修改

app/src/main/java/com/qy/agv/activity/ControlActivity.java

@@ -8,18 +8,33 @@ import android.content.ComponentName;
 import android.content.Context;
 import android.content.Intent;
 import android.content.ServiceConnection;
+import android.graphics.drawable.ColorDrawable;
 import android.os.Bundle;
 import android.os.IBinder;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
 import android.view.KeyEvent;
+import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.view.View;
+import android.view.ViewGroup;
+import android.view.WindowManager;
 import android.widget.AdapterView;
+import android.widget.Button;
+import android.widget.ListView;
+import android.widget.PopupWindow;
+import android.widget.SimpleAdapter;
 
 import com.google.gson.Gson;
 import com.google.gson.JsonElement;
 import com.google.gson.reflect.TypeToken;
+import com.qy.agv.R;
 import com.qy.agv.activity.adapter.DirViewAdapter;
+import com.qy.agv.activity.dao.MainDao;
+import com.qy.agv.activity.model.RelocModel;
 import com.qy.agv.activity.model.RobotModel;
+import com.qy.agv.activity.model.ShelfModel;
+import com.qy.agv.activity.model.SiteModel;
 import com.qy.agv.activity.model.TaskModel;
 import com.qy.agv.comm.BaseActivity;
 import com.qy.agv.comm.CacheService;
@@ -59,6 +74,7 @@ public class ControlActivity extends BaseActivity {
     private Intent socketIntent;
     private int robot_status = 0;
     private String speed = "0";
+    private PopupWindow popupWindow;
 
     @Override
     public void onCreate(Bundle savedInstanceState) {
@@ -85,7 +101,7 @@ public class ControlActivity extends BaseActivity {
                 ToastUtils.showToast(context, "没有绑定机器人");
                 return;
             }
-            push("CDW,"+robotModel.getRobotId(), "重新定位");
+            selPosition();
         });
         binding.btnConfirmLm.setOnClickListener(view->{
             if(robotModel==null){
@@ -384,7 +400,7 @@ public class ControlActivity extends BaseActivity {
         return true;
     }
 
-    private void sendCommand(String cmd){
+    private void sendCommand(String cmd, String...args){
         switch (cmd){
             case "rise":
                 socketService.sendOrder("HriseT");
@@ -401,23 +417,74 @@ public class ControlActivity extends BaseActivity {
                 socketService.sendOrder("Hback,"+speed+"T");
                 break;
             case "left":
-                binding.robotState.setText(getTurnSpeed() + "米/秒");
-                socketService.sendOrder("Hleft,"+getTurnSpeed()+"T");
+                binding.robotState.setText(speed + "米/秒");
+                socketService.sendOrder("Hleft,"+speed+"T");
                 break;
             case "right":
-                binding.robotState.setText(getTurnSpeed() + "米/秒");
-                socketService.sendOrder("Hright,"+getTurnSpeed()+"T");
+                binding.robotState.setText(speed + "米/秒");
+                socketService.sendOrder("Hright,"+speed+"T");
                 break;
             case "stop":
                 socketService.sendOrder("HstopT");
                 break;
+            case "cdw":
+                socketService.sendOrder("Hcdw,"+args[0]+"T");
+                break;
         }
     }
 
