航线

app/src/main/java/com/example/longyi_groundstation/Login/Activity/LoginActivity.java

@@ -41,7 +41,6 @@ public class LoginActivity extends AppCompatActivity {
 //        Log.d("myReceiver_HEARTBEAT", Tool.getDecToFirstBin("128"));
 //        Log.d("myReceiver_HEARTBEAT", Tool.getDecToBinFull("128"));
 
-
         initData();
         initView();
         initOnClick();
@@ -64,9 +63,6 @@ public class LoginActivity extends AppCompatActivity {
     private void initView() {
         //所有组件
         allView = new AllView(this);
-
-
-
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java

@@ -25,6 +25,8 @@ import android.graphics.Outline;
 import android.os.Build;
 import android.os.Bundle;
 import android.os.IBinder;
+import android.text.Editable;
+import android.text.TextWatcher;
 import android.util.Log;
 import android.view.MotionEvent;
 import android.view.View;
@@ -74,6 +76,8 @@ import com.example.longyi_groundstation.Main.View.DpadView;
 import com.example.longyi_groundstation.Main.View.ErrorLogDialog;
 import com.example.longyi_groundstation.Main.View.FPV_Void;
 import com.example.longyi_groundstation.Main.View.LandDialog;
+import com.example.longyi_groundstation.Main.View.PointFlyDialog;
+import com.example.longyi_groundstation.Main.View.SaveLinkNameDialog;
 import com.example.longyi_groundstation.Main.View.SlideToUnlockView;
 import com.example.longyi_groundstation.Main.View.StartExecuteDialog;
 import com.example.longyi_groundstation.Main.View.TakeOffDialog;
@@ -129,7 +133,8 @@ public class MainActivity extends AppCompatActivity {
     //广播接收器
     private MyReceiver myReceiver_ATTITUDE, myReceiver_GPS_RAW_INT, myReceiver_GLOBAL_POSITION_INT,
             myReceiver_POWER_STATUS, myReceiver_SYS_STATUS, myReceiver_STATUSTEXT,
-            myReceiver_HEARTBEAT, myReceiver_VFR_HUD,myReceiver_MISSION_REQUEST,myReceiver_MISSION_ACK;
+            myReceiver_HEARTBEAT, myReceiver_VFR_HUD, myReceiver_MISSION_REQUEST, myReceiver_MISSION_ACK,
+            myReceiver_MISSION_CURRENT;
     //所有组件
     private AllView allView;
     private ArrayList<Msg> typeList = new ArrayList<>();
@@ -138,15 +143,15 @@ public class MainActivity extends AppCompatActivity {
     private TurnBackDialog turnBackDialog;//返航弹窗
     private LandDialog landDialog;//降落弹窗
     private BombingDialog bombingDialog;//投弹弹窗
+    private PointFlyDialog pointFlyDialog;//指点飞行弹窗
     public static StartExecuteDialog startExecuteDialog;//开始执行弹窗
-
+    private SaveLinkNameDialog saveLinkNameDialog;//二次确认路线名称弹窗
     private ArrayList<LogItem> LogItemList = new ArrayList<>();
     private LogAdapter adapter;
     private FPV_Void fpvVoid = new FPV_Void();
     private int mainDisplay = 1;//1:Map 2:FPV
     private Intent intent;
     private Marker mainMarker;
-    private Marker flyMarker;
     private FlyVoid flyVoid = new FlyVoid();
     private boolean islocation = true;//是否第一次定位
     private LatLng homeLatLng = null;
@@ -161,8 +166,14 @@ public class MainActivity extends AppCompatActivity {
     // 在成员变量部分添加
     private CreateLinkAdapter createLinkAdapter;
     private List<CreateLink> createLinkList = new ArrayList<>();
-    private ArrayList<CreateLink> selectedLinkList = null;//当前选择的航线
+    private ArrayList<CreateLink> selectedLinkList = new ArrayList<>();//当前选择的航线
-    public boolean isUnlock = false;//是否解锁
+    private ArrayList<CreateLink> uploadLinkList = new ArrayList<>();//当前上传的航线
+    public static boolean isUnlock = false;//是否解锁
+    public boolean isAdviseFly = true;//是否可以使用指点飞行
+    // 创建航线列表适配器
+    private AllLinkAdapter allLinkAdapter;
+    private SQLClass sqlClass;
+    private List<SQLClass.LinkListInfo> linkListInfoList;
 
 
     @Override
@@ -180,6 +191,8 @@ public class MainActivity extends AppCompatActivity {
         initView();
         initReceiver();
         initOnClick();
+        mapVoid.startFlightTracking();
+
     }
 
     /**
@@ -290,6 +303,16 @@ public class MainActivity extends AppCompatActivity {
             registerReceiver(myReceiver_MISSION_ACK, filter10);
         }
 
+        //目标航点
+        myReceiver_MISSION_CURRENT = new MyReceiver();
+        IntentFilter filter11 = new IntentFilter("Broadcast_MISSION_CURRENT");
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            registerReceiver(myReceiver_MISSION_CURRENT, filter11, Context.RECEIVER_EXPORTED);
+        } else {
+            registerReceiver(myReceiver_MISSION_CURRENT, filter11);
+        }
+
+
         // 初始化数据源
         typeList = new ArrayList<>();
         typeList.add(new Msg("relative_alt", "0", true));
@@ -320,16 +343,10 @@ public class MainActivity extends AppCompatActivity {
         allView = new AllView(this);
         //地图全局方法类
         mapVoid = new MapVoid(MainActivity.this);
-        mainMarker = mapVoid.aMap.addMarker(new MarkerOptions().anchor(0.5f, 0.5f) // 设置锚点为图片中心
+        mainMarker = mapVoid.aMap.addMarker(new MarkerOptions().anchor(0.5f, 0.5f)); // 设置锚点为图片中心
-                .title("飞机").snippet("型号"));
-        // 更换 Marker 图标
-        mainMarker.setIcon(BitmapDescriptorFactory.fromResource(R.drawable.icon_fly));
 
-
-        flyMarker = mapVoid.aMap.addMarker(new MarkerOptions().anchor(0.5f, 0.5f) // 设置锚点为图片中心
-                .title("飞机").snippet("型号"));
         // 更换 Marker 图标
-        flyMarker.setIcon(BitmapDescriptorFactory.fromResource(R.drawable.icon_fly));
+        mainMarker.setIcon(BitmapDescriptorFactory.fromResource(R.mipmap.icon_fly));
 
         Intent intents = new Intent(this, MyBoundService.class);
         intents.putExtra("type", intent.getIntExtra("type", 0));
@@ -361,13 +378,18 @@ public class MainActivity extends AppCompatActivity {
         bombingDialog = new BombingDialog(MainActivity.this);
         //开始执行弹窗
         startExecuteDialog = new StartExecuteDialog(this, "10");
+        //指点飞行弹窗
+        pointFlyDialog = new PointFlyDialog(this);
+        //保存航线弹窗
+        saveLinkNameDialog = new SaveLinkNameDialog(this);
+
 
         allView.rv_error_list.setLayoutManager(new LinearLayoutManager(this));
         adapter = new LogAdapter();
         allView.rv_error_list.setAdapter(adapter);
 
-        // 初始化路线适配器
+        // 初始化航线适配器
-        createLinkAdapter = new CreateLinkAdapter();
+        createLinkAdapter = new CreateLinkAdapter(this);
         allView.rv_create_link_list.setLayoutManager(new LinearLayoutManager(this, LinearLayoutManager.VERTICAL, false));
         allView.rv_create_link_list.setAdapter(createLinkAdapter);
 
@@ -390,14 +412,6 @@ public class MainActivity extends AppCompatActivity {
         //拿到数据库里所有的航线
         setupAllLinkList();
 
-        //设置滑动解锁的view属性
-        allView.unlockView.setText("滑动解锁");
-        // 设置背景圆角弧度为10dp
-        allView.unlockView.setCornerRadius(4);
-        // 设置滑块圆角弧度为5dp
-        allView.unlockView.setThumbCornerRadius(4);
-        // 设置组件半透明（50%透明度）
-        allView.unlockView.setComponentAlpha(128);
     }
 
     /**
@@ -411,17 +425,17 @@ public class MainActivity extends AppCompatActivity {
         //广播接收-ATTITUDE
         myReceiver_ATTITUDE.setATTITUDEListener(data -> {
             // 这里可以更新 UI 或刷新数据
-//            Log.d(TAG, "收到新数据ATTITUDE：" + data.toString());
+            Log.d(TAG, "收到新数据ATTITUDE：" +MyReceiver.ATTITUDE_json.optDouble("yaw"));
 //            allView.tv_connect.setText("已连接");
 
             // 示例：更新 typeList 数据并刷新 RecyclerView
             if (data != null) {
-                flyVoid.setAttitude(getApplicationContext(), allView, MyReceiver.ATTITUDE_json.optDouble("roll"), MyReceiver.ATTITUDE_json.optDouble("pitch"), MyReceiver.ATTITUDE_json.optDouble("yaw"));
+                flyVoid.setAttitude(getApplicationContext(), allView, MyReceiver.ATTITUDE_json.optDouble("roll"), MyReceiver.ATTITUDE_json.optDouble("pitch"),(int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw") * 57.3));
             }
             //地图上飞机的朝向
-            mainMarker.setRotateAngle((int) Math.toDegrees(MyReceiver.ATTITUDE_json.optDouble("yaw")));
+            mainMarker.setRotateAngle( (int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw")* 57.3) * -1);
 
-            allView.tv_yaw.setText((int) Math.toDegrees(MyReceiver.ATTITUDE_json.optDouble("yaw")) + "°");
+            allView.tv_yaw.setText((int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw") * 57.3) + "°");
             mainMarker.setVisible(true);
         });
 
@@ -445,6 +459,7 @@ public class MainActivity extends AppCompatActivity {
                     (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000),
                     (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000));
 
+
             if (doubles[1] != 0) {
                 //获取到位置后移动视角到当前位置
                 if (islocation) {
@@ -475,6 +490,7 @@ public class MainActivity extends AppCompatActivity {
                 typeAdapter.notifyDataSetChanged();
                 if (FlyVoid.parseSerialData != null) {
 //                    allView.tv_height.setText(Math.round((MyReceiver.GLOBAL_POSITION_INT_json.optDouble("relative_alt") / 100) / 10.0) + "m");
+//                    Toast.makeText(this, flyVoid.parseSerialData[0]+"", Toast.LENGTH_SHORT).show();
                     allView.tv_height.setText(flyVoid.parseSerialData[0] + "m");
                 }
             }
@@ -539,15 +555,15 @@ public class MainActivity extends AppCompatActivity {
                 //判断飞控是否解锁
                 if (Tool.getDecToFirstBin(MyReceiver.HEARTBEAT_json.optString("base_mode")).equals("1")) {
                     //已解锁
-                    allView.rl_unlock.setVisibility(View.GONE);
+//                    allView.rl_unlock.setVisibility(View.GONE);
-                    allView.ll_link_start_fun2.setVisibility(VISIBLE);
+//                    allView.ll_link_start_fun2.setVisibility(VISIBLE);
                 } else {
-                    if (allView.rl_unlock.getVisibility() == View.GONE){
                     //未解锁
-                        allView.rl_unlock.setVisibility(View.VISIBLE);
+//                    if (allView.rl_unlock.getVisibility() == View.GONE){
-                        allView.unlockView.resetToInitialState("滑动解锁");
+//                        allView.rl_unlock.setVisibility(View.VISIBLE);
-                        allView.ll_link_start_fun2.setVisibility(GONE);
+//                        allView.unlockView.resetToInitialState("滑动解锁");
-                    }
+//                        allView.ll_link_start_fun2.setVisibility(GONE);
+//                    }
                 }
             }
 
@@ -630,6 +646,13 @@ public class MainActivity extends AppCompatActivity {
             Log.d(TAG, "myReceiver_MISSION_ACK: " + data.toString());
         });
 
+        //广播接收-setMissionAcklistener
+        myReceiver_MISSION_CURRENT.setMissionCurrentlistener(data -> {
+            Log.d(TAG, "myReceiver_MISSION_CURRENT: " + data.toString());
+            allView.tv_test1.setText(data.optInt("seq") + "");
+        });
+
+
     }
 
     /**
@@ -680,7 +703,6 @@ public class MainActivity extends AppCompatActivity {
             }
         });
 
-
         //点击异常窗口
         allView.iv_error.setOnClickListener(v -> {
 
@@ -692,7 +714,7 @@ public class MainActivity extends AppCompatActivity {
         });
 
         //点击定位到当前位置按钮
-        allView.iv_location_me.setOnClickListener(v -> {
+        allView.ll_location_me.setOnClickListener(v -> {
             if (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000 != 0) {
                 // 移动视图到Marker点
                 mapVoid.aMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000, MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000), 15)); // 15是缩放级别
@@ -722,37 +744,27 @@ public class MainActivity extends AppCompatActivity {
             startActivity(intent);
         });
 
-        //路线执行
+        //航线执行-上传航线
-        allView.ll_line_fly_layout.setOnClickListener(v -> {
-
-            //清空所有线路，并且退出执行页面
-            refreshLinkList();
-            allView.v_mainDisplay.setVisibility(GONE);
-            allView.ll_open_layout.setVisibility(GONE);
-            allView.ll_text.setVisibility(GONE);
-            allView.ll_link_start.setVisibility(VISIBLE);
-            allView.ll_all_link_layout.setVisibility(VISIBLE);
-            allView.fpvWidget.setVisibility(GONE);
-        });
-
-        //路线执行-上传航线
         allView.ll_link_start_fun1.setOnClickListener(v -> {
             // 添加航线发送功能
-            if (selectedLinkList != null) {
+            if (selectedLinkList.size() > 0) {
                 // 调用FlyVoid中的方法发送航线到飞控
                 flyVoid.sendMissionToFlightController(this,
                         selectedLinkList,
                         allView.et_start_execute_height.getText().toString());
-
+                // 清除当前地图上的所有航点和航线
-            }
-//            // 清除当前地图上的所有航点和航线
 //                clearWaypoints();
-//            allView.v_mainDisplay.setVisibility(VISIBLE);
+                allView.v_mainDisplay.setVisibility(VISIBLE);
-//            allView.ll_open_layout.setVisibility(VISIBLE);
+                allView.ll_open_layout.setVisibility(VISIBLE);
-//            allView.ll_text.setVisibility(VISIBLE);
+                allView.ll_text.setVisibility(VISIBLE);
-//            allView.ll_link_start.setVisibility(GONE);
+                allView.ll_link_start.setVisibility(GONE);
-//            allView.ll_all_link_layout.setVisibility(GONE);
+                allView.ll_all_link_layout.setVisibility(GONE);
-//            allView.fpvWidget.setVisibility(VISIBLE);
+                allView.fpvWidget.setVisibility(VISIBLE);
+                uploadLinkList.addAll(selectedLinkList);
+                allView.ll_assistance_layout.setVisibility(VISIBLE);
+            } else {
+                Toast.makeText(this, "请选择航线", Toast.LENGTH_SHORT).show();
+            }
         });
         //开始执行
         allView.ll_link_start_fun2.setOnClickListener(v -> {
@@ -772,17 +784,23 @@ public class MainActivity extends AppCompatActivity {
 
         });
 
-        //路线执行-退出
+        //航线执行-退出
         allView.ll_link_start_back.setOnClickListener(v -> {
+            //判断是否选择了航线
+            if (uploadLinkList != null) {
                 // 清除当前地图上的所有航点和航线
                 clearWaypoints();
+                // 在地图上显示航线-之前上传的航线
+                displayRouteOnMap(uploadLinkList);
+            }
             allView.v_mainDisplay.setVisibility(VISIBLE);
             allView.ll_open_layout.setVisibility(VISIBLE);
             allView.ll_text.setVisibility(VISIBLE);
             allView.ll_link_start.setVisibility(GONE);
             allView.ll_all_link_layout.setVisibility(GONE);
             allView.fpvWidget.setVisibility(VISIBLE);
-            allView.rl_unlock.setVisibility(View.GONE);
+            allView.ll_assistance_layout.setVisibility(VISIBLE);
+            isAdviseFly = true;
         });
 
         allView.ll_left_open.setOnClickListener(v -> {
@@ -793,16 +811,23 @@ public class MainActivity extends AppCompatActivity {
             }
         });
 
+        //清除所有航线的方法
         allView.ll_clear.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+            uploadLinkList.clear();
+            // 清除所有航点和航线
+            clearWaypoints();
+            // 在地图上显示航线-清除选中点在更新地图
+            displayRouteOnMap(uploadLinkList);
+            Toast.makeText(this, "已清除", Toast.LENGTH_SHORT).show();
         });
-        allView.ll_antenna.setOnClickListener(v -> {
+
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+        //添加航线跳转
-        });
+        allView.tv_add_link.setOnClickListener(v -> {
-        //路线规划
+            // 清除所有航点和航线
-        allView.ll_map.setOnClickListener(v -> {
+            clearWaypoints();
-//            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
             isSetLink = true;
+            allView.ll_all_link_layout.setVisibility(GONE);
+            allView.ll_link_start.setVisibility(GONE);
             allView.v_mainDisplay.setVisibility(GONE);
             allView.ll_open_layout.setVisibility(GONE);
             allView.ll_text.setVisibility(GONE);
@@ -810,34 +835,33 @@ public class MainActivity extends AppCompatActivity {
             allView.ll_create_link_layout.setVisibility(VISIBLE);
             allView.fpvWidget.setVisibility(GONE);
         });
-        //路线规划功能-保存
+
-        allView.ll_link_save.setOnClickListener(v -> {
+        //航线规划
-            // 初始化数据库
+        allView.ll_map.setOnClickListener(v -> {
-            SQLClass sqlClass = new SQLClass(this);
-            // 添加一个CreateLink列表
-            ArrayList<CreateLink> createLinkLists = new ArrayList<>();
-            createLinkLists.addAll(createLinkList);
-            // 添加CreateLink对象到列表中
-            boolean success = sqlClass.addCreateLinkList("路线-"+new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()), createLinkLists);
-            if (success){
             // 清除所有航点和航线
             clearWaypoints();
-                isSetLink = false;
+            isAdviseFly = false;
-                allView.v_mainDisplay.setVisibility(VISIBLE);
+            allView.ll_all_link_layout.setVisibility(VISIBLE);
-                allView.ll_open_layout.setVisibility(VISIBLE);
+            allView.ll_link_start.setVisibility(VISIBLE);
-                allView.ll_text.setVisibility(VISIBLE);
+            allView.v_mainDisplay.setVisibility(GONE);
+            allView.ll_open_layout.setVisibility(GONE);
+            allView.ll_text.setVisibility(GONE);
             allView.ll_link.setVisibility(GONE);
             allView.ll_create_link_layout.setVisibility(GONE);
-                allView.fpvWidget.setVisibility(VISIBLE);
+            allView.fpvWidget.setVisibility(GONE);
-                // 获取列表数量
+            allView.ll_assistance_layout.setVisibility(GONE);
-                int count = sqlClass.getLinkListCount();
+        });
-                Toast.makeText(this, "保存成功-"+count, Toast.LENGTH_SHORT).show();
+        //航线规划功能-保存
-
+        allView.ll_link_save.setOnClickListener(v -> {
+            if (allView.et_link_name.getText().toString().length() != 0){
+                saveLink(null);
+            }else {
+                saveLinkNameDialog.show();
             }
 
         });
-        // 路线规划功能-1：反转航点顺序
+        // 航线规划功能-1：反转航点顺序
-        allView.ll_link_fun1.setOnClickListener(v -> {
+        allView.tv_link_fun1.setOnClickListener(v -> {
             // 创建确认对话框
             AlertDialog.Builder builder = new AlertDialog.Builder(this);
             builder.setTitle("反转航点顺序");
@@ -850,6 +874,9 @@ public class MainActivity extends AppCompatActivity {
                 // 反转航点标记列表
                 java.util.Collections.reverse(waypointMarkers);
 
+                // 反转createLinkList列表
+                java.util.Collections.reverse(createLinkList);
+
                 // 重新编号航点标记
                 renumberWaypoints();
 
@@ -866,8 +893,8 @@ public class MainActivity extends AppCompatActivity {
             AlertDialog dialog = builder.create();
             dialog.show();
         });
-        // 路线规划功能-2：清除所有线路
+        // 航线规划功能-2：清除所有线航
-        allView.ll_link_fun2.setOnClickListener(v -> {
+        allView.tv_link_fun2.setOnClickListener(v -> {
             // 创建确认对话框
             AlertDialog.Builder builder = new AlertDialog.Builder(this);
             builder.setTitle("清除所有航点");
@@ -886,8 +913,9 @@ public class MainActivity extends AppCompatActivity {
             AlertDialog dialog = builder.create();
             dialog.show();
         });
-        //路线规划功能-退出
+        //航线规划功能-退出
         allView.ll_link_back.setOnClickListener(v -> {
+            if (createLinkList.size() > 0) {
                 // 创建确认对话框
                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
                 builder.setTitle("退出");
@@ -897,13 +925,19 @@ public class MainActivity extends AppCompatActivity {
                     // 清除所有航点和航线
                     clearWaypoints();
                     isSetLink = false;
-                allView.v_mainDisplay.setVisibility(VISIBLE);
+                    allView.ll_all_link_layout.setVisibility(VISIBLE);
-                allView.ll_open_layout.setVisibility(VISIBLE);
+                    allView.ll_link_start.setVisibility(VISIBLE);
-                allView.ll_text.setVisibility(VISIBLE);
+                    allView.v_mainDisplay.setVisibility(GONE);
+                    allView.ll_open_layout.setVisibility(GONE);
+                    allView.ll_text.setVisibility(GONE);
                     allView.ll_link.setVisibility(GONE);
                     allView.ll_create_link_layout.setVisibility(GONE);
-                allView.fpvWidget.setVisibility(VISIBLE);
+                    allView.fpvWidget.setVisibility(GONE);
+                    displayRouteOnMap(selectedLinkList);
                     dialog.dismiss();
+                    // 在地图上显示航线-之前上传的航线
+                    displayRouteOnMap(selectedLinkList);
+
                 });
 
                 builder.setNegativeButton("取消", (dialog, which) -> {
@@ -912,20 +946,23 @@ public class MainActivity extends AppCompatActivity {
 
                 AlertDialog dialog = builder.create();
                 dialog.show();
-
+            } else {
+                // 清除所有航点和航线
+                clearWaypoints();
+                isSetLink = false;
+                allView.ll_all_link_layout.setVisibility(VISIBLE);
+                allView.ll_link_start.setVisibility(VISIBLE);
+                allView.v_mainDisplay.setVisibility(GONE);
+                allView.ll_open_layout.setVisibility(GONE);
+                allView.ll_text.setVisibility(GONE);
+                allView.ll_link.setVisibility(GONE);
+                allView.ll_create_link_layout.setVisibility(GONE);
+                allView.fpvWidget.setVisibility(GONE);
+            }
         });
 
