Create Android Demo with TCP/IP Protocol.

DEMO说明文档

本demo为Java 编写的给Android手机或平板使用TCP方式控制Dobot协作机器人CR(以下简称CR)的DEMO

DEMO系统要求

Android 4.3版本以上即可

工程文件说明

工程文件需要使用Android Studio打开，请使用4.0版本的Android Studio
工程文件目录下分为四个模块分别为app、socket-client、socket-common-interface、socket-core。其中app为demo的主要模块，用于对CR的TCP通讯协议的封装以及实现部分简单的功能交互，如上使能、清除报警、急停、点动、MovJ和修改IO等功能。剩下的模块为实现TCP通讯功能的Socket客户端的底层实现。
在app包内主要分为Client、Message和RobotState模块，分别对应了TCP客户端的实现，TCP通讯协议的封装和机器人状态的实时封装。

• Client中实现了三个Client对应了CR三个端口和三种形式的消息协议。APIClient对应了29999端口，实现了一个一发一收的应答客户端。MoveClient对应了30003端口，只进行发送工作对应了CR的运动指令。StateClient对应了30004端口只进行接受机器人的状态协议。
• Message则为CR的各种发送的消息封装，分为基础的BaseMessage和CRMessage.
• RobotState则是对30004端口返回的数据进行了封装，用于生成各种CR的参数。

DEMO documentation

This demo is a DEMO written in Java for Android phones or tablets to use TCP to control Dobot collaborative robot CR (hereinafter referred to as CR)

DEMO OS requirements

Android version 4.3 or higher

Project file description

The project file needs to be opened by Android Studio, please use Android Studio version 4.0 or higher. The project file directory is divided into four modules: app, socket-client, socket-common-interface, and socket-core. The app is the main module of the demo, which is used to encapsulate the TCP communication protocol of CR and realize some simple functional interactions, such as enable, clear alarm, emergency stop, jog, MovJ and modify IO functions. The remaining modules are the underlying implementation of the Socket client that implements the TCP communication function. The app package is mainly divided into Client, Message and RobotState modules, which correspond to the realization of the TCP client, the encapsulation of the TCP communication protocol and the real-time encapsulation of the robot state.

• Three Clients are implemented in Client, corresponding to three ports of CR and three types of message protocols. APIClient corresponds to port 29999, which implements a response client with one sending and one receiving. MoveClient corresponds to port 30003, and only sends the movement instructions corresponding to CR. StateClient corresponds to port 30004 and only accepts the robot's state protocol.
• Message is the package of various messages sent by CR, which is divided into basic BaseMessage and CRMessage.
• RobotState encapsulates the data returned from port 30004 and is used to generate various CR parameters.