我目前正在我的学校开展一个项目，该项目正在控制一个机器人，该机器人用激光雷达对周围环境进行映射。机器人已经构建并通过Wifi（TCP / IP通信）发送数据。 我必须开发一个可以控制机器人的Android应用程序（向前，向后，转...），我的Android项目由3个类组成： MainActivity.java，TcpClient.java和Reglages.java。 我很确定我设法创建机器人和应用程序之间的通信，因为我可以看到android studio的网络监视器的网络流量，问题是我不知道如何保存机器人发送的数据。
机器人每90ms发送一次数据，这是一种C结构。
这是我的TcpClient类中的run（）方法：
public void run() {
mRun = true;
isConnected = true;
try {
//here you must put your computer's IP address.
InetAddress serverAddr = InetAddress.getByName(SERVER_IP);
Log.e("TCP Client", "C: Connecting...");
//create a socket to make the connection with the server
Socket socket = new Socket(serverAddr, SERVER_PORT);
try {
Log.i("Debug", "inside try catch");
//receives the message which the server sends back
inFromServer = new BufferedInputStream(socket.getInputStream());
// outFromClient = new BufferedOutputStream();
bf = ByteBuffer.allocate(bufferSize);
while (mRun) {
// Log.i("Debug", "inside while mRun");
int b = inFromServer.read();
if (b == -1){
break;
}
bf.put((byte) b);
if ( bf != null && mMessageListener != null) {
//call the method messageReceived from MyActivity class
mMessageListener.messageReceived(bf);
}
}
} catch (Exception e) {
Log.e("TCP", "S: Error", e);
} finally {
//the socket must be closed. It is not possible to reconnect to this socket
// after it is closed, which means a new socket instance has to be created.
Log.i("Debug","Socket closed");
socket.close();
}
}
catch (Exception e) {
Log.e("TCP", "C: Error", e);
}
}
这就是我在MainActivity中创建TcpClient的地方：
public class ConnectTask extends AsyncTask <Void, ByteBuffer, TcpClient>{
@Override
protected TcpClient doInBackground(Void... params) {
//we create a TCPClient object and
mTcpClient = new TcpClient(new TcpClient.OnMessageReceived() {
@Override
//here the messageReceived method is implemented
public void messageReceived(ByteBuffer message) throws IOException {
//this method calls the onProgressUpdate
publishProgress(message);
// Log.i("Debug","Input message: " + message);
if(reglages == null){
Log.i("Debug","Création de réglages");
reglages = new Reglages();
reglages.createFromBytes(message);
}
else if (reglages != null){
Log.i("Debug","MAJ de réglages");
reglages.createFromBytes(message);
}
}
});
mTcpClient.run();
return null;
}
@Override
protected void onProgressUpdate(ByteBuffer... values) {
super.onProgressUpdate();
// Log.i("onProgressUpdate","" + values);
}
}
类“Reglages”类似于机器人发送的C结构，
public class Reglages {
public byte Transport[];//16 octets
public byte Etat_Moteur_Droit[];//20
public byte Etat_Moteur_Gauche[];//20
public byte ConsigneManuelle[];//8
public byte VitesseMesure[];//8
public byte Phare_Luminosite[];//2
public byte Temperature_Exterieure[];//2
public short V_Batterie; //2
public byte Etat_Sauvegarde[];//1
public byte Mode_Commande[];//1
public byte ConsigneBoucle_Ouverte_Moteur_Droit[];//4
public byte ConsigneBoucle_Ouverte_Moteur_Gauche[];//4
public byte Status_Lidar[];//1
public byte Status_Moteur_Lidar[];//1
public byte Erreur_Code_Lidar[];//2
public byte Compas[];//4
public byte ConsigneAngulaireNulle[];//4
public byte Compensation_Ligne_Droite[];//32
public void createFromBytes(ByteBuffer buf) throws IOException{
Transport = new byte[16];
Etat_Moteur_Droit = new byte[20];
Etat_Moteur_Gauche = new byte[20];
ConsigneManuelle = new byte[8];
VitesseMesure = new byte[8];
Phare_Luminosite = new byte[2];
Temperature_Exterieure = new byte[2];
Etat_Sauvegarde = new byte[1];
Mode_Commande = new byte[1];
ConsigneBoucle_Ouverte_Moteur_Droit = new byte[4];
ConsigneBoucle_Ouverte_Moteur_Gauche = new byte[4];
Status_Lidar = new byte[1];
Status_Moteur_Lidar = new byte[1];
Erreur_Code_Lidar = new byte[2];
Compas = new byte[4];
ConsigneAngulaireNulle = new byte[4];
Compensation_Ligne_Droite = new byte[32];
for(int i = 0; i <= 15; i++) {
this.Transport[i] = buf.get();
}
for(int i = 0; i <= 19; i++) {
this.Etat_Moteur_Droit[i] = buf.get();
}
for(int i = 0; i <= 19; i++) {
this.Etat_Moteur_Gauche[i] = buf.get();
}
for(int i = 0; i <= 7; i++) {
this.ConsigneManuelle[i] = buf.get();
}
for(int i = 0; i <= 7; i++) {
this.VitesseMesure[i] = buf.get(); ...........
问题是当我尝试在logcat中显示“Reglages”的值时，它只显示0，我不知道问题出在哪里....
编辑：我在“Reglages”类中使用for循环来填充每个属性，它在C结构中具有的字节数（例如，属性“Transport”编码为16个字节），是使用bytebuffer类和get（）方法的正确方法？