-        allView.ll_one_word.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
-        });
         allView.ll_execute_line.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+            startExecuteDialog.show();
-        });
-        allView.ll_joystick.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
-        });
-        allView.ll_fire.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
         allView.ll_bombing.setOnClickListener(v -> {
             bombingDialog.show();
@@ -934,18 +971,12 @@ public class MainActivity extends AppCompatActivity {
         allView.ll_shout.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
-        allView.ll_thoroughfare.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
-        });
         allView.ll_hook.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
         allView.ll_searchlight.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
-        allView.ll_mode_select.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
-        });
         //初始化FPV手势处理
         fpvGestureHandler = new FpvGestureHandler(allView.fpvWidget);
         fpvGestureHandler.setOnFpvGestureListener(new FpvGestureHandler.OnFpvGestureListener() {
@@ -1257,6 +1288,7 @@ public class MainActivity extends AppCompatActivity {
             byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x13, 0x03, 0x00, 0x00, 0x17};
             tcpClient.sendBytes(testData);
         });
+
         //一键向下
         allView.ll_PTZ_one_bottom.setOnClickListener(v -> {
             // 发送左转数据
@@ -1327,9 +1359,19 @@ public class MainActivity extends AppCompatActivity {
         // 设置地图点击监听器以添加航点
         allView.map.getMap().setOnMapClickListener(latLng -> {
             if (isSetLink) {
+//                Log.d("setOnMapClickListener", latLng.toString()+"++"+isSetLink);
                 addWaypoint(latLng);
             }
         });
+
+        //地图长按
+        allView.map.getMap().setOnMapLongClickListener(latLng -> {
+            if (isAdviseFly) {
+                pointFlyDialog.setLatLng(latLng);
+                pointFlyDialog.show();
+            }
+        });
+
         // 设置标记点击监听器以删除航点
         allView.map.getMap().setOnMarkerClickListener(marker -> {
             if (isSetLink) {
@@ -1365,16 +1407,120 @@ public class MainActivity extends AppCompatActivity {
             }
         });
 
-        allView.unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+        //根据输入的文字模糊查询（名字）搜索框
+        allView.et_link_search.addTextChangedListener(new TextWatcher() {
             @Override
-            public void onUnlock() {
+            public void beforeTextChanged(CharSequence s, int start, int count, int after) {
-                // 解锁飞机
+                // 不需要实现
-                flyVoid.requestArm();
+            }
-                allView.rl_unlock.setVisibility(View.GONE);
+
+            @Override
+            public void onTextChanged(CharSequence s, int start, int before, int count) {
+                // 实时查询
+                filterLinkList(s.toString());
+            }
+
+            @Override
+            public void afterTextChanged(Editable s) {
+                // 不需要实现
             }
         });
 
+        //清除飞行轨迹
+        allView.ll_clear_fly_line.setOnClickListener(v -> {
+            if (mapVoid.isTracking){
+                mapVoid.isTracking = false;
+                mapVoid.clearFlightTrack();
+                mapVoid.stopFlightTracking();
+            }else {
+                mapVoid.startFlightTracking();
+            }
 
+        });
+
+        //开启|关闭航线点位
+        allView.iv_open_link_list.setOnClickListener(v -> {
+            if (allView.ll_create_link_item_layout.getVisibility() == View.GONE){
+                allView.ll_create_link_item_layout.setVisibility(View.VISIBLE);
+            }else {
+                allView.ll_create_link_item_layout.setVisibility(View.GONE);
+            }
+        });
+
+    }
+
+    /**
+     * 方法：保存航线
+     *
+     * @cuijingzhou
+     */
+    public  void saveLink( String linkName) {
+        // 初始化数据库
+        SQLClass sqlClass = new SQLClass(this);
+        // 添加一个CreateLink列表
+        ArrayList<CreateLink> createLinkLists = new ArrayList<>();
+        if (createLinkList.size() > 0) {
+            createLinkLists.addAll(createLinkList);
+            boolean success;
+            if (linkName == null){
+                // 添加CreateLink对象到列表中
+                if (allView.et_link_name.getText().toString().length() != 0) {
+                    success = sqlClass.addCreateLinkList(allView.et_link_name.getText().toString(), createLinkLists);
+                } else {
+                    success = sqlClass.addCreateLinkList("航线-" + new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()), createLinkLists);
+                }
+            }else {
+                success = sqlClass.addCreateLinkList(linkName, createLinkLists);
+            }
+
+            if (success) {
+                // 清除所有航点和航线
+                clearWaypoints();
+                isSetLink = false;
+                allView.ll_all_link_layout.setVisibility(VISIBLE);
+                allView.ll_link_start.setVisibility(VISIBLE);
+                allView.v_mainDisplay.setVisibility(GONE);
+                allView.ll_open_layout.setVisibility(GONE);
+                allView.ll_text.setVisibility(GONE);
+                allView.ll_link.setVisibility(GONE);
+                allView.ll_create_link_layout.setVisibility(GONE);
+                allView.fpvWidget.setVisibility(GONE);
+                allView.et_link_name.setText("");
+                // 在地图上显示航线-之前选中的航线
+                displayRouteOnMap(selectedLinkList);
+                refreshLinkList();//刷新航线列表
+                Toast.makeText(this, "航线保存成功", Toast.LENGTH_SHORT).show();
+            }
+        } else {
+            Toast.makeText(this, "请先添加航点", Toast.LENGTH_SHORT).show();
+        }
+
+
+
+    }
+
+    // 添加过滤方法
+    private void filterLinkList(String query) {
+        if (sqlClass != null && allLinkAdapter != null) {
+            if (query.isEmpty()) {
+                // 如果查询为空，显示所有数据
+                List<SQLClass.LinkListInfo> allList = sqlClass.getAllLinkListInfo();
+                allLinkAdapter.updateDataList(allList);
+            } else {
+                // 根据输入文字模糊查询
+                List<SQLClass.LinkListInfo> filteredList = new ArrayList<>();
+                List<SQLClass.LinkListInfo> fullList = sqlClass.getAllLinkListInfo();
+
+                for (SQLClass.LinkListInfo item : fullList) {
+                    // 模糊匹配航线名称
+                    if (item.getListName().toLowerCase().contains(query.toLowerCase())) {
+                        filteredList.add(item);
+                    }
+                }
+
+                allLinkAdapter.updateDataList(filteredList);
+            }
+        }
     }
 
     /**
@@ -1387,7 +1533,7 @@ public class MainActivity extends AppCompatActivity {
         // 创建自定义对话框
         AlertDialog.Builder builder = new AlertDialog.Builder(this);
         builder.setTitle("删除航点");
-        builder.setMessage("确定要删除点位" +(index+1) + "吗？");
+        builder.setMessage("确定要删除航点" + (index + 1) + "吗？");
 
         builder.setPositiveButton("确定", (dialog, which) -> {
             // 删除航点时同时删除对应的列表项
@@ -1409,7 +1555,7 @@ public class MainActivity extends AppCompatActivity {
         // 创建自定义标记视图
         View markerView = getLayoutInflater().inflate(R.layout.custom_marker_layout, null);
         @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView markerText = markerView.findViewById(R.id.marker_text);
-        markerText.setText("点位" + (waypointMarkers.size() + 1));
+        markerText.setText( "" + (waypointMarkers.size() + 1));
 
         // 将视图转换为Bitmap
         markerView.measure(View.MeasureSpec.UNSPECIFIED, View.MeasureSpec.UNSPECIFIED);
@@ -1430,7 +1576,15 @@ public class MainActivity extends AppCompatActivity {
         waypointPositions.add(latLng);
 
         // 添加到列表
-        CreateLink createLink = new CreateLink("点位" + waypointMarkers.size(), 30, 10, waypointMarkers.size() - 1, latLng);
+        CreateLink createLink = new CreateLink(
+                waypointMarkers.size()+"",
+                30,
+                10,
+                waypointMarkers.size() - 1,
+                latLng,
+                true,
+                true
+        );
         createLinkList.add(createLink);
         createLinkAdapter.setCreateLinkList(createLinkList);
 
@@ -1462,20 +1616,22 @@ public class MainActivity extends AppCompatActivity {
     private void renumberWaypoints() {
         for (int i = 0; i < waypointMarkers.size(); i++) {
             // 创建新的自定义标记Bitmap
-            Bitmap markerBitmap = createCustomMarkerBitmap("点位" + (i + 1));
+            Bitmap markerBitmap = createCustomMarkerBitmap( (i + 1)+"");
             // 更新标记图标
             waypointMarkers.get(i).setIcon(BitmapDescriptorFactory.fromBitmap(markerBitmap));
 
             // 更新列表项名称
             if (i < createLinkList.size()) {
-                createLinkList.get(i).setName("点位" + (i + 1));
+                createLinkList.get(i).setName( (i + 1)+"");
             }
         }
+
         createLinkAdapter.setCreateLinkList(createLinkList);
     }
 
     /**
      * 创建自定义标记Bitmap
+     *
      * @param text 标记文字
      * @return Bitmap
      */
@@ -1502,6 +1658,7 @@ public class MainActivity extends AppCompatActivity {
         waypointMarkers.clear();
         waypointPositions.clear();
         createLinkList.clear();
+        selectedLinkList.clear();
         createLinkAdapter.setCreateLinkList(createLinkList);
 
         // 移除航线
@@ -1523,7 +1680,6 @@ public class MainActivity extends AppCompatActivity {
     }
 
 
-
     /**
      * 更新航线显示
      */
@@ -1538,8 +1694,8 @@ public class MainActivity extends AppCompatActivity {
         if (waypointPositions.size() > 1) {
             flightPathPolyline = allView.map.getMap().addPolyline(new PolylineOptions()
                     .addAll(waypointPositions)
-                    .width(8)
+                    .width(6)
-                    .color(Color.BLACK));
+                    .color(Color.parseColor("#FFEB3B")));
         }
     }
 
@@ -1553,10 +1709,6 @@ public class MainActivity extends AppCompatActivity {
     }
 
 
-    // 创建航线列表适配器
-    private AllLinkAdapter allLinkAdapter;
-    private SQLClass sqlClass;
-    private List<SQLClass.LinkListInfo> linkListInfoList;
     private void setupAllLinkList() {
         // 初始化数据库
         sqlClass = new SQLClass(this);
@@ -1573,14 +1725,13 @@ public class MainActivity extends AppCompatActivity {
         allLinkAdapter.setOnItemClickListener(new AllLinkAdapter.OnItemClickListener() {
             @Override
             public void onItemClick(int listId, int position) {
-                // 清除当前地图上的所有航点和航线
+                // 清除所有航点和航线
                 clearWaypoints();
-                selectedLinkList = null;
                 // 从数据库中获取选中的航线数据
                 selectedLinkList = sqlClass.getCreateLinkList(listId);
-                if (selectedLinkList != null) {
+                if (selectedLinkList.size() > 0) {
-                    Toast.makeText(MainActivity.this, "已加载航线: " + linkListInfoList.get(position).getListName(),
+//                    Toast.makeText(MainActivity.this, "已加载航线: " + linkListInfoList.get(position).getListName(),
-                            Toast.LENGTH_SHORT).show();
+//                            Toast.LENGTH_SHORT).show();
                     // 在地图上显示航线
                     displayRouteOnMap(selectedLinkList);
                 } else {
@@ -1601,11 +1752,10 @@ public class MainActivity extends AppCompatActivity {
 
     /**
      * 在地图上显示航线
+     *
      * @param createLinkList 航线数据列表
      */
     private void displayRouteOnMap(ArrayList<CreateLink> createLinkList) {
-        // 清除现有的航点和航线
-        clearWaypoints();
 
         // 遍历航线数据并在地图上显示
         for (int i = 0; i < createLinkList.size(); i++) {
@@ -1645,7 +1795,9 @@ public class MainActivity extends AppCompatActivity {
                     createLink.getHeight(),
                     createLink.getSpeed(),
                     createLink.getWaypointIndex(),
-                    latLng
+                    latLng,
+                    createLink.isBom1_show(),
+                    createLink.isBom2_show()
             );
             this.createLinkList.add(newCreateLink);
         }
@@ -1663,8 +1815,6 @@ public class MainActivity extends AppCompatActivity {
         }
     }
 
-
-
     @Override
     protected void onDestroy() {
         super.onDestroy();
@@ -1726,9 +1876,10 @@ public class MainActivity extends AppCompatActivity {
         }
 
         fpvVoid.Fstop(allView.fpvWidget);
+        //关闭航线
+        mapVoid.stopFlightTracking();
     }
 
-
     @Override
     protected void onResume() {
         super.onResume();

app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java

@@ -6,6 +6,7 @@ import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
+import android.widget.LinearLayout;
 import android.widget.TextView;
 import android.widget.Toast;
 
@@ -47,6 +48,12 @@ public class AllLinkAdapter extends RecyclerView.Adapter<AllLinkAdapter.AllLinkV
     public void onBindViewHolder(@NonNull AllLinkViewHolder holder, int position) {
         SQLClass.LinkListInfo linkListInfo = linkListInfoList.get(position);
 
+        if (linkListInfo.isSelect()){
+            holder.ll_main.setBackgroundResource(R.drawable.ff029a45_4round_1stroke_bg);
+        }else {
+            holder.ll_main.setBackgroundResource(R.drawable.x80000000_4round_1stroke_bg);
+        }
+
         // 显示航线名称
         holder.tv_title.setText(linkListInfo.getListName());
         
@@ -70,11 +77,28 @@ public class AllLinkAdapter extends RecyclerView.Adapter<AllLinkAdapter.AllLinkV
         // 设置整个item的点击事件
         holder.itemView.setOnClickListener(v -> {
             if (onItemClickListener != null) {
+                setSelects(position);
                 onItemClickListener.onItemClick(linkListInfo.getListId(), position);
             }
         });
     }
 
+    /**
+     * 方法：选择其中一个航线列表
+     *
+     * @cuijingzhou
+     */
+    public void setSelects(int position){
+        for (int i = 0; i < linkListInfoList.size(); i++){
+            if (i != position){
+                linkListInfoList.get(i).setSelect(false);
+            } else {
+                linkListInfoList.get(i).setSelect(true);
+            }
+        }
+        notifyDataSetChanged();
+    }
+
     @Override
     public int getItemCount() {
         return linkListInfoList != null ? linkListInfoList.size() : 0;
@@ -127,6 +151,7 @@ public class AllLinkAdapter extends RecyclerView.Adapter<AllLinkAdapter.AllLinkV
     }
 
     static class AllLinkViewHolder extends RecyclerView.ViewHolder {
+        LinearLayout ll_main;
         TextView tv_title;
         TextView tv_time;
         TextView tv_number;
@@ -138,6 +163,7 @@ public class AllLinkAdapter extends RecyclerView.Adapter<AllLinkAdapter.AllLinkV
             tv_time = itemView.findViewById(R.id.tv_time);
             tv_number = itemView.findViewById(R.id.tv_number);
             tv_del = itemView.findViewById(R.id.tv_del);
+            ll_main = itemView.findViewById(R.id.ll_main);
         }
     }
 

app/src/main/java/com/example/longyi_groundstation/Main/Adapter/CreateLinkAdapter.java

@@ -1,10 +1,19 @@
 // 文件: CreateLinkAdapter.java
 package com.example.longyi_groundstation.Main.Adapter;
 
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.content.Context;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
 import android.widget.EditText;
+import android.widget.ImageView;
+import android.widget.LinearLayout;
+import android.widget.RelativeLayout;
+import android.widget.Spinner;
 import android.widget.TextView;
 
 import androidx.annotation.NonNull;
@@ -19,13 +28,18 @@ import java.util.List;
 public class CreateLinkAdapter extends RecyclerView.Adapter<CreateLinkAdapter.ViewHolder> {
     private List<CreateLink> createLinkList;
     private OnItemClickListener onItemClickListener;
+    private Activity content;
+    public static ArrayList<Boolean> isExpand = new ArrayList<>();//当前两个弹舱是否可以使用 0=弹舱1 1=弹舱2
 
     public interface OnItemClickListener {
         void onDeleteClick(int position);
     }
 
-    public CreateLinkAdapter() {
+    public CreateLinkAdapter(Activity content) {
         this.createLinkList = new ArrayList<>();
+        this.content = content;
+        isExpand.add(true);
+        isExpand.add(true);
     }
 
     public void setOnItemClickListener(OnItemClickListener listener) {
@@ -60,22 +74,111 @@ public class CreateLinkAdapter extends RecyclerView.Adapter<CreateLinkAdapter.Vi
     }
 
     public class ViewHolder extends RecyclerView.ViewHolder {
+        private LinearLayout ll_item;
+        private LinearLayout ll_expand;
         private TextView tvDel, tv_title;
-        private EditText etHeight;
+        private EditText etHeight, et_lat, et_lon;
-        private EditText etSpeed;
+        private RelativeLayout rl_turn;
+        private TextView tv_turn;
+        private Spinner sp_turn;
+        private TextView tv_expand;
+        private LinearLayout ll_bom_layout1, ll_bom_layout2;
+        private TextView tv_bom_text1, tv_bom_text2;
+        private ImageView iv_bom1, iv_bom2;
+        private EditText et_bom1, et_bom2;
+        private LinearLayout ll_turn;
+        private EditText et_turn_time;
+        private TextView tv_null_data;
+
+//        private LinearLayout ll_bom_height_layout1, ll_bom_height_layout2;
 
         public ViewHolder(@NonNull View itemView) {
             super(itemView);
+            ll_item = itemView.findViewById(R.id.ll_item);
             tvDel = itemView.findViewById(R.id.tv_del);
             tv_title = itemView.findViewById(R.id.tv_title);
             etHeight = itemView.findViewById(R.id.et_height);
-            etSpeed = itemView.findViewById(R.id.et_speed);
+            et_lat = itemView.findViewById(R.id.et_lat);
+            et_lon = itemView.findViewById(R.id.et_lon);
+            rl_turn = itemView.findViewById(R.id.rl_turn);
+            tv_turn = itemView.findViewById(R.id.tv_turn);
+            sp_turn = itemView.findViewById(R.id.sp_turn);
+            ll_expand = itemView.findViewById(R.id.ll_expand);
+            tv_expand = itemView.findViewById(R.id.tv_expand);
+            ll_bom_layout1 = itemView.findViewById(R.id.ll_bom_layout1);
+            tv_bom_text1 = itemView.findViewById(R.id.tv_bom_text1);
+            iv_bom1 = itemView.findViewById(R.id.iv_bom1);
+            et_bom1 = itemView.findViewById(R.id.et_bom1);
+            ll_bom_layout2 = itemView.findViewById(R.id.ll_bom_layout2);
+            tv_bom_text2 = itemView.findViewById(R.id.tv_bom_text2);
+            iv_bom2 = itemView.findViewById(R.id.iv_bom2);
+            et_bom2 = itemView.findViewById(R.id.et_bom2);
+            ll_turn = itemView.findViewById(R.id.ll_turn);
+            et_turn_time = itemView.findViewById(R.id.et_turn_time);
+            tv_null_data = itemView.findViewById(R.id.tv_null_data);
+//            ll_bom_height_layout1 = itemView.findViewById(R.id.ll_bom_height_layout1);
+//            ll_bom_height_layout2 = itemView.findViewById(R.id.ll_bom_height_layout2);
         }
 
         public void bind(CreateLink createLink, int position) {
             etHeight.setText(String.valueOf((int) createLink.getHeight()));
-            etSpeed.setText(String.valueOf((int) createLink.getSpeed()));
             tv_title.setText(createLink.getName());
+            // 修改为保留7位小数
+            et_lat.setText(String.format("%.7f", createLink.getLatLng().latitude));
+            et_lon.setText(String.format("%.7f", createLink.getLatLng().longitude));
+
+            // 链路保护动作Spinner
+            String[] linkOptions = {"协调转弯", "到点转弯"};
+            ArrayAdapter<String> linkAdapter = new ArrayAdapter<>(content,
+                    android.R.layout.simple_spinner_item, linkOptions);
+            linkAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+            sp_turn.setAdapter(linkAdapter);
+
+
+
+            //投弹是否显示
+            if (createLink.isBom1_show()){
+                ll_bom_layout1.setVisibility(View.VISIBLE);
+            }else {
+                ll_bom_layout1.setVisibility(View.GONE);
+            }
+            if (createLink.isBom2_show()){
+                ll_bom_layout2.setVisibility(View.VISIBLE);
+            }else {
+                ll_bom_layout2.setVisibility(View.GONE);
+            }
+
+            //投弹高度
+            et_bom1.setText(createLink.getBom1_height() + "");
+            et_bom2.setText(createLink.getBom2_height() + "");
+
+            if (!createLink.isBom1_show() && !createLink.isBom2_show()){
+                tv_null_data.setVisibility(View.VISIBLE);
+            }else {
+                tv_null_data.setVisibility(View.GONE);
+            }
+
+
+            if (createLink.isBom1_select()) {
+                tv_bom_text1.setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
+                iv_bom1.setImageResource(R.mipmap.icon_select_link_yes);
+//                ll_bom_height_layout1.setVisibility(View.VISIBLE);
+            } else {
+                tv_bom_text1.setBackgroundResource(R.drawable.b2101010_4round_1stroke_bg);
+                iv_bom1.setImageResource(R.mipmap.icon_select_link_no);
+//                    ll_bom_height_layout1.setVisibility(View.INVISIBLE);
+            }
+
+            if (createLink.isBom2_select()) {
+                tv_bom_text2.setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
+                iv_bom2.setImageResource(R.mipmap.icon_select_link_yes);
+//                ll_bom_height_layout2.setVisibility(View.VISIBLE);
+            } else {
+                tv_bom_text2.setBackgroundResource(R.drawable.b2101010_4round_1stroke_bg);
+                iv_bom2.setImageResource(R.mipmap.icon_select_link_no);
+//                ll_bom_height_layout2.setVisibility(View.INVISIBLE);
+            }
+
 
             tvDel.setOnClickListener(v -> {
                 if (onItemClickListener != null) {
@@ -94,15 +197,147 @@ public class CreateLinkAdapter extends RecyclerView.Adapter<CreateLinkAdapter.Vi
                 }
             });
 
