changeRobotLocation()drawRect:(CGRect)rect
sendToLowerMac(starIndustrial PC)
saveMapClick
connect()startAdvertising()startMapSubscribing()startPositionSubscribing()receiveDataFromPhone()
talk_to_client(#SMAPS)
sendData(connect)
talk_to_client(okcool)
sendToLowerMac(saveMapJson)
sendToLowerMac(controlDataJson)
工控机
poseBt
send(mapDataJson)send(robotLocationJson)
sendData(dropb)
senData(BEAT@&OK)
[self dismiss]closeConnection()
sendData(controlDataJson)
sendData(saveMapJson)
closeConnection()
sendData(#MAPS)
poseBtClick
路由器
longPress:(UIPanGestureRecognizer*)recognizer
controlControll
-findRobot()
send(#SMAPS)
getClientIp(DatagramPacket dPacket)connectClient()
RobotUdpService
scpTo()scpfrom()
sendData(starIndustrial PC)
found(DatagramPacket dPacket)
sendData(#POSE:)
iOS-controller
sendToLowerMac(#POSE:)
saveBt
talk_to_client(BEAT@&BACK)
talk_to_client(mapDataJson)talk_to_client(robotLocationJson)
talk_to_client(xmfound)
