头部机类图

UDPService

+ udpServer UDPServer

+onDataReceieved(String data)+onHasConnected(boolean b)+onCreate()+onDestroy()

UDPServer

+TAG string- port int - timeout int-life bool+connectingIp IntAddress+dsocket DatagramSocket+listener UDPListener- createMapManager createMapManager- robot_id string

+run()+talk_to_client(String msg)- tellLowerMacDisconWithClient(String compare)-tellLowerMacConnWithClient(String compare)- connectClient（）-getClientIp(DatagramPacket dPacket)-found(DatagramPacket dPacket)-DatagramPacket receiveDataFromPhone()-sendToLowerMac(String compare)

TalkSafe

-tempData datagramPacket

+run()

CreateMapManager

+TAG string+SO_TIMEOUT int- resolver contentresolver-Uri uri-locationName string- locatioNames arraylist- poseTimes array list

+handleMessage(Message msg)- scpTo()- saveData(array list locationInfos)- scpFrom（）- deleteFiles（）-socketSendCmd（）-stopCreateMap（）+handMsg（）

UDPListener

+onDataReceieved(string data)+onHasConnected(boolean b)

TCPClient

- server_port int- socket socket- msg string- dos DataOutputStream

+ connect()+ getNewInfo()+ send(string msg)+startAdvertising()+startMapSubscribing()+startPositionSubscribing()+sendJSONString(String input_msg)