-            etSpeed.setOnFocusChangeListener((v, hasFocus) -> {
+            // 为Spinner设置选择监听器
-                if (!hasFocus) {
+            sp_turn.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
-                    try {
+                @Override
-                        createLink.setSpeed(Double.parseDouble(etSpeed.getText().toString()));
+                public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
-                    } catch (NumberFormatException e) {
+                    tv_turn.setText(parent.getItemAtPosition(position).toString());
-                        etSpeed.setText(String.valueOf((int) createLink.getSpeed()));
+
                 }
+
+                @Override
+                public void onNothingSelected(AdapterView<?> parent) {
+                    // 什么都不做
                 }
             });
+
+            rl_turn.setOnClickListener(v -> {
+                showCustomDropdown(rl_turn, tv_turn,ll_turn);
+            });
+
+            //长按弹出窗口
+            tv_expand.setOnClickListener(v -> {
+                if (ll_expand.getVisibility() == View.VISIBLE) {
+                    ll_expand.setVisibility(View.GONE);
+                    tv_expand.setText("展开");
+                } else {
+                    ll_expand.setVisibility(View.VISIBLE);
+                    tv_expand.setText("收起");
+                }
+            });
+
+            //投弹选中1
+            ll_bom_layout1.setOnClickListener(v -> {
+                if (createLink.isBom1_select()) {
+                    // 取消选中状态
+                    tv_bom_text1.setBackgroundResource(R.drawable.b2101010_4round_1stroke_bg);
+                    iv_bom1.setImageResource(R.mipmap.icon_select_link_no);
+                } else {
+                    // 设置当前项为选中状态
+                    tv_bom_text1.setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
+                    iv_bom1.setImageResource(R.mipmap.icon_select_link_yes);
+                }
+                // 选中状态 - 先取消其他所有项的选中状态
+                clearAllSelectionsExcept(position, 1); // 1表示bom1
+            });
+
+            //投弹选中2
+            ll_bom_layout2.setOnClickListener(v -> {
+                if (createLink.isBom2_select()) {
+                    // 取消选中状态
+                    tv_bom_text2.setBackgroundResource(R.drawable.b2101010_4round_1stroke_bg);
+                    iv_bom2.setImageResource(R.mipmap.icon_select_link_no);
+
+                } else {
+                    // 设置当前项为选中状态
+                    tv_bom_text2.setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
+                    iv_bom2.setImageResource(R.mipmap.icon_select_link_yes);
+                }
+                // 选中状态 - 先取消其他所有项的选中状态
+                clearAllSelectionsExcept(position, 2); // 2表示bom2
+            });
+
+        }
+
+        /**
+         * 清除除指定位置和类型外的所有显示状态
+         * @param currentPosition 当前项的位置
+         * @param type 1表示bom1，2表示bom2
+         */
+        private void clearAllSelectionsExcept(int currentPosition, int type) {
+            // bom1
+            if (type == 1){
+                //如果当前项是选中状态，则取消所有bom1的选中状态并显示出来
+                if (createLinkList.get(currentPosition).isBom1_select()){
+                    for (int i = 0; i < createLinkList.size(); i++) {
+                        CreateLink link = createLinkList.get(i);
+                        link.setBom1_show(true);
+                        link.setBom1_select(false);
+                    }
+                    isExpand.set(0,true);
+                }
+                //如果当前项不是选中状态，则取消除了当前项其它所有bom1的选中状态并隐藏
+                else {
+                    for (int i = 0; i < createLinkList.size(); i++) {
+                        CreateLink link = createLinkList.get(i);
+                        if (i == currentPosition){
+                            link.setBom1_show(true);
+                            link.setBom1_select(true);
+                        }else {
+                            link.setBom1_show(false);
+                            link.setBom1_select(false);
                         }
                     }
+                    isExpand.set(0,false);
+                }
+
+            }
+            //bom2
+            else {
+                if (createLinkList.get(currentPosition).isBom2_select()){
+                    for (int i = 0; i < createLinkList.size(); i++) {
+                        CreateLink link = createLinkList.get(i);
+                        link.setBom2_show(true);
+                        link.setBom2_select(false);
+                    }
+                    isExpand.set(1,true);
+                }
+                //如果当前项不是选中状态，则取消除了当前项其它所有bom2的选中状态并隐藏
+                else {
+                    for ( int i = 0; i < createLinkList.size(); i++) {
+                        CreateLink link = createLinkList.get(i);
+                        if (i == currentPosition){
+                            link.setBom2_show(true);
+                            link.setBom2_select(true);
+                        }else {
+                            link.setBom2_show(false);
+                            link.setBom2_select(false);
+                        }
+                    }
+                    isExpand.set(1,false);
+                }
+            }
+
+            notifyDataSetChanged();
+        }
+    }
+
+    //转弯方式选择弹窗
+    private void showCustomDropdown(RelativeLayout anchor, TextView tv_turn,LinearLayout ll_turn) {
+        String[] options = {"协调转弯", "到点转弯"};
+        AlertDialog.Builder builder = new AlertDialog.Builder(content);
+        builder.setItems(options, (dialog, which) -> {
+            tv_turn.setText(options[which]);
+            if (which == 1){
+                ll_turn.setVisibility(View.VISIBLE);
+            }else {
+                ll_turn.setVisibility(View.GONE);
+            }
+            // 更新选中状态
+        });
+        builder.show();
+    }
+
+
+
 }

app/src/main/java/com/example/longyi_groundstation/Main/Adapter/TypeAdapter.java

@@ -82,7 +82,7 @@ public class TypeAdapter extends RecyclerView.Adapter<TypeAdapter.TypeViewHolder
             default:
                 holder.textView.setText("距家距离："+item.getMsg());
                 holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
-                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
+                holder.textView.setMinimumWidth(50); // 移除最小宽度限制
                 break;
 
         }

app/src/main/java/com/example/longyi_groundstation/Main/Base/CreateLink.java

@@ -5,10 +5,28 @@ import com.amap.api.maps.model.LatLng;
 
 public class CreateLink {
     private String name;
-    private double height;
+    private double height;//高度
-    private double speed;
+    private double speed;//速度
-    private int waypointIndex;
+    private int waypointIndex;//航点索引
-    private LatLng latLng;
+    private LatLng latLng;//点经纬度
+    private boolean bom1_select;//弹道1选择
+    private boolean bom1_show;//弹道1是否显示
+    private int bom1_height;//弹道1投弹高度
+    private boolean bom2_select;//弹道2选择
+    private boolean bom2_show;//弹道2是否显示
+    private int bom2_height;//弹道2投弹高度
+
+
+    public CreateLink(String name, double height, double speed, int waypointIndex, LatLng latLng
+            ,boolean bom1_show,boolean bom2_show) {
+        this.name = name;
+        this.height = height;
+        this.speed = speed;
+        this.waypointIndex = waypointIndex;
+        this.latLng = latLng;
+        this.bom1_show = bom1_show;
+        this.bom2_show = bom2_show;
+    }
 
     public CreateLink(String name, double height, double speed, int waypointIndex, LatLng latLng) {
         this.name = name;
@@ -57,4 +75,52 @@ public class CreateLink {
     public void setLatLng(LatLng latLng) {
         this.latLng = latLng;
     }
+
+    public boolean isBom1_select() {
+        return bom1_select;
+    }
+
+    public void setBom1_select(boolean bom1_select) {
+        this.bom1_select = bom1_select;
+    }
+
+    public int getBom1_height() {
+        return bom1_height;
+    }
+
+    public void setBom1_height(int bom1_height) {
+        this.bom1_height = bom1_height;
+    }
+
+    public boolean isBom2_select() {
+        return bom2_select;
+    }
+
+    public void setBom2_select(boolean bom2_select) {
+        this.bom2_select = bom2_select;
+    }
+
+    public int getBom2_height() {
+        return bom2_height;
+    }
+
+    public void setBom2_height(int bom2_height) {
+        this.bom2_height = bom2_height;
+    }
+
+    public boolean isBom1_show() {
+        return bom1_show;
+    }
+
+    public void setBom1_show(boolean bom1_show) {
+        this.bom1_show = bom1_show;
+    }
+
+    public boolean isBom2_show() {
+        return bom2_show;
+    }
+
+    public void setBom2_show(boolean bom2_show) {
+        this.bom2_show = bom2_show;
+    }
 }

app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java

@@ -6,6 +6,7 @@ import static com.example.longyi_groundstation.MAVLink.common.msg_global_positio
 import static com.example.longyi_groundstation.MAVLink.common.msg_gps_raw_int.MAVLINK_MSG_ID_GPS_RAW_INT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_mission_ack.MAVLINK_MSG_ID_MISSION_ACK;
 import static com.example.longyi_groundstation.MAVLink.common.msg_mission_count.MAVLINK_MSG_ID_MISSION_COUNT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_current.MAVLINK_MSG_ID_MISSION_CURRENT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_mission_request.MAVLINK_MSG_ID_MISSION_REQUEST;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_list.MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_read.MAVLINK_MSG_ID_PARAM_REQUEST_READ;
@@ -396,6 +397,11 @@ public class MyBoundService extends Service {
                     if (MsgList.get(MAVLINK_MSG_ID_VFR_HUD) != null) {
                         BroadcastUtil.Broadcast_VFR_HUD(getApplication(), MsgList.get(MAVLINK_MSG_ID_VFR_HUD));
                     }
+                    if (MsgList.get(MAVLINK_MSG_ID_MISSION_CURRENT) != null) {
+                        BroadcastUtil.Broadcast_MISSION_CURRENT(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_CURRENT));
+                    }
+
+
 
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java

@@ -26,7 +26,6 @@ import com.example.longyi_groundstation.Main.Setting.Fragment.SensorFragment;
 import com.example.longyi_groundstation.Main.Setting.Fragment.SettingsFragment;
 import com.example.longyi_groundstation.Main.Setting.Void.AllView;
 import com.example.longyi_groundstation.Main.Void.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class SettingActivity extends AppCompatActivity {
@@ -60,7 +59,7 @@ public class SettingActivity extends AppCompatActivity {
                 initOnClick();
             } else {
                 // 参数未更新完成，继续等待并定期检查
-                uiHandler.postDelayed(this, 500); // 500毫秒后再次检查
+                uiHandler.postDelayed(this, 300); // 500毫秒后再次检查
             }
         }
     };
@@ -154,7 +153,7 @@ public class SettingActivity extends AppCompatActivity {
     private void selectItem(int index) {
         for (int i = 0; i < allView.views.size(); i++) {
             if (index == i) {
-                allView.views.get(i).setBackgroundResource(R.drawable.ff62a7f0_2round_1stroke_bg);
+                allView.views.get(i).setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
                 allView.views.get(i).setTextColor(Color.parseColor("#ffffff"));
             } else {
                 allView.views.get(i).setBackgroundResource(R.drawable.b2303030_4round_1stroke_bg);
@@ -276,11 +275,22 @@ public class SettingActivity extends AppCompatActivity {
     private void showParamLoadingDialog() {
         paramLoadingDialog = new ProgressDialog(this);
         paramLoadingDialog.setMessage("参数加载中，请稍候...");
-        paramLoadingDialog.setCancelable(false); // 设置为不可取消
+        paramLoadingDialog.setCancelable(true); // 设置为可取消
         paramLoadingDialog.setIndeterminate(true); // 设置为不确定进度
+
+        // 添加取消监听器，用于返回主页
+        paramLoadingDialog.setOnCancelListener(dialog -> {
+            // 移除参数更新检查的回调
+            if (uiHandler != null) {
+                uiHandler.removeCallbacks(paramUpdateChecker);
+            }
+            // 返回主页
+            finish();
+        });
         paramLoadingDialog.show();
     }
 
+
     @Override
     protected void onResume() {
         super.onResume();

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/MultiSelectAdapter.java

@@ -5,7 +5,6 @@ import android.graphics.Color;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-import android.widget.Button;
 import android.widget.TextView;
 
 import androidx.annotation.NonNull;
@@ -41,7 +40,7 @@ public class MultiSelectAdapter extends RecyclerView.Adapter<MultiSelectAdapter.
         
         // 设置背景
         if (data.isSelect) {
-            holder.tv_item.setBackgroundResource(R.drawable.ff62a7f0_2round_1stroke_bg);
+            holder.tv_item.setBackgroundResource(R.drawable.ff029a45_2round_1stroke_bg);
             holder.tv_item.setTextColor(Color.parseColor("#ffffff"));
         } else {
             holder.tv_item.setBackgroundResource(R.drawable.b2303030_4round_1stroke_bg);

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/ParamGridAdapter.java

@@ -57,7 +57,7 @@ public class ParamGridAdapter extends RecyclerView.Adapter<ParamGridAdapter.Para
             holder.rightProgress.setLayoutParams(rightParams);
 
             // 设置颜色
-            holder.leftProgress.setBackgroundColor(Color.parseColor("#62a7f0")); // 蓝色
+            holder.leftProgress.setBackgroundColor(Color.parseColor("#029a45")); // 蓝色
             holder.rightProgress.setBackgroundColor(Color.parseColor("#cccccc")); // 灰色
         } else {
             // 值在右侧范围(1500-2000)
@@ -75,7 +75,7 @@ public class ParamGridAdapter extends RecyclerView.Adapter<ParamGridAdapter.Para
             holder.rightProgress.setLayoutParams(rightParams);
 
             // 设置颜色
-            holder.leftProgress.setBackgroundColor(Color.parseColor("#62a7f0")); // 蓝色
+            holder.leftProgress.setBackgroundColor(Color.parseColor("#029a45")); // 蓝色
             holder.rightProgress.setBackgroundColor(Color.parseColor("#cccccc")); // 灰色
         }
     }

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/ModeItem.java

@@ -0,0 +1,26 @@
+package com.example.longyi_groundstation.Main.Setting.Base;
+
+public class ModeItem {
+
+    private String text;
+    private int value;
+
+    public ModeItem(String text, int value) {
+        this.text = text;
+        this.value = value;
+    }
+
+    public String getText() {
+        return text;
+    }
+
+    public int getValue() {
+        return value;
+    }
+
+    @Override
+    public String toString() {
+        return text; // Spinner显示的内容
+    }
+
+}

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java

@@ -1,25 +1,42 @@
 package com.example.longyi_groundstation.Main.Setting.Fragment;
 
+import android.annotation.SuppressLint;
 import android.os.Bundle;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.RelativeLayout;
+import android.widget.Spinner;
+import android.widget.TextView;
+import android.widget.Toast;
 
 import androidx.fragment.app.Fragment;
 import androidx.viewpager2.widget.ViewPager2;
 
 import com.example.longyi_groundstation.Main.Setting.Adapter.SecurePagerAdapter;
+import com.example.longyi_groundstation.Main.Setting.Base.ChannelItem;
+import com.example.longyi_groundstation.Main.Setting.Base.ModeItem;
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
 import com.example.longyi_groundstation.R;
 import com.google.android.material.tabs.TabLayout;
 import com.google.android.material.tabs.TabLayoutMediator;
 import com.example.longyi_groundstation.Main.Setting.Adapter.FoundationPagerAdapter;
 
+import java.util.ArrayList;
+import java.util.List;
+
 public class FoundationFragment extends Fragment {
 
     private View view;
-    private TabLayout tabLayout;
-    private ViewPager2 viewPager;
     private TabLayoutMediator tabLayoutMediator;
+    private RelativeLayout rl_low_end,rl_mid_range,rl_high_end;
+    private Spinner sp_low_end,sp_mid_range,sp_high_end;
+    private TextView tv_low_end_text,tv_mid_range_text,tv_high_end_text,tv_save;
+
+    private FlyVoid flyVoid = new FlyVoid();
 
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container,
@@ -49,48 +66,18 @@ public class FoundationFragment extends Fragment {
      * @cuijingzhou
      */
     private void initView() {
-        viewPager = view.findViewById(R.id.view_pager);
+        rl_low_end = view.findViewById(R.id.rl_low_end);
-        tabLayout = view.findViewById(R.id.tab_layout);
+        rl_mid_range = view.findViewById(R.id.rl_mid_range);
-
+        rl_high_end = view.findViewById(R.id.rl_high_end);
-
+        sp_low_end = view.findViewById(R.id.sp_low_end);
-//        if (getActivity() != null) {
+        sp_mid_range = view.findViewById(R.id.sp_mid_range);
-//            viewPager.setAdapter(new FoundationPagerAdapter(getActivity()));
+        sp_high_end = view.findViewById(R.id.sp_high_end);
-//
+        tv_low_end_text = view.findViewById(R.id.tv_low_end_text);
-//            // 先释放之前的TabLayoutMediator（如果存在）
+        tv_mid_range_text = view.findViewById(R.id.tv_mid_range_text);
-//            if (tabLayoutMediator != null) {
+        tv_high_end_text = view.findViewById(R.id.tv_high_end_text);
-//                tabLayoutMediator.detach();
+        tv_save = view.findViewById(R.id.tv_save);
-//            }
+        initSpinnerData();
-//
+        initText();
-//            tabLayoutMediator = new TabLayoutMediator(tabLayout, viewPager,
-//                    (tab, position) -> {
-//                        switch (position) {
-//                            case 0:
-//                                tab.setText("机型设置");
-//                                break;
-//                            case 1:
-//                                tab.setText("安装设置");
-//                                break;
-//                            case 2:
-//                                tab.setText("加速度计");
-//                                break;
-//                            case 3:
-//                                tab.setText("磁力计");
-//                                break;
-//                        }
-//                    }
-//            );
-//            tabLayoutMediator.attach();
-//
-//            // 为Tab之间添加间距
-//            for (int i = 0; i < tabLayout.getTabCount(); i++) {
-//                View tab = (((ViewGroup) tabLayout.getChildAt(0)).getChildAt(i));
-//                ViewGroup.MarginLayoutParams layoutParams = (ViewGroup.MarginLayoutParams) tab.getLayoutParams();
-//                layoutParams.setMargins(6, 0, 6, 0); // 左右各16dp的间距
-//                tab.setLayoutParams(layoutParams);
-//            }
-//
-//
-//        }
     }
 
     /**
@@ -99,30 +86,181 @@ public class FoundationFragment extends Fragment {
      * @cuijingzhou
      */
     private void initOnClick() {
+        rl_low_end.setOnClickListener(v -> {
+            // 点击TextView后打开对应的Spinner
+            sp_low_end.performClick();
+        });
+        rl_mid_range.setOnClickListener(v -> {
+            // 点击TextView后打开对应的Spinner
+            sp_mid_range.performClick();
+        });
+        rl_high_end.setOnClickListener(v -> {
+            // 点击TextView后打开对应的Spinner
+            sp_high_end.performClick();
+        });
 
+        // 修改所有的Spinner监听器
+        sp_low_end.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                Log.d("无事发生", "onItemSelected: sp_m7");
+                tv_low_end_text.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+                Log.d("无事发生", "onNothingSelected: sp_m7");
+            }
+        });
+
+        // 修改所有的Spinner监听器
+        sp_mid_range.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                Log.d("无事发生", "onItemSelected: sp_m7");
+                tv_mid_range_text.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+                Log.d("无事发生", "onNothingSelected: sp_m7");
+            }
+        });
+
+        // 修改所有的Spinner监听器
+        sp_high_end.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                Log.d("无事发生", "onItemSelected: sp_m7");
+                tv_high_end_text.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+                Log.d("无事发生", "onNothingSelected: sp_m7");
+            }
+        });
+
+        //保存
+        tv_save.setOnClickListener(v -> {
+            save();
+        });
+
+
+    }
+
+    /**
+     * 方法：保存
+     *
+     * @cuijingzhou
+     */
+    private void save() {
+        try {
+            flyVoid.requestParamSet("FLTMODE1",
+                    getSelectedChannelValue(sp_low_end) + "",
+                    FlyVoid.paramList.get("FLTMODE1").getParam_type());
+            flyVoid.requestParamSet("FLTMODE2",
+                    getSelectedChannelValue(sp_low_end) + "");
+
+            Thread.sleep(100);
+
+            flyVoid.requestParamSet("FLTMODE3",
+                    getSelectedChannelValue(sp_mid_range) + "",
+                    FlyVoid.paramList.get("FLTMODE3").getParam_type());
+            flyVoid.requestParamSet("FLTMODE4",
+                    getSelectedChannelValue(sp_mid_range) + "");
+
+            Thread.sleep(100);
+
+            flyVoid.requestParamSet("FLTMODE5",
+                    getSelectedChannelValue(sp_high_end) + "",
+                    FlyVoid.paramList.get("FLTMODE5").getParam_type());
+            flyVoid.requestParamSet("FLTMODE6",
+                    getSelectedChannelValue(sp_high_end) + "");
+
+            Toast.makeText(requireContext(), "保存成功", Toast.LENGTH_SHORT).show();
+        }catch (Exception e){
+            Log.d("FLTMODE-save", e.toString());
+        }
+    }
+
+    /**
+     * 方法：初始化文字
+     *
+     * @cuijingzhou
+     */
+    private void initText() {
+        setSelectedChannel(sp_low_end, Integer.parseInt(FlyVoid.paramList.get("FLTMODE1").getParam_value()));
+        setSelectedChannel(sp_mid_range, Integer.parseInt(FlyVoid.paramList.get("FLTMODE3").getParam_value()));
+        setSelectedChannel(sp_high_end, Integer.parseInt(FlyVoid.paramList.get("FLTMODE5").getParam_value()));
+    }
+
+    /**
+     * 方法：初始化Spinner数据
+     *
+     * @cuijingzhou
+     */
+    private void initSpinnerData() {
+        // 创建通道数据列表
+        List<ModeItem> channelList = new ArrayList<>();
+        channelList.add(new ModeItem("姿态", 0));
+        channelList.add(new ModeItem("定高", 2));
+        channelList.add(new ModeItem("航线", 3));
+        channelList.add(new ModeItem("定点", 5));
+        channelList.add(new ModeItem("返航", 6));
+        channelList.add(new ModeItem("降落", 9));
+
+        // 创建适配器
+        ArrayAdapter<ModeItem> adapter = new ArrayAdapter<>(requireContext(),
+                android.R.layout.simple_spinner_item, channelList);
+        adapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+
+        // 为所有Spinner设置适配器
+        Spinner[] spinners = {sp_low_end, sp_mid_range, sp_high_end};
+        for (Spinner spinner : spinners) {
+            if (spinner != null) {
+                spinner.setAdapter(adapter);
+            }
+        }
+    }
+
+    // 示例：设置Spinner选中项
+    private void setSelectedChannel(Spinner spinner, int value) {
+        ArrayAdapter<ModeItem> adapter = (ArrayAdapter<ModeItem>) spinner.getAdapter();
+        for (int i = 0; i < adapter.getCount(); i++) {
+            ModeItem item = adapter.getItem(i);
+            if (item != null && item.getValue() == value) {
+                spinner.setSelection(i);
+                break;
+            }
+        }
+    }
+
+    // 示例：获取选中的值
+    private int getSelectedChannelValue(Spinner spinner) {
+        if (spinner.getSelectedItem() instanceof ModeItem) {
+            ModeItem item = (ModeItem) spinner.getSelectedItem();
+            return item.getValue();
+        }
+        return 0; // 默认值
     }
 
