diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index 1cbecc3..8d772fc 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -9,10 +9,16 @@
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
 import android.os.CountDownTimer
+import android.os.Handler
+import android.os.Message
 import android.util.Log
 import android.view.KeyEvent
 import android.view.View
@@ -81,6 +87,7 @@
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
 import com.pengxh.kt.lite.extensions.dateToTimestamp
 import com.pengxh.kt.lite.extensions.dp2px
+import com.pengxh.kt.lite.extensions.getSystemService
 import com.pengxh.kt.lite.extensions.initDialogLayoutParams
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
@@ -92,6 +99,7 @@
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.LoadingDialogHub
 import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
 import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
@@ -107,7 +115,8 @@
 import java.util.TimerTask
 
 @SuppressLint("all")
-class MainActivity : SerialPortActivity<ActivityMainBinding>() {
+class MainActivity : SerialPortActivity<ActivityMainBinding>(), SensorEventListener,
+    Handler.Callback {
 
     private val kTag = "MainActivity"
     private val context = this@MainActivity
@@ -118,6 +127,9 @@
     private val installDialog by lazy { InstallMarkerDialog(this) }
     private val searchDialog by lazy { SearchMarkerDialog(this) }
     private val searchNewDialog by lazy { SearchMarkerNewDialog(this) }
+    private val sensorMessageCode = 2024022301
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
     private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
@@ -128,17 +140,20 @@
     private var signalTask: TimerTask? = null
     private var searchMarkerTimer: Timer? = null
     private var taskId: String? = null
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
     private lateinit var aMap: AMap
     private lateinit var task: TaskBean
+    private lateinit var sensorManager: SensorManager
+    private lateinit var weakReferenceHandler: WeakReferenceHandler
+
 
     /***inner class 需要用到*****start*/
     private val gpioManager by lazy { GpioManager() }
     private val locationHub by lazy { LocationHub(this) }
     private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
-    private val attr = AudioAttributes.Builder()
-        .setUsage(AudioAttributes.USAGE_ALARM)
-        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
-        .build()
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
     private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
     private var soundResourceId = 0
     private var slowSoundResourceId = 0
@@ -167,6 +182,9 @@
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
+        sensorManager = getSystemService<SensorManager>()!!
+        weakReferenceHandler = WeakReferenceHandler(this)
+
         //task网络请求监听
         taskViewModel.markerFileResult.observe(this) {
             if (it.isSuccess) {
@@ -228,12 +246,9 @@
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -273,12 +288,9 @@
              * 改为Dialog方式，避免频繁打开/关闭串口
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -358,11 +370,8 @@
                         override fun onActionItemClick(position: Int) {
                             task = tasks[position]
                             SaveKeyValues.putValue(LocaleConstant.TASK_ID, task.taskId)
-                            AlertControlDialog.Builder()
-                                .setContext(context)
-                                .setTitle("提示")
-                                .setMessage("请选择操作方式")
-                                .setPositiveButton("执行工单")
+                            AlertControlDialog.Builder().setContext(context).setTitle("提示")
+                                .setMessage("请选择操作方式").setPositiveButton("执行工单")
                                 .setNegativeButton("提交工单")
                                 .setOnDialogButtonClickListener(object :
                                     AlertControlDialog.OnDialogButtonClickListener {
@@ -407,31 +416,25 @@
              * 如果开启自由巡检就不让探测
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
                         }
                     }).build().show()
             } else {
-                searchDialog.show()
+//                searchDialog.show()
                 //TODO 新探测界面
-//            searchNewDialog.show()
+                searchNewDialog.show()
             }
         }
 
         //自由巡检
         binding.stopFreeTaskButton.setOnLongClickListener {
-            AlertMessageDialog.Builder()
-                .setContext(context)
-                .setTitle("温馨提示")
-                .setMessage("是否确定结束此次自由巡检任务？")
-                .setPositiveButton("是")
+            AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？").setPositiveButton("是")
                 .setOnDialogButtonClickListener(object :
                     AlertMessageDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
@@ -513,9 +516,12 @@
                     if (labels.isNotEmpty()) {
                         val bean = labels.first()
                         aMap.addMarker(
-                            MarkerOptions()
-                                .position(LatLng(bean.lat.toDouble(), bean.lng.toDouble()))
-                                .icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
+                            MarkerOptions().position(
+                                LatLng(
+                                    bean.lat.toDouble(),
+                                    bean.lng.toDouble()
+                                )
+                            ).icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
                         )
                     }
                 }
@@ -888,6 +894,40 @@
         } else super.onKeyDown(keyCode, event)
     }
 
