package com
.app;
import
javax
.imageio
.ImageIO;
import
javax
.swing.*;
import
java.awt
.*;
import
java.awt
.event
.MouseAdapter;
import
java.awt
.event
.MouseEvent;
import
java.awt
.image
.BufferedImage;
import
java.io
.*;
import
java.net
.Socket;
import
java.nio
.ByteBuffer;
import
java.util
.List;
import
java.util
.*;
public class AGVClient extends JFrame {
private final JLabel videoLabel = new JLabel
("视频流加载中
...",
SwingConstants
.CENTER
);
private final JPanel mapPanel = new MapPanel
(); // 自定义面板用于地图
和路径绘制
private BufferedImage currentImage = null;
private BufferedImage mapImage = null;
private Socket videoSocket, mapSocket;
private DataInputStream videoIn;
private Pr
intWriter mapOut;
private BufferedReader mapIn;
private
int gridSize = 20; // 模拟地图缩放比例（可调）
private Po
int startPo
int = null, endPo
int = null;
private List<Po
int> pathPo
ints = new ArrayList<>
();
public AGVClient
() {
setTitle
("AGV远程监控客户端"
);
setDefaultCloseOperation
(JFrame
.EXIT_ON_CLOSE
);
setSize
(1200, 600
);
setLayout
(new BorderLayout
());
// 左侧：视频流
videoLabel
.setPreferredSize
(new Dimension
(640, 480
));
videoLabel
.setOpaque
(true
);
videoLabel
.setBackground
(Color
.BLACK
);
add
(new JScrollPane
(videoLabel
), BorderLayout
.WEST
);
// 右侧：地图面板
mapPanel
.setPreferredSize
(new Dimension
(500, 500
));
mapPanel
.setBackground
(Color
.LIGHT_GRAY
);
mapPanel
.setBorder
(BorderFactory
.createTitledBorder
(" 导航地图"
));
mapPanel
.addMouseListener
(new MapClickListener
());
add
(new JScrollPane
(mapPanel
), BorderLayout
.EAST
);
connectToServer
();
startVideoThread
();
startMapListener
();
}
private void connectToServer
() {
try {
// 连接视频流
videoSocket = new Socket
("localhost", 6000
); // 替换为实际IP
videoIn = new DataInputStream
(videoSocket
.getInputStream
());
System.out
.pr
intln
("🎥 已连接至视频流服务器"
);
// 连接地图服务
mapSocket = new Socket
("localhost", 6001
);
mapOut = new Pr
intWriter
(mapSocket
.getOutputStream
(), true
);
mapIn = new BufferedReader
(new InputStreamReader
(mapSocket
.getInputStream
()));
System.out
.pr
intln
("🗺️ 已连接至地图服务"
);
} catch
(IOException e
) {
JOptionPane
.showMessageDialog
(this, "无法连接到服务器: " + e
.getMessage
(),
"连接错误", JOptionPane
.ERROR_MESSAGE
);
System.exit(1
);
}
}
private void startVideoThread
() {
new Thread
(() -> {
try {
while
(!videoSocket
.isClosed
()) {
// 读取图像大小（4字节大端）
byte[] sizeBytes = new byte[4];
int bytesRead = 0;
while
(bytesRead < 4
) {
bytesRead += videoIn
.read
(sizeBytes, bytesRead, 4 - bytesRead
);
}
int imageSize = ByteBuffer
.wrap
(sizeBytes
).get
Int();
// 读取图像数据
byte[] imageBytes = new byte[imageSize];
bytesRead = 0;
while
(bytesRead < imageSize
) {
bytesRead += videoIn
.read
(imageBytes, bytesRead, imageSize - bytesRead
);
}
// 解码图像
ByteArrayInputStream bais = new ByteArrayInputStream
(imageBytes
);
