroidStudio_projects/app/src/debug/res/mipmap-anydpi-v26/ic_launcher.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

src/AndroidStudio_projects/app/src/debug/res/mipmap-anydpi-v26/ic_launcher_round.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

src/AndroidStudio_projects/app/src/debug/res/values/ic_launcher_background.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="ic_launcher_background">#0E3B53</color>
+</resources>

src/AndroidStudio_projects/app/src/main/AndroidManifest.xml

@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools">
+
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+
+    <application
+        android:allowBackup="true"
+        android:dataExtractionRules="@xml/data_extraction_rules"
+        android:fullBackupContent="@xml/backup_rules"
+        android:icon="@mipmap/ic_launcher"
+        android:label="@string/app_name"
+        android:roundIcon="@mipmap/ic_launcher_round"
+        android:supportsRtl="true"
+        android:theme="@style/Theme.Hamburger"
+        tools:targetApi="31">
+        <activity
+            android:name=".MainActivity2"
+            android:exported="false"
+            android:label="@string/title_activity_main2">
+            <meta-data
+                android:name="android.app.lib_name"
+                android:value="" />
+        </activity>
+        <activity
+            android:name=".MainActivity"
+            android:exported="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+
+            <meta-data
+                android:name="android.app.lib_name"
+                android:value="" />
+        </activity>
+        <activity
+            android:name=".main_window"
+            android:exported="true" />
+        <activity
+            android:name=".register"
+            android:exported="true" />
+        <activity
+            android:name=".notifications"
+            android:exported="true" />
+        <activity android:name="com.example.dadac.testrosbridge.TransferSta"
+            android:exported="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+        <activity android:name="com.dadac.testrosbridge.RosBridgeActivity"/>
+    </application>
+
+</manifest>

src/AndroidStudio_projects/app/src/main/java/com/dadac/testrosbridge/RCApplication.java

@@ -0,0 +1,42 @@
+package com.dadac.testrosbridge;
+
+import android.app.Application;
+
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+
+/**
+ * @ Create by dadac on 2018/10/8.
+ * @Function:
+ * @Return:
+ */
+public class RCApplication extends Application {
+
+
+    ROSBridgeClient client;
+
+    @Override
+    public void onCreate() {
+        super.onCreate();
+    }
+
+    @Override
+    public void onTerminate() {
+        if (client != null)
+            client.disconnect();
+        super.onTerminate();
+
+    }
+
+    public ROSBridgeClient getRosClient() {
+        return client;
+    }
+
+    public void setRosClient(ROSBridgeClient client) {
+        this.client = client;
+    }
+
+
+}
+
+
+

src/AndroidStudio_projects/app/src/main/java/com/dadac/testrosbridge/RosBridgeActivity.java

@@ -0,0 +1,215 @@
+package com.dadac.testrosbridge;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.os.Bundle;
+import android.util.Log;
+import android.view.MotionEvent;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.TextView;
+import android.widget.Toast;
+
+
+import com.example.hamburger.R;
+import com.jilk.ros.ROSClient;
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+import com.jilk.ros.rosbridge.implementation.PublishEvent;
+
+import org.json.simple.parser.JSONParser;
+import org.json.simple.parser.ParseException;
+
+
+import de.greenrobot.event.EventBus;
+
+
+/**
+ * @ Create by dadac on 2018/10/8.
+ * @Function: 开始啪啦啪啦的进行数据的传输，需要放在service里面进行传输，比较保险，可以一直在传输数据
+ * @Return:
+ */
+public class RosBridgeActivity extends Activity implements View.OnClickListener {
+
+    ROSBridgeClient client;
+    String ip = "10.8.87.23";   //虚拟机的 IP
+    // String ip = "192.168.10.20";     //半残废机器人的IP
+    // String ip = "192.168.10.200";     //机器人的IP
+    String port = "9090";
+
+    boolean isSubscrible = true;
+    private static int flagSubscrible = 0;
+
+    private Button DC_Button_Subscrible;
+    private Button DC_Button_Publish;
+    private EditText DC_EditText_EnterWord;
+    private TextView DC_TextView_ShowData;
+
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.fragment_dashboard);
+        EventBus.getDefault().register(this);
+        onConnect(ip, port);
+        subMenuShow();
+    }
+
+    //初始化界面的参数
+    private void subMenuShow() {
+        DC_Button_Subscrible = (Button) findViewById(R.id.DC_Button_Subscrible);
+        DC_Button_Subscrible.setOnClickListener(this);
+        DC_Button_Publish = (Button) findViewById(R.id.DC_Button_Publish);
+        DC_Button_Publish.setOnTouchListener(new ComponentOnTouch());
+        DC_EditText_EnterWord = (EditText) findViewById(R.id.DC_EditText_EnterWord);
+        DC_TextView_ShowData = (TextView) findViewById(R.id.DC_TextView_ShowData);
+    }
+
+
+    /**
+     * @Function: 建立连接
+     * @Return:
+     */
+    public void onConnect(String ip, String port) {
+
+        client = new ROSBridgeClient("ws://" + ip + ":" + port);
+        boolean conneSucc = client.connect(new ROSClient.ConnectionStatusListener() {
+            @Override
+            public void onConnect() {
+                client.setDebug(true);
+                ((RCApplication) getApplication()).setRosClient(client);
+                showTip("Connect ROS success");
+                Log.d("dachen", "Connect ROS success");
+            }
+
+
+            @Override
+            public void onDisconnect(boolean normal, String reason, int code) {
+                showTip("ROS disconnect");
+                Log.d("dachen", "ROS disconnect");
+            }
+
+            @Override
+            public void onError(Exception ex) {
+                ex.printStackTrace();
+                showTip("ROS communication error");
+                Log.d("dachen", "ROS communication error");
+            }
+        });
+    }
+
+    //接收来自Ros端的数据
+    private void ReceiveDataToRos() {
+        if (isSubscrible == true) {
+            String msg1 = "{\"op\":\"subscribe\",\"topic\":\"/chatter\"}";
+            client.send(msg1);
+        } else if (isSubscrible == false) {
+            String msg2 = "{\"op\":\"unsubscribe\",\"topic\":\"/chatter\"}";
+            client.send(msg2);
+        }
+    }
+
+    //发送数据到ROS端
+    private void SendDataToRos(String data) {
+        String msg1 = "{ \"op\": \"publish\", \"topic\": \"/chatter\", \"msg\": { \"data\": \"" + data + " \" }}";
+        //        String msg2 = "{\"op\":\"publish\",\"topic\":\"/cmd_vel\",\"msg\":{\"linear\":{\"x\":" + 0 + ",\"y\":" +
+        //                0 + ",\"z\":0},\"angular\":{\"x\":0,\"y\":0,\"z\":" + 0.5 + "}}}";
+        client.send(msg1);
+    }
+
+
+    private void showTip(final String tip) {
+        runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                Toast.makeText(RosBridgeActivity.this, tip, Toast.LENGTH_SHORT).show();
+            }
+        });
+    }
+
+    public void onEvent(final PublishEvent event) {
+        if ("/chatter".equals(event.name)) {
+            parseChatterTopic(event);
+            return;
+        }
+        Log.d("dachen", event.msg);
+    }
+
+    private void parseChatterTopic(PublishEvent event) {
+        try {
+            JSONParser parser = new JSONParser();
+            org.json.simple.JSONObject jsonObject = (org.json.simple.JSONObject) parser.parse(event.msg);
+            String jsondata = (String) jsonObject.get("data");
+            DC_TextView_ShowData.setText(jsondata);
+            Log.i("dachen", jsondata);
+        } catch (ParseException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @SuppressLint("NonConstantResourceId")
+    @Override
+    public void onClick(View v) {
+        switch (v.getId()) {
+            case R.id.DC_Button_Subscrible:
+                if (flagSubscrible % 2 == 0) {
+                    isSubscrible = true;
+                    DC_Button_Subscrible.setText("Subscrible");
+                }
+                if (flagSubscrible % 2 == 1) {
+                    isSubscrible = false;
+                    DC_Button_Subscrible.setText("unSubscrible");
+                }
+                flagSubscrible++;
+                ReceiveDataToRos();
+                break;
+            default:
+                break;
+        }
+    }
+
+    private class ComponentOnTouch implements View.OnTouchListener {
+        @SuppressLint("NonConstantResourceId")
+        @Override
+        public boolean onTouch(View v, MotionEvent event) {
+            switch (v.getId()) {
+                case R.id.DC_Button_Publish:
+                    onTouchChange("up", event.getAction());
+                    break;
+                default:
+                    break;
+            }
+            return true;
+        }
+    }
+    private boolean Btn_LongPress = false;
+    class MyThread extends Thread {
+        @Override
+        public void run() {
+            while (Btn_LongPress) {
+                try {
+                    Thread.sleep(10);
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+                SendDataToRos("3");
+            }
+        }
+    }
+    private void onTouchChange(String methodName, int eventAction) {
+        MyThread myThread = new MyThread();
+        // 按下松开分别对应启动停止线程方法
+        if ("up".equals(methodName)) {
+            if (eventAction == MotionEvent.ACTION_DOWN) {
+                myThread.start();
+                Btn_LongPress = true;
+            } else if (eventAction == MotionEvent.ACTION_UP) {
+                SendDataToRos("stop");
+                if (myThread != null)
+                    Btn_LongPress = false;
+            }
+        }
+    }
+
+}
+

