它似乎适用于前进按钮，但不适用于后退按钮。
使用pi4j前后移动机器人，但评论他们进行测试
第一个命令工作，我觉得它与服务器更多，然后Android应用程序
服务器java代码
import java.io.BufferedReader;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStreamReader;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.Scanner;
import com.pi4j.io.gpio.GpioController;
import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.GpioPinDigitalOutput;
import com.pi4j.io.gpio.PinState;
import com.pi4j.io.gpio.RaspiPin;
import com.pi4j.io.gpio.GpioController;
import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.GpioPinDigitalOutput;
import com.pi4j.io.gpio.PinPullResistance;
import com.pi4j.io.gpio.PinState;
import com.pi4j.io.gpio.RaspiPin;
public class Server {
String input="ggg";
public static void main(String[] args)throws InterruptedException
{
ServerSocket serverSocket = null;
Socket socket = null;
DataInputStream dataInputStream = null;
DataOutputStream dataOutputStream = null;
try
{
serverSocket = new ServerSocket(80);
System.out.println("Listening :80");
}
catch (IOException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
while(true)
{
try
{
socket = serverSocket.accept();
dataInputStream = new DataInputStream(socket.getInputStream());
dataOutputStream = new DataOutputStream(socket.getOutputStream());
System.out.println("ip: " + socket.getInetAddress());
//System.out.println("message: " + dataInputStream.readUTF());
if(dataInputStream.readUTF().contains("forward"))
{
Runtime r = Runtime.getRuntime();
Process p = null;
String commands="ls";
//boolean Light=false;
// provision gpio pin #01 as an output pin and turn on
try
{
//Light=true;
p = r.exec(commands);
BufferedReader br = new BufferedReader(new InputStreamReader(p.getInputStream()));
String str = "";
while ((str = br.readLine()) != null)
{
// create gpio controller
System.out.println(str);
}
p.waitFor();
br.close();
//p.waitFor();
}
catch (Exception e)
{
System.out.println("Exception "+e.getMessage());
System.err.println("Exception "+e.getMessage());
}
}
else if(dataInputStream.readUTF().contains("back"))
{
//Runtime rt=Runtime.getRuntime();
//Process pr=rt.exec(cmd);
Runtime r = Runtime.getRuntime();
Process p = null;
String commands="dir";
try
{
p = r.exec(commands);
BufferedReader br = new BufferedReader(new InputStreamReader(p.getInputStream()));
String str = "";
while ((str = br.readLine()) != null)
{
System.out.println(str);
}
p.waitFor();
br.close();
//p.waitFor();
}
catch (Exception e)
{
System.out.println("Exception "+e.getMessage());
System.err.println("Exception "+e.getMessage());
}
}
catch (IOException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
finally
{
if( socket!= null)
{
try {
socket.close();
}
catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
if( dataInputStream!= null)
{
try
{
dataInputStream.close();
}
catch (IOException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
}
if( dataOutputStream!= null)
{
try
{
dataOutputStream.close();
}
catch (IOException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}
}
}
客户端安卓
package com.example.client;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.net.UnknownHostException;
import android.app.Activity;
import android.content.Context;
import android.os.AsyncTask;
import android.os.Bundle;
import android.view.View;
import android.view.View.OnClickListener;
import android.widget.Button;
import android.widget.EditText;
import android.widget.TextView;
public class controll extends Activity implements OnClickListener {
EditText textOut;
boolean flegmove=false;
//TextView textIn;
String comand="";
/** Called when the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.conroller);
textOut = (EditText)findViewById(R.id.textout);
Button buttonforward = (Button)findViewById(R.id.bforward);
buttonforward.setOnClickListener(this);
Button buttonback = (Button)findViewById(R.id.bback);
buttonback.setOnClickListener(this);
Button buttonleft = (Button)findViewById(R.id.bleft);
buttonleft.setOnClickListener(this);
Button buttonright = (Button)findViewById(R.id.bright);
buttonright.setOnClickListener(this);
}
public void onClick(View v)
{
switch(v.getId())
{
case R.id.bforward:
{
comand="forward";
flegmove=true;
new task1().execute(comand);
break;
}
case R.id.bback:
{
comand="back";
flegmove=true;
new task1().execute(comand);
break;
}
case R.id.bright:
{
comand="right";
flegmove=true;
new task1().execute(comand);
break;
}
case R.id.bleft:
{
comand="left";
flegmove=true;
new task1().execute(comand);
break;
}
}
if(flegmove==true)
{
comand=comand.toString();
System.out.println("comand"+comand);
//new task1().execute(comand);
}
}
private class task1 extends AsyncTask<String, Void,String>
{
Socket socket = null;
String answer="";
DataOutputStream dataOutputStream = null;
DataInputStream dataInputStream = null;
protected String doInBackground(String...params)
{
try
{
socket = new Socket("192.168.1.12", 80);
dataOutputStream = new DataOutputStream(socket.getOutputStream());
dataInputStream = new DataInputStream(socket.getInputStream());
/
dataOutputStream.writeUTF(comand);
System.out.println("comand");
answer=dataInputStream.readUTF();
}
catch (UnknownHostException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
} catch (IOException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
return answer;
}
protected void onPostExecute(String result) {
if (dataOutputStream != null){
try {
dataOutputStream.close();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
if (dataInputStream != null){
try {
dataInputStream.close();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}
}
答案 0 :(得分：-1)
尝试使用jsch ssh connexion而不是socket connexion