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            Log.d(kTag, "onSensorChanged => 数据不全，不计算")
+            return
+        }
+
+        weakReferenceHandler.sendEmptyMessage(sensorMessageCode)
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        if (msg.what == sensorMessageCode) {
+            if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+                SensorManager.getOrientation(rotationMatrix, valueArray)
+
+                val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+                searchNewDialog.updateDegreeValue(degree)
+            }
+        }
+        return true
+    }
+
     /***以下是地图生命周期管理************************************************************************/
 
     override fun onResume() {
@@ -900,11 +940,20 @@
             }
             showLabelsOnMap()
         }
+
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
     }
 
     override fun onPause() {
         super.onPause()
         binding.mapView.onPause()
+        sensorManager.unregisterListener(this)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
@@ -1739,7 +1788,7 @@
                     binding.energyValueView.text = "${energy}dB"
 
                     if (energy <= 700) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                        binding.energyTipsView.text = "信号较弱，可能距离较远"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
 
@@ -1754,11 +1803,11 @@
                         binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
                         binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
                     } else if (energy >= 4100) {
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                        binding.energyTipsView.text = "信号极强，接近标识器正上方"
                         binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
                     } else {
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                        binding.energyTipsView.text = "已靠近，请继续移动位置"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                     }
@@ -1771,6 +1820,15 @@
                 try {
                     val depthResponse = hex.take(10).hexToString()
                     val depth = depthResponse.drop(2).toInt()
+
+                    //根据型号设置不同的进度比例
+                    val result = DataBaseManager.get.queryLabelById(markerId)
+                    when (result.first().identifierType) {
+                        "EM30" -> binding.distancePgBar.progress = depth / 110
+                        "EM50" -> binding.distancePgBar.progress = depth / 150
+                        "EM14" -> binding.distancePgBar.progress = depth / 70
+                    }
+
                     AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
                         .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
                         .setOnDialogButtonClickListener(object :
@@ -1812,6 +1870,12 @@
             }
         }
 
+        //更新罗盘角度
+        fun updateDegreeValue(degree: Int) {
+            binding.degreeView.text = degree.toString()
+            binding.radarScanView.setDegreeValue(degree)
+        }
+
         private fun initTimer() {
             searchMarkerTimer = Timer()
 

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index 1cbecc3..8d772fc 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -9,10 +9,16 @@
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
 import android.os.CountDownTimer
+import android.os.Handler
+import android.os.Message
 import android.util.Log
 import android.view.KeyEvent
 import android.view.View
@@ -81,6 +87,7 @@
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
 import com.pengxh.kt.lite.extensions.dateToTimestamp
 import com.pengxh.kt.lite.extensions.dp2px
+import com.pengxh.kt.lite.extensions.getSystemService
 import com.pengxh.kt.lite.extensions.initDialogLayoutParams
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
@@ -92,6 +99,7 @@
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.LoadingDialogHub
 import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
 import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
@@ -107,7 +115,8 @@
 import java.util.TimerTask
 
 @SuppressLint("all")
-class MainActivity : SerialPortActivity<ActivityMainBinding>() {
+class MainActivity : SerialPortActivity<ActivityMainBinding>(), SensorEventListener,
+    Handler.Callback {
 
     private val kTag = "MainActivity"
     private val context = this@MainActivity
@@ -118,6 +127,9 @@
     private val installDialog by lazy { InstallMarkerDialog(this) }
     private val searchDialog by lazy { SearchMarkerDialog(this) }
     private val searchNewDialog by lazy { SearchMarkerNewDialog(this) }
+    private val sensorMessageCode = 2024022301
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
     private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
@@ -128,17 +140,20 @@
     private var signalTask: TimerTask? = null
     private var searchMarkerTimer: Timer? = null
     private var taskId: String? = null
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
     private lateinit var aMap: AMap
     private lateinit var task: TaskBean
+    private lateinit var sensorManager: SensorManager
+    private lateinit var weakReferenceHandler: WeakReferenceHandler
+
 
     /***inner class 需要用到*****start*/
     private val gpioManager by lazy { GpioManager() }
     private val locationHub by lazy { LocationHub(this) }
     private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
-    private val attr = AudioAttributes.Builder()
-        .setUsage(AudioAttributes.USAGE_ALARM)
-        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
-        .build()
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
     private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
     private var soundResourceId = 0
     private var slowSoundResourceId = 0
@@ -167,6 +182,9 @@
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
+        sensorManager = getSystemService<SensorManager>()!!
+        weakReferenceHandler = WeakReferenceHandler(this)
+
         //task网络请求监听
         taskViewModel.markerFileResult.observe(this) {
             if (it.isSuccess) {
@@ -228,12 +246,9 @@
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -273,12 +288,9 @@
              * 改为Dialog方式，避免频繁打开/关闭串口
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -358,11 +370,8 @@
                         override fun onActionItemClick(position: Int) {
                             task = tasks[position]
                             SaveKeyValues.putValue(LocaleConstant.TASK_ID, task.taskId)
-                            AlertControlDialog.Builder()
-                                .setContext(context)
-                                .setTitle("提示")
-                                .setMessage("请选择操作方式")
-                                .setPositiveButton("执行工单")
+                            AlertControlDialog.Builder().setContext(context).setTitle("提示")
+                                .setMessage("请选择操作方式").setPositiveButton("执行工单")
                                 .setNegativeButton("提交工单")
                                 .setOnDialogButtonClickListener(object :
                                     AlertControlDialog.OnDialogButtonClickListener {
@@ -407,31 +416,25 @@
              * 如果开启自由巡检就不让探测
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
                         }
                     }).build().show()
             } else {
-                searchDialog.show()
+//                searchDialog.show()
                 //TODO 新探测界面
-//            searchNewDialog.show()
+                searchNewDialog.show()
             }
         }
 