src/AndroidStudio_projects/app/src/main/java/com/example/dadac/testrosbridge/JNICallAll.java

@@ -0,0 +1,23 @@
+package com.example.dadac.testrosbridge;
+
+/**
+ * @ Create by dadac on 2018/10/8.
+ * @Function:   存放所有的 JNI 调用的文件
+ * @Return:
+ */
+public class JNICallAll {
+
+    // Used to load the 'native-lib' library on application startup.
+    static {
+        System.loadLibrary("native-test");
+    }
+
+    /**
+     * A native method that is implemented by the 'native-lib' native library,
+     * which is packaged with this application.
+     */
+    public native String stringFromJNI();
+
+
+
+}

src/AndroidStudio_projects/app/src/main/java/com/example/dadac/testrosbridge/TransferSta.java

@@ -0,0 +1,29 @@
+package com.example.dadac.testrosbridge;
+
+import android.content.Intent;
+//import android.support.v7.app.AppCompatActivity;
+import androidx.appcompat.app.AppCompatActivity;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.Button;
+
+import com.dadac.testrosbridge.RosBridgeActivity;
+import com.example.hamburger.R;
+
+public class TransferSta extends AppCompatActivity {
+
+    private Button DC_Button_JumpToRos;
+
+   /* @Override
+    /*protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.fragment_dashboard);
+        DC_Button_JumpToRos = (Button) findViewById(R.id.DC_Button_JumpToRos);
+    }
+
+
+    public void JumpToActivity(View view) {
+        Intent myIntentRos = new Intent(TransferSta.this, RosBridgeActivity.class);
+        startActivity(myIntentRos);
+    }*/
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/MainActivity.java

@@ -20,13 +20,60 @@ public class MainActivity extends AppCompatActivity {
     EditText name;//创建账号
     EditText passwd;//创建密码
 
-    private static final String TAG="mysql-party-MainActivity";
+    private static final String TAG="mysql-hamburger-MainActivity";
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_main);
 
+        name=findViewById(R.id.name);//获取输入的账号
+        passwd=findViewById(R.id.passwd);//获取输入的密码
+
+
+        //这是能够登录的账号密码
+        String Usename = "admin";
+        String Upwd = "12345";
+
+        //创建两个String类，储存从输入文本框获取到的内容
+        String user = name.getText().toString().trim();
+        String pwd = passwd.getText().toString().trim();
+
+        //获取按钮
+        Button button = (Button) findViewById(R.id.button);
+        Button button_1 = (Button) findViewById(R.id.register);
+
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick (View v){
+                //监听按钮，如果点击，就跳转
+                Intent intent = new Intent();
+                //前一个（MainActivity.this）是目前页面，后面一个是要跳转的下一个页面
+                intent.setClass(MainActivity.this, MainActivity2.class);
+                startActivity(intent);
+                //Toast.makeText(MainActivity.this, "欢迎你", Toast.LENGTH_SHORT).show();
+            }
+        });
+
+        /*//进行判断，如果两个内容都相等，就显现第一条语句，反之，第二条。
+        if(user.equals(Usename) & pwd.equals(Upwd)){
+            //按钮进行监听
+
+            }*/
+        //else{
+          //  Toast.makeText(MainActivity.this, "身份验证错误，禁止访问", Toast.LENGTH_SHORT).show();
+        //}
+        //按钮进行监听
+        button_1.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                //监听按钮，如果点击，就跳转
+                Intent intent = new Intent();
+                //前一个（MainActivity.this）是目前页面，后面一个是要跳转的下一个页面
+                intent.setClass(MainActivity.this, register.class);
+                startActivity(intent);
+            }
+        });
     }
 
     public void login(View view){
@@ -34,8 +81,6 @@ public class MainActivity extends AppCompatActivity {
         EditText EditTextAccount = findViewById(R.id.name);
         EditText EditTextPassword = findViewById(R.id.passwd);
 
-        Button button = (Button) findViewById(R.id.button);
-
         new Thread(){
             @Override
             public void run() {
@@ -44,6 +89,7 @@ public class MainActivity extends AppCompatActivity {
                 hand1.sendEmptyMessage(msg);
             }
         }.start();
+
     }
 
     public void reg(View view){
@@ -58,7 +104,6 @@ public class MainActivity extends AppCompatActivity {
                 Toast.makeText(getApplicationContext(), "登录失败", Toast.LENGTH_LONG).show();
             } else if (msg.what == 1) {
                 Toast.makeText(getApplicationContext(), "登录成功", Toast.LENGTH_LONG).show();
-                startActivity(new Intent(getApplicationContext(),MainActivity2.class));
             } else if (msg.what == 2){
                 Toast.makeText(getApplicationContext(), "密码错误", Toast.LENGTH_LONG).show();
             } else if (msg.what == 3){

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/add.java

@@ -0,0 +1,38 @@
+package com.example.hamburger;
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+
+import com.example.hamburger.R;
+import com.example.hamburger.notifications;
+import com.example.hamburger.ui.notifications.NotificationsFragment;
+
+public class add extends AppCompatActivity {
+
+    EditText mytext;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_add);
+        mytext = findViewById(R.id.mt);
+
+    }
+
+    public void Confirm() {
+        Button button = (Button) findViewById(R.id.conf);
+
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                Intent intent = new Intent();
+                intent.setClass(add.this, NotificationsFragment.class);
+                startActivity(intent);
+            }
+        });
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/dao/UserDao.java

