diff --git a/app/src/main/java/com/ismart/ib86/app/MainActivity.java b/app/src/main/java/com/ismart/ib86/app/MainActivity.java
index 39a45bf..33881c8 100644
--- a/app/src/main/java/com/ismart/ib86/app/MainActivity.java
+++ b/app/src/main/java/com/ismart/ib86/app/MainActivity.java
@@ -1,9 +1,7 @@
package com.ismart.ib86.app;
import android.Manifest;
-import android.annotation.SuppressLint;
import android.content.pm.PackageManager;
-import android.graphics.Color;
import android.media.AudioAttributes;
import android.media.AudioFormat;
import android.media.AudioManager;
@@ -13,7 +11,7 @@ import android.media.MediaRecorder;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
-import android.os.Message;
+import android.view.KeyEvent;
import android.view.Window;
import android.view.WindowInsets;
import android.view.WindowInsetsController;
@@ -22,7 +20,6 @@ import android.view.View;
import android.util.Log;
import android.widget.Button;
import android.widget.ImageView;
-import android.widget.RelativeLayout;
import android.widget.SeekBar;
import android.widget.TextView;
import android.widget.Toast;
@@ -32,14 +29,10 @@ import androidx.core.app.ActivityCompat;
import androidx.core.content.ContextCompat;
import com.ismart.ib86.feature.serial.SerialPort.ASR5515Protocol;
-import com.ismart.ib86.feature.serial.SerialPort.SerialPortHelper;
import com.ismart.ib86.feature.gpio.GpioManager;
import com.ismart.ib86.feature.serial.SerialPort.ASR5515DeviceManager;
-import com.ismart.ib86.feature.serial.SerialPort.ASR5515Protocol;
import com.ismart.ib86.common.utils.LogManager;
-import com.ismart.ib86.feature.gpio.GpioTest;
import com.ismart.ib86.feature.motor.MotorController;
-import com.ismart.ib86.view.RobotEyesView;
import com.lhht.xiaozhi.models.websokcet.send.WebSocketSendMsgFactory;
import com.lhht.xiaozhi.settings.SettingsManager;
import com.lhht.xiaozhi.utils.DeviceUtils;
@@ -52,9 +45,11 @@ import java.util.concurrent.Executors;
import vip.inode.demo.opusaudiodemo.utils.OpusUtils;
-public class MainActivity extends AppCompatActivity implements WebSocketManager.WebSocketListener{
+public class MainActivity extends AppCompatActivity implements WebSocketManager.WebSocketListener {
private static final String TAG = "MainActivity";
private static final String DEVICE_PATH = "/dev/ttyS3";
+
+ private static final int HEAD_TOUCH_KEY = 285;
private static final int BAUD_RATE = 921600;
// 权限请求码
@@ -95,6 +90,7 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
private short[] decodedBuffer;
private short[] recordBuffer;
private byte[] encodedBuffer;
+
private boolean hasStartedCall = false;
private boolean isRecording = false;
private volatile boolean isDestroyed = false;
@@ -102,17 +98,25 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
private boolean isPlaying = false;
private String sessionId = ""; // 添加session_id字段
private long lastAudioDataTime = 0; // 新增：记录最后一次收到音频数据的时间
+ private Thread motorControlThread; // 用于跟踪电机控制线程
private boolean isCheckingPlaybackStatus = false;
-
-
-
//xiaozhi end
-
+ // HeadTouchManager removed
// UI控件
private ImageView ivFace;
+ private Button btnRotateForward;
+ private Button btnRotateReverse;
+ private SeekBar seekBarDutyCycle;
+ private TextView tvDutyCycleValue;
+ private int currentDutyCyclePercent = 30; // 默认占空比30%
+ private static final int PWM_PERIOD = 1000000; // 1ms周期
// 动画管理器
private RobotFaceAnimationManager animationManager;
+ private boolean isCalibrating = false;
+ private boolean isForwardCalibration = false;
+ private boolean isReverseCalibration = false;
+
private Runnable wearDetectionRunnable = new Runnable() {
@Override
@@ -131,6 +135,43 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
// 初始化UI控件
ivFace = (ImageView) this.findViewById(R.id.iv_face);
+// btnRotateForward = (Button) this.findViewById(R.id.btn_rotate_forward);
+// btnRotateReverse = (Button) this.findViewById(R.id.btn_rotate_reverse);
+// seekBarDutyCycle = (SeekBar) this.findViewById(R.id.seekbar_duty_cycle);
+// tvDutyCycleValue = (TextView) this.findViewById(R.id.tv_duty_cycle_value);
+
+// // 设置占空比调整监听器
+// seekBarDutyCycle.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+// @Override
+// public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+// currentDutyCyclePercent = progress;
+// tvDutyCycleValue.setText("占空比: " + progress + "%");
+// }
+//
+// @Override
+// public void onStartTrackingTouch(SeekBar seekBar) {}
+//
+// @Override
+// public void onStopTrackingTouch(SeekBar seekBar) {}
+// });
+//
+// // 设置正转按钮点击监听器
+// btnRotateForward.setOnClickListener(v -> {
+// if (motorController != null) {
+// int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
+// motorController.rotateReverse(PWM_PERIOD, 0); // 确保反转PWM关闭
+// motorController.rotateForward(PWM_PERIOD, dutyCycle);
+// }
+// });
+//
+// // 设置反转按钮点击监听器
+// btnRotateReverse.setOnClickListener(v -> {
+// if (motorController != null) {
+// int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