     @Override
     public void onResume() {
         super.onResume();
-//        // 使用post方法将initData()推迟到下一个UI循环执行，避免FragmentManager冲突
+        // 使用post方法将initData()推迟到下一个UI循环执行，避免FragmentManager冲突
-//        getView().post(new Runnable() {
+
-//            @Override
-//            public void run() {
-//                initData();
-//                initView();
-//                initOnClick();
-//            }
-//        });
     }
 
     @Override
     public void onDestroyView() {
         super.onDestroyView();
-        // 清理TabLayoutMediator资源
+
-        if (tabLayoutMediator != null) {
-            tabLayoutMediator.detach();
-            tabLayoutMediator = null;
-        }
     }
 }

app/src/main/java/com/example/longyi_groundstation/Main/View/PointFlyDialog.java

@@ -0,0 +1,115 @@
+package com.example.longyi_groundstation.Main.View;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.Window;
+import android.view.WindowManager;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.amap.api.maps.model.LatLng;
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.R;
+
+public class PointFlyDialog {
+
+    private final Activity context;
+    private String title;
+    private String message;
+    private String positiveButtonText;
+    private LatLng latLng;
+
+    private FlyVoid flyVoid = new FlyVoid();
+
+
+    public PointFlyDialog(Activity context) {
+        this.context = context;
+        this.title = "错误日志";
+        this.message = "";
+        this.positiveButtonText = "确定";
+        this.latLng = latLng;
+
+    }
+
+    // 设置弹窗标题
+    public PointFlyDialog setLatLng(LatLng latLng) {
+        this.latLng = latLng;
+        return this;
+    }
+
+    // 设置弹窗标题
+    public PointFlyDialog setTitle(String title) {
+        this.title = title;
+        return this;
+    }
+
+    // 设置弹窗内容
+    public PointFlyDialog setMessage(String message) {
+        this.message = message;
+        return this;
+    }
+
+    // 设置确认按钮文字
+    public PointFlyDialog setPositiveButtonText(String text) {
+        this.positiveButtonText = text;
+        return this;
+    }
+
+    // 显示弹窗
+    public void show() {
+        MyTool.hideBottomNavigationBar( context);
+        AlertDialog.Builder builder = new AlertDialog.Builder(context);
+
+        // 使用自定义布局
+        View view = LayoutInflater.from(context).inflate(R.layout.dialog_point_fly, null);
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView tvMessage = view.findViewById(R.id.tv_message);
+        // 滑动模块
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) SlideToUnlockView unlockView = view.findViewById(R.id.unlockView);
+
+        if (latLng != null){
+            tvMessage.setText("经度：" + latLng.latitude + "\n纬度：" + latLng.latitude);
+        }
+
+        // 添加日志
+        builder.setView(view);
+
+        AlertDialog dialog = builder.create();
+        dialog.show();
+
+        // 设置宽高
+        Window window = dialog.getWindow();
+        if (window != null) {
+            WindowManager.LayoutParams layoutParams = window.getAttributes();
+            layoutParams.width = MyTool.dpToPx(context, 300); // 或具体像素值
+            layoutParams.height = ViewGroup.LayoutParams.WRAP_CONTENT; // 或具体像素值
+            window.setAttributes(layoutParams);
+            window.setBackgroundDrawableResource(R.drawable.ffffffff_4round_bg);
+        }
+
+        unlockView.setText("滑动执行");
+        unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+            @Override
+            public void onUnlock() {
+//                // 发送命令
+
+                MyTool.hideBottomNavigationBar( context);
+                dialog.dismiss();
+                // 滑动到阈值后触发（如关闭对话框或执行操作）
+                Toast.makeText(context, "操作已确认", Toast.LENGTH_SHORT).show();
+            }
+        });
+
+        //取消按钮
+        tvMessage.setOnClickListener(v -> {
+            dialog.dismiss();
+            MyTool.hideBottomNavigationBar(context);
+
+        });
+    }
+
+}

app/src/main/java/com/example/longyi_groundstation/Main/View/SaveLinkNameDialog.java

@@ -0,0 +1,113 @@
+package com.example.longyi_groundstation.Main.View;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.Window;
+import android.view.WindowManager;
+import android.widget.EditText;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.longyi_groundstation.Main.Activity.MainActivity;
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.R;
+
+public class SaveLinkNameDialog {
+
+    private final MainActivity context;
+    private String title;
+    private String message;
+    private String positiveButtonText;
+
+    private FlyVoid flyVoid = new FlyVoid();
+
+
+    public SaveLinkNameDialog(MainActivity context) {
+        this.context = context;
+        this.title = "错误日志";
+        this.message = "";
+        this.positiveButtonText = "确定";
+    }
+
+    // 设置弹窗标题
+    public SaveLinkNameDialog setTitle(String title) {
+        this.title = title;
+        return this;
+    }
+
+    // 设置弹窗内容
+    public SaveLinkNameDialog setMessage(String message) {
+        this.message = message;
+        return this;
+    }
+
+    // 设置确认按钮文字
+    public SaveLinkNameDialog setPositiveButtonText(String text) {
+        this.positiveButtonText = text;
+        return this;
+    }
+
+    // 显示弹窗
+    public void show() {
+        MyTool.hideBottomNavigationBar( context);
+        AlertDialog.Builder builder = new AlertDialog.Builder(context);
+
+        // 使用自定义布局
+        View view = LayoutInflater.from(context).inflate(R.layout.dialog_link_name, null);
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView tvMessage = view.findViewById(R.id.tv_message);
+        // 滑动模块
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) SlideToUnlockView unlockView = view.findViewById(R.id.unlockView);
+        // 高度输入
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) EditText et_name = view.findViewById(R.id.et_name);
+
+
+        // 添加日志
+        builder.setView(view);
+
+        AlertDialog dialog = builder.create();
+        dialog.show();
+
+        // 设置宽高
+        Window window = dialog.getWindow();
+        if (window != null) {
+            WindowManager.LayoutParams layoutParams = window.getAttributes();
+            layoutParams.width = MyTool.dpToPx(context, 300); // 或具体像素值
+            layoutParams.height = ViewGroup.LayoutParams.WRAP_CONTENT; // 或具体像素值
+            window.setAttributes(layoutParams);
+            window.setBackgroundDrawableResource(R.drawable.ffffffff_4round_bg);
+        }
+
+        unlockView.setText("滑动确认");
+        unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+            @Override
+            public void onUnlock() {
+
+                if (et_name.getText().toString().length() > 0){
+                    context.saveLink(et_name.getText().toString());
+                }else {
+                    context.saveLink(null);
+                }
+
+
+                MyTool.hideBottomNavigationBar( context);
+                dialog.dismiss();
+                // 滑动到阈值后触发（如关闭对话框或执行操作）
+                Toast.makeText(context, "操作已确认", Toast.LENGTH_SHORT).show();
+                MyTool.hideBottomNavigationBar(context);
+            }
+        });
+
+        ;
+        //取消按钮
+        tvMessage.setOnClickListener(v -> {
+            dialog.dismiss();
+            MyTool.hideBottomNavigationBar(context);
+        });
+    }
+
+}

app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java

@@ -8,7 +8,7 @@ import android.view.*;
 import android.view.animation.OvershootInterpolator;
 
 public class SlideToUnlockView extends View {
-    private static String DEFAULT_TEXT = "滑动执行";
+    private String defaultText = "滑动执行"; //
     private float progress = 0f;
     private Paint paint;
     private Paint textPaint;
@@ -23,7 +23,7 @@ public class SlideToUnlockView extends View {
     private float cornerRadius; // 背景圆角弧度
     private float thumbCornerRadius; // 滑块圆角弧度
     private int componentAlpha = 255; // 组件透明度，默认为完全不透明
-
+    public boolean isSlide = true;//是否可以滑动
 
     public interface OnUnlockListener {
         void onUnlock();
@@ -94,8 +94,7 @@ public class SlideToUnlockView extends View {
         canvas.drawRoundRect(thumbRect, thumbCornerRadius, thumbCornerRadius, paint);
 
         // 3. 绘制文本（始终可见）
-        textPaint.setAlpha(componentAlpha); // 固定不透明度
+        canvas.drawText(defaultText,
-        canvas.drawText(DEFAULT_TEXT,
                 getWidth()/2f,
                 getHeight()/2f + textPaint.getTextSize()/3,
                 textPaint);
@@ -109,6 +108,7 @@ public class SlideToUnlockView extends View {
 
     @Override
     public boolean onTouchEvent(MotionEvent event) {
+        if (isSlide){
             float eventX = event.getX();
             switch (event.getAction()) {
                 case MotionEvent.ACTION_DOWN:
@@ -121,7 +121,8 @@ public class SlideToUnlockView extends View {
                     return true;
                 case MotionEvent.ACTION_UP:
                     if (progress > 0.7f) {
-                    reboundAnimator.start();
+//                    reboundAnimator.start();
+                        isSlide = false;
                         if (listener != null) listener.onUnlock();
                     } else {
                         resetProgress();
@@ -129,18 +130,23 @@ public class SlideToUnlockView extends View {
                     return true;
             }
             return super.onTouchEvent(event);
+        }else {
+            return true;
         }
 
-    // 其他方法保持不变...
+    }
-    private void setProgress(float progress) {
+
+    // 设置进度
+    public void setProgress(float progress) {
         this.progress = progress;
         invalidate();
     }
 
     public void setText(String s) {
-        DEFAULT_TEXT = s;
+        this.defaultText = s;
     }
 
+
     public void resetProgress() {
         ValueAnimator animator = ValueAnimator.ofFloat(progress, 0);
         animator.setDuration(300);
@@ -177,10 +183,9 @@ public class SlideToUnlockView extends View {
             setText(text);
         } else {
             // 重置默认文本
-            DEFAULT_TEXT = "滑动执行";
+            this.defaultText = "滑动执行";
         }
 
-
         // 重置颜色为默认值
         bgColor = Color.parseColor("#cfcfcf");
         activeColor = Color.parseColor("#029A45");

app/src/main/java/com/example/longyi_groundstation/Main/View/StartExecuteDialog.java

@@ -3,6 +3,7 @@ package com.example.longyi_groundstation.Main.View;
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.app.AlertDialog;
+import android.os.CountDownTimer;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -15,6 +16,7 @@ import android.widget.Spinner;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import com.example.longyi_groundstation.Main.Activity.MainActivity;
 import com.example.longyi_groundstation.Main.Void.FlyVoid;
 import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
@@ -26,9 +28,11 @@ public class StartExecuteDialog {
     private String message;
     private String positiveButtonText;
     private String height = "10";
-
     private FlyVoid flyVoid = new FlyVoid();
-
+    private CountDownTimer countDownTimer;
+    private AlertDialog dialog;
+    private TextView tvStartCountdown;
+    private TextView tvStartCancel;
 
     public StartExecuteDialog(Activity context, String height) {
         this.context = context;
@@ -57,6 +61,7 @@ public class StartExecuteDialog {
     }
 
     // 显示弹窗
+    @SuppressLint("MissingInflatedId")
     public void show() {
         MyTool.hideBottomNavigationBar(context);
         AlertDialog.Builder builder = new AlertDialog.Builder(context);
@@ -64,6 +69,8 @@ public class StartExecuteDialog {
         // 使用自定义布局
         View view = LayoutInflater.from(context).inflate(R.layout.dialog_start_execute, null);
         @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView tvMessage = view.findViewById(R.id.tv_message);
+        // 滑动模块-解锁
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) SlideToUnlockView unlockView_unlock = view.findViewById(R.id.unlockView_unlock);
         // 滑动模块
         @SuppressLint({"MissingInflatedId", "LocalSuppress"}) SlideToUnlockView unlockView = view.findViewById(R.id.unlockView);
         // 高度
@@ -72,6 +79,10 @@ public class StartExecuteDialog {
         @SuppressLint({"MissingInflatedId", "LocalSuppress"}) Spinner sp_protect = view.findViewById(R.id.sp_protect);
         // 完成文字
         @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView tv_protect = view.findViewById(R.id.tv_protect);
+        // 取消执行
+        tvStartCancel = view.findViewById(R.id.tv_start_cancel);
+        // 倒计时文字
+        tvStartCountdown = view.findViewById(R.id.tv_start_countdown);
 
         //初始化下拉
         String[] onePowerOptions = {"返航", "降落", "继续飞行"};
@@ -98,7 +109,7 @@ public class StartExecuteDialog {
 
         builder.setView(view);
 
-        AlertDialog dialog = builder.create();
+        dialog = builder.create();
         dialog.show();
 
         // 设置宽高
@@ -111,27 +122,120 @@ public class StartExecuteDialog {
             window.setBackgroundDrawableResource(R.drawable.ffffffff_4round_bg);
         }
 
+        //判断是否解锁
+        if (MainActivity.isUnlock){
+            unlockView_unlock.setProgress(1f);
+            unlockView_unlock.isSlide = false;
+        }
+        unlockView_unlock.setText("滑动解锁");
+        unlockView_unlock.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+            @Override
+            public void onUnlock() {
+                //解锁飞机
+                flyVoid.requestArm();
+                new Thread(() -> {
+                    for (int i = 0; i < 6; i++) {
+                        try {
+                            Thread.sleep(490);
+                            if (i == 5){
+                                context.runOnUiThread(() -> {
+                                    unlockView_unlock.setProgress(0f);
+                                    unlockView_unlock.resetProgress();
+                                    Toast.makeText(context, "解锁失败", Toast.LENGTH_SHORT).show();
+                                });
+                                break;
+                            }
+
+                            if (MainActivity.isUnlock){
+                                // 滑动到阈值后触发（如关闭对话框或执行操作）
+                                context.runOnUiThread(() -> {
+                                    Toast.makeText(context, "解锁成功", Toast.LENGTH_SHORT).show();
+                                    unlockView_unlock.setProgress(1f);
+                                    unlockView_unlock.isSlide = false;
+                                });
+                                break;
+                            }
+
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                    }
+                }).start();
+            }
+        });
 
         unlockView.setText("滑动执行");
         unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
             @Override
             public void onUnlock() {
-//                // 发送命令
+                if (MainActivity.isUnlock){
-                // 调用FlyVoid中的方法发送航线到飞控
+                    // 开始5秒倒计时
-                flyVoid.requestMissionStart(0,0);
+                    startCountdown();
-                MyTool.hideBottomNavigationBar( context);
+                }else {
-                dialog.dismiss();
+                    Toast.makeText(context, "请先解锁", Toast.LENGTH_SHORT).show();
-                // 滑动到阈值后触发（如关闭对话框或执行操作）
+                    unlockView.isSlide = true;
-                Toast.makeText(context, "开始执行航线", Toast.LENGTH_SHORT).show();
+                    unlockView.resetProgress();
+                }
             }
         });
 
-        ;
         //取消按钮
         tvMessage.setOnClickListener(v -> {
+            cancelCountdown();
             dialog.dismiss();
             MyTool.hideBottomNavigationBar(context);
         });
+
+        // 取消执行按钮
+        tvStartCancel.setOnClickListener(v -> {
+            cancelCountdown();
+            // 隐藏倒计时和取消按钮
+            tvStartCountdown.setVisibility(View.GONE);
+            tvStartCancel.setVisibility(View.GONE);
+            // 重置滑动条
+            unlockView.isSlide = true;
+            unlockView.resetProgress();
+        });
+    }
+
+    // 开始5秒倒计时
+    private void startCountdown() {
+        // 显示倒计时和取消按钮
+        tvStartCountdown.setVisibility(View.VISIBLE);
+        tvStartCancel.setVisibility(View.VISIBLE);
+        tvStartCountdown.setText("执行倒计时 5");
+
+        // 创建倒计时器
+        countDownTimer = new CountDownTimer(3000, 1000) {
+            @Override
+            public void onTick(long millisUntilFinished) {
+                int seconds = (int) (millisUntilFinished / 1000);
+                tvStartCountdown.setText("执行倒计时 " + seconds);
+            }
+
+            @Override
+            public void onFinish() {
+                // 倒计时结束，执行任务
+                if (dialog != null && dialog.isShowing()) {
+                    dialog.dismiss();
+                }
+                MyTool.hideBottomNavigationBar(context);
+                flyVoid.requestMissionStart(0, 0);
+                Toast.makeText(context, "开始执行航线", Toast.LENGTH_SHORT).show();
+
+                // 隐藏倒计时和取消按钮
+                tvStartCountdown.setVisibility(View.GONE);
+                tvStartCancel.setVisibility(View.GONE);
+            }
+        }.start();
+    }
+
+    // 取消倒计时
+    private void cancelCountdown() {
+        if (countDownTimer != null) {
+            countDownTimer.cancel();
+            countDownTimer = null;
+        }
     }
 
     private void initSpinners() {

app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java

@@ -35,19 +35,15 @@ public class AllView {
     public TextView tv_power;
     public TextView tv_connect;
     public ImageView iv_error;
-    public LinearLayout ll_line_fly_layout;
     public LinearLayout ll_pitch;
     public CircularLinearLayout cll_layout;
     public ImageView iv_yaw;
     public View v_welkin;
     public TextView tv_yaw;
     public View v_mainDisplay;
-    public ImageView iv_location_me;
-//    public ImageView iv_line_fly;
     public LinearLayout ll_turn_back;
     public LinearLayout ll_lift_off;
     public LinearLayout ll_icon_land;
-    public LinearLayout ll_mode_select;
     public RecyclerView rv_error_list;
     public LinearLayout ll_left_error_layout;
     public LinearLayout ll_setting;
@@ -56,16 +52,11 @@ public class AllView {
     public LinearLayout ll_left_open;
     public LinearLayout ll_function_layout;
     public LinearLayout ll_clear;
-    public LinearLayout ll_antenna;
     public LinearLayout ll_map;
-    public LinearLayout ll_one_word;
     public LinearLayout ll_execute_line;
-    public LinearLayout ll_joystick;
-    public LinearLayout ll_fire;
     public LinearLayout ll_bombing;
     public LinearLayout ll_shout;
     public LinearLayout ll_searchlight;
-    public LinearLayout ll_thoroughfare;
     public LinearLayout ll_hook;
     public ImageView iv_ptz_top;
     public ImageView iv_ptz_left;
@@ -83,8 +74,8 @@ public class AllView {
     public LinearLayout ll_text;
     public LinearLayout ll_link;
     public LinearLayout ll_link_save;
-    public LinearLayout ll_link_fun1;
+    public TextView tv_link_fun1;
-    public LinearLayout ll_link_fun2;
+    public TextView tv_link_fun2;
     public LinearLayout ll_link_back;
     public LinearLayout ll_create_link_layout;
     public RecyclerView rv_create_link_list;
@@ -94,9 +85,19 @@ public class AllView {
     public LinearLayout ll_link_start_fun1;
     public LinearLayout ll_link_start_fun2;
     public LinearLayout ll_link_start_back;
+    public TextView tv_add_link;
+    public LinearLayout ll_assistance_layout;
+    public EditText et_link_name;
+    public LinearLayout ll_location_me;
+    public EditText et_link_search;
+    public TextView tv_test1;
+    public ImageView iv_open_link_list;
+    public LinearLayout ll_clear_fly_line;
+    public LinearLayout ll_create_link_item_layout;
 
-    public SlideToUnlockView unlockView;
+
-    public RelativeLayout rl_unlock;
+//    public SlideToUnlockView unlockView;
+//    public RelativeLayout rl_unlock;
     public EditText et_start_execute_height;
 
 
@@ -119,18 +120,15 @@ public class AllView {
         tv_power = activity.findViewById(R.id.tv_power);
         tv_connect = activity.findViewById(R.id.tv_connect);
         iv_error = activity.findViewById(R.id.iv_error);
-        ll_line_fly_layout = activity.findViewById(R.id.ll_line_fly_layout);
         ll_pitch = activity.findViewById(R.id.ll_pitch);
         cll_layout = activity.findViewById(R.id.cll_layout);
         iv_yaw = activity.findViewById(R.id.iv_yaw);
         v_welkin = activity.findViewById(R.id.v_welkin);
         tv_yaw = activity.findViewById(R.id.tv_yaw);
         v_mainDisplay = activity.findViewById(R.id.v_mainDisplay);
-        iv_location_me = activity.findViewById(R.id.iv_location_me);
         ll_turn_back = activity.findViewById(R.id.ll_turn_back);
         ll_lift_off = activity.findViewById(R.id.ll_lift_off);
         ll_icon_land = activity.findViewById(R.id.ll_icon_land);
-        ll_mode_select = activity.findViewById(R.id.ll_mode_select);
         rv_error_list = activity.findViewById(R.id.rv_error_list);
         ll_left_error_layout = activity.findViewById(R.id.ll_left_error_layout);
         ll_setting = activity.findViewById(R.id.ll_setting);
@@ -139,16 +137,11 @@ public class AllView {
         ll_left_open = activity.findViewById(R.id.ll_left_open);
         ll_function_layout = activity.findViewById(R.id.ll_function_layout);
         ll_clear = activity.findViewById(R.id.ll_clear);
-        ll_antenna = activity.findViewById(R.id.ll_antenna);
         ll_map = activity.findViewById(R.id.ll_map);
-        ll_one_word = activity.findViewById(R.id.ll_one_word);
         ll_execute_line = activity.findViewById(R.id.ll_execute_line);
-        ll_joystick = activity.findViewById(R.id.ll_joystick);
-        ll_fire = activity.findViewById(R.id.ll_fire);
         ll_bombing = activity.findViewById(R.id.ll_bombing);
         ll_shout = activity.findViewById(R.id.ll_shout);
         ll_searchlight = activity.findViewById(R.id.ll_searchlight);
-        ll_thoroughfare = activity.findViewById(R.id.ll_thoroughfare);
         ll_hook = activity.findViewById(R.id.ll_hook);
         iv_ptz_top = activity.findViewById(R.id.iv_ptz_top);
         iv_ptz_left = activity.findViewById(R.id.iv_ptz_left);
@@ -166,8 +159,8 @@ public class AllView {
         ll_text= activity.findViewById(R.id.ll_text);
         ll_link = activity.findViewById(R.id.ll_link);
         ll_link_save = activity.findViewById(R.id.ll_link_save);
-        ll_link_fun1 = activity.findViewById(R.id.ll_link_fun1);
+        tv_link_fun1 = activity.findViewById(R.id.tv_link_fun1);
-        ll_link_fun2 = activity.findViewById(R.id.ll_link_fun2);
+        tv_link_fun2 = activity.findViewById(R.id.tv_link_fun2);
         ll_link_back = activity.findViewById(R.id.ll_link_back);
         ll_create_link_layout = activity.findViewById(R.id.ll_create_link_layout);
         rv_create_link_list = activity.findViewById(R.id.rv_create_link_list);
@@ -177,9 +170,18 @@ public class AllView {
         ll_link_start_fun1 = activity.findViewById(R.id.ll_link_start_fun1);
         ll_link_start_fun2 = activity.findViewById(R.id.ll_link_start_fun2);
         ll_link_start_back = activity.findViewById(R.id.ll_link_start_back);
-        unlockView = activity.findViewById(R.id.unlockView);
+//        unlockView = activity.findViewById(R.id.unlockView);
-        rl_unlock = activity.findViewById(R.id.rl_unlock);
+//        rl_unlock = activity.findViewById(R.id.rl_unlock);
+        ll_location_me = activity.findViewById(R.id.ll_location_me);
         et_start_execute_height = activity.findViewById(R.id.et_start_execute_height);
+        tv_add_link = activity.findViewById(R.id.tv_add_link);
+        ll_assistance_layout = activity.findViewById(R.id.ll_assistance_layout);
+        et_link_name = activity.findViewById(R.id.et_link_name);
+        et_link_search = activity.findViewById(R.id.et_link_search);
+        tv_test1 = activity.findViewById(R.id.tv_test1);
+        ll_clear_fly_line = activity.findViewById(R.id.ll_clear_fly_line);
+        ll_create_link_item_layout = activity.findViewById(R.id.ll_create_link_item_layout);
+        iv_open_link_list = activity.findViewById(R.id.iv_open_link_list);
 