@@ -1,11 +1,8 @@
 package com.example.hamburger.dao;
 
 
-import com.example.hamburger.entity.IsolationUser;
 import com.example.hamburger.entity.User;
 import com.example.hamburger.utils.JDBCUtils;
-
-import android.annotation.SuppressLint;
 import android.util.Log;
 
 import java.sql.Connection;
@@ -13,7 +10,10 @@ import java.sql.PreparedStatement;
 import java.sql.ResultSet;
 import java.util.HashMap;
 
-
+/**
+ * author: yan
+ * date: 2022.02.17
+ * **/
 public class UserDao {
 
     private static final String TAG = "mysql-party-UserDao";
@@ -21,7 +21,6 @@ public class UserDao {
     /**
      * function: 登录
      * */
-    @SuppressLint("LongLogTag")
     public int login(String userAccount, String userPassword){
 
         HashMap<String, Object> map = new HashMap<>();
@@ -30,7 +29,7 @@ public class UserDao {
         int msg = 0;
         try {
             // mysql简单的查询语句。这里是根据user表的userAccount字段来查询某条记录
-            String sql = "select * from user_ where userAccount = ?";
+            String sql = "select * from user where userAccount = ?";
             if (connection != null){// connection不为null表示与数据库建立了连接
                 PreparedStatement ps = connection.prepareStatement(sql);
                 if (ps != null){
@@ -86,14 +85,13 @@ public class UserDao {
     /**
      * function: 注册
      * */
-    @SuppressLint("LongLogTag")
     public boolean register(User user){
         HashMap<String, Object> map = new HashMap<>();
         // 根据数据库名称，建立连接
         Connection connection = JDBCUtils.getConn();
 
         try {
-            String sql = "insert into user_(userAccount,userPassword,userName,userType,userState,userDel) values (?,?,?,?,?,?)";
+            String sql = "insert into user(userAccount,userPassword,userName,userType,userState,userDel) values (?,?,?,?,?,?)";
             if (connection != null){// connection不为null表示与数据库建立了连接
                 PreparedStatement ps = connection.prepareStatement(sql);
                 if (ps != null){
@@ -126,59 +124,16 @@ public class UserDao {
 
     }
 
-    /**
-     * function: 录入
-     * */
-    @SuppressLint("LongLogTag")
-    public boolean LogInfor(IsolationUser user){
-        HashMap<String, Object> map = new HashMap<>();
-        // 根据数据库名称，建立连接
-        Connection connection = JDBCUtils.getConn();
-
-        try {
-            String sql = "insert into infor_(name,gender,id_number,room_number,checkin_time) values (?,?,?,?,?)";
-            if (connection != null){// connection不为null表示与数据库建立了连接
-                PreparedStatement ps = connection.prepareStatement(sql);
-                if (ps != null){
-
-                    //将数据插入数据库
-                    ps.setString(1,user.getname());
-                    ps.setString(2,user.getGender());
-                    ps.setString(3,user.getIdnumber());
-                    ps.setInt(4,user.getRoomnumber());
-                    ps.setString(5, user.getCheckin_time());
-
-                    // 执行sql查询语句并返回结果集
-                    int rs = ps.executeUpdate();
-                    if(rs>0)
-                        return true;
-                    else
-                        return false;
-                }else {
-                    return  false;
-                }
-            }else {
-                return  false;
-            }
-        }catch (Exception e){
-            e.printStackTrace();
-            Log.e(TAG, "异常loginfor：" + e.getMessage());
-            return false;
-        }
-
-    }
-
     /**
      * function: 根据账号进行查找该用户是否存在
      * */
-    @SuppressLint("LongLogTag")
     public User findUser(String userAccount) {
 
         // 根据数据库名称，建立连接
         Connection connection = JDBCUtils.getConn();
         User user = null;
         try {
-            String sql = "select * from user_ where userAccount = ?";
+            String sql = "select * from user where userAccount = ?";
             if (connection != null){// connection不为null表示与数据库建立了连接
                 PreparedStatement ps = connection.prepareStatement(sql);
                 if (ps != null) {
@@ -194,44 +149,7 @@ public class UserDao {
                         int userType = rs.getInt(5);
                         int userState = rs.getInt(6);
                         int userDel = rs.getInt(7);
-                        user = new User(userAccount1, userPassword);
-                    }
-                }
-            }
-        }catch (Exception e){
-            e.printStackTrace();
-            Log.d(TAG, "异常findUser：" + e.getMessage());
-            return null;
-        }
-        return user;
-    }
-
-    /**
-     * function: 根据姓名进行查找该用户是否存在 录入功能
-     * */
-    @SuppressLint("LongLogTag")
-    public IsolationUser findUser_(String name) {
-
-        // 根据数据库名称，建立连接
-        Connection connection = JDBCUtils.getConn();
-        IsolationUser user = null;
-        try {
-            String sql = "select * from infor_ where name  = ?";
-            if (connection != null){// connection不为null表示与数据库建立了连接
-                PreparedStatement ps = connection.prepareStatement(sql);
-                if (ps != null) {
-                    ps.setString(1, name);
-                    ResultSet rs = ps.executeQuery();
-
-                    while (rs.next()) {
-                        //注意：下标是从1开始
-                        int id = rs.getInt(1);
-                        String name1 = rs.getString(2);
-                        String gender = rs.getString(3);
-                        String idnumber = rs.getString(4);
-                        int roomnumber = rs.getInt(5);
-                        String checkin_time = rs.getString(6);
-                        user = new IsolationUser(name1,gender,idnumber,roomnumber,checkin_time);
+                        user = new User(id, userAccount1, userPassword, userName, userType, userState, userDel);
                     }
                 }
             }

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/entity/IsolationUser.java

@@ -1,72 +0,0 @@
-package com.example.hamburger.entity;
-
-public class IsolationUser {
-
-    private int id;
-    private String name;
-    private String gender;
-    private String idnumber;
-    private int roomnumber;
-    private String checkin_time;
-
-
-    public IsolationUser() {
-    }
-
-    public IsolationUser(String name, String gender, String idnumber, int roomnumber, String checkin_time) {
-        this.id = id;
-        this.name = name;
-        this.gender = gender;
-        this.idnumber = idnumber;
-        this.roomnumber = roomnumber;
-        this.checkin_time = checkin_time;
-    }
-
-    public int getId() {
-        return id;
-    }
-
-    public void setId(int id) {
-        this.id = id;
-    }
-
-    public String getname() {
-        return name;
-    }
-
-    public void setname(String name) {
-        this.name = name;
-    }
-
-    public String getGender() {
-        return gender;
-    }
-
-    public void setGender(String gender) {
-        this.gender = gender;
-    }
-
-    public String getIdnumber() {
-        return idnumber;
-    }
-
-    public void setIdnumber(String idnumber) {
-        this.idnumber = idnumber;
-    }
-
-    public int getRoomnumber() {
-        return roomnumber;
-    }
-
-    public void setRoomnumber(int roomnumber) {
-        this.roomnumber = roomnumber;
-    }
-
-    public String getCheckin_time() {
-        return checkin_time;
-    }
-
-    public void setCheckin_time(String checkin_time) {
-        this.checkin_time = checkin_time;
-    }
-}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/entity/User.java