-    public String getTurnSpeed(){
-        BigDecimal turn_speed = new BigDecimal(speed);
-        turn_speed = turn_speed.divide(new BigDecimal(2), 2, BigDecimal.ROUND_HALF_UP);
-        return turn_speed.toString();
+    private void selPosition(){
+        View view = binding.getRoot().getRootView();
+        List<Map<String,String>> params = new ArrayList<>();
+        List<RelocModel> relocModels = MainDao.getInstance().searchReloc(context);
+        for (RelocModel relocModel : relocModels) {
+            Map<String, String> map = new HashMap<>();
+            map.put("name", relocModel.getRelocName());
+            map.put("value", relocModel.getId());
+            params.add(map);
+        }
+        if(params.size() == 0){
+            return;
+        }
+        ListView mListView = new ListView(this);
+        mListView.setBackgroundResource(R.color.white);
+        SimpleAdapter simplead = new SimpleAdapter(this, params,
+                R.layout.popupwindow_list_item, new String[] { "name"},
+                new int[] {R.id.tv_msg});
+        mListView.setAdapter(simplead);
+        mListView.setOnItemClickListener(new AdapterView.OnItemClickListener() {
+            @Override
+            public void onItemClick(AdapterView<?> parent, View view,
+                                    int position, long id) {
+                try {
+                    String value = params.get(position).get("value");
+                    sendCommand("cdw",value);
+                    ToastUtils.showToast(context, "重定位发送成功");
+                    popupWindow.dismiss();
+                }catch (Exception ex){
+                    mylog.error("选择位置异常", ex);
+                }
+            }
+        });
+        WindowManager manager = this.getWindowManager();
+        DisplayMetrics outMetrics = new DisplayMetrics();
+        manager.getDefaultDisplay().getMetrics(outMetrics);
+        double width = outMetrics.widthPixels*0.8;
+        popupWindow = new PopupWindow(view, (int) width,
+                ViewGroup.LayoutParams.WRAP_CONTENT);
+        //设置窗体的内容
+        popupWindow.setContentView(mListView);
+        popupWindow.setOutsideTouchable(false);
+        popupWindow.setFocusable(false);
+        popupWindow.setBackgroundDrawable(new ColorDrawable(android.graphics.Color.TRANSPARENT));
+        setBackgroundAlpha(0.5f);
+        popupWindow.showAtLocation(view, Gravity.CENTER, 0, 0);
+    }
+
+    public void setBackgroundAlpha(float bgAlpha) {
+        WindowManager.LayoutParams lp = getWindow().getAttributes();
+        lp.alpha = bgAlpha;
+        getWindow().setAttributes(lp);
     }
 
     @Override

app/src/main/java/com/qy/agv/activity/dao/MainDao.java

@@ -5,6 +5,7 @@ import android.content.Context;
 import com.google.gson.Gson;
 import com.google.gson.JsonElement;
 import com.google.gson.reflect.TypeToken;
+import com.qy.agv.activity.model.RelocModel;
 import com.qy.agv.activity.model.RobotModel;
 import com.qy.agv.activity.model.ShelfModel;
 import com.qy.agv.activity.model.SiteModel;
@@ -162,4 +163,47 @@ public class MainDao {
         }
         return siteModels;
     }
+
+    public List<RelocModel> searchReloc(Context context) {
+        List<RelocModel> relocModels = new ArrayList<>();
+        RequestParams params = HttpsUtil.httParams(Constant.ROBOT_LIST);
+        params.addBodyParameter("current", "1");
+        params.addBodyParameter("size", "100");
+        try {
+            AtomicReference<JSONObject> rsAtm = new AtomicReference<>(new JSONObject());
+            Thread s1 = new Thread(()->{
+                try {
+                    rsAtm.set(x.http().getSync(params, JSONObject.class));
+                }catch (Throwable e) {
+                    e.printStackTrace();
+                }
+            });
+            try{
+                s1.start();
+                s1.join();
+            }catch (Exception e){
+                e.printStackTrace();
+            }
+            JSONObject rs = rsAtm.get();
+            if (rs.has("code") && rs.getInt("code") != 200) {
+                ToastUtils.showToast(context, "请求失败");
+            }
+            if (rs.has("success")) {
+                System.out.println(rs.get("data"));
+                Type rds = new TypeToken<Map<String, JsonElement>>() {
+                }.getType();
+                Map<String, JsonElement> records = new Gson().fromJson(rs.get("data").toString(), rds);
+                System.out.println(records.get("records"));
+                Type lt = new TypeToken<ArrayList<RelocModel>>() {}.getType();
+                Object rs_record = records.get("records");
+                if(rs_record!=null) {
+                    relocModels = new Gson().<List<RelocModel>>fromJson(rs_record.toString(), lt);
+                }
+            }
+        }catch (Throwable e) {
+            e.printStackTrace();
+            mylog.error("加载重定位点列表异常：", e);
+        }
+        return relocModels;
+    }
 }

app/src/main/java/com/qy/agv/activity/model/RelocModel.java

@@ -0,0 +1,22 @@
+package com.qy.agv.activity.model;
+
+public class RelocModel {
+    private String id;
+    private String relocName;
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+    public String getRelocName() {
+        return relocName;
+    }
+
+    public void setRelocName(String relocName) {
+        this.relocName = relocName;
+    }
+}