BufferedImage img = ImageIO
.read
(bais
);
if
(img != null
) {
currentImage = img;
videoLabel
.setIcon
(new ImageIcon
(img
));
videoLabel
.repa
int();
}
// 从当前帧生成灰度图作为地图底图（模拟）
generateMapFromFrame
(img
);
}
} catch
(Exception e
) {
if
(!videoSocket
.isClosed
())
e
.pr
intStackTrace
();
JOptionPane
.showMessageDialog
(this, "视频流中断", "错误", JOptionPane
.WARNING_MESSAGE
);
}
}
).start
();
}
private void generateMapFromFrame
(BufferedImage frame
) {
int w = frame
.getWidth
() / 4;
int h = frame
.getHeight
() / 4;
BufferedImage small = new BufferedImage
(w, h, BufferedImage
.TYPE_BYTE_GRAY
);
Graphics2D g = small
.createGraphics
();
g
.drawImage
(frame
.getScaledInstance
(w, h, Image
.SCALE_SMOOTH
), 0, 0, null
);
g
.dispose();
mapImage = new BufferedImage
(w, h, BufferedImage
.TYPE_
INT_RGB
);
for
(int x = 0; x < w; x++
) {
for
(int y = 0; y < h; y++
) {
int gray = new Color
(small
.getRGB
(x, y
)).getRed
();
int color = gray < 120 ? 0x000000 : 0xFFFFFF; // 黑色障碍，白色自由区
mapImage
.setRGB
(x, y, color
);
}
}
mapPanel
.repa
int();
}
private void startMapListener
() {
new Thread
(() -> {
try {
String line;
while
((line = mapIn
.readLine
()) != null
) {
System.out
.pr
intln
("📡 收到路径: " + line
);
JSONObject json = parseJSON
(line
.trim
());
if
(json
.containsKey
("path"
)) {
List<Po
int> newPath = new ArrayList<>
();
List<List<
Integer>> rawPath =
(List<List<
Integer>>
) json
.get
("path"
);
for
(List<
Integer> p : rawPath
) {
newPath
.add
(new Po
int(p
.get
(0
), p
.get
(1
)));
}
pathPo
ints = newPath;
mapPanel
.repa
int();
}
}
} catch
(Exception e
) {
e
.pr
intStackTrace
();
}
}
).start
();
}
class MapPanel extends JPanel {
@Override
protected void pa
intComponent
(Graphics g
) {
super
.pa
intComponent
(g
);
Graphics2D g2d =
(Graphics2D
) g;
g2d
.setRenderingH
int(RenderingH
ints
.KEY_ANTIALIASING, RenderingH
ints
.VALUE_ANTIALIAS_ON
);
if
(mapImage != null
) {
g
.drawImage
(mapImage, 0, 0, getWidth
(), getHeight
(), null
);
// 绘制网格线（可选）
int w = mapImage
.getWidth
(), h = mapImage
.getHeight
();
int pw = getWidth
() / w, ph = getHeight
() / h;
g2d
.setColor
(Color
.LIGHT_GRAY
);
for
(int i = 0; i <= w; i++
) g2d
.drawLine
(i * pw, 0, i * pw, getHeight
());
for
(int j = 0; j <= h; j++
) g2d
.drawLine
(0, j * ph, getWidth
(), j * ph
);
}
// 绘制路径
g2d
.setColor
(Color
.GREEN
);
g2d
.setStroke
(new BasicStroke
(3
));
for
(int i = 0; i < pathPo
ints
.size
() - 1; i++
) {
Po
int a = pathPo
ints
.get
(i
);
Po
int b = pathPo
ints
.get
(i + 1
);
g2d
.drawLine
(a
.x * pw
(), a
.y * ph
(), b
.x * pw
(), b
.y * ph
());
}
// 绘制起点（蓝色）
if
(startPo
int != null
) {
g2d
.setColor
(Color
.BLUE
);
g2d
.fillOval
(startPo
int.x * pw
() - 5, startPo
int.y * ph
() - 5, 10, 10
);
}
// 绘制终点（红色）
if
(endPo
int != null
) {
g2d
.setColor
(Color
.RED
);
g2d
.fillOval
(endPo