@@ -14,7 +14,7 @@ public class User {
     public User() {
     }
 
-    public User(String userAccount, String userPassword) {
+    public User(int id, String userAccount, String userPassword, String userName, int userType, int userState, int userDel) {
         this.id = id;
         this.userAccount = userAccount;
         this.userPassword = userPassword;

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/main_window.java

@@ -0,0 +1,15 @@
+package com.example.hamburger;
+
+import android.os.Bundle;
+
+import androidx.appcompat.app.AppCompatActivity;
+
+public class main_window extends AppCompatActivity {
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        //这个是获取布局文件的，这里是你下一个页面的布局文件//注意这个是跳转界面的不能设置错，应该是第一个
+        setContentView(R.layout.main_window);
+    }
+
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/notifications.java

@@ -0,0 +1,29 @@
+package com.example.hamburger;
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.Button;
+import android.widget.TextView;
+
+public class notifications extends AppCompatActivity {
+
+    private TextView tv;
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.fragment_notifications);
+
+        Button button = (Button) findViewById(R.id.btn1);
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                Intent intent = new Intent();
+                intent.setClass(notifications.this, add.class);
+                startActivity(intent);
+            }
+        });
+    }
+
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/register.java

@@ -3,88 +3,49 @@ package com.example.hamburger;
 import android.annotation.SuppressLint;
 import android.content.Intent;
 import android.os.Bundle;
-import android.os.Handler;
-import android.os.Message;
 import android.view.View;
 import android.widget.Button;
 import android.widget.EditText;
-import android.widget.Toast;
-import com.example.hamburger.dao.UserDao;
-import com.example.hamburger.entity.User;
 
 import androidx.appcompat.app.AppCompatActivity;
 
 public class register extends AppCompatActivity {
-    private static final String TAG = "mysql-party-register";
-    EditText userAccount = null;
-    EditText userPassword = null;
-    EditText userName = null;
 
+    EditText name;//创建账号
+    EditText passwd;//创建密码
+    EditText ackpasswd;
+
+    @SuppressLint("MissingInflatedId")
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
+
+        //这个是获取布局文件的，这里是你下一个页面的布局文件//注意这个是跳转界面的不能设置错，应该是第一个
         setContentView(R.layout.activity_register);
 
-        userAccount = findViewById(R.id.userAccount);
-        userPassword = findViewById(R.id.userPassword);
-        userName = findViewById(R.id.userName);
+        name=findViewById(R.id.user_name);//获取输入的账号
+        passwd=findViewById(R.id.new_passwd);//获取输入的密码
+        ackpasswd=findViewById(R.id.ack_passwd);
     }
 
+    public void Register_(){
+        //获取按钮
+        Button button = (Button) findViewById(R.id.register_);
 
-    public void register(View view){
-
-        String userAccount1 = userAccount.getText().toString();
-        String userPassword1 = userPassword.getText().toString();
-        String userName1 = userName.getText().toString();
-        User user = new User();
-        user.setUserAccount(userAccount1);
-        user.setUserPassword(userPassword1);
-        user.setUserName(userName1);
-        user.setUserType(1);
-        user.setUserState(0);
-        user.setUserDel(0);
-
-        new Thread(){
+        //按钮进行监听
+        button.setOnClickListener(new View.OnClickListener() {
             @Override
-            public void run() {
-                int msg = 0;
-                UserDao userDao = new UserDao();
-                User uu = userDao.findUser(user.getUserAccount());
-                if(uu != null){
-                    msg = 1;
-                }
-                else{
-                    boolean flag = userDao.register(user);
-                    if(flag){
-                        msg = 2;
-                    }
-                }
-                hand.sendEmptyMessage(msg);
-            }
-        }.start();
-
-
-    }
-    @SuppressLint("HandlerLeak")
-    final Handler hand = new Handler()
-    {
-        public void handleMessage(Message msg) {
-            if(msg.what == 0) {
-                Toast.makeText(getApplicationContext(),"注册失败",Toast.LENGTH_LONG).show();
-            } else if(msg.what == 1) {
-                Toast.makeText(getApplicationContext(),"该账号已经存在，请换一个账号",Toast.LENGTH_LONG).show();
-            } else if(msg.what == 2) {
-                Toast.makeText(getApplicationContext(), "注册成功", Toast.LENGTH_LONG).show();
+            public void onClick(View v) {
+                //监听按钮，如果点击，就跳转
                 Intent intent = new Intent();
-                //将想要传递的数据用putExtra封装在intent中
-                intent.putExtra("a","注册");
-                setResult(RESULT_CANCELED,intent);
-                finish();
+                //前一个（MainActivity.this）是目前页面，后面一个是要跳转的下一个页面
+                intent.setClass(register.this, MainActivity.class);
+                startActivity(intent);
             }
-        }
-    };
+        });
+    }
 
-    public void Ret(View view){
+    public void Ret(){
         //获取按钮
         Button button = (Button) findViewById(R.id.ret);
 

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/dashboard/DashboardFragment.java

@@ -0,0 +1,37 @@
+package com.example.hamburger.ui.dashboard;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.fragment.app.Fragment;
+import androidx.lifecycle.ViewModelProvider;
+
+import com.example.hamburger.databinding.FragmentDashboardBinding;
+
+public class DashboardFragment extends Fragment {
+
+    private FragmentDashboardBinding binding;
+
+    public View onCreateView(@NonNull LayoutInflater inflater,
+                             ViewGroup container, Bundle savedInstanceState) {
+        DashboardViewModel dashboardViewModel =
+                new ViewModelProvider(this).get(DashboardViewModel.class);
+
+        binding = FragmentDashboardBinding.inflate(inflater, container, false);
+        View root = binding.getRoot();
+
+        final TextView textView = binding.v1;
+        dashboardViewModel.getText().observe(getViewLifecycleOwner(), textView::setText);
+        return root;
+    }
+
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        binding = null;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/dashboard/DashboardViewModel.java

@@ -0,0 +1,19 @@
+package com.example.hamburger.ui.dashboard;
+
+import androidx.lifecycle.LiveData;
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+
+public class DashboardViewModel extends ViewModel {
+
+    private final MutableLiveData<String> mText;
+
+    public DashboardViewModel() {
+        mText = new MutableLiveData<>();
+        mText.setValue("");
+    }
+
+    public LiveData<String> getText() {
+        return mText;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/home/HomeFragment.java

@@ -0,0 +1,37 @@
+package com.example.hamburger.ui.home;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.fragment.app.Fragment;
+import androidx.lifecycle.ViewModelProvider;
+
+import com.example.hamburger.databinding.FragmentHomeBinding;
+
+public class HomeFragment extends Fragment {
+
+    private FragmentHomeBinding binding;
+
+    public View onCreateView(@NonNull LayoutInflater inflater,
+                             ViewGroup container, Bundle savedInstanceState) {
+        HomeViewModel homeViewModel =
+                new ViewModelProvider(this).get(HomeViewModel.class);
+
+        binding = FragmentHomeBinding.inflate(inflater, container, false);
+        View root = binding.getRoot();
+
+        final TextView textView = binding.TextView1;
+        homeViewModel.getText().observe(getViewLifecycleOwner(), textView::setText);
+        return root;
+    }
+
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        binding = null;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/home/HomeViewModel.java