         //自由巡检
         binding.stopFreeTaskButton.setOnLongClickListener {
-            AlertMessageDialog.Builder()
-                .setContext(context)
-                .setTitle("温馨提示")
-                .setMessage("是否确定结束此次自由巡检任务？")
-                .setPositiveButton("是")
+            AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？").setPositiveButton("是")
                 .setOnDialogButtonClickListener(object :
                     AlertMessageDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
@@ -513,9 +516,12 @@
                     if (labels.isNotEmpty()) {
                         val bean = labels.first()
                         aMap.addMarker(
-                            MarkerOptions()
-                                .position(LatLng(bean.lat.toDouble(), bean.lng.toDouble()))
-                                .icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
+                            MarkerOptions().position(
+                                LatLng(
+                                    bean.lat.toDouble(),
+                                    bean.lng.toDouble()
+                                )
+                            ).icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
                         )
                     }
                 }
@@ -888,6 +894,40 @@
         } else super.onKeyDown(keyCode, event)
     }
 
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            Log.d(kTag, "onSensorChanged => 数据不全，不计算")
+            return
+        }
+
+        weakReferenceHandler.sendEmptyMessage(sensorMessageCode)
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        if (msg.what == sensorMessageCode) {
+            if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+                SensorManager.getOrientation(rotationMatrix, valueArray)
+
+                val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+                searchNewDialog.updateDegreeValue(degree)
+            }
+        }
+        return true
+    }
+
     /***以下是地图生命周期管理************************************************************************/
 
     override fun onResume() {
@@ -900,11 +940,20 @@
             }
             showLabelsOnMap()
         }
+
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
     }
 
     override fun onPause() {
         super.onPause()
         binding.mapView.onPause()
+        sensorManager.unregisterListener(this)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
@@ -1739,7 +1788,7 @@
                     binding.energyValueView.text = "${energy}dB"
 
                     if (energy <= 700) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                        binding.energyTipsView.text = "信号较弱，可能距离较远"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
 
@@ -1754,11 +1803,11 @@
                         binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
                         binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
                     } else if (energy >= 4100) {
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                        binding.energyTipsView.text = "信号极强，接近标识器正上方"
                         binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
                     } else {
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                        binding.energyTipsView.text = "已靠近，请继续移动位置"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                     }
@@ -1771,6 +1820,15 @@
                 try {
                     val depthResponse = hex.take(10).hexToString()
                     val depth = depthResponse.drop(2).toInt()
+
+                    //根据型号设置不同的进度比例
+                    val result = DataBaseManager.get.queryLabelById(markerId)
+                    when (result.first().identifierType) {
+                        "EM30" -> binding.distancePgBar.progress = depth / 110
+                        "EM50" -> binding.distancePgBar.progress = depth / 150
+                        "EM14" -> binding.distancePgBar.progress = depth / 70
+                    }
+
                     AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
                         .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
                         .setOnDialogButtonClickListener(object :
@@ -1812,6 +1870,12 @@
             }
         }
 
+        //更新罗盘角度
+        fun updateDegreeValue(degree: Int) {
+            binding.degreeView.text = degree.toString()
+            binding.radarScanView.setDegreeValue(degree)
+        }
+
         private fun initTimer() {
             searchMarkerTimer = Timer()
 
diff --git a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
index f87089b..4f4f2e3 100644
--- a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
+++ b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
@@ -58,13 +58,18 @@
     //雷达扫描角度步长
     private var degrees = 0f
 
+    //方位角
+    private var degreeValue = 0
+
     private lateinit var tickPaint: Paint
     private lateinit var backPaint: Paint
     private lateinit var borderPaint: Paint
     private lateinit var shaderPaint: Paint
     private lateinit var dataPaint: Paint
+    private lateinit var trianglePaint: Paint
     private lateinit var innerPaint: TextPaint
     private lateinit var innerTextPath: Path
+    private lateinit var trianglePath: Path
 