     }
 }

app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java

@@ -80,10 +80,10 @@ public class FlyVoid {
         isParamUpdateComplete = isComplete;
     }
 
-    public void setAttitude(Context content, AllView allView, double roll, double pitch, double yaw) {
+    public void setAttitude(Context content, AllView allView, double roll, double pitch, int yaw) {
         //设置偏航
 //        allView.iv_yaw.setRotation((int) Math.round(yaw * 57.2));
-        allView.iv_yaw.setRotation((int) Math.toDegrees(yaw * -1));
+        allView.iv_yaw.setRotation((yaw + 360) * -1);
 
         //设置翻滚
         allView.cll_layout.setPivotX((float) allView.cll_layout.getWidth() / 2);
@@ -375,7 +375,7 @@ public class FlyVoid {
 
         // 创建 ProgressDialog
         android.app.ProgressDialog progressDialog = new android.app.ProgressDialog(context);
-        progressDialog.setTitle("任务执行中");
+        progressDialog.setTitle("任务上传中");
         progressDialog.setMessage("正在发送航线到飞控...");
         progressDialog.setProgressStyle(android.app.ProgressDialog.STYLE_HORIZONTAL);
         progressDialog.setCancelable(false); // 设置不可手动关闭
@@ -419,7 +419,7 @@ public class FlyVoid {
                             sentWaypoints = seq + 1;
 
                             // 更新发送进度
-                            final int progress = (int) ((sentWaypoints / (float) totalWaypoints) * 50); // 发送占50%进度
+                            final int progress = (int) ((sentWaypoints / (float) totalWaypoints) * 92); // 发送占50%进度
                             context.runOnUiThread(() -> {
                                 progressDialog.setProgress(progress);
                             });
@@ -455,8 +455,7 @@ public class FlyVoid {
                     progressDialog.dismiss();
 
                     if (verifyResult) {
-                        Toast.makeText(context, "航线已发送到飞控并校验通过", Toast.LENGTH_SHORT).show();
+                        Toast.makeText(context, "航线上传成功", Toast.LENGTH_SHORT).show();
-                        startExecuteDialog.show();
                     } else {
                         Toast.makeText(context, "航线发送完成但校验失败", Toast.LENGTH_SHORT).show();
                     }
@@ -475,6 +474,60 @@ public class FlyVoid {
     }
 
 
+    /**
+     * 方法：整理收到的点位，并且转换成mavlink可以识别的格式
+     *
+     * @cuijingzhou
+     * */
+    private void creatDataList (ArrayList<CreateLink> createLinkList, String height) {
+        ArrayList<msg_mission_item_int> dataList = new ArrayList<>();
+        //home点，默认第一个为home点
+        msg_mission_item_int waypoint = new msg_mission_item_int();
+        waypoint.target_system = 1;      // 无人机系统ID
+        waypoint.target_component = 1;   // 无人机组件ID
+        waypoint.seq = 0;                // 航点序号
+        waypoint.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; // 坐标系
+        waypoint.command = MAV_CMD.MAV_CMD_NAV_WAYPOINT; // 航点指令
+        waypoint.current = 1 ;  // 第一个航点设为当前航点
+        waypoint.autocontinue = 1;       // 自动继续到下一个航点
+        waypoint.param1 = 0;             // 停留时间(秒)
+        waypoint.param2 = 0;             // 接受半径(m)
+        waypoint.param3 = 0;             // 通过半径(m)
+        waypoint.param4 = 0;             // 航向角
+        waypoint.x = 0;
+        waypoint.y = 0;
+        waypoint.z = 0;         // 高度(相对)
+        dataList.add(waypoint);
+        //起飞，将飞机拉起来
+        msg_mission_item_int waypoint1 = new msg_mission_item_int();
+        waypoint1.target_system = 1;      // 无人机系统ID
+        waypoint1.target_component = 1;   // 无人机组件ID
+        waypoint1.seq = 1;                // 航点序号
+        waypoint1.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; // 坐标系
+        waypoint1.command = MAV_CMD.MAV_CMD_NAV_TAKEOFF; // 航点指令
+        waypoint1.current = 0;  // 第一个航点设为当前航点
+        waypoint1.autocontinue = 1;       // 自动继续到下一个航点
+        waypoint1.param1 = 0;             // 停留时间(秒)
+        waypoint1.param2 = 0;             // 接受半径(m)
+        waypoint1.param3 = 0;             // 通过半径(m)
+        waypoint1.param4 = 0;             // 航向角
+        waypoint1.x = 0;
+        waypoint1.y = 0;
+        waypoint1.z = Float.parseFloat(height);         // 高度(相对)
+        waypoint1.mission_type = MAV_MISSION_TYPE.MAV_MISSION_TYPE_MISSION;
+
+//        //添加航点
+//        for (int i = 0; i < createLinkList.size(); i++) {
+//            if (){
+//
+//            }
+//        }
+
+
+    }
+
+
+
     /**
      * 方法：给飞控发送点位
      *
@@ -763,6 +816,4 @@ public class FlyVoid {
     }
 
 
-
-
 }

app/src/main/java/com/example/longyi_groundstation/Main/Void/MapVoid.java

@@ -8,6 +8,8 @@ import android.graphics.Paint;
 import android.graphics.Rect;
 import android.location.Location;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Looper;
 import android.util.Log;
 import android.view.View;
 import android.widget.TextView;
@@ -118,6 +120,115 @@ public class MapVoid {
 
 
 
+    // 在成员变量部分添加
+    public List<LatLng> flightTrackPoints = new ArrayList<>(); // 飞行轨迹点
+    public Polyline flightTrackPolyline = null; // 飞行轨迹线
+    public Handler flightTrackHandler = new Handler(Looper.getMainLooper()); // 轨迹更新Handler
+    public Runnable flightTrackRunnable; // 轨迹更新任务
+    public boolean isTracking = false; // 是否正在追踪
+    /**
+     * 开始飞行轨迹跟踪
+     */
+    public void startFlightTracking() {
+        if (isTracking) return;
+
+        isTracking = true;
+        flightTrackPoints.clear();
+
+        flightTrackRunnable = new Runnable() {
+            @Override
+            public void run() {
+                try {
+                    if (isTracking) {
+                        // 获取当前飞机位置
+                        double lat = MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000;
+                        double lon = MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000;
+
+                        // 检查坐标有效性
+                        if (lat != 0 && lon != 0) {
+                            // 转换坐标
+                            double[] convertedCoords = CoordinateConverter.wgs84ToGcj02(lon, lat);
+                            if (convertedCoords != null && convertedCoords.length >= 2) {
+                                LatLng currentPos = new LatLng(convertedCoords[1], convertedCoords[0]);
+
+                                // 添加到轨迹点列表
+                                flightTrackPoints.add(currentPos);
+
+                                // 更新轨迹线
+                                updateFlightTrack();
+                            }
+                        }
+                        // 0.3秒后再次执行
+                        flightTrackHandler.postDelayed(this, 600);
+                    }
+                } catch (Exception e) {
+//                    e.printStackTrace();
+                    Log.d(TAG, "error: "+e);
+                    // 2秒后再次执行
+                    flightTrackHandler.postDelayed(this, 600);
+                }
+
+            }
+        };
+
+        // 立即开始第一次执行
+        flightTrackHandler.post(flightTrackRunnable);
+    }
+
+    /**
+     * 停止飞行轨迹跟踪
+     */
+    public void stopFlightTracking() {
+        isTracking = false;
+        if (flightTrackRunnable != null) {
+            flightTrackHandler.removeCallbacks(flightTrackRunnable);
+        }
+    }
+
+    /**
+     * 更新飞行轨迹线
+     */
+    public void updateFlightTrack() {
+        // 移除旧的轨迹线
+        if (flightTrackPolyline != null) {
+            flightTrackPolyline.remove();
+        }
+
+        // 控制轨迹点数量不超过20个
+        if (flightTrackPoints.size() > 2048) {
+            flightTrackPoints.remove(0); // 删除最后一个点
+        }
+
+        List<LatLng> sparsePoints = new ArrayList<>();
+        // 每5个点取1个点，减少点密度
+        for (int i = 0; i < flightTrackPoints.size(); i += 5) {
+            sparsePoints.add(flightTrackPoints.get(i));
+        }
+
+        flightTrackPolyline = allView.map.getMap().addPolyline(new PolylineOptions()
+                .addAll(sparsePoints)
+                .width(12)
+                .color(Color.RED)
+                .setDottedLine(true)
+                .setDottedLineType(PolylineOptions.DOTTEDLINE_TYPE_CIRCLE));
+
+    }
+
+    /**
+     * 清除飞行轨迹
+     */
+    public void clearFlightTrack() {
+        stopFlightTracking();
+
+        // 移除轨迹线
+        if (flightTrackPolyline != null) {
+            flightTrackPolyline.remove();
+            flightTrackPolyline = null;
+        }
+
+        // 清空轨迹点
+        flightTrackPoints.clear();
+    }
 
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java

@@ -20,8 +20,10 @@ public class MyReceiver extends BroadcastReceiver {
     public static JSONObject PARAM_VALUE_json = null;//飞机基础飞行模式
     public static JSONObject RC_CHANNELS_json = null;//RC通道监控
     public static JSONObject VFR_HUD_json = null;//油门量
-    public static JSONObject MISSION_REQUEST_json = null;//路线上传报错回调
+    public static JSONObject MISSION_REQUEST_json = null;//航线上传报错回调
     public static JSONObject MISSION_ACK_json = null;//路线上传穿插回调
+    public static JSONObject MISSION_CURRENT_json = null;//路线上传穿插回调
+
 
 
     //ATTITUDE
@@ -93,7 +95,10 @@ public class MyReceiver extends BroadcastReceiver {
     }
     private OnMissionAckListener MissionAcklistener;
 
-
+    public interface OnMissionCurrentListener {
+        void onMissionCurrent(JSONObject data);
+    }
+    private OnMissionCurrentListener MissionCurrentlistener;
 
 
     public void setATTITUDEListener(OnATTITUDEListener listener) {
@@ -136,7 +141,9 @@ public class MyReceiver extends BroadcastReceiver {
     public void setMissionAcklistener(OnMissionAckListener listener) {
         this.MissionAcklistener = listener;
     }
-
+    public void setMissionCurrentlistener(OnMissionCurrentListener listener) {
+        this.MissionCurrentlistener = listener;
+    }
 
     @Override
     public void onReceive(Context context, Intent intent) {
@@ -360,5 +367,25 @@ public class MyReceiver extends BroadcastReceiver {
                 Log.e("cuijingzhou-e Broadcast_MISSION_ACK", e.toString());
             }
         }
+
+        if ("Broadcast_MISSION_CURRENT".equals(intent.getAction())) {
+            try {
+                String receivedData = intent.getStringExtra("data");
+                if (receivedData != null) {
+                    MISSION_CURRENT_json = new JSONObject(receivedData);
+                    MISSION_CURRENT_json.optString("jsonObject");
+//                    Log.d("cuijingzhou", "onReceive: " + receivedData);
+                    // 触发回调
+                    if (MissionCurrentlistener != null) {
+                        MissionCurrentlistener.onMissionCurrent(MISSION_CURRENT_json);
+                    }
+                }
+
+            } catch (Exception e) {
+                Log.e("cuijingzhou-e Broadcast_MISSION_CURRENT", e.toString());
+            }
+        }
+
+
     }
 }

app/src/main/java/com/example/longyi_groundstation/Main/Void/SQLClass.java

@@ -22,7 +22,7 @@ import java.util.List;
  * // 添加一个CreateLink列表
  * ArrayList<CreateLink> createLinkList = new ArrayList<>();
  * // ... 添加CreateLink对象到列表中
- * boolean success = sqlClass.addCreateLinkList("路线1", createLinkList);
+ * boolean success = sqlClass.addCreateLinkList("航线1", createLinkList);
  *
  * // 获取所有列表信息
  * List<SQLClass.LinkListInfo> listInfos = sqlClass.getAllLinkListInfo();
@@ -31,7 +31,7 @@ import java.util.List;
  * ArrayList<CreateLink> retrievedList = sqlClass.getCreateLinkList(1);
  *
  * // 更新列表
- * sqlClass.updateCreateLinkList(1, "新路线名称", updatedCreateLinkList);
+ * sqlClass.updateCreateLinkList(1, "新航线名称", updatedCreateLinkList);
  *
  * // 删除列表
  * sqlClass.deleteCreateLinkList(1);
@@ -65,6 +65,10 @@ public class SQLClass extends SQLiteOpenHelper {
     private static final String COLUMN_WAYPOINT_INDEX = "waypoint_index";
     private static final String COLUMN_LATITUDE = "latitude";
     private static final String COLUMN_LONGITUDE = "longitude";
+    private static final String COLUMN_BOM1_SELECT = "bom1_select";
+    private static final String COLUMN_BOM2_SELECT = "bom2_select";
+
+
     private static final String COLUMN_ITEM_ORDER = "item_order"; // 项在列表中的顺序
 
     // 创建主表的SQL语句
@@ -120,8 +124,8 @@ public class SQLClass extends SQLiteOpenHelper {
      */
     public boolean addCreateLinkList(String listName, ArrayList<CreateLink> createLinkList) {
         // 检查是否已达到最大数量限制
-        if (getLinkListCount() >= 10) {
+        if (getLinkListCount() >= 10000) {
-            Log.w(TAG, "已达到最大存储数量限制(10个列表)，无法添加新列表");
+            Log.w(TAG, "已达到最大存储数量限制(10000个列表)，无法添加新列表");
             return false;
         }
 
@@ -235,6 +239,8 @@ public class SQLClass extends SQLiteOpenHelper {
                 int waypointIndex = cursor.getInt(cursor.getColumnIndexOrThrow(COLUMN_WAYPOINT_INDEX));
                 double latitude = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_LATITUDE));
                 double longitude = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_LONGITUDE));
+//                boolean bom1_select = cursor.getInt(cursor.getColumnIndexOrThrow(COLUMN_BOM1_SELECT)) == 1;
+//                boolean bom2_select = cursor.getInt(cursor.getColumnIndexOrThrow(COLUMN_BOM2_SELECT)) == 1;
 
                 LatLng latLng = new LatLng(latitude, longitude);
                 CreateLink createLink = new CreateLink(name, height, speed, waypointIndex, latLng);
@@ -419,6 +425,14 @@ public class SQLClass extends SQLiteOpenHelper {
         private int listId;
         private String listName;
         private long createdTime;
+        private boolean isSelect;
+
+        public LinkListInfo(int listId, String listName, long createdTime, boolean isSelect) {
+            this.listId = listId;
+            this.listName = listName;
+            this.createdTime = createdTime;
+            this.isSelect = isSelect;
+        }
 
         public LinkListInfo(int listId, String listName, long createdTime) {
             this.listId = listId;
@@ -430,12 +444,32 @@ public class SQLClass extends SQLiteOpenHelper {
             return listId;
         }
 
+        public void setListId(int listId) {
+            this.listId = listId;
+        }
+
         public String getListName() {
             return listName;
         }
 
+        public void setListName(String listName) {
+            this.listName = listName;
+        }
+
         public long getCreatedTime() {
             return createdTime;
         }
+
+        public void setCreatedTime(long createdTime) {
+            this.createdTime = createdTime;
+        }
+
+        public boolean isSelect() {
+            return isSelect;
+        }
+
+        public void setSelect(boolean select) {
+            isSelect = select;
+        }
     }
 }

app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java

@@ -172,6 +172,18 @@ public class BroadcastUtil {
         intent.clone();
     }
 
+    /**
+     * MAVLINK_MSG_ID_MISSION_CURRENT
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_MISSION_CURRENT(Context context, String data) {
+        Intent intent = new Intent("Broadcast_MISSION_CURRENT");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
 
 
 }

app/src/main/java/com/example/longyi_groundstation/Util/Url.java

@@ -0,0 +1,18 @@
+package com.example.longyi_groundstation.Util;
+
+public class Url {
+
+    public static String getBaseUrl() {
+        return "https://api.longyi-uav-cloud.com";
+    }
+
+    /**
+     * 方法：登录接口
+     *
+     * @cuijingzhou
+     */
+    public static String LoginUrl() {
+        return getBaseUrl() + "/admin-api/system/auth/login";
+    }
+
+}

app/src/main/res/drawable/custom_seekbar_progress.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:id="@android:id/background">
+        <shape>
+            <solid android:color="#ffffff" />
+        </shape>
+        <corners android:radius="5dp" />
+    </item>
+    <item android:id="@android:id/progress">
+        <clip>
+            <shape>
+                <solid android:color="#029a45" />
+            </shape>
+        </clip>
+    </item>
+</layer-list>

app/src/main/res/drawable/custom_seekbar_thumb.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="oval">
+    <solid android:color="#029a45" />
+    <size android:width="12dp" android:height="12dp" />
+</shape>

app/src/main/res/drawable/ff029a45_2round_1stroke_bg.xml

@@ -3,10 +3,10 @@
 
     <corners android:radius="4dp"/>
 
-    <solid android:color="#60B964"/>
-
     <stroke
         android:width="0.5dp"
         android:color="#303030"/>
 
+    <solid android:color="#029A45"/>
+
 </shape>

app/src/main/res/drawable/ff029a45_4round_1stroke_bg.xml

@@ -3,10 +3,10 @@
 
     <corners android:radius="4dp"/>
 
+    <solid android:color="#029A45"/>
+
     <stroke
         android:width="0.5dp"
         android:color="#303030"/>
 
-    <solid android:color="#62A7F0"/>
-
 </shape>

app/src/main/res/drawable/ff33b138_1round_1stroke.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners android:radius="1dp" />
+    <stroke android:color="#33B138" android:width="0.4dp" />
+
+</shape>

app/src/main/res/drawable/ffdf4b40_4round_1stroke_bg.xml

@@ -3,7 +3,7 @@
 
     <corners android:radius="4dp"/>
 
-    <solid android:color="#DD635A"/>
+    <solid android:color="#DF4B40"/>
 
     <stroke
         android:width="0.5dp"

app/src/main/res/drawable/ffffffff_4round_1stroke_bg.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners android:radius="4dp"/>
+
+    <stroke android:width="0.4dp" android:color="#ffffff"/>
+
+</shape>

app/src/main/res/drawable/ffffffff_4round_bg.xml

@@ -2,5 +2,5 @@
 <shape xmlns:android="http://schemas.android.com/apk/res/android">
     <solid android:color="#FFFFFF"/>
     <corners android:radius="4dp"/>
-    <stroke android:width="1dp" android:color="#E0E0E0"/>
+    <stroke android:width="0.5dp" android:color="#E0E0E0"/>
 </shape>

app/src/main/res/drawable/x80000000_4round_1stroke_bg.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners android:radius="4dp" />
+    <stroke android:color="#33B138" android:width="0.4dp" />
+    <solid android:color="#B6000000"/>
+
+</shape>

app/src/main/res/layout/activity_login.xml

@@ -57,34 +57,8 @@
 <!--            android:layout_width="match_parent"-->
 <!--            android:layout_height="wrap_content">-->
 
-<!--            <RadioGroup-->
+<!--            -->
-<!--                android:layout_centerVertical="true"-->
+<!--            -->
-<!--                android:id="@+id/rg_layout"-->
-<!--                android:orientation="vertical"-->
-<!--                android:layout_width="wrap_content"-->
-<!--                android:layout_height="wrap_content">-->
-
-<!--                <androidx.appcompat.widget.AppCompatRadioButton-->
-<!--                    android:textColor="#ffffff"-->
-<!--                    android:checked="true"-->
-<!--                    android:id="@+id/rb_bt1"-->
-<!--                    android:textSize="12sp"-->
-<!--                    android:text="串口"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="20dp"/>-->
-
-<!--                <androidx.appcompat.widget.AppCompatRadioButton-->
-<!--                    android:textColor="#ffffff"-->
-<!--                    android:layout_marginTop="15dp"-->
-<!--                    android:id="@+id/rb_bt2"-->
-<!--                    android:textSize="12sp"-->
-<!--                    android:text="UDP"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="20dp"/>-->
-
-
-<!--            </RadioGroup>-->
-
 <!--            <EditText-->
 <!--                android:layout_marginTop="45dp"-->
 <!--                android:id="@+id/et_port"-->

app/src/main/res/layout/activity_main.xml

@@ -499,6 +499,7 @@
                     android:padding="5dp">
 
                     <TextView
+                        android:id="@+id/tv_test1"
                         android:layout_width="18dp"
                         android:layout_height="18dp"
                         android:gravity="center"
@@ -546,25 +547,6 @@
 
         </LinearLayout>
 
-        <!-- 滑动解锁飞机  -->
-        <RelativeLayout
-            android:visibility="gone"
-            android:id="@+id/rl_unlock"
-            android:layout_width="120dp"
-            android:layout_height="42dp"
-            android:layout_below="@+id/ll_title"
-            android:layout_centerHorizontal="true">
-
-            <com.example.longyi_groundstation.Main.View.SlideToUnlockView
-                android:id="@+id/unlockView"
-                android:layout_width="wrap_content"
-                android:layout_height="35dp"
-                android:layout_margin="8dp"
-                android:background="#00000000" />
-
-        </RelativeLayout>
-
-
         <!-- 左侧功能布局 -->
         <RelativeLayout
             android:layout_width="wrap_content"
@@ -576,6 +558,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content">
 