@@ -0,0 +1,19 @@
+package com.example.hamburger.ui.home;
+
+import androidx.lifecycle.LiveData;
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+
+public class HomeViewModel extends ViewModel {
+
+    private final MutableLiveData<String> mText;
+
+    public HomeViewModel() {
+        mText = new MutableLiveData<>();
+        mText.setValue("This is home fragment");
+    }
+
+    public LiveData<String> getText() {
+        return mText;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/home/Inform_input.java

@@ -1,101 +0,0 @@
-package com.example.hamburger.ui.home;
-import androidx.appcompat.app.AppCompatActivity;
-
-import android.annotation.SuppressLint;
-import android.content.Intent;
-import android.os.Bundle;
-import android.os.Handler;
-import android.os.Message;
-import android.view.View;
-import android.widget.EditText;
-import android.widget.Toast;
-
-import com.example.hamburger.R;
-import com.example.hamburger.dao.UserDao;
-import com.example.hamburger.entity.IsolationUser;
-
-public class Inform_input extends AppCompatActivity{
-
-    private static final String TAG = "mysql-party-register";
-    EditText name = null;
-    EditText gender = null;
-    EditText idnumber = null;
-    EditText roomnumber = null;
-    EditText checkin_time = null;
-
-
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.infor_input);
-
-        name = findViewById(R.id.name);
-        gender = findViewById(R.id.gender);
-        idnumber = findViewById(R.id.ID_number);
-        roomnumber = findViewById(R.id.roomnumber);
-        checkin_time = findViewById(R.id.checkin_time);
-
-    }
-
-    public void addInfor(View view){
-        String name1 = name.getText().toString();
-        String gender1 = gender.getText().toString();
-        String idnumber1 = idnumber.getText().toString();
-        int roomnumber1 = Integer.parseInt(roomnumber.getText().toString());
-        String checkin_time1 = checkin_time.getText().toString();
-
-        IsolationUser user=new IsolationUser();
-
-        user.setname(name1);
-        user.setGender(gender1);
-        user.setIdnumber(idnumber1);
-        user.setRoomnumber(roomnumber1);
-        user.setCheckin_time(checkin_time1);
-
-        new Thread(){
-            @Override
-            public void run() {
-
-                int msg = 0;
-
-                UserDao userDao = new UserDao();
-
-                IsolationUser uu = userDao.findUser_(user.getname());
-                if(uu != null){
-                    msg = 1;
-                }
-                else{
-                    boolean flag = userDao.LogInfor(user);
-                    if(flag){
-                        msg = 2;
-                    }
-                }
-                hand.sendEmptyMessage(msg);
-
-            }
-        }.start();
-    }
-
-    @SuppressLint("HandlerLeak")
-    final Handler hand = new Handler()
-    {
-        public void handleMessage(Message msg) {
-            if(msg.what == 0) {
-                Toast.makeText(getApplicationContext(),"录入失败",Toast.LENGTH_LONG).show();
-            } else if(msg.what == 1) {
-                Toast.makeText(getApplicationContext(),"该信息已经存在，请重新录入",Toast.LENGTH_LONG).show();
-            } else if(msg.what == 2) {
-                Toast.makeText(getApplicationContext(), "录入成功", Toast.LENGTH_LONG).show();
-                Intent intent = new Intent();
-                //将想要传递的数据用putExtra封装在intent中
-                intent.putExtra("a","录入");
-                setResult(RESULT_CANCELED,intent);
-                finish();
-            }
-        }
-    };
-
-    public void findInfor(View view){
-
-    }
-
-}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/notifications/NotificationsFragment.java

@@ -0,0 +1,57 @@
+package com.example.hamburger.ui.notifications;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.fragment.app.Fragment;
+import androidx.lifecycle.ViewModelProvider;
+
+import com.example.hamburger.R;
+import com.example.hamburger.databinding.FragmentNotificationsBinding;
+
+public class NotificationsFragment extends Fragment{
+
+    private FragmentNotificationsBinding binding;
+
+    private NotificationsViewModel notificationsViewModel;
+
+    private TextView tv;
+
+    public View onCreateView(@NonNull LayoutInflater inflater,
+                             ViewGroup container, Bundle savedInstanceState) {
+        NotificationsViewModel notificationsViewModel =
+                new ViewModelProvider(this).get(NotificationsViewModel.class);
+
+        binding = FragmentNotificationsBinding.inflate(inflater, container, false);
+        View root = binding.getRoot();
+
+        final TextView textView = binding.textNotifications;
+        notificationsViewModel.getText().observe(getViewLifecycleOwner(), textView::setText);
+
+        final Button button=root.findViewById(R.id.btn1);
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                Intent intent = new Intent();
+                intent.setClass(getActivity(), add.class);
+                startActivity(intent);
+            }
+        });
+
+        return root;
+
+    }
+
+
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        binding = null;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/notifications/NotificationsViewModel.java

@@ -0,0 +1,19 @@
+package com.example.hamburger.ui.notifications;
+
+import androidx.lifecycle.LiveData;
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+
+public class NotificationsViewModel extends ViewModel {
+
+    private final MutableLiveData<String> mText;
+
+    public NotificationsViewModel() {
+        mText = new MutableLiveData<>();
+        mText.setValue("This is notifications fragment");
+    }
+
+    public LiveData<String> getText() {
+        return mText;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/ui/notifications/add.java

@@ -0,0 +1,37 @@
+package com.example.hamburger.ui.notifications;
+import androidx.appcompat.app.AppCompatActivity;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+
+import com.example.hamburger.R;
+import com.example.hamburger.notifications;
+
+public class add extends AppCompatActivity {
+
+    EditText mytext;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_add);
+        mytext = findViewById(R.id.mt);
+
+    }
+
+    public void Confirm() {
+        Button button = (Button) findViewById(R.id.conf);
+
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                Intent intent = new Intent();
+                intent.setClass(add.this, NotificationsFragment.class);
+                startActivity(intent);
+            }
+        });
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/example/hamburger/utils/JDBCUtils.java

@@ -11,9 +11,9 @@ public class JDBCUtils {
 
     private static String driver = "com.mysql.jdbc.Driver";// MySql驱动
 
-    private static String dbName = "party";// 数据库名称
+    private static String dbName = "Hotel_system";// 数据库名称
 
-    private static String user = "rootes";// 用户名
+    private static String user = "root";// 用户名
 
     private static String password = "123456";// 密码
 
@@ -22,7 +22,7 @@ public class JDBCUtils {
         Connection connection = null;
         try{
             Class.forName(driver);// 动态加载类
-            String ip = "192.168.43.7";// 写成本机地址，不能写成localhost，同时手机和电脑连接的网络必须是同一个
+            String ip = "10.0.2.2";// 写成本机地址，不能写成localhost，同时手机和电脑连接的网络必须是同一个
 
             // 尝试建立到给定数据库URL的连接
             connection = DriverManager.getConnection("jdbc:mysql://" + ip + ":3306/" + dbName,