int.x * pw
() - 5, endPo
int.y * ph
() - 5, 10, 10
);
}
}
private
int pw
() { return getWidth
() /
(mapImage != null ? mapImage
.getWidth
() : 1
); }
private
int ph
() { return getHeight
() /
(mapImage != null ? mapImage
.getHeight
() : 1
); }
}
class MapClickListener extends MouseAdapter {
@Override
public void mouseClicked
(MouseEvent e
) {
if
(mapImage == null
) return;
int x = e
.getX
() / mapPanel
.pw
();
int y = e
.getY
() / mapPanel
.ph
();
if
(x < 0 || x >= mapImage
.getWidth
() || y < 0 || y >= mapImage
.getHeight
()) return;
if
(SwingUtilities
.isLeftMouseButton
(e
)) {
startPo
int = new Po
int(x, y
);
sendWaypo
ints
();
} else if
(SwingUtilities
.isRightMouseButton
(e
)) {
endPo
int = new Po
int(x, y
);
sendWaypo
ints
();
}
}
}
private void sendWaypo
ints
() {
if
(mapOut == null || mapOut
.checkError
()) return;
Map<String, Object> msg = new HashMap<>
();
if
(startPo
int != null
) {
msg
.put
("start", Arrays
.asList
(startPo
int.x, startPo
int.y
));
}
if
(endPo
int != null
) {
msg
.put
("end", Arrays
.asList
(endPo
int.x, endPo
int.y
));
}
mapOut
.pr
intln
(new JSONObject
(msg
).toString
());
System.out
.pr
intln
("📤 发送路径请求: " + msg
);
}
// 简易 JSON 实现（避免依赖外部库）
static class JSONObject extends LinkedHashMap<String, Object> {
public JSONObject
(Map<String, Object> m
) { super
(m
); }
@Override
public String toString
() {
StringBuilder sb = new StringBuilder
("{"
);
Iterator<Map
.Entry<String, Object>> it = entrySet
().iterator
();
while
(it
.hasNext
()) {
Map
.Entry<String, Object> e = it
.next
();
sb
.append
("\""
).append
(e
.getKey
()).append
("\":"
);
Object v = e
.getValue
();
if
(v instanceof List
) {
sb
.append
(listToString
((List<?>
) v
));
} else if
(v instanceof String
) {
sb
.append
("\""
).append
(v
).append
("\""
);
} else {
sb
.append
(v
);
}
if
(it
.hasNext
()) sb
.append
(","
);
}
sb
.append
("}"
);
return sb
.toString
();
}
private String listToString
(List<?> list
) {
StringBuilder sb = new StringBuilder
("["
);
for
(int i = 0; i < list
.size
(); i++
) {
Object o = list
.get
(i
);
if
(o instanceof List
) {
sb
.append
(listToString
((List<?>
) o
));
} else if
(o instanceof String
) {
sb
.append
("\""
).append
(o
).append
("\""
);
} else {
sb
.append
(o
);
}
if
(i < list
.size
() - 1
) sb
.append
(","
);
}
sb
.append
("]"
);
return sb
.toString
();
}
}
public static void main
(String[] args
) {
SwingUtilities
.invokeLater
(() -> {
try {
UIManager
.setLookAndFeel
(UIManager
.get
SystemLookAndFeel
());
} catch
(Exception ignored
) {}
new AGVClient
().setVisible
(true
);
}
);
}
}将上述程序换为相同功能android studio的程序
System.exit(int status)方法用于退出Java虚拟机，status为0表示正常退出，非0则表示异常退出。dispose()主要用于GUI应用，关闭指定窗口并释放资源，不会终止整个应用程序。两者作用范围不同，System.exit()影响全局，dispose()仅影响单个窗口。
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