+                <!--  异常列表  -->
                 <LinearLayout
                     android:id="@+id/ll_left_error_layout"
                     android:layout_width="wrap_content"
@@ -593,23 +576,222 @@
 
                 </LinearLayout>
 
+                <!--  初始化航线列表  -->
+
                 <LinearLayout
                     android:id="@+id/ll_create_link_layout"
+                    android:minHeight="35dp"
+                    android:orientation="horizontal"
                     android:layout_width="wrap_content"
                     android:layout_height="match_parent"
+                    android:visibility="gone">
+
+                    <LinearLayout
+                        android:id="@+id/ll_create_link_item_layout"
+                        android:layout_width="316dp"
+                        android:layout_height="wrap_content"
+                        android:layout_marginLeft="3dp"
                         android:layout_marginTop="3dp"
                         android:background="@drawable/xbb303030_4round_bg"
+                        android:gravity="center_horizontal"
                         android:orientation="vertical"
-                    android:visibility="gone">
+                        android:padding="3dp"
+                        android:visibility="visible">
+
+                        <LinearLayout
+                            android:layout_width="310dp"
+                            android:layout_height="25dp">
+
+                            <LinearLayout
+                                android:layout_width="0dp"
+                                android:layout_height="25dp"
+                                android:layout_weight="1"
+                                android:background="@drawable/ffffffff_4round_1stroke_bg">
+
+                                <LinearLayout
+                                    android:layout_width="match_parent"
+                                    android:layout_height="25dp"
+                                    android:layout_weight="1"
+                                    android:background="@drawable/ffffffff_4round_bg"
+                                    android:gravity="center_vertical"
+                                    android:orientation="horizontal"
+                                    android:padding="2dp">
+
+                                    <TextView
+                                        android:layout_width="wrap_content"
+                                        android:layout_height="match_parent"
+                                        android:background="#ffffff"
+                                        android:gravity="center"
+                                        android:paddingLeft="5dp"
+                                        android:paddingRight="5dp"
+                                        android:text="航线名"
+                                        android:textColor="#303030"
+                                        android:textSize="8sp" />
+
+                                    <View
+                                        android:layout_width="0.3dp"
+                                        android:layout_height="15dp"
+                                        android:background="#cdcdcd" />
+
+                                    <EditText
+                                        android:id="@+id/et_link_name"
+                                        android:layout_width="0dp"
+                                        android:layout_height="25dp"
+                                        android:layout_weight="1"
+                                        android:background="#ffffff"
+                                        android:gravity="center"
+                                        android:hint="请输入航线名称"
+                                        android:textColor="#303030"
+                                        android:textSize="7sp" />
+
+
+                                </LinearLayout>
+
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginLeft="2dp"
+                                android:background="@drawable/ffffffff_4round_1stroke_bg"
+                                android:padding="0.5dp">
+
+                                <LinearLayout
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="match_parent"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_vertical">
+
+                                    <TextView
+                                        android:layout_width="25dp"
+                                        android:layout_height="25dp"
+                                        android:gravity="center"
+                                        android:text="全部"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                    <TextView
+                                        android:id="@+id/tv_link_fun1"
+                                        android:layout_width="34dp"
+                                        android:layout_height="22dp"
+                                        android:background="@drawable/ff029a45_4round_1stroke_bg"
+                                        android:gravity="center"
+                                        android:text="航线反转"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                    <TextView
+                                        android:id="@+id/tv_link_fun2"
+                                        android:layout_width="34dp"
+                                        android:layout_height="22dp"
+                                        android:layout_marginLeft="1dp"
+                                        android:layout_marginRight="1dp"
+                                        android:background="@drawable/ff029a45_4round_1stroke_bg"
+                                        android:gravity="center"
+                                        android:text="清除全部"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
+
+                            </LinearLayout>
+
+                        </LinearLayout>
+
+                        <LinearLayout
+                            android:layout_width="310dp"
+                            android:layout_height="25dp"
+                            android:layout_marginTop="2dp"
+                            android:background="@drawable/b2101010_4round_1stroke_bg"
+                            android:orientation="horizontal">
+
+                            <TextView
+                                android:id="@+id/tv_title"
+                                android:layout_width="20dp"
+                                android:layout_height="match_parent"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="航点"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+                            <TextView
+                                android:id="@+id/et_height"
+                                android:layout_width="30dp"
+                                android:layout_height="match_parent"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="高度"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+                            <TextView
+                                android:layout_width="40dp"
+                                android:layout_height="match_parent"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="速度(m/s)"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+                            <TextView
+                                android:id="@+id/et_lat"
+                                android:layout_width="60dp"
+                                android:layout_height="match_parent"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="纬度（lon）"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+
+                            <TextView
+                                android:id="@+id/et_lon"
+                                android:layout_width="60dp"
+                                android:layout_height="match_parent"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="经度（lat）"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+
+                            <TextView
+                                android:id="@+id/tv_del"
+                                android:layout_width="match_parent"
+                                android:layout_height="match_parent"
+                                android:layout_centerInParent="true"
+                                android:background="@drawable/ff33b138_1round_1stroke"
+                                android:gravity="center"
+                                android:text="功能"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
+
+
+                        </LinearLayout>
 
                         <androidx.recyclerview.widget.RecyclerView
                             android:id="@+id/rv_create_link_list"
-                        android:layout_width="wrap_content"
+                            android:layout_width="310dp"
                             android:layout_height="match_parent" />
 
 
                     </LinearLayout>
 
+                    <ImageView
+                        android:id="@+id/iv_open_link_list"
+                        android:padding="5dp"
+                        android:src="@mipmap/icon_expand"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:layout_margin="5dp"
+                        android:layout_width="25dp"
+                        android:layout_height="25dp"/>
+
+                </LinearLayout>
+
+
+
+                <!--  所有航线  -->
                 <LinearLayout
                     android:id="@+id/ll_all_link_layout"
                     android:layout_width="wrap_content"
@@ -617,13 +799,77 @@
                     android:layout_marginLeft="3dp"
                     android:layout_marginTop="3dp"
                     android:background="@drawable/xbb303030_4round_bg"
+                    android:gravity="center_horizontal"
                     android:orientation="vertical"
+                    android:padding="2dp"
                     android:visibility="gone">
 
+                    <LinearLayout
+                        android:layout_width="190dp"
+                        android:layout_height="wrap_content"
+                        android:background="@drawable/ffffffff_4round_1stroke_bg"
+                        android:orientation="horizontal"
+                        android:padding="2dp">
+
+                        <LinearLayout
+                            android:layout_width="0dp"
+                            android:layout_height="25dp"
+                            android:layout_weight="1"
+                            android:background="@drawable/ffffffff_4round_bg"
+                            android:gravity="center_vertical"
+                            android:orientation="horizontal"
+                            android:padding="2dp">
+
+                            <TextView
+                                android:layout_width="wrap_content"
+                                android:layout_height="match_parent"
+                                android:background="#ffffff"
+                                android:gravity="center"
+                                android:paddingLeft="5dp"
+                                android:paddingRight="5dp"
+                                android:text="搜索"
+                                android:textColor="#303030"
+                                android:textSize="9sp" />
+
+                            <View
+                                android:layout_width="0.3dp"
+                                android:layout_height="15dp"
+                                android:background="#cdcdcd" />
+
+                            <EditText
+                                android:id="@+id/et_link_search"
+                                android:layout_width="0dp"
+                                android:layout_height="25dp"
+                                android:layout_weight="1"
+                                android:background="#ffffff"
+                                android:gravity="center"
+                                android:hint="请输入航线名称"
+                                android:textColor="#303030"
+                                android:textSize="7sp" />
+
+
+                        </LinearLayout>
+
+                        <TextView
+                            android:id="@+id/tv_add_link"
+                            android:layout_width="45dp"
+                            android:layout_height="25dp"
+                            android:layout_gravity="center_vertical"
+                            android:layout_marginLeft="2dp"
+                            android:background="@drawable/ff029a45_4round_1stroke_bg"
+                            android:gravity="center"
+                            android:text="+ 添加"
+                            android:textColor="#ffffff"
+                            android:textSize="8sp" />
+
+                    </LinearLayout>
+
+
                     <androidx.recyclerview.widget.RecyclerView
                         android:id="@+id/rv_all_link_list"
                         android:layout_width="wrap_content"
-                        android:layout_height="match_parent" />
+                        android:layout_height="match_parent"
+                        android:layout_marginTop="3dp" />
 
 
                 </LinearLayout>
@@ -1029,32 +1275,29 @@
                         </LinearLayout>
 
                         <LinearLayout
-                            android:id="@+id/ll_location_me"
+                            android:id="@+id/ll_execute_line"
                             android:layout_width="40dp"
                             android:layout_height="40dp"
                             android:layout_marginTop="3dp"
                             android:background="@drawable/b2101010_4round_1stroke_bg"
                             android:gravity="center_horizontal"
                             android:orientation="vertical"
-                            android:padding="5dp"
+                            android:padding="5dp">
-                            android:visibility="visible">
 
                             <ImageView
-                                android:id="@+id/iv_location_me"
                                 android:layout_width="15dp"
                                 android:layout_height="15dp"
-                                android:src="@mipmap/icon_location_me" />
+                                android:src="@mipmap/icon_one_word" />
 
                             <TextView
                                 android:layout_width="30dp"
                                 android:layout_height="wrap_content"
                                 android:layout_marginTop="3dp"
                                 android:gravity="center"
-                                android:text="飞机位置"
+                                android:text="执行任务"
                                 android:textColor="#ffffff"
                                 android:textSize="7sp" />
 
-
                         </LinearLayout>
 
 
@@ -1066,9 +1309,9 @@
                 <LinearLayout
                     android:id="@+id/ll_function_layout"
                     android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
+                    android:layout_height="match_parent"
                     android:orientation="horizontal"
-                    android:visibility="gone">
+                    android:visibility="visible">
 
                     <View
                         android:layout_width="0.2dp"
@@ -1090,62 +1333,10 @@
                                 android:layout_width="wrap_content"
                                 android:layout_height="wrap_content">
 
-                                <LinearLayout
-                                    android:id="@+id/ll_clear"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_clear" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="清除"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
-                                <LinearLayout
-                                    android:id="@+id/ll_antenna"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_antenna" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="天线"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
                                 <LinearLayout
                                     android:id="@+id/ll_map"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
                                     android:gravity="center_horizontal"
                                     android:orientation="vertical"
@@ -1161,96 +1352,7 @@
                                         android:layout_height="wrap_content"
                                         android:layout_marginTop="3dp"
                                         android:gravity="center"
-                                        android:text="创建航线"
+                                        android:text="规划任务"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
-                                <LinearLayout
-                                    android:id="@+id/ll_line_fly_layout"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_line_fly" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="执行路线"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
-
-                            </LinearLayout>
-
-                            <LinearLayout
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:layout_marginTop="3dp"
-                                android:orientation="horizontal"
-                                android:visibility="visible">
-
-
-                                <LinearLayout
-                                    android:id="@+id/ll_mode_select"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_mode_select" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="切换模式"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
-
-                                <LinearLayout
-                                    android:id="@+id/ll_execute_line"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_one_word" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="线路作业"
                                         android:textColor="#ffffff"
                                         android:textSize="7sp" />
 
@@ -1282,32 +1384,6 @@
 
                                 </LinearLayout>
 
-                                <LinearLayout
-                                    android:id="@+id/ll_joystick"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_joystick" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="虚拟摇杆"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
 
                             </LinearLayout>
 
@@ -1318,37 +1394,11 @@
                                 android:orientation="horizontal"
                                 android:visibility="visible">
 
-                                <LinearLayout
-                                    android:id="@+id/ll_fire"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_fire" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="火警告警"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
 
                                 <LinearLayout
                                     android:id="@+id/ll_bombing"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
                                     android:gravity="center_horizontal"
                                     android:orientation="vertical"
@@ -1371,33 +1421,6 @@
                                 </LinearLayout>
 
 
-                                <LinearLayout
-                                    android:id="@+id/ll_shout"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_shout" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:layout_marginTop="3dp"
-                                        android:gravity="center"
-                                        android:text="广播"
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-                                </LinearLayout>
-
-
                                 <LinearLayout
                                     android:id="@+id/ll_searchlight"
                                     android:layout_width="40dp"
@@ -1434,8 +1457,9 @@
                                 android:orientation="horizontal"
                                 android:visibility="visible">
 
+
                                 <LinearLayout
-                                    android:id="@+id/ll_thoroughfare"
+                                    android:id="@+id/ll_shout"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
@@ -1446,47 +1470,28 @@
                                     <ImageView
                                         android:layout_width="15dp"
                                         android:layout_height="15dp"
-                                        android:src="@mipmap/icon_thoroughfare" />
+                                        android:src="@mipmap/icon_shout" />
 
                                     <TextView
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
                                         android:layout_marginTop="3dp"
                                         android:gravity="center"
-                                        android:text="通道"
+                                        android:text="广播"
                                         android:textColor="#ffffff"
                                         android:textSize="7sp" />
 
                                 </LinearLayout>
 
 
+                            </LinearLayout>
+
                             <LinearLayout
-                                    android:id="@+id/ll_one_word"
+                                android:layout_width="wrap_content"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:padding="5dp"
-                                    android:visibility="visible">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_execute_line" />
-
-                                    <TextView
-                                        android:layout_width="30dp"
                                 android:layout_height="wrap_content"
                                 android:layout_marginTop="3dp"
-                                        android:gravity="center"
+                                android:orientation="horizontal"
-                                        android:text="一键作业"
+                                android:visibility="visible">
-                                        android:textColor="#ffffff"
-                                        android:textSize="7sp" />
-
-
-                                </LinearLayout>
 
 
                             </LinearLayout>
@@ -1503,7 +1508,7 @@
 
         </LinearLayout>
 
-        <!--  路线规划  -->
+        <!--  航线规划  -->
         <LinearLayout
             android:id="@+id/ll_link"
             android:layout_width="wrap_content"
@@ -1519,7 +1524,7 @@
                 android:id="@+id/ll_link_save"
                 android:layout_width="60dp"
                 android:layout_height="25dp"
-                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_4round_1stroke_bg"
                 android:gravity="center"
                 android:orientation="horizontal">
 
@@ -1538,45 +1543,6 @@
 
             </LinearLayout>
 
-            <LinearLayout
-                android:id="@+id/ll_link_fun1"
-                android:layout_width="60dp"
-                android:layout_height="25dp"
-                android:layout_marginTop="10dp"
-                android:background="@drawable/b2101010_4round_1stroke_bg"
-                android:gravity="center"
-                android:orientation="horizontal">
-
-
-                <TextView
-                    android:layout_width="wrap_content"
-                    android:layout_height="25dp"
-                    android:gravity="center"
-                    android:text="航线反转"
-                    android:textColor="#ffffff"
-                    android:textSize="8sp" />
-
-            </LinearLayout>
-
-            <LinearLayout
-                android:id="@+id/ll_link_fun2"
-                android:layout_width="60dp"
-                android:layout_height="25dp"
-                android:layout_marginTop="4dp"
-                android:background="@drawable/b2101010_4round_1stroke_bg"
-                android:gravity="center"
-                android:orientation="horizontal">
-
-
-                <TextView
-                    android:layout_width="wrap_content"
-                    android:layout_height="25dp"
-                    android:gravity="center"
-                    android:text="航线清除"
-                    android:textColor="#ffffff"
-                    android:textSize="8sp" />
-
-            </LinearLayout>
 
             <LinearLayout
                 android:id="@+id/ll_link_back"
@@ -1600,7 +1566,7 @@
 
         </LinearLayout>
 
-        <!--  路线执行  -->
+        <!--  航线执行  -->
         <LinearLayout
             android:id="@+id/ll_link_start"
             android:layout_width="wrap_content"
@@ -1615,33 +1581,33 @@
 
 
             <LinearLayout
-                android:padding="2dp"
                 android:layout_width="65dp"
                 android:layout_height="28dp"
                 android:layout_marginTop="4dp"
                 android:background="@drawable/ffffffff_4round_bg"
                 android:gravity="center_vertical"
-                android:orientation="horizontal">
+                android:orientation="horizontal"
+                android:padding="2dp">
 
                 <EditText
                     android:id="@+id/et_start_execute_height"
+                    android:layout_width="0dp"
+                    android:layout_height="28dp"
                     android:layout_weight="1"
+                    android:background="#ffffff"
                     android:gravity="center"
                     android:text="10"
-                    android:textSize="7sp"
                     android:textColor="#303030"
-                    android:background="#ffffff"
+                    android:textSize="7sp" />
-                    android:layout_width="0dp"
-                    android:layout_height="28dp" />
 
                 <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:background="#ffffff"
                     android:paddingRight="5dp"
                     android:text="米"
-                    android:textSize="9sp"
                     android:textColor="#303030"
-                    android:background="#ffffff"
+                    android:textSize="9sp" />
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content" />
 
             </LinearLayout>
 
@@ -1650,11 +1616,10 @@
                 android:layout_width="65dp"
                 android:layout_height="28dp"
                 android:layout_marginTop="4dp"
-                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_4round_1stroke_bg"
                 android:gravity="center"
                 android:orientation="horizontal">
 
-
                 <TextView
                     android:layout_width="wrap_content"
                     android:layout_height="28dp"
@@ -1667,16 +1632,15 @@
             </LinearLayout>
 
 
-
             <LinearLayout
-                android:visibility="gone"
                 android:id="@+id/ll_link_start_fun2"
                 android:layout_width="65dp"
                 android:layout_height="28dp"
                 android:layout_marginTop="4dp"
                 android:background="@drawable/ff03a9f4_4round_1stroke_bg"
                 android:gravity="center"
-                android:orientation="horizontal">
+                android:orientation="horizontal"
+                android:visibility="gone">
 
                 <TextView
                     android:layout_width="wrap_content"
@@ -1690,8 +1654,8 @@
 
             <LinearLayout
                 android:id="@+id/ll_link_start_back"
-                android:layout_width="60dp"
+                android:layout_width="match_parent"
-                android:layout_height="25dp"
+                android:layout_height="28dp"
                 android:layout_marginTop="10dp"
                 android:background="@drawable/b2101010_4round_1stroke_bg"
                 android:gravity="center"
@@ -1710,6 +1674,103 @@
 
         </LinearLayout>
 
+        <!-- 右下角辅助按钮  -->
+        <LinearLayout
+            android:id="@+id/ll_assistance_layout"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentRight="true"
+            android:layout_alignParentBottom="true"
+            android:layout_margin="10dp"
+            android:orientation="vertical"
+            android:visibility="visible">
+
+            <LinearLayout
+                android:id="@+id/ll_clear"
+                android:layout_width="40dp"
+                android:layout_height="40dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center_horizontal"
+                android:orientation="vertical"
+                android:padding="5dp">
+
+                <ImageView
+                    android:layout_width="15dp"
+                    android:layout_height="15dp"
+                    android:src="@mipmap/icon_clear" />
+
+                <TextView
+                    android:layout_width="30dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="3dp"
+                    android:gravity="center"
+                    android:text="清除航线"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_clear_fly_line"
+                android:layout_width="40dp"
+                android:layout_height="40dp"
+                android:layout_marginTop="3dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center_horizontal"
+                android:orientation="vertical"
+                android:padding="5dp"
+                android:visibility="visible">
+
+                <ImageView
+                    android:id="@+id/iv_clear_fly_line"
+                    android:layout_width="15dp"
+                    android:layout_height="15dp"
+                    android:src="@mipmap/icon_line_fly" />
+
+                <TextView
+                    android:layout_width="30dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="3dp"
+                    android:gravity="center"
+                    android:text="清除轨迹"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp" />
+
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_location_me"
+                android:layout_width="40dp"
+                android:layout_height="40dp"
+                android:layout_marginTop="3dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center_horizontal"
+                android:orientation="vertical"
+                android:padding="5dp"
+                android:visibility="visible">
+
+                <ImageView
+                    android:id="@+id/iv_location_me"
+                    android:layout_width="15dp"
+                    android:layout_height="15dp"
+                    android:src="@mipmap/icon_location_me" />
+
+                <TextView
+                    android:layout_width="30dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="3dp"
+                    android:gravity="center"
+                    android:text="飞机位置"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp" />
+
+
+            </LinearLayout>
+
+        </LinearLayout>
+
+
     </RelativeLayout>
 
 </RelativeLayout>

app/src/main/res/layout/activity_play_back.xml

@@ -225,7 +225,7 @@
                 android:layout_weight="1"
                 android:layout_margin="5dp" />
 
-            <!--  路线规划  -->
+            <!--  航线规划  -->
             <LinearLayout
                 android:layout_gravity="center_horizontal"
                 android:layout_marginBottom="5dp"

app/src/main/res/layout/activity_setting.xml

@@ -11,7 +11,7 @@
     <RelativeLayout
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:background="#293755"
+        android:background="#029A45"
         android:padding="5dp">
 
         <ImageView
@@ -38,7 +38,7 @@
 
         <LinearLayout
             android:padding="3dp"
-            android:background="#555f75"
+            android:background="#101010"
             android:orientation="vertical"
             android:layout_width="100dp"
             android:layout_height="match_parent">
@@ -55,7 +55,7 @@
                     <TextView
                         android:textSize="12sp"
                         android:layout_marginTop="3dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:textColor="#ffffff"
                         android:id="@+id/tv_foundation"
                         android:gravity="center"
@@ -149,7 +149,13 @@
 
         </LinearLayout>
 
+        <View
+            android:layout_width="0.2dp"
+            android:layout_height="match_parent"
+            android:background="#029A45"/>
+
         <LinearLayout
+            android:background="#101010"
             android:orientation="vertical"
             android:id="@+id/fragment_container"
             android:layout_width="match_parent"

app/src/main/res/layout/adapter_all_link_item.xml

@@ -1,46 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="180dp"
+    android:id="@+id/ll_main"
-    android:background="@drawable/x80000000_4round_bg"
+    android:background="@drawable/x80000000_4round_1stroke_bg"
     android:padding="5dp"
-    android:orientation="vertical"
+    android:orientation="horizontal"
-    android:layout_margin="3dp"
+    android:layout_marginLeft="3dp"
+    android:layout_marginRight="3dp"
+    android:layout_marginBottom="3dp"
+    android:layout_width="190dp"
     android:layout_height="wrap_content">
 