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/Example.java

@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Clock;
+import com.jilk.ros.message.Log;
+import com.jilk.ros.rosapi.message.Empty;
+import com.jilk.ros.rosapi.message.GetTime;
+import com.jilk.ros.rosapi.message.MessageDetails;
+import com.jilk.ros.rosapi.message.Type;
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+
+public class Example {
+    
+    public Example() {}
+    
+    public static void main(String[] args) {
+        ROSBridgeClient client = new ROSBridgeClient("ws://10.8.87.23:9090");
+        client.connect();
+        //testTopic(client);
+        try {
+        testService(client);
+        }
+        catch (RuntimeException ex) {
+            ex.printStackTrace();
+        }
+        finally {
+            client.disconnect();
+        }
+    }            
+    
+    public static void testService(ROSBridgeClient client) {
+        try {
+            Service<Empty, GetTime> timeService =
+                    new Service<Empty, GetTime>("/rosapi/get_time", Empty.class, GetTime.class, client);
+            timeService.verify();
+            //System.out.println("Time (secs): " + timeService.callBlocking(new Empty()).time.sec);
+            
+            Service<com.jilk.ros.rosapi.message.Service, Type> serviceTypeService =
+                    new Service<com.jilk.ros.rosapi.message.Service, Type>("/rosapi/service_type",
+                        com.jilk.ros.rosapi.message.Service.class, Type.class, client);
+            serviceTypeService.verify();
+            String type = serviceTypeService.callBlocking(new com.jilk.ros.rosapi.message.Service("/rosapi/service_response_details")).type;
+            
+            Service<Type, MessageDetails> serviceDetails =
+                    new Service<Type, MessageDetails>("/rosapi/service_response_details",
+                        Type.class, MessageDetails.class, client);
+            serviceDetails.verify();
+            //serviceDetails.callBlocking(new Type(type)).print();
+            
+            com.jilk.ros.Topic<Log> logTopic =
+                    new com.jilk.ros.Topic<Log>("/rosout", Log.class, client);
+            logTopic.verify();
+            
+            /*
+            System.out.println("Nodes");
+            for (String s : client.getNodes())
+                System.out.println("    " + s);
+            System.out.println("Topics");
+            for (String s : client.getTopics()) {
+                System.out.println(s + ":");
+                client.getTopicMessageDetails(s).print();
+            }
+            System.out.println("Services");
+            for (String s : client.getServices()) {
+                System.out.println(s + ":");
+                client.getServiceRequestDetails(s).print();
+                System.out.println("-----------------");
+                client.getServiceResponseDetails(s).print();
+            }
+            */
+        }
+        catch (InterruptedException ex) {
+            System.out.println("Process was interrupted.");
+        }
+        /*
+        Service<Empty, Topics> topicService =
+                new Service<Empty, Topics>("/rosapi/topics", Empty.class, Topics.class, client);
+        Service<Topic, Type> typeService =
+                new Service<Topic, Type>("/rosapi/topic_type", Topic.class, Type.class, client);
+        Service<Type, MessageDetails> messageService =
+                new Service<Type, MessageDetails>("/rosapi/message_details", Type.class, MessageDetails.class, client);
+        try {
+            Topics topics = topicService.callBlocking(new Empty());
+            for (String topicString : topics.topics) {
+                Topic topic = new Topic();
+                topic.topic = topicString;
+                Type type = typeService.callBlocking(topic);
+                MessageDetails details = messageService.callBlocking(type);
+                System.out.println("Topic: " + topic.topic + " Type: " + type.type);
+                details.print();
+                System.out.println();
+            }
+            Type type = new Type();
+            type.type = "time";
+            System.out.print("Single type check on \'time\': ");
+            messageService.callBlocking(type).print();
+        }
+        catch (InterruptedException ex) {
+            System.out.println("testService: process was interrupted.");
+        }
+        */
+    }
+    
+    public static void testTopic(ROSBridgeClient client) {
+        com.jilk.ros.Topic<Clock> clockTopic = new com.jilk.ros.Topic<Clock>("/clock", Clock.class, client);
+        clockTopic.subscribe();
+        try {
+            Thread.sleep(20000);} catch(InterruptedException ex) {}
+        Clock cl = null;
+        try {
+            cl = clockTopic.take(); // just gets one
+        }
+        catch (InterruptedException ex) {}
+        cl.print();
+        cl.clock.nsecs++;
+        clockTopic.unsubscribe();
+        clockTopic.advertise();
+        clockTopic.publish(cl);
+        clockTopic.unadvertise();
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/MessageHandler.java

@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+
+public interface MessageHandler<T extends Message> {
+    public void onMessage(T message);
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/ROSClient.java

@@ -0,0 +1,68 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosapi.message.TypeDef;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+import com.jilk.ros.rosbridge.operation.Operation;
+
+public abstract class ROSClient {
+
+    public ROSClient() {}
+    
+    public static ROSClient create(String uriString) {
+        // if we ever implement other ROSClient types, we'll key off the URI protocol (e.g., ws://)
+        // we'd also have to abstract out Topic and Service since they depend on the ROSBridge operations
+        return new ROSBridgeClient(uriString);
+    }
+    
+    public abstract boolean connect();
+    public abstract boolean connect(ConnectionStatusListener listener);
+    public abstract void disconnect();
+    public abstract void send(Operation operation);
+    public abstract void send(String json);
+    public abstract void register(Class<? extends Operation> c,
+            String s,
+            Class<? extends Message> m,
+            FullMessageHandler h);
+    public abstract void unregister(Class<? extends Operation> c, String s);
+    public abstract void setDebug(boolean debug);
+    public abstract String[] getNodes() throws InterruptedException;
+    public abstract String[] getTopics() throws InterruptedException;
+    public abstract String[] getServices() throws InterruptedException;
+    public abstract TypeDef getTopicMessageDetails(String topic) throws InterruptedException;
+    public abstract TypeDef[] getTopicMessageList(String topic) throws InterruptedException;
+    public abstract TypeDef getServiceRequestDetails(String service) throws InterruptedException;
+    public abstract TypeDef[] getServiceRequestList(String service) throws InterruptedException;
+    public abstract TypeDef getServiceResponseDetails(String service) throws InterruptedException;
+    public abstract TypeDef[] getServiceResponseList(String service) throws InterruptedException;
+    public abstract TypeDef getTypeDetails(String type) throws InterruptedException;
+    public abstract TypeDef[] getTypeList(String type) throws InterruptedException;
+    public abstract void typeMatch(TypeDef t, Class<? extends Message> c) throws InterruptedException; 
+    public abstract Object getUnderlyingClient(); // for debugging
+    
+    public interface ConnectionStatusListener {
+        public void onConnect();
+        public void onDisconnect(boolean normal, String reason, int code);
+        public void onError(Exception ex);
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/Service.java

