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 3d1c5ea..b7eddbb 100644 --- a/app/src/main/java/com/ismart/ib86/app/MainActivity.java +++ b/app/src/main/java/com/ismart/ib86/app/MainActivity.java @@ -103,19 +103,9 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. // 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 @@ -131,46 +121,12 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_robot_face); + + // 禁止休眠，保持屏幕常亮 +// getWindow().addFlags(android.view.WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON); // 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.rotateVerticalDown(PWM_PERIOD, 0); // 确保垂直向下PWM关闭 -// motorController.rotateVerticalUp(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.rotateVerticalUp(PWM_PERIOD, 0); // 确保垂直向上PWM关闭 -// motorController.rotateVerticalDown(PWM_PERIOD, dutyCycle); -// } -// }); // 初始化动画管理器 animationManager = new RobotFaceAnimationManager(this, ivFace); @@ -195,8 +151,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. handler.post(faceAnimationRunnable); }).start(); - - // 检查并请求必要的权限 checkAndRequestPermissions(); @@ -220,16 +174,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. int min = motorController.getVerticalMinAngle(); int mid = max - min; Log.d(TAG,"ver max:" + max + " ver min:"+min + " mid:"+ mid); -// while(true) -// { -// try { -// angleListener.rotateToAngle(direction, direction? 15 : 15 , direction ? 35 : 12); -// direction = !direction; -// Thread.sleep(200); -// }catch (InterruptedException e) { -// Log.e(TAG, "初始化延时失败", e); -// } -// } } catch (InterruptedException e) { Log.e(TAG, "初始化延时失败", e); } @@ -237,7 +181,6 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. //xiaozhi initAudio(); -// setupListeners(); initWebSocket(); } @@ -354,6 +297,21 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. 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"); + try { + Thread.sleep(500); + if(motorController != null){ + int angle = motorController.getVerticalCurrentAngle(); + int max = motorController.getVerticalMaxAngle(); + int min = motorController.getVerticalMinAngle(); + int mid = max - ((max - min) / 2)+500; + Log.d(TAG, "angle: " + angle + " mid: "+ mid); + if(angle <= mid) + motorController.rotateVerticalToAngle(1,100,10); + } + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + 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 @@ -680,7 +638,7 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager. if (!isAllZero) { webSocketManager.sendBinaryMessage(encodedData); - Log.d(TAG, "发送音频数据: " + encodedSize + " bytes"); + //Log.d(TAG, "发送音频数据: " + encodedSize + " bytes"); // 更新波形图 // byte[] buffer = new byte[size * 2]; 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 2f31c42..1aab187 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 @@ -52,6 +52,7 @@ public class MotorController { // 垂直方向角度限制常量 private static final String VERTICAL_MAX_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/max_angle"; private static final String VERTICAL_MIN_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/min_angle"; + private static final String VERTICAL_CURRENT_ANGLE_PATH = "/sys/bus/i2c/drivers/kth5502/8-006a/angle"; // 水平电机命令常量 public static final byte CMD_ROTATE_TO_ANGLE = 0x04; // 控制电机转动到目标角度 @@ -672,6 +673,43 @@ public class MotorController { return sb.toString().trim(); } + /** + * 控制垂直电机旋转至指定角度 + * @param direction 方向：1=抬头，0=低头 + * @param dutyCycle 占空比（0-100） + * @param angle 目标角度（度） + * @return 是否控制成功 + */ + /** + * 获取当前垂直角度 + * @return 当前垂直角度值，如果传感器未开启或读取失败则返回-1 + */ + public int getVerticalCurrentAngle() { + // 首先检查传感器是否开启 + if (!isVerticalSensorEnabled()) { + LogManager.e(TAG, "Cannot read vertical angle: sensor is not enabled"); + return -1; + } + + try { + BufferedReader reader = new BufferedReader(new FileReader(VERTICAL_CURRENT_ANGLE_PATH)); + String line = reader.readLine(); + reader.close(); + + if (line != null) { + int angle = Integer.parseInt(line.trim()); + LogManager.d(TAG, "Current vertical angle: " + angle); + return angle; + } else { + LogManager.e(TAG, "Failed to read vertical angle: empty response"); + return -1; + } + } catch (IOException | NumberFormatException e) { + LogManager.e(TAG, "Failed to read vertical angle: " + e.getMessage()); + return -1; + } + } + /** * 控制垂直电机旋转至指定角度 * @param direction 方向：1=抬头，0=低头 diff --git a/app/src/main/java/com/lhht/xiaozhi/websocket/WebSocketManager.java b/app/src/main/java/com/lhht/xiaozhi/websocket/WebSocketManager.java index 572c4e0..75e8c14 100644 --- a/app/src/main/java/com/lhht/xiaozhi/websocket/WebSocketManager.java +++ b/app/src/main/java/com/lhht/xiaozhi/websocket/WebSocketManager.java @@ -83,7 +83,7 @@ public class WebSocketManager { @Override public void onMessage(ByteBuffer bytes) { - Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes"); + //Log.d(TAG, "Received binary message: " + bytes.remaining() + " bytes"); byte[] data = new byte[bytes.remaining()]; bytes.get(data); mainHandler.post(() -> {