-    <RelativeLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content">
-
-        <TextView
-            android:id="@+id/tv_title"
-            android:gravity="center"
-            android:textStyle="bold"
-            android:textColor="#ffffff"
-            android:textSize="9sp"
-            android:text="名称："
-            android:layout_width="wrap_content"
-            android:layout_height="22dp"/>
-
-        <TextView
-            android:layout_alignParentRight="true"
-            android:id="@+id/tv_del"
-            android:layout_marginLeft="10dp"
-            android:gravity="center"
-            android:textColor="#ffffff"
-            android:background="@drawable/ffdd635a_4round_1stroke_bg"
-            android:textSize="9sp"
-            android:text="删除"
-            android:layout_width="42dp"
-            android:layout_height="20dp"/>
-
-    </RelativeLayout>
-
     <LinearLayout
         android:orientation="vertical"
-        android:padding="8dp"
+        android:layout_width="135dp"
-        android:background="@drawable/ffffffff_4round_bg"
-        android:layout_marginTop="5dp"
-        android:layout_width="match_parent"
         android:layout_height="wrap_content">
 
         <LinearLayout
@@ -49,43 +21,44 @@
             android:layout_height="wrap_content">
 
             <TextView
-                android:layout_marginLeft="10dp"
+                android:layout_marginLeft="2dp"
-                android:textColor="#303030"
+                android:textColor="#ffffff"
                 android:textSize="8sp"
-                android:text="创建时间："
+                android:text="航线："
-                android:layout_width="wrap_content"
+                android:layout_width="45dp"
                 android:layout_height="wrap_content"/>
 
 
             <TextView
-                android:id="@+id/tv_time"
+                android:layout_marginLeft="2dp"
-                android:layout_marginLeft="10dp"
+                android:id="@+id/tv_title"
-                android:textColor="#303030"
+                android:gravity="center"
+                android:textColor="#ffffff"
                 android:textSize="7sp"
-                android:text="2010-10-10 12:00:00"
+                android:text="名称："
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"/>
 
         </LinearLayout>
 
         <LinearLayout
-            android:layout_marginTop="5dp"
+            android:layout_marginTop="3dp"
             android:layout_width="match_parent"
             android:layout_height="wrap_content">
 
             <TextView
-                android:layout_marginLeft="10dp"
+                android:layout_marginLeft="2dp"
-                android:textColor="#303030"
+                android:textColor="#ffffff"
                 android:textSize="8sp"
-                android:text="点位数量："
+                android:text="航点数量："
-                android:layout_width="wrap_content"
+                android:layout_width="45dp"
                 android:layout_height="wrap_content"/>
 
 
             <TextView
                 android:id="@+id/tv_number"
-                android:layout_marginLeft="10dp"
+                android:layout_marginLeft="2dp"
-                android:textColor="#303030"
+                android:textColor="#ffffff"
                 android:textSize="7sp"
                 android:text="12个"
                 android:layout_width="wrap_content"
@@ -93,7 +66,49 @@
 
         </LinearLayout>
 
+        <LinearLayout
+            android:layout_marginTop="3dp"
+            android:gravity="center_vertical"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:layout_marginLeft="2dp"
+                android:textColor="#ffffff"
+                android:textSize="8sp"
+                android:text="创建时间："
+                android:layout_width="45dp"
+                android:layout_height="wrap_content"/>
+
+
+            <TextView
+                android:id="@+id/tv_time"
+                android:layout_marginLeft="2dp"
+                android:textColor="#ffffff"
+                android:textSize="7sp"
+                android:text="2010-10-10 12:00:00"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
 
         </LinearLayout>
 
+
+
+    </LinearLayout>
+
+    <TextView
+        android:layout_marginLeft="5dp"
+        android:layout_gravity="center_vertical"
+        android:layout_alignParentRight="true"
+        android:id="@+id/tv_del"
+        android:gravity="center"
+        android:textColor="#ffffff"
+        android:background="@drawable/ffdf4b40_4round_1stroke_bg"
+        android:textSize="9sp"
+        android:text="删 除"
+        android:layout_width="40dp"
+        android:layout_height="28dp"/>
+
+
+
 </LinearLayout>

app/src/main/res/layout/adapter_control_data_item.xml

@@ -56,7 +56,7 @@
                 android:layout_width="0dp"
                 android:layout_height="match_parent"
                 android:layout_weight="1"
-                android:background="#62a7f0" />
+                android:background="#029a45" />
 
             <View
                 android:id="@+id/view_right_progress"

app/src/main/res/layout/adapter_create_link_item.xml

@@ -1,114 +1,401 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="160dp"
-    android:background="@drawable/x80000000_4round_bg"
-    android:padding="5dp"
     android:orientation="vertical"
+    android:layout_width="310dp"
     android:layout_height="wrap_content">
 
-    <RelativeLayout
+    <LinearLayout
-        android:layout_width="match_parent"
+        android:id="@+id/ll_item"
-        android:layout_height="wrap_content">
+        android:orientation="horizontal"
+        android:layout_width="wrap_content"
+        android:layout_height="20dp">
 
         <TextView
+            android:textStyle="bold"
+            android:background="@drawable/ff33b138_1round_1stroke"
             android:id="@+id/tv_title"
             android:gravity="center"
-            android:textStyle="bold"
             android:textColor="#ffffff"
-            android:textSize="11sp"
+            android:textSize="8sp"
-            android:text="名称："
+            android:text="1"
-            android:layout_width="wrap_content"
+            android:layout_width="20dp"
-            android:layout_height="22dp"/>
+            android:layout_height="match_parent"/>
+
+        <EditText
+            android:textColor="#ffffff"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:gravity="center"
+            android:text="30"
+            android:textSize="7sp"
+            android:id="@+id/et_height"
+            android:layout_width="30dp"
+            android:layout_height="match_parent"/>
+
+        <EditText
+            android:textColor="#ffffff"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:gravity="center"
+            android:text="1"
+            android:textSize="7sp"
+            android:id="@+id/et_speed"
+            android:layout_width="40dp"
+            android:layout_height="match_parent"/>
+
+        <EditText
+            android:textColor="#ffffff"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:gravity="center"
+            android:text="110.1234567"
+            android:textSize="7sp"
+            android:id="@+id/et_lat"
+            android:layout_width="60dp"
+            android:layout_height="match_parent"/>
+
+
+        <EditText
+            android:textColor="#ffffff"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:gravity="center"
+            android:text="110.1234567"
+            android:textSize="7sp"
+            android:id="@+id/et_lon"
+            android:layout_width="60dp"
+            android:layout_height="match_parent"/>
+
+
+        <LinearLayout
+            android:gravity="center"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:layout_width="99.5dp"
+            android:layout_height="match_parent">
 
             <TextView
-            android:layout_alignParentRight="true"
                 android:id="@+id/tv_del"
-            android:layout_marginLeft="10dp"
                 android:gravity="center"
                 android:textColor="#ffffff"
-            android:background="@drawable/ffdd635a_4round_1stroke_bg"
+                android:background="@drawable/ffdf4b40_4round_1stroke_bg"
                 android:textSize="9sp"
                 android:text="删除"
                 android:layout_width="42dp"
-            android:layout_height="20dp"/>
+                android:layout_height="18dp"/>
+
+            <TextView
+                android:layout_marginLeft="3dp"
+                android:layout_centerInParent="true"
+                android:id="@+id/tv_expand"
+                android:gravity="center"
+                android:textColor="#ffffff"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:textSize="9sp"
+                android:text="展开"
+                android:layout_width="42dp"
+                android:layout_height="18dp"/>
+
+        </LinearLayout>
+
+
+
+    </LinearLayout>
+
+    <LinearLayout
+        android:visibility="visible"
+        android:id="@+id/ll_expand"
+        android:orientation="horizontal"
+        android:layout_width="match_parent"
+        android:layout_height="68dp">
+
+        <LinearLayout
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:gravity="center"
+            android:layout_width="20dp"
+            android:layout_height="match_parent">
+
+            <TextView
+                android:textStyle="bold"
+                android:gravity="center"
+                android:textColor="#ffffff"
+                android:textSize="7sp"
+                android:text="扩展"
+                android:layout_width="10dp"
+                android:layout_height="match_parent"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:orientation="vertical"
+            android:background="@drawable/ff33b138_1round_1stroke"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent">
+
+            <LinearLayout
+                android:layout_marginTop="12dp"
+                android:layout_width="match_parent"
+                android:layout_height="20dp">
+
+                <TextView
+                    android:layout_marginLeft="15dp"
+                    android:gravity="right|center"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp"
+                    android:text="转弯方式："
+                    android:layout_width="45dp"
+                    android:layout_height="match_parent"/>
+
+
+
+                <RelativeLayout
+                    android:layout_marginLeft="1dp"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content">
+
+
+                    <RelativeLayout
+                        android:id="@+id/rl_turn"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:gravity="center"
+                            android:id="@+id/tv_turn"
+                            android:background="@drawable/ff029a45_2round_1stroke_bg"
+                            android:textColor="#ffffff"
+                            android:textSize="7sp"
+                            android:text="协调转弯"
+                            android:layout_width="60dp"
+                            android:padding="5dp"
+                            android:layout_height="wrap_content"/>
+
+                        <ImageView
+                            android:layout_marginRight="5dp"
+                            android:layout_centerVertical="true"
+                            android:layout_alignParentRight="true"
+                            android:src="@mipmap/icon_spinner_dowm"
+                            android:layout_width="8dp"
+                            android:layout_height="8dp"/>
+
+
+                    </RelativeLayout>
+
+
+
+                    <Spinner
+                        android:id="@+id/sp_turn"
+                        android:layout_below="@+id/rl_turn"
+                        android:layout_width="match_parent"
+                        android:layout_height="0dp"
+                        android:spinnerMode="dropdown"/>
 
                 </RelativeLayout>
 
                 <LinearLayout
-        android:orientation="vertical"
+                    android:visibility="gone"
-        android:padding="10dp"
+                    android:layout_gravity="center_vertical"
-        android:background="@drawable/ffffffff_4round_bg"
+                    android:id="@+id/ll_turn"
-        android:layout_marginTop="5dp"
+                    android:orientation="horizontal"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content">
-
-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content">
-
-            <TextView
-                android:layout_marginLeft="10dp"
-                android:textColor="#303030"
-                android:textSize="9sp"
-                android:text="高度："
                     android:layout_width="wrap_content"
-                android:layout_height="wrap_content"/>
+                    android:layout_height="wrap_content">
+
 
                     <EditText
+                        android:id="@+id/et_turn_time"
+                        android:layout_gravity="center_vertical"
+                        android:text="1"
+                        android:layout_marginLeft="8dp"
                         android:gravity="center"
-                android:layout_marginLeft="10dp"
+                        android:textColor="#303030"
-                android:text="30"
+                        android:textSize="6sp"
-                android:textSize="9sp"
+                        android:background="@drawable/ffffffff_4round_bg"
-                android:background="#ffffff"
+                        android:layout_width="36dp"
-                android:id="@+id/et_height"
+                        android:layout_height="16dp"/>
-                android:layout_width="30dp"
-                android:layout_height="wrap_content"/>
 
                     <TextView
-                android:layout_marginLeft="10dp"
+                        android:layout_marginLeft="1dp"
-                android:textColor="#303030"
+                        android:gravity="center"
-                android:textSize="9sp"
+                        android:textColor="#ffffff"
-                android:text="m"
+                        android:textSize="6sp"
+                        android:text="秒"
                         android:layout_width="wrap_content"
-                android:layout_height="wrap_content"/>
+                        android:layout_height="match_parent"/>
+
+                </LinearLayout>
+
+
 
             </LinearLayout>
 
             <LinearLayout
                 android:layout_marginTop="10dp"
                 android:layout_width="match_parent"
+                android:layout_height="match_parent">
+
+                <TextView
+                    android:paddingTop="3dp"
+                    android:layout_marginLeft="15dp"
+                    android:gravity="right"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp"
+                    android:text="开启投弹："
+                    android:layout_width="45dp"
+                    android:layout_height="match_parent"/>
+
+                <LinearLayout
+                    android:layout_marginRight="5dp"
+                    android:id="@+id/ll_bom_layout1"
+                    android:orientation="vertical"
+                    android:layout_width="wrap_content"
+                    android:layout_height="match_parent">
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
                         android:layout_height="wrap_content">
 
                         <TextView
-                android:layout_marginLeft="10dp"
+                            android:id="@+id/tv_bom_text1"
-                android:textColor="#303030"
+                            android:layout_gravity="center_vertical"
-                android:textSize="9sp"
-                android:text="速度："
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"/>
-
-            <EditText
                             android:gravity="center"
-                android:layout_marginLeft="10dp"
+                            android:textColor="#ffffff"
-                android:text="30"
+                            android:background="@drawable/b2101010_4round_1stroke_bg"
-                android:textSize="9sp"
+                            android:textSize="6sp"
-                android:background="#ffffff"
+                            android:text="弹舱1"
-                android:id="@+id/et_speed"
+                            android:layout_width="60dp"
-                android:layout_width="30dp"
+                            android:layout_height="16dp"/>
-                android:layout_height="wrap_content"/>
+
+                        <ImageView
+                            android:id="@+id/iv_bom1"
+                            android:src="@mipmap/icon_select_link_no"
+                            android:layout_width="16dp"
+                            android:layout_height="16dp"/>
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_bom_height_layout1"
+                        android:visibility="invisible"
+                        android:layout_marginTop="2dp"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content">
 
                         <TextView
-                android:layout_marginLeft="10dp"
+                            android:layout_marginLeft="3dp"
-                android:textColor="#303030"
+                            android:layout_gravity="center_vertical"
-                android:textSize="9sp"
+                            android:gravity="center"
-                android:text="m/s"
+                            android:textColor="#EDFFFFFF"
+                            android:textSize="6sp"
+                            android:text="引爆高度"
                             android:layout_width="wrap_content"
-                android:layout_height="wrap_content"/>
+                            android:layout_height="16dp"/>
+
+                        <EditText
+                            android:id="@+id/et_bom1"
+                            android:layout_gravity="center_vertical"
+                            android:text="1"
+                            android:layout_marginLeft="2dp"
+                            android:gravity="center"
+                            android:textColor="#303030"
+                            android:textSize="6sp"
+                            android:background="@drawable/ffffffff_4round_bg"
+                            android:layout_width="20dp"
+                            android:layout_height="14dp"/>
+
+                        <TextView
+                            android:layout_marginLeft="1dp"
+                            android:gravity="center_vertical"
+                            android:textColor="#ffffff"
+                            android:textSize="7sp"
+                            android:text="m"
+                            android:layout_width="wrap_content"
+                            android:layout_height="match_parent"/>
+
+                    </LinearLayout>
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:id="@+id/ll_bom_layout2"
+                    android:orientation="vertical"
+                    android:layout_width="wrap_content"
+                    android:layout_height="match_parent">
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:id="@+id/tv_bom_text2"
+                            android:layout_gravity="center_vertical"
+                            android:gravity="center"
+                            android:textColor="#ffffff"
+                            android:background="@drawable/b2101010_4round_1stroke_bg"
+                            android:textSize="6sp"
+                            android:text="弹舱2"
+                            android:layout_width="60dp"
+                            android:layout_height="16dp"/>
+
+                        <ImageView
+                            android:id="@+id/iv_bom2"
+                            android:src="@mipmap/icon_select_link_no"
+                            android:layout_width="16dp"
+                            android:layout_height="16dp"/>
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_bom_height_layout2"
+                        android:visibility="invisible"
+                        android:layout_marginTop="2dp"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:layout_marginLeft="3dp"
+                            android:layout_gravity="center_vertical"
+                            android:gravity="center"
+                            android:textColor="#EDFFFFFF"
+                            android:textSize="6sp"
+                            android:text="引爆高度"
+                            android:layout_width="wrap_content"
+                            android:layout_height="16dp"/>
+
+                        <EditText
+                            android:id="@+id/et_bom2"
+                            android:layout_gravity="center_vertical"
+                            android:text="1"
+                            android:layout_marginLeft="2dp"
+                            android:gravity="center"
+                            android:textColor="#303030"
+                            android:textSize="6sp"
+                            android:background="@drawable/ffffffff_4round_bg"
+                            android:layout_width="20dp"
+                            android:layout_height="14dp"/>
+
+                        <TextView
+                            android:layout_marginLeft="1dp"
+                            android:gravity="center_vertical"
+                            android:textColor="#ffffff"
+                            android:textSize="7sp"
+                            android:text="m"
+                            android:layout_width="wrap_content"
+                            android:layout_height="match_parent"/>
+
+                    </LinearLayout>
+
+                </LinearLayout>
+
+                <TextView
+                    android:visibility="gone"
+                    android:id="@+id/tv_null_data"
+                    android:gravity="center"
+                    android:textColor="#ffffff"
+                    android:textSize="7sp"
+                    android:text="无可用弹舱"
+                    android:layout_width="60dp"
+                    android:layout_height="16dp"/>
 
             </LinearLayout>
 
 
         </LinearLayout>
 
+    </LinearLayout>
 
 </LinearLayout>

app/src/main/res/layout/adapter_secure_item.xml

@@ -33,7 +33,7 @@
         android:layout_height="22dp"
         android:layout_marginLeft="5dp"
         android:layout_weight="1"
-        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+        android:background="@drawable/ff029a45_2round_1stroke_bg"
         android:orientation="vertical">
 
         <TextView
@@ -58,7 +58,7 @@
         android:layout_height="22dp"
         android:layout_marginLeft="10dp"
         android:layout_weight="1"
-        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+        android:background="@drawable/ff029a45_2round_1stroke_bg"
         android:orientation="vertical">
 
         <TextView
@@ -89,7 +89,7 @@
 
         <TextView
             android:id="@+id/tv_value_on_minus"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:layout_width="20dp"
             android:layout_height="20dp"
             android:gravity="center"
@@ -112,7 +112,7 @@
 
         <TextView
             android:id="@+id/tv_value_on_add"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:layout_width="20dp"
             android:layout_height="20dp"
             android:gravity="center"
@@ -133,7 +133,7 @@
 
         <TextView
             android:id="@+id/tv_value_off_minus"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:layout_width="20dp"
             android:layout_height="20dp"
             android:gravity="center"
@@ -156,7 +156,7 @@
 
         <TextView
             android:id="@+id/tv_value_off_add"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:layout_width="20dp"
             android:layout_height="20dp"
             android:gravity="center"

app/src/main/res/layout/custom_marker_layout.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="30dp"
+    android:layout_width="26dp"
-    android:layout_height="40dp"
+    android:layout_height="26dp"
     android:orientation="vertical"
     android:gravity="center">
 
@@ -9,20 +9,22 @@
     <ImageView
         android:layout_centerHorizontal="true"
         android:id="@+id/marker_icon"
-        android:layout_width="25dp"
+        android:layout_width="26dp"
-        android:layout_height="40dp"
+        android:layout_height="26dp"
         android:src="@mipmap/icon_marker" />
 
     <!-- 文字标签 -->
     <TextView
-        android:layout_alignParentBottom="true"
+        android:textStyle="bold"
+        android:paddingBottom="5dp"
+        android:layout_centerInParent="true"
         android:id="@+id/marker_text"
-        android:layout_width="30dp"
+        android:layout_width="26dp"
         android:layout_height="wrap_content"
-        android:text="点位1"
+        android:text="1"
-        android:textSize="7sp"
+        android:textSize="9sp"
         android:textColor="#ffffff"
-        android:background="@drawable/x80000000_4round_bg"
         android:gravity="center" />
 
+
 </RelativeLayout>

app/src/main/res/layout/dialog_link_name.xml

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="300dp"
+        android:layout_height="wrap_content"
+        android:orientation="vertical">
+
+        <TextView
+            android:id="@+id/tv_title"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center_horizontal"
+            android:background="@drawable/ff029a45_4round_bg"
+            android:gravity="center"
+            android:padding="8dp"
+            android:text="确认名称"
+            android:textColor="#fff"
+            android:textSize="13sp" />
+
+        <LinearLayout
+            android:layout_margin="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textColor="#F59393"
+                android:textSize="12sp"
+                android:text="注意：您未设置航线名称，是否使用默认名称？"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"/>
+
+
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:padding="1dp"
+            android:layout_marginLeft="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:gravity="center"
+                android:textSize="12sp"
+                android:text="设置航线名称："
+                android:layout_width="wrap_content"
+                android:layout_height="match_parent"/>
+
+            <EditText
+                android:padding="2dp"
+                android:id="@+id/et_name"
+                android:background="@drawable/b2303030_4round_1stroke_bg"
+                android:layout_width="100dp"
+                android:layout_height="match_parent"/>
+
+
+
+        </LinearLayout>
+
+        <com.example.longyi_groundstation.Main.View.SlideToUnlockView
+            android:background="#ffffff"
+            android:id="@+id/unlockView"
+            android:layout_width="wrap_content"
+            android:layout_height="35dp"
+            android:layout_margin="8dp" />
+
+        <TextView
+            android:id="@+id/tv_message"
+            android:layout_width="match_parent"
+            android:layout_height="30dp"
+            android:layout_gravity="center"
+            android:background="#C3606060"
+            android:gravity="center"
+            android:text="取消"
+            android:textColor="#ffffff"
+            android:textSize="12sp" />
+
+    </LinearLayout>
+
+
+</LinearLayout>

app/src/main/res/layout/dialog_point_fly.xml

@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="300dp"
+        android:layout_height="wrap_content"
+        android:orientation="vertical">
+
+        <TextView
+            android:id="@+id/tv_title"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center_horizontal"
+            android:background="@drawable/ff029a45_4round_bg"
+            android:gravity="center"
+            android:padding="8dp"
+            android:text="指点飞行"
+            android:textColor="#fff"
+            android:textSize="13sp" />
+
+
+        <LinearLayout
+            android:layout_marginLeft="12dp"
+            android:layout_marginRight="12dp"
+            android:layout_marginTop="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textColor="#101010"
+                android:textSize="12sp"
+                android:text="经度坐标："
+                android:layout_width="70dp"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:id="@+id/et_lon"
+                android:padding="6dp"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:textColor="#101010"
+                android:textSize="11sp"
+                android:hint="请输入经度"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_marginLeft="12dp"
+            android:layout_marginRight="12dp"
+            android:layout_marginTop="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textColor="#101010"
+                android:textSize="12sp"
+                android:text="经度坐标："
+                android:layout_width="70dp"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:id="@+id/et_lat"
+                android:padding="6dp"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:textColor="#101010"
+                android:textSize="11sp"
+                android:hint="请输入纬度"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_marginLeft="12dp"
+            android:layout_marginRight="12dp"
+            android:layout_marginTop="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textColor="#101010"
+                android:textSize="12sp"
+                android:text="高度(m)："
+                android:layout_width="70dp"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:padding="6dp"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:textColor="#101010"
+                android:textSize="11sp"
+                android:hint="请输入高度"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_marginLeft="12dp"
+            android:layout_marginRight="12dp"
+            android:layout_marginTop="12dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textColor="#101010"
+                android:textSize="12sp"
+                android:text="速度(m/s)："
+                android:layout_width="70dp"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:padding="6dp"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:textColor="#101010"
+                android:textSize="11sp"
+                android:hint="飞行速度"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+
+
+        <com.example.longyi_groundstation.Main.View.SlideToUnlockView
+            android:background="#ffffff"
+            android:id="@+id/unlockView"
+            android:layout_width="wrap_content"
+            android:layout_height="35dp"
+            android:layout_margin="8dp" />
+
+        <TextView
+            android:id="@+id/tv_message"
+            android:layout_width="match_parent"
+            android:layout_height="30dp"
+            android:layout_gravity="center"
+            android:background="#C3606060"
+            android:gravity="center"
+            android:text="取消"
+            android:textColor="#ffffff"
+            android:textSize="12sp" />
+
+    </LinearLayout>
+
+
+</LinearLayout>

app/src/main/res/layout/dialog_start_execute.xml

@@ -30,7 +30,7 @@
             <TextView
                 android:textColor="#052011"
                 android:textSize="12sp"
-                android:text="       当前点位已经上传完毕是否开始执行? 滑动后即可执行航线任务"
+                android:text="       请先解锁飞机，确保工作正常后，即可滑动执行航线。"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"/>
 