@@ -0,0 +1,134 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.operation.CallService;
+import com.jilk.ros.rosbridge.operation.ServiceResponse;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.CountDownLatch;
+
+public class Service<CallType extends Message, ResponseType extends Message> extends Message implements FullMessageHandler {
+    private String service;
+    private Class<? extends ResponseType> responseType;
+    private Class<? extends CallType> callType;
+    private ROSClient client;
+    private Map<String, CallRecord> calls;
+    
+    public Service(String service, Class<? extends CallType> callType,
+                   Class<? extends ResponseType> responseType, ROSClient client) {
+        this.service = service;
+        this.client = client;
+        this.responseType = responseType;
+        this.callType = callType;
+        calls = new HashMap<String, CallRecord>();
+    }
+
+    // A result can only be returned once; it is cleared from the hash before 
+    //   being sent/returned. This is to ensure that results do not accumulate
+    //   indefinitely.  If callers need to keep these around they can set up their 
+    //   own hash.
+    
+    @Override
+    public void onMessage(String id, Message response) {
+        //System.out.print("Service.onMessage: ");
+        //response.print();
+        CallRecord call = calls.get(id);
+        if(call == null) {
+            System.out.print("No caller service response");
+            return;
+        }
+        if (call.handler != null) {
+            calls.remove(id);
+            call.handler.onMessage((ResponseType) response);
+        }
+        else {
+            call.result = (ResponseType) response;
+            call.latch.countDown();
+        }
+    }
+    
+    public String call(CallType args) {
+        return callImpl(args, null);
+    }
+    
+    public void callWithHandler(CallType args, MessageHandler<ResponseType> responseHandler) {
+        callImpl(args, responseHandler);
+    }
+    
+    public ResponseType callBlocking(CallType args) throws InterruptedException {
+        return take(call(args));
+    }
+    
+    private String callImpl(CallType args, MessageHandler<ResponseType> responseHandler) {
+        client.register(ServiceResponse.class, service, responseType, this);  // do this once on creation?
+        CallService messageCallService = new CallService(service, args);
+        String id = messageCallService.id;
+        CallRecord callRecord = new CallRecord(responseHandler);
+        calls.put(id, callRecord);
+        client.send(messageCallService);
+        return id;
+    }
+    
+    public ResponseType poll(String id) {
+        CallRecord call = calls.get(id);
+        if (call.result != null)
+            calls.remove(id);
+        return call.result;
+    }
+    
+    public ResponseType take(String id) throws InterruptedException {
+        CallRecord call = calls.get(id);
+        call.latch.await();
+        calls.remove(id);
+        return call.result;
+    }
+    
+    public void verify() throws InterruptedException {
+
+        boolean hasService = false;
+        for (String s : client.getServices()) {
+            if (s.equals(service)) {
+                hasService = true;
+                break;
+            }
+        }
+        if (!hasService)
+            throw new RuntimeException("Service \'" + service + "\' not available.");
+        
+        client.typeMatch(client.getServiceRequestDetails(service), callType);
+        client.typeMatch(client.getServiceResponseDetails(service), responseType);
+    }
+    
+    private class CallRecord {
+        public ResponseType result;
+        public CountDownLatch latch;
+        public MessageHandler<ResponseType> handler;
+        
+        public CallRecord(MessageHandler<ResponseType> handler) {
+            this.result = null;
+            this.latch = new CountDownLatch(1);
+            this.handler = handler;
+        }
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/Topic.java

@@ -0,0 +1,144 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.rosbridge.FullMessageHandler;
+import com.jilk.ros.rosbridge.operation.Advertise;
+import com.jilk.ros.rosbridge.operation.Operation;
+import com.jilk.ros.rosbridge.operation.Publish;
+import com.jilk.ros.rosbridge.operation.Subscribe;
+import com.jilk.ros.rosbridge.operation.Unadvertise;
+import com.jilk.ros.rosbridge.operation.Unsubscribe;
+
+import java.util.concurrent.LinkedBlockingQueue;
+
+
+public class Topic<T extends Message> extends LinkedBlockingQueue<T> implements FullMessageHandler {
+    protected String topic;
+    private Class<? extends T> type;
+    private String messageType;
+    private ROSClient client;
+    private Thread handlerThread;
+    
+    public Topic(String topic, Class<? extends T> type, ROSClient client) {
+        this.topic = topic;
+        this.client = client;
+        this.type = type;
+        messageType = Message.getMessageType(type);
+        handlerThread = null;
+    }
+    
+    @Override
+    public void onMessage(String id, Message message) {
+        add((T) message);
+    }
+    
+    
+    // warning: there is a delay between the completion of this method and 
+    //          the completion of the subscription; it takes longer than
+    //          publishing multiple other messages, for example.    
+    public void subscribe(MessageHandler<T> handler) {
+        startRunner(handler);
+        subscribe();
+    }
+    
+    public void subscribe() {
+        client.register(Publish.class, topic, type, this);
+        send(new Subscribe(topic, messageType));
+    }
+    
+    public void unsubscribe() {
+        // need to handle race conditions in incoming message handler
+        //    so that once unsubscribe has happened the handler gets no more
+        //    messages
+        send(new Unsubscribe(topic));        
+        client.unregister(Publish.class, topic);
+        stopRunner();
+    }
+    
+    private void startRunner(MessageHandler<T> handler) {
+        stopRunner();
+        handlerThread = new Thread(new MessageRunner(handler));
+        handlerThread.setName("Message handler for " + topic);
+        handlerThread.start();
+    }
+    
+    private void stopRunner() {
+        if (handlerThread != null) {
+            handlerThread.interrupt();
+            clear();
+            handlerThread = null;
+        }
+    }
+    
+    
+    public void advertise() {
+        send(new Advertise(topic, messageType));
+    }
+    
+    public void publish(T message) {
+        send(new Publish(topic, message));
+    }
+    
+    public void unadvertise() {
+        send(new Unadvertise(topic));
+    }
+    
+    private void send(Operation operation) {
+        client.send(operation);
+    }
+    
+    public void verify() throws InterruptedException {
+
+        boolean hasTopic = false;
+        for (String s : client.getTopics()) {
+            if (s.equals(topic)) {
+                hasTopic = true;
+                break;
+            }
+        }
+        if (!hasTopic)
+            throw new RuntimeException("Topic \'" + topic + "\' not available.");
+        
+        client.typeMatch(client.getTopicMessageDetails(topic), type);
+    }
+    
+    private class MessageRunner implements Runnable {
+        private MessageHandler<T> handler;
+
+        public MessageRunner(MessageHandler<T> handler) {
+            this.handler = handler;
+        }             
+        
+        @Override
+        public void run() {
+            while (!Thread.interrupted()) {
+                try {
+                    handler.onMessage(take());
+                }
+                catch (InterruptedException ex) {
+                    break;
+                }
+            }
+        }
+    }
+    
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/AudioMsg.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/Int16MultiArray")
+public class AudioMsg extends Message {
+    public short[] data;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Clock.java

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Clock")
+public class Clock extends Message {
+    public TimePrimitive clock;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Duration.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Duration")
+public class Duration extends DurationPrimitive {
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/DurationPrimitive.java

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "duration")
+public class DurationPrimitive extends TimePrimitive {
+
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Empty.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_srvs/Empty")
+public class Empty extends Message {
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Header.java

@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Header")
+public class Header extends Message {
+    public long seq;
+    public TimePrimitive stamp;
+    public String frame_id;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Log.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Log")
+public class Log extends Message {
+    public Header header;
+    public byte level;
+    public String name;
+    public String msg;
+    public String file;
+    public String function;
+    public long line;
+    public String[] topics;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Message.java

