安卓项目，实现虚拟摇杆通过wifi串口发送nema-0183协议实现小吊舱方向控制

package com.xiao.example.project20190122.model; import android.content.Context; import android.content.res.TypedArray; import android.graphics.Bitmap; import android.graphics.Canvas; import android.graphics.Color; import android.graphics.Paint; import android.graphics.PixelFormat; import android.graphics.Point; import android.graphics.Rect; import android.graphics.drawable.BitmapDrawable; import android.graphics.drawable.ColorDrawable; import android.graphics.drawable.Drawable; import android.graphics.drawable.GradientDrawable; import android.os.AsyncTask; import android.util.AttributeSet; import android.util.Log; import android.view.MotionEvent; import android.view.View; import android.widget.TextView; import com.xiao.example.project20190122.R; import java.io.DataInputStream; import java.io.DataOutputStream; import java.io.IOException; import java.net.Socket; /** * Created by jinkia on 2016/9/30. * 摇杆控件 */ public class RockerView extends View { private static final String TAG = "RockerView"; private static final int DEFAULT_SIZE = 400; private static final float DEFAULT_ROCKER_SCALE = 1f;//默认半径为背景的1/2 private Paint mAreaBackgroundPaint; private Paint mRockerPaint; private Point mRockerPosition; private Point mCenterPoint; private int mAreaRadius; private float mRockerScale; private int mRockerRadius; private CallBackMode mCallBackMode = CallBackMode.CALL_BACK_MODE_MOVE; private OnAngleChangeListener mOnAngleChangeListener; private OnShakeListener mOnShakeListener; private OnDistanceLevelListener mOnDistanceLevelListener; private DirectionMode mDirectionMode; private Direction tempDirection = Direction.DIRECTION_CENTER; private float lastDistance = 0; private boolean hasCall = false; private float baseDistance = 0; private int mDistanceLevel = 10;//分成10分 // 角度 private static final double ANGLE_0 = 0; private static final double ANGLE_360 = 360; // 360°水平方向平分2份的边缘角度 private static final double ANGLE_HORIZONTAL_2D_OF_0P = 90; private static final double ANGLE_HORIZONTAL_2D_OF_1P = 270; // 360°垂直方向平分2份的边缘角度 private static final double ANGLE_VERTICAL_2D_OF_0P = 0; private static final double ANGLE_VERTICAL_2D_OF_1P = 180; // 360°平分4份的边缘角度 private static final double ANGLE_4D_OF_0P = 0; private static final double ANGLE_4D_OF_1P = 90; private static final double ANGLE_4D_OF_2P = 180; private static final double ANGLE_4D_OF_3P = 270; // 360°平分4份的边缘角度(旋转45度) private static final double ANGLE_ROTATE45_4D_OF_0P = 45; private static final double ANGLE_ROTATE45_4D_OF_1P = 135; private static final double ANGLE_ROTATE45_4D_OF_2P = 225; private static final double ANGLE_ROTATE45_4D_OF_3P = 315; // 360°平分8份的边缘角度 private static final double ANGLE_8D_OF_0P = 22.5; private static final double ANGLE_8D_OF_1P = 67.5; private static final double ANGLE_8D_OF_2P = 112.5; private static final double ANGLE_8D_OF_3P = 157.5; private static final double ANGLE_8D_OF_4P = 202.5; private static final double ANGLE_8D_OF_5P = 247.5; private static final double ANGLE_8D_OF_6P = 292.5; private static final double ANGLE_8D_OF_7P = 337.5; // 摇杆可移动区域背景 private static final int AREA_BACKGROUND_MODE_PIC = 0; private static final int AREA_BACKGROUND_MODE_COLOR = 1; private static final int AREA_BACKGROUND_MODE_XML = 2; private static final int AREA_BACKGROUND_MODE_DEFAULT = 3; private int mAreaBackgroundMode = AREA_BACKGROUND_MODE_DEFAULT; private Bitmap mAreaBitmap; private int mAreaColor; // 摇杆背景 private static final int ROCKER_BACKGROUND_MODE_PIC = 4; private static final int ROCKER_BACKGROUND_MODE_COLOR = 5; private static final int ROCKER_BACKGROUND_MODE_XML = 6; private static final int ROCKER_BACKGROUND_MODE_DEFAULT = 7; private int mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_DEFAULT; private Bitmap mRockerBitmap; private int mRockerColor; public RockerView(Context context, AttributeSet attrs) { super(context, attrs); // 获取自定义属性 initAttribute(context, attrs); if (isInEditMode()) { } // 移动区域画笔 mAreaBackgroundPaint = new Paint(); mAreaBackgroundPaint.setAntiAlias(true); // 摇杆画笔 mRockerPaint = new Paint(); mRockerPaint.setAntiAlias(true); // 中心点 mCenterPoint = new Point(); // 摇杆位置 mRockerPosition = new Point(); } /** * 获取属性 * * @param context context * @param attrs attrs */ private void initAttribute(Context context, AttributeSet attrs) { TypedArray typedArray = context.obtainStyledAttributes(attrs, R.styleable.RockerView); // 可移动区域背景 Drawable areaBackground = typedArray.getDrawable(R.styleable.RockerView_areaBackground); if (null != areaBackground) { // 设置了背景 if (areaBackground instanceof BitmapDrawable) { // 设置了一张图片 mAreaBitmap = ((BitmapDrawable) areaBackground).getBitmap(); mAreaBackgroundMode = AREA_BACKGROUND_MODE_PIC; } else if (areaBackground instanceof GradientDrawable) { // XML mAreaBitmap = drawable2Bitmap(areaBackground); mAreaBackgroundMode = AREA_BACKGROUND_MODE_XML; } else if (areaBackground instanceof ColorDrawable) { // 色值 mAreaColor = ((ColorDrawable) areaBackground).getColor(); mAreaBackgroundMode = AREA_BACKGROUND_MODE_COLOR; } else { // 其他形式 mAreaBackgroundMode = AREA_BACKGROUND_MODE_DEFAULT; } } else { // 没有设置背景 mAreaBackgroundMode = AREA_BACKGROUND_MODE_DEFAULT; } // 摇杆背景 Drawable rockerBackground = typedArray.getDrawable(R.styleable.RockerView_rockerBackground); if (null != rockerBackground) { // 设置了摇杆背景 if (rockerBackground instanceof BitmapDrawable) { // 图片 mRockerBitmap = ((BitmapDrawable) rockerBackground).getBitmap(); mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_PIC; } else if (rockerBackground instanceof GradientDrawable) { // XML mRockerBitmap = drawable2Bitmap(rockerBackground); mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_XML; } else if (rockerBackground instanceof ColorDrawable) { // 色值 mRockerColor = ((ColorDrawable) rockerBackground).getColor(); mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_COLOR; } else { // 其他形式 mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_DEFAULT; } } else { // 没有设置摇杆背景 mRockerBackgroundMode = ROCKER_BACKGROUND_MODE_DEFAULT; } // 摇杆半径 mRockerScale = typedArray.getFloat(R.styleable.RockerView_rockerScale, DEFAULT_ROCKER_SCALE); //距离级别 mDistanceLevel = typedArray.getInt(R.styleable.RockerView_rockerSpeedLevel, 10); //回调模式 mCallBackMode = getCallBackMode(typedArray.getInt(R.styleable.RockerView_rockerCallBackMode, 0)); typedArray.recycle(); } @Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) { int measureWidth, measureHeight; int widthMode = MeasureSpec.getMode(widthMeasureSpec); int he