+// motorController.rotateForward(PWM_PERIOD, 0); // 确保正转PWM关闭
+// motorController.rotateReverse(PWM_PERIOD, dutyCycle);
+// }
+// });
// 初始化动画管理器
animationManager = new RobotFaceAnimationManager(this, ivFace);
@@ -155,22 +196,18 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
handler.post(faceAnimationRunnable);
}).start();
+
+
// 检查并请求必要的权限
checkAndRequestPermissions();
+
// 隐藏状态栏和导航栏
hideSystemBars();
// 初始化设备管理器
initDeviceManager();
- //testMotorControl();
-// // 延迟2秒后开始测试，确保设备管理器初始化完成
-// handler.postDelayed(new Runnable() {
-// @Override
-// public void run() {
-// startProtocolTests();
-// }
-// }, 2000);
+ testMotorControl();
//xiaozhi
initAudio();
@@ -285,6 +322,16 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
}
+ @Override
+ public boolean onKeyDown(int keyCode, KeyEvent event) {
+ Log.d(TAG, "keyCode: "+ keyCode);
+ if (keyCode == HEAD_TOUCH_KEY) {
+ // 处理返回键按下事件
+ Log.d(TAG, "触摸了机器人的头");
+ return true; // 返回true表示事件已被处理
+ }
+ return super.onKeyDown(keyCode, event); // 让系统继续处理其他按键事件
+ }
private void startProtocolTests() {
LogManager.d(TAG, "开始协议测试...");
@@ -389,6 +436,18 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
gpioManager = null;
}
+ // 中断电机控制线程
+ if (motorControlThread != null && motorControlThread.isAlive()) {
+ try {
+ motorControlThread.interrupt();
+ motorControlThread.join(1000); // 等待线程结束，最多等待1秒
+ LogManager.d(TAG, "电机控制线程已中断");
+ } catch (InterruptedException e) {
+ LogManager.e(TAG, "等待电机控制线程结束时被中断");
+ }
+ motorControlThread = null;
+ }
+
// 释放电机控制器资源
if (motorController != null) {
try {
@@ -452,7 +511,17 @@ private void testMotorControl() {
return;
}
- new Thread(() -> {
+ // 如果之前的线程还在运行，先中断它
+ if (motorControlThread != null && motorControlThread.isAlive()) {
+ motorControlThread.interrupt();
+ try {
+ motorControlThread.join(1000); // 等待线程结束，最多等待1秒
+ } catch (InterruptedException e) {
+ LogManager.e(TAG, "等待之前的电机控制线程结束时被中断");
+ }
+ }
+
+ motorControlThread = new Thread(() -> {
try {
// 打开电机
LogManager.d(TAG, "打开电机");
@@ -462,44 +531,52 @@ private void testMotorControl() {
}
// 设置PWM参数
final int period = 1000000;
- final int dutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
-
- Thread.sleep(10000);
-// LogManager.d(TAG, "电机正转");
+ final int fdutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
+ final int rdutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
+// Thread.sleep(2000);
// motorController.rotateReverse(period, 0); // 确保反转PWM关闭
// if (!motorController.rotateForward(period, dutyCycle)) {
// LogManager.e(TAG, "电机正转失败");
// }
+// Thread.sleep(2000);
+// // 电机反转
+// motorController.rotateForward(period, 0);
+// if (!motorController.rotateReverse(period, dutyCycle)) {
+// LogManager.e(TAG, "电机反转失败");
+// }
+
// 循环20次正反转
- for (int i = 0; i < 100; i++) {
+ for (int i = 0; i < 10000; i++) {
LogManager.d(TAG, "开始第" + (i + 1) + "次正反转测试");
// 电机正转
LogManager.d(TAG, "电机正转");
motorController.rotateReverse(period, 0); // 确保反转PWM关闭
- if (!motorController.rotateForward(period, dutyCycle)) {
+ if (!motorController.rotateForward(period, fdutyCycle)) {
LogManager.e(TAG, "电机正转失败");
break;
}
// 等待100ms
- Thread.sleep(100);
+ Thread.sleep(120);
// 停止正转
motorController.rotateForward(period, 0);
-
+ Thread.sleep(1000);
// 电机反转
LogManager.d(TAG, "电机反转");
- if (!motorController.rotateReverse(period, dutyCycle)) {
+ if (!motorController.rotateReverse(period, rdutyCycle)) {
LogManager.e(TAG, "电机反转失败");
break;
}
// 等待100ms
- Thread.sleep(100);
+ Thread.sleep(40);
// 停止反转
motorController.rotateReverse(period, 0);
+
+ Thread.sleep(1000);
}
// 测试完成，关闭电机
@@ -513,7 +590,8 @@ private void testMotorControl() {
LogManager.e(TAG, "电机测试异常: " + e.getMessage());
motorController.turnOffMotor();
}
- }).start();
+ });
+ motorControlThread.start();
}
@Override
diff --git a/app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java b/app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java
index 6550c05..b7577e3 100644
--- a/app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java
+++ b/app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java
@@ -24,7 +24,7 @@ public class MotorController {
// PWM路径常量
private static final String PWM_FORWARD_PATH = "/sys/class/pwm/pwmchip0/pwm0/";
- private static final String PWM_REVERSE_PATH = "/sys/class/pwm/pwmchip1/pwm0/";
+ private static final String PWM_REVERSE_PATH = "/sys/class/pwm/pwmchip2/pwm0/";
private static final String PWM_PERIOD_FILE = "period";
private static final String PWM_DUTY_CYCLE_FILE = "duty_cycle";
private static final String PWM_ENABLE_FILE = "enable";
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index bb0316c..2279dc0 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -4,9 +4,72 @@
android:id="@+id/main_layout"
android:layout_width="match_parent"
android:layout_height="match_parent"
+ android:background="#000000"
tools:context=".MainActivity">
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file