@@ -0,0 +1,202 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+import java.util.Map;
+
+
+@MessageType(string = "message")
+public abstract class Message {
+    
+    // Some requirements about message types:
+    //   - It must have a MessageType declaration to be recognized on inbound messages
+    //   - Every field must be explicitly designated as public
+    //   - Every field that is not a primitive or near-primitive must be another Message class
+    //   - If there is a non-empty constructor, you must also have an empty constructor
+    //   - If it is set up as an inner class, it needs an explicit nullary constructor
+    //     (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
+    
+    public static void register(Class c, Map<String, Class> messageClasses) {
+        try {
+            typecheck(c);
+
+            // Must register the class and not have duplicate
+            // This is not recursive because only the top level message class
+            //   needs to be determined from the string - others are top-down.
+            String messageString = getMessageType(c);
+            Class existingClass = messageClasses.get(messageString);
+            if (existingClass != null && !existingClass.equals(c))
+                throw new MessageException("Message String \'" + messageString +
+                    "\' is assigned to two different classes (" +
+                        c.getName() + " and " + existingClass.getName() + ")");
+            messageClasses.put(messageString, c);        
+        }
+        catch (MessageException ex) {
+            // should be changed to be a hooked method to give library user control
+            System.out.println(ex.getMessage());
+        }
+    }
+    
+    public static String getMessageType(Class c) {
+        return ((MessageType) c.getAnnotation(MessageType.class)).string();
+    }    
+    
+    // this has never been used or tested but kind of belongs here
+    // commented out because it uses ReflectiveOperationException which is not available on Android
+    /*
+    public static Message newInstance(String className) {
+        try {
+            Class messageClass = Class.forName(className);
+            if (Message.class.isAssignableFrom(messageClass))
+                return (Message) messageClass.newInstance();
+            else throw new ClassCastException();
+        }
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
+        }
+    }
+    */
+    
+    // Could probably do more checking here, but not sure what right now
+    private static void typecheck(Class c) throws MessageException {
+        
+        // Must inherit from Message
+        if (!Message.class.isAssignableFrom(c))
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' does not extend Message");
+
+        // Must have the MessageType annotation
+        if (getMessageType(c) == null)
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' is missing the MessageType annotation");
+                
+        // All fields must also be valid Message classes
+        // Note that this also serves to force-load all the message classes
+        //      so that they get registered
+        for (Field f : c.getFields()) {
+            Class fc = f.getType();
+            if (fc.isArray()) {
+                Class ac = fc.getComponentType();
+                if (!isPrimitive(ac))
+                    typecheck(ac);
+            }
+            else if (!isPrimitive(fc))
+                typecheck(fc);
+        }
+    }
+    
+    public void print() {
+        printMessage(this, "");
+    }
+    
+    private static void printMessage(Object o, String indent) {
+        for (Field f : o.getClass().getFields()) {
+            Class c = f.getType();
+            Object fieldObject = getFieldObject(f, o);
+            if (fieldObject != null) {
+                if (isPrimitive(c))
+                    System.out.println(indent + f.getName() + ": " + fieldObject);
+                else if (c.isArray()) {
+                    System.out.println(indent + f.getName() + ": [");
+                    printArray(fieldObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + f.getName() + ":");
+                    printMessage(fieldObject, indent + "  ");
+                }
+            }
+        }
+    }
+    
+    private static void printArray(Object array, String indent) {
+        Class arrayClass = array.getClass().getComponentType();
+        for (int i = 0; i < Array.getLength(array); i++) {
+            Object elementObject = Array.get(array, i);
+            if (elementObject != null) {
+                if (isPrimitive(arrayClass))
+                    System.out.println(indent + i + ": " + elementObject);
+                else if (arrayClass.isArray()) { // this is not actually allowed in ROS
+                    System.out.println(indent + i + ": [");
+                    printArray(elementObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + i + ":");
+                    printMessage(elementObject, indent + "  ");
+                }
+            }
+        }
+        // remember to print array indices
+    }
+    
+    public static boolean isPrimitive(Class c) {
+        return (c.isPrimitive() ||
+                c.equals(String.class) ||
+                Number.class.isAssignableFrom(c) ||
+                c.equals(Boolean.class));
+    }    
+    
+
+    // Copied from com.jilk.ros.rosbridge.JSON
+    private static Object getFieldObject(Field f, Object o) {
+        Object fo = null;
+        try {
+            fo = f.get(o);
+        }
+        catch (IllegalAccessException ex) {
+            ex.printStackTrace();
+        }
+        return fo;
+    }
+    
+    public void copyFrom(Message source) {
+        try {
+            if (source.getClass() != getClass())
+                throw new RuntimeException("Attempt to copy non-matching classes");
+            for (Field f : getClass().getFields()) {
+                Class fc = f.getType();
+                if (fc.isArray())
+                    throw new RuntimeException("copyFrom - array types not implemented");
+                else if (!isPrimitive(fc))
+                    ((Message) f.get(this)).copyFrom((Message) f.get(source));
+                else {
+                    Object value = f.get(source);
+                    f.set(this, value);
+                }
+            }
+        }
+        catch (IllegalAccessException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        catch (ClassCastException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        // ReflectiveOperationException is not available on Android (Java 1.6)
+        /*
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException ("copyFrom error", ex);
+        }
+        */
+    }
+    
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/MessageException.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+public class MessageException extends Exception {
+
+    public MessageException(String message) {
+        super(message);
+    }
+    
+    public MessageException(String message, Throwable cause) {
+        super(message, cause);
+    }    
+}
+

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/MessageType.java

@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.TYPE)
+public @interface MessageType {
+    String string() default "";
+}
+

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/SemanticRequest.java

@@ -0,0 +1,13 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticRequest extends Message {
+    public  SemanticRequest(String args) {
+        jsonStr = args;
+    }
+
+    public String jsonStr;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/SemanticResponse.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticResponse extends Message {
+    public String result;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/StdMsg.java

@@ -0,0 +1,9 @@
+package com.jilk.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class StdMsg extends Message {
+    public String data;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/Time.java

@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "std_msgs/Time")
+public class Time extends TimePrimitive {
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/message/TimePrimitive.java

@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.message;
+
+@MessageType(string = "time")
+public class TimePrimitive extends Message {
+    public int secs;  // when requesting this format from ROSbridge, it uses 'sec' (no 's')
+    public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/Empty.java

@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "std_msgs/Empty")
+public class Empty extends Message {
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/GetTime.java

@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+import com.jilk.ros.message.TimePrimitive;
+
+
+@MessageType(string = "rosapi/GetTimeResponse")
+public class GetTime extends Message {
+    public TimePrimitive time;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/MessageDetails.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/MessageDetails")
+public class MessageDetails extends Message {
+    public TypeDef[] typedefs;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/Nodes.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Nodes")
+public class Nodes extends Message {
+    public String[] nodes;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/Service.java

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Service")
+public class Service extends Message {
+    public String service;
+    
+    public Service() {}
+    
+    public Service(String service) {
+        this.service = service;
+    }
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/Services.java

@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Services")
+public class Services extends Message {
+    public String[] services;
+}

src/AndroidStudio_projects/app/src/main/java/com/jilk/ros/rosapi/message/Topic.java

@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 Jilk Systems, Inc.
+ * 
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ * 
+ */
+package com.jilk.ros.rosapi.message;
+
+import com.jilk.ros.message.Message;
+import com.jilk.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Topic")
+public class Topic extends Message {
+    public String topic;
+    
+    public Topic() {}
+    
+    public Topic(String topic) {
+        this.topic = topic;
+    }
+}