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所以我正在使用java在我的移动应用程序中开发一个控制器，目前每当我触摸按钮时，它都会连续发送3个数据。当释放按钮时它应该只发送一个数据和另一个数据

我可以在按钮释放时设置获取数据，但由于传递了很多数据，所以不准确

    upbtn.setOnTouchListener(new View.OnTouchListener() {
        @Override
        public boolean onTouch(View v, MotionEvent event) {
            rosbridge.Publish("/set_velocity", nav_ctrl);
            if(event.getAction() == ACTION_DOWN) {
                nav_ctrl.linear.x = 0.6;
                nav_ctrl.angular.z = 0;
                return true;

            } else if (event.getAction() != MotionEvent.ACTION_UP) {
                    return false;
                }
                nav_ctrl.linear.x = 0;
                nav_ctrl.angular.z = 0;
            return false;
        }
    });

    downbtn.setOnTouchListener(new View.OnTouchListener() {
        @Override
        public boolean onTouch(View v, MotionEvent event) {
            rosbridge.Publish("/set_velocity", nav_ctrl);
            if(event.getAction() == ACTION_MOVE) {
                    nav_ctrl.linear.x = -0.6;
                    nav_ctrl.angular.z = 0;
            } else if (event.getAction() == MotionEvent.ACTION_CANCEL) {
                nav_ctrl.linear.x = 0;
                nav_ctrl.angular.z = 0;
            }
            return false;
        }
    });


    leftbtn.setOnTouchListener(new View.OnTouchListener() {
        @Override
        public boolean onTouch(View v, MotionEvent event) {
            rosbridge.Publish("/set_velocity", nav_ctrl);
            if(event.getAction() == ACTION_DOWN) {
                nav_ctrl.linear.x = 1.2;
                nav_ctrl.angular.z = 0;

                return true;

            } else if (event.getAction() == MotionEvent.ACTION_UP) {
                leftbtn.performClick();
                nav_ctrl.linear.x = 0;
                nav_ctrl.angular.z = 0;
            }
            return false;
        }
    });

    rightbtn.setOnTouchListener(new View.OnTouchListener() {
        @Override
        public boolean onTouch(View v, MotionEvent event) {
            rosbridge.Publish("/set_velocity", nav_ctrl);
            if(event.getAction() == ACTION_DOWN) {
                nav_ctrl.linear.x = -1.2;
                nav_ctrl.angular.z = 0;
                return true;

            } else if (event.getAction() == MotionEvent.ACTION_UP) {
                nav_ctrl.linear.x = 0;
                nav_ctrl.angular.z = 0;
            }
            return false;
        }
    });

}

我希望只发送一行数据，例如："angular":{"x":0.0,"y":0.0,"z":0.0},"linear":{"x":-0.6," y":0.0,"z":0.0}},

输出相似，但交付了多个数据

4

1 回答 1

0

问题是您正在发布，无论事件类型如何。您在touch开始时至少发布一次，在touch结束时至少发布一次，然后再次进行移动。尚未检查，但如果您按住按钮，它也可能会继续触发。

搬进街区Publish_ACTION_DOWN

 public boolean onTouch(View v, MotionEvent event) {
            //rosbridge.Publish("/set_velocity", nav_ctrl); <--- This
            if(event.getAction() == ACTION_DOWN) {
                nav_ctrl.linear.x = 1.2;
                nav_ctrl.angular.z = 0;
                rosbridge.Publish("/set_velocity", nav_ctrl); <--- Goes here

                return true;

            } else if (event.getAction() == MotionEvent.ACTION_UP) {
                leftbtn.performClick();
                nav_ctrl.linear.x = 0;
                nav_ctrl.angular.z = 0;
            }
            return false;
        }
于 2019-09-05T04:10:02.833 回答