@@ -116,7 +116,7 @@
 
                         <TextView
                             android:id="@+id/tv_protect"
-                            android:background="@drawable/ff60b964_4round_1stroke_bg"
+                            android:background="@drawable/ff029a45_4round_1stroke_bg"
                             android:gravity="center"
                             android:textColor="#ffffff"
                             android:textSize="10sp"
@@ -151,7 +151,13 @@
 
         </LinearLayout>
 
-
+        <com.example.longyi_groundstation.Main.View.SlideToUnlockView
+            android:background="#ffffff"
+            android:id="@+id/unlockView_unlock"
+            android:layout_width="wrap_content"
+            android:layout_height="35dp"
+            android:layout_marginLeft="8dp"
+            android:layout_marginRight="8dp"/>
 
         <com.example.longyi_groundstation.Main.View.SlideToUnlockView
             android:background="#ffffff"
@@ -160,6 +166,32 @@
             android:layout_height="35dp"
             android:layout_margin="8dp" />
 
+        <TextView
+            android:layout_marginBottom="2dp"
+            android:id="@+id/tv_start_countdown"
+            android:layout_width="wrap_content"
+            android:layout_height="30dp"
+            android:layout_gravity="center"
+            android:gravity="center"
+            android:text="执行倒计时 5"
+            android:textColor="#606060"
+            android:textSize="12sp"
+            android:visibility="gone" />
+
+        <TextView
+            android:layout_marginBottom="20dp"
+            android:id="@+id/tv_start_cancel"
+            android:layout_width="60dp"
+            android:layout_height="30dp"
+            android:layout_gravity="center"
+            android:background="@drawable/ffdf4b40_4round_1stroke_bg"
+            android:gravity="center"
+            android:text="取消执行"
+            android:textColor="#ffffff"
+            android:textSize="12sp"
+            android:visibility="gone" />
+
+
         <TextView
             android:id="@+id/tv_message"
             android:layout_width="match_parent"

app/src/main/res/layout/fragment_control.xml

@@ -3,7 +3,7 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#112446"
+    android:background="#202020"
     android:orientation="vertical"
     tools:context=".Main.Setting.Fragment.MotorFragment">
 
@@ -11,7 +11,7 @@
         android:textSize="10sp"
         android:layout_alignParentRight="true"
         android:layout_margin="6dp"
-        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+        android:background="@drawable/ff029a45_2round_1stroke_bg"
         android:textColor="#ffffff"
         android:id="@+id/tv_calibration"
         android:gravity="center"
@@ -21,7 +21,7 @@
         android:layout_height="wrap_content"/>
 
     <androidx.recyclerview.widget.RecyclerView
-        android:background="@drawable/ff112446_4round_bg"
+        android:background="#202020"
         android:id="@+id/rv_data"
         android:layout_marginLeft="6dp"
         android:layout_marginRight="6dp"

app/src/main/res/layout/fragment_fly.xml

@@ -3,7 +3,7 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#112446"
+    android:background="#101010"
     android:padding="8dp"
     android:orientation="horizontal"
     tools:context=".Main.Setting.Fragment.MotorFragment">
@@ -32,7 +32,7 @@
                 android:layout_marginRight="20dp"
                 android:gravity="center"
                 android:textColor="#ffffff"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                android:background="@drawable/ff029a45_2round_1stroke_bg"
                 android:textSize="10sp"
                 android:text="恢复默认"
                 android:paddingLeft="20dp"
@@ -45,7 +45,7 @@
                 android:id="@+id/tv_save"
                 android:gravity="center"
                 android:textColor="#ffffff"
-                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_2round_1stroke_bg"
                 android:textSize="10sp"
                 android:text="保存"
                 android:layout_width="42dp"
@@ -80,7 +80,7 @@
                 android:text="-"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
             <!-- 滑动条 -->
             <SeekBar
@@ -92,8 +92,8 @@
                 android:max="3500"
                 android:min="20"
                 android:progress="0"
+                android:thumb="@drawable/custom_seekbar_thumb" />
 
-                />
 
             <!-- 加按钮 -->
             <TextView
@@ -104,7 +104,7 @@
                 android:text="+"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
             <TextView
@@ -145,7 +145,7 @@
                 android:text="-"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
             <!-- 滑动条 -->
             <SeekBar
@@ -157,8 +157,7 @@
                 android:max="500"
                 android:min="50"
                 android:progress="0"
-
+                android:thumb="@drawable/custom_seekbar_thumb" />
-                />
 
             <!-- 加按钮 -->
             <TextView
@@ -169,7 +168,7 @@
                 android:text="+"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
             <TextView
@@ -210,7 +209,7 @@
                 android:text="-"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
             <!-- 滑动条 -->
             <SeekBar
@@ -222,8 +221,7 @@
                 android:max="500"
                 android:min="0"
                 android:progress="0"
-
+                android:thumb="@drawable/custom_seekbar_thumb" />
-                />
 
             <!-- 加按钮 -->
             <TextView
@@ -234,7 +232,7 @@
                 android:text="+"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
             <TextView
@@ -276,7 +274,7 @@
                 android:text="-"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
             <!-- 滑动条 -->
             <SeekBar
@@ -288,8 +286,7 @@
                 android:max="8000"
                 android:min="1000"
                 android:progress="0"
-
+                android:thumb="@drawable/custom_seekbar_thumb" />
-                />
 
             <!-- 加按钮 -->
             <TextView
@@ -300,7 +297,7 @@
                 android:text="+"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
             <TextView
@@ -341,7 +338,7 @@
                 android:text="-"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
             <!-- 滑动条 -->
             <SeekBar
@@ -352,8 +349,7 @@
                 android:layout_height="wrap_content"
                 android:max="3600"
                 android:progress="10"
-
+                android:thumb="@drawable/custom_seekbar_thumb" />
-                />
 
             <!-- 加按钮 -->
             <TextView
@@ -364,7 +360,7 @@
                 android:text="+"
                 android:textColor="#ffffff"
                 android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
             <TextView

app/src/main/res/layout/fragment_foundation.xml

@@ -4,38 +4,220 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:background="#555f75"
+    android:background="#101010"
     android:orientation="vertical"
     tools:context=".Main.Setting.Fragment.FoundationFragment">
 
+<!--    <TextView-->
+<!--        android:gravity="center"-->
+<!--        android:text="维护中.."-->
+<!--        android:background="#cdcdcd"-->
+<!--        android:layout_width="match_parent"-->
+<!--        android:layout_height="match_parent"/>-->
+
+    <RelativeLayout
+        android:layout_margin="12dp"
+        android:orientation="horizontal"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
         <TextView
+            android:textStyle="bold"
+            android:gravity="right"
+            android:layout_gravity="center_vertical"
+            android:textSize="11sp"
+            android:text="模式切换按钮配置:"
+            android:textColor="#ffffff"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"/>
+
+        <TextView
+            android:id="@+id/tv_save"
+            android:layout_alignParentRight="true"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:gravity="center"
-        android:text="维护中.."
+            android:textColor="#ffffff"
-        android:background="#cdcdcd"
+            android:textSize="10sp"
-        android:layout_width="match_parent"
+            android:text="保存"
-        android:layout_height="match_parent"/>
+            android:padding="5dp"
+            android:layout_width="60dp"
+            android:layout_height="wrap_content"/>
 
-    <com.google.android.material.tabs.TabLayout
-        android:layout_marginTop="6dp"
-        android:layout_marginLeft="6dp"
-        android:id="@+id/tab_layout"
-        android:layout_width="match_parent"
-        android:layout_height="26dp"
-        android:background="#555f75"
-        app:tabIndicatorHeight="0dp"
-        app:tabRippleColor="@null"
-        app:tabBackground="@drawable/tab_background_selector"
-        app:tabTextColor="@drawable/tab_text_color_selector"
-        app:tabTextAppearance="@style/CustomTabTextAppearance"
-        android:contentDescription="载荷选择" />
 
-    <androidx.viewpager2.widget.ViewPager2
+    </RelativeLayout>
-        android:background="@drawable/ff112446_4round_bg"
-        android:layout_margin="6dp"
-        android:id="@+id/view_pager"
-        android:layout_width="match_parent"
-        android:layout_height="0dp"
-        android:layout_weight="1" />
 
 
+    <LinearLayout
+        android:layout_marginLeft="12dp"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
+        <LinearLayout
+            android:paddingLeft="12dp"
+            android:orientation="vertical"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <RelativeLayout
+                android:layout_marginLeft="12dp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:layout_centerVertical="true"
+                    android:id="@+id/tv_low_end"
+                    android:textSize="10sp"
+                    android:text="低档（0——1360）"
+                    android:textColor="#ffffff"
+                    android:layout_width="100dp"
+                    android:layout_height="wrap_content"/>
+
+                <RelativeLayout
+                    android:layout_toRightOf="@+id/tv_low_end"
+                    android:id="@+id/rl_low_end"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+                    <TextView
+                        android:id="@+id/tv_low_end_text"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:textColor="#ffffff"
+                        android:textSize="10sp"
+                        android:text="姿态"
+                        android:layout_width="80dp"
+                        android:padding="5dp"
+                        android:layout_height="wrap_content"/>
+
+                    <ImageView
+                        android:layout_marginRight="5dp"
+                        android:layout_centerVertical="true"
+                        android:layout_alignParentRight="true"
+                        android:src="@mipmap/icon_spinner_dowm"
+                        android:layout_width="10dp"
+                        android:layout_height="10dp"/>
+
+
+                </RelativeLayout>
+
+
+                <Spinner
+                    android:id="@+id/sp_low_end"
+                    android:layout_alignLeft="@+id/rl_low_end"
+                    android:layout_below="@+id/rl_low_end"
+                    android:layout_width="80dp"
+                    android:layout_height="0dp"/>
+
+            </RelativeLayout>
+
+            <RelativeLayout
+                android:layout_marginTop="12dp"
+                android:layout_marginLeft="12dp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:layout_centerVertical="true"
+                    android:id="@+id/tv_mid_range"
+                    android:textSize="10sp"
+                    android:text="中档（1361-1620）"
+                    android:textColor="#ffffff"
+                    android:layout_width="100dp"
+                    android:layout_height="wrap_content"/>
+
+                <RelativeLayout
+                    android:layout_toRightOf="@+id/tv_mid_range"
+                    android:id="@+id/rl_mid_range"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+                    <TextView
+                        android:id="@+id/tv_mid_range_text"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:textColor="#ffffff"
+                        android:textSize="10sp"
+                        android:text="姿态"
+                        android:layout_width="80dp"
+                        android:padding="5dp"
+                        android:layout_height="wrap_content"/>
+
+                    <ImageView
+                        android:layout_marginRight="5dp"
+                        android:layout_centerVertical="true"
+                        android:layout_alignParentRight="true"
+                        android:src="@mipmap/icon_spinner_dowm"
+                        android:layout_width="10dp"
+                        android:layout_height="10dp"/>
+
+
+                </RelativeLayout>
+
+
+                <Spinner
+                    android:id="@+id/sp_mid_range"
+                    android:layout_alignLeft="@+id/rl_mid_range"
+                    android:layout_below="@+id/rl_mid_range"
+                    android:layout_width="80dp"
+                    android:layout_height="0dp"/>
+
+            </RelativeLayout>
+
+            <RelativeLayout
+                android:layout_marginTop="12dp"
+                android:layout_marginLeft="12dp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:layout_centerVertical="true"
+                    android:id="@+id/tv_high_end"
+                    android:textSize="10sp"
+                    android:text="高档（1620-1750+）"
+                    android:textColor="#ffffff"
+                    android:layout_width="100dp"
+                    android:layout_height="wrap_content"/>
+
+                <RelativeLayout
+                    android:layout_toRightOf="@+id/tv_high_end"
+                    android:id="@+id/rl_high_end"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+                    <TextView
+                        android:id="@+id/tv_high_end_text"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:textColor="#ffffff"
+                        android:textSize="10sp"
+                        android:text="姿态"
+                        android:layout_width="80dp"
+                        android:padding="5dp"
+                        android:layout_height="wrap_content"/>
+
+                    <ImageView
+                        android:layout_marginRight="5dp"
+                        android:layout_centerVertical="true"
+                        android:layout_alignParentRight="true"
+                        android:src="@mipmap/icon_spinner_dowm"
+                        android:layout_width="10dp"
+                        android:layout_height="10dp"/>
+
+
+                </RelativeLayout>
+
+
+                <Spinner
+                    android:id="@+id/sp_high_end"
+                    android:layout_alignLeft="@+id/rl_high_end"
+                    android:layout_below="@+id/rl_high_end"
+                    android:layout_width="80dp"
+                    android:layout_height="0dp"/>
+
+            </RelativeLayout>
+
+        </LinearLayout>
+
+    </LinearLayout>
+
 </LinearLayout>

app/src/main/res/layout/fragment_load.xml

@@ -4,7 +4,7 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#ff112446"
+    android:background="#101010"
     android:orientation="vertical"
     tools:context=".Main.Setting.Fragment.LoadFragment">
 
@@ -33,7 +33,7 @@
                 android:textSize="10sp"
                 android:id="@+id/tv_save"
                 android:textColor="#ffffff"
-                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_4round_1stroke_bg"
                 android:padding="5dp"
                 android:gravity="center"
                 android:text="保存"
@@ -134,7 +134,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -154,7 +154,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -187,7 +187,7 @@
                         android:id="@+id/tv_value_minus_m7"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -213,7 +213,7 @@
                         android:id="@+id/tv_value_add_m7"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -234,7 +234,7 @@
                         android:id="@+id/tv_off_minus_m7"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -260,7 +260,7 @@
                         android:id="@+id/tv_off_add_m7"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -294,7 +294,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -314,7 +314,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -347,7 +347,7 @@
                         android:id="@+id/tv_value_minus_m8"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -373,7 +373,7 @@
                         android:id="@+id/tv_value_add_m8"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -394,7 +394,7 @@
                         android:id="@+id/tv_off_minus_m8"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -420,7 +420,7 @@
                         android:id="@+id/tv_off_add_m8"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -454,7 +454,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -474,7 +474,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -507,7 +507,7 @@
                         android:id="@+id/tv_value_minus_m9"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -533,7 +533,7 @@
                         android:id="@+id/tv_value_add_m9"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -554,7 +554,7 @@
                         android:id="@+id/tv_off_minus_m9"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -580,7 +580,7 @@
                         android:id="@+id/tv_off_add_m9"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -614,7 +614,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -634,7 +634,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -667,7 +667,7 @@
                         android:id="@+id/tv_value_minus_m10"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -693,7 +693,7 @@
                         android:id="@+id/tv_value_add_m10"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -714,7 +714,7 @@
                         android:id="@+id/tv_off_minus_m10"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -740,7 +740,7 @@
                         android:id="@+id/tv_off_add_m10"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -853,7 +853,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -873,7 +873,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -906,7 +906,7 @@
                         android:id="@+id/tv_value_minus_m11"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -932,7 +932,7 @@
                         android:id="@+id/tv_value_add_m11"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -953,7 +953,7 @@
                         android:id="@+id/tv_off_minus_m11"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -979,7 +979,7 @@
                         android:id="@+id/tv_off_add_m11"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -1092,7 +1092,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -1112,7 +1112,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -1145,7 +1145,7 @@
                         android:id="@+id/tv_value_minus_m12"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -1171,7 +1171,7 @@
                         android:id="@+id/tv_value_add_m12"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -1192,7 +1192,7 @@
                         android:id="@+id/tv_off_minus_m12"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -1218,7 +1218,7 @@
                         android:id="@+id/tv_off_add_m12"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -1329,7 +1329,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="5dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -1349,7 +1349,7 @@
                     android:layout_height="22dp"
                     android:layout_marginLeft="10dp"
                     android:layout_weight="1"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"
                     android:orientation="vertical">
 
                     <TextView
@@ -1382,7 +1382,7 @@
                         android:id="@+id/tv_value_minus_m13"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -1408,7 +1408,7 @@
                         android:id="@+id/tv_value_add_m13"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"
@@ -1429,7 +1429,7 @@
                         android:id="@+id/tv_off_minus_m13"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="-"
                         android:textColor="#ffffff"
@@ -1455,7 +1455,7 @@
                         android:id="@+id/tv_off_add_m13"
                         android:layout_width="20dp"
                         android:layout_height="20dp"
-                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:background="@drawable/ff029a45_2round_1stroke_bg"
                         android:gravity="center"
                         android:text="+"
                         android:textColor="#ffffff"

app/src/main/res/layout/fragment_motor.xml

@@ -71,7 +71,7 @@
                     android:text="-"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
                 <!-- 滑动条 -->
                 <SeekBar
@@ -95,7 +95,7 @@
                     android:text="+"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
                 <TextView
@@ -135,7 +135,7 @@
                     android:text="-"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
                 <!-- 滑动条 -->
                 <SeekBar
@@ -157,7 +157,7 @@
                     android:text="+"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
                 <TextView
@@ -203,7 +203,7 @@
                 android:textSize="10sp"
                 android:id="@+id/tv_all_test1"
                 android:textColor="#ffffff"
-                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_4round_1stroke_bg"
                 android:padding="5dp"
                 android:gravity="center"
                 android:text="全部旋转"
@@ -218,7 +218,7 @@
                 android:textSize="10sp"
                 android:id="@+id/tv_all_test2"
                 android:textColor="#ffffff"
-                android:background="@drawable/ffdd635a_4round_1stroke_bg"
+                android:background="@drawable/ffdf4b40_4round_1stroke_bg"
                 android:padding="5dp"
                 android:gravity="center"
                 android:text="顺序旋转"

app/src/main/res/layout/fragment_payload.xml

@@ -15,7 +15,7 @@
         <LinearLayout
             android:id="@+id/ll_all_select"
             android:gravity="center"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+            android:background="@drawable/ff029a45_2round_1stroke_bg"
             android:layout_width="55dp"
             android:layout_height="wrap_content">
 
@@ -44,7 +44,7 @@
                 android:id="@+id/tv_add"
                 android:gravity="center"
                 android:textColor="#ffffff"
-                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:background="@drawable/ff029a45_4round_1stroke_bg"
                 android:textSize="10sp"
                 android:text="+ 增加"
                 android:layout_width="42dp"
@@ -56,7 +56,7 @@
                 android:layout_marginLeft="10dp"
                 android:gravity="center"
                 android:textColor="#ffffff"
-                android:background="@drawable/ffdd635a_4round_1stroke_bg"
+                android:background="@drawable/ffdf4b40_4round_1stroke_bg"
                 android:textSize="10sp"
                 android:text="- 删除"
                 android:layout_width="42dp"

app/src/main/res/layout/fragment_secure.xml

@@ -5,7 +5,7 @@
     android:layout_height="match_parent"
     android:orientation="vertical"
     android:padding="6dp"
-    android:background="#112446"
+    android:background="#101010"
     tools:context=".Main.Setting.Fragment.SecureFragment">
 
 
@@ -26,7 +26,7 @@
                 android:layout_height="1.5dp"/>
 
             <TextView
-                android:background="@drawable/ff112446_4round_bg"
+                android:background="#101010"
                 android:gravity="center"
                 android:layout_centerInParent="true"
                 android:layout_margin="6dp"
@@ -76,7 +76,7 @@
                     android:text="-"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
                 <!-- 滑动条 -->
                 <SeekBar
@@ -99,7 +99,7 @@
                     android:text="+"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
                 <TextView
@@ -138,7 +138,7 @@
                         android:layout_height="wrap_content">
 
                         <TextView
-                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:background="@drawable/ff029a45_2round_1stroke_bg"
                             android:id="@+id/tv_one_power_protect"
                             android:gravity="center"
                             android:textColor="#ffffff"
@@ -201,7 +201,7 @@
                     android:text="-"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
                 <!-- 滑动条 -->
                 <SeekBar
@@ -223,7 +223,7 @@
                     android:text="+"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
                 <TextView
@@ -264,7 +264,7 @@
 
                         <TextView
                             android:id="@+id/tv_two_power_protect"
-                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:background="@drawable/ff029a45_2round_1stroke_bg"
                             android:gravity="center"
                             android:textColor="#ffffff"
                             android:textSize="10sp"
@@ -314,7 +314,7 @@
                 android:layout_height="1.5dp"/>
 
             <TextView
-                android:background="@drawable/ff112446_4round_bg"
+                android:background="#101010"
                 android:gravity="center"
                 android:layout_centerInParent="true"
                 android:layout_margin="6dp"
@@ -360,7 +360,7 @@
                     android:text="-"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
                 <EditText
                     android:id="@+id/et_link"
@@ -385,7 +385,7 @@
                     android:text="+"
                     android:textColor="#ffffff"
                     android:textSize="10sp"
-                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                    android:background="@drawable/ff029a45_2round_1stroke_bg"/>
 
 
                 <TextView
@@ -424,7 +424,7 @@
 
                         <TextView
                             android:id="@+id/tv_link_protect"
-                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:background="@drawable/ff029a45_2round_1stroke_bg"
                             android:gravity="center"
                             android:textColor="#ffffff"
                             android:textSize="10sp"

app/src/main/res/layout/fragment_sensor.xml

@@ -49,7 +49,7 @@
     <LinearLayout
         android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:background="#555f75"
+        android:background="#101010"
         android:orientation="vertical"
         android:padding="8dp">