     //雷达扫描线后面的渐变梯度
     private lateinit var sweepGradient: SweepGradient
@@ -72,9 +77,18 @@
     //背景栅格图
     private lateinit var bitmap: Bitmap
 
+    //指示针
+    private lateinit var needleBitmap: Bitmap
+
     //雷达旋转矩阵
     private lateinit var matrix: Matrix
 
+    //方位三角形边长
+    private val tickLength = 20f.dp2px(context)
+
+    //背景区域范围
+    private var bgRect: Rect
+
     init {
         val type = context.obtainStyledAttributes(attrs, R.styleable.RadarScanView)
         borderColor = type.getColor(R.styleable.RadarScanView_radar_borderColor, Color.GRAY)
@@ -86,10 +100,12 @@
         innerRadius = radius - 10.dp2px(context)
 
         //需要给外围刻度留位置
-        viewSideLength = radius + 10.dp2px(context)
+        viewSideLength = radius + 30.dp2px(context)
         //辅助框
         rect = Rect(-viewSideLength, -viewSideLength, viewSideLength, viewSideLength)
 
+        bgRect = Rect(-radius, -radius, radius, radius)
+
         initPaint()
 
         //控制转动
@@ -142,6 +158,17 @@
         )
         innerTextPath.addArc(innerRectF, -90f, 360f)
 
+        trianglePaint = Paint()
+        trianglePaint.color = Color.RED
+        trianglePaint.style = Paint.Style.FILL
+        trianglePaint.isAntiAlias = true
+        trianglePath = Path()
+        trianglePath.moveTo(0f, -viewSideLength.toFloat() + tickLength * 1.5f)
+        trianglePath.lineTo(tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.lineTo(-tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.close()
+        needleBitmap = BitmapFactory.decodeResource(context.resources, R.mipmap.bg_needle)
+
         //扫描线画笔
         shaderPaint = Paint()
         shaderPaint.isAntiAlias = true
@@ -200,7 +227,7 @@
         canvas.translate(centerX, centerY)
 
         //画背景
-        canvas.drawBitmap(bitmap, -radius.toFloat(), -radius.toFloat(), backPaint)
+        canvas.drawBitmap(bitmap, null, bgRect, backPaint)
 
 //        drawGuides(canvas)
 
@@ -263,6 +290,26 @@
             )
         }
 
+        //画正北方小三角
+        canvas.drawPath(trianglePath, trianglePaint)
+
+        //画实时方位角
+//        for (angle in 0..degreeValue step 3) {
+//            //角度需要转为弧度
+//            val radians = (angle - 90) * (Math.PI / 180)
+//
+//            canvas.drawBitmap(
+//                needleBitmap,
+//                -(needleBitmap.width shr 1).toFloat(),
+//                -(radians + needleBitmap.height).toFloat(),
+//                trianglePaint
+//            )
+//        }
+        //角度需要转为弧度
+        val radians = degreeValue * (Math.PI / 180)
+
+//        canvas.drawBitmap(needleBitmap, null, bgRect, trianglePaint)
+
         //画数据点
         points.forEach {
             canvas.drawCircle(it.x, it.y, 10f, dataPaint)
@@ -290,6 +337,16 @@
     }
 
     /**
+     * 更新罗盘方位角度
+     * @param value 方位角
+     * */
+    fun setDegreeValue(value: Int) {
+        degreeValue = value
+        //实时刷新角度值
+        invalidate()
+    }
+
+    /**
      * 数据点
      * @param dataPoints 数据点集合
      * */

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index 1cbecc3..8d772fc 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -9,10 +9,16 @@
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
 import android.os.CountDownTimer
+import android.os.Handler
+import android.os.Message
 import android.util.Log
 import android.view.KeyEvent
 import android.view.View
@@ -81,6 +87,7 @@
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
 import com.pengxh.kt.lite.extensions.dateToTimestamp
 import com.pengxh.kt.lite.extensions.dp2px
+import com.pengxh.kt.lite.extensions.getSystemService
 import com.pengxh.kt.lite.extensions.initDialogLayoutParams
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
@@ -92,6 +99,7 @@
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.LoadingDialogHub
 import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
 import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
@@ -107,7 +115,8 @@
 import java.util.TimerTask
 
 @SuppressLint("all")
-class MainActivity : SerialPortActivity<ActivityMainBinding>() {
+class MainActivity : SerialPortActivity<ActivityMainBinding>(), SensorEventListener,
+    Handler.Callback {
 
     private val kTag = "MainActivity"
     private val context = this@MainActivity
@@ -118,6 +127,9 @@
     private val installDialog by lazy { InstallMarkerDialog(this) }
     private val searchDialog by lazy { SearchMarkerDialog(this) }
     private val searchNewDialog by lazy { SearchMarkerNewDialog(this) }
+    private val sensorMessageCode = 2024022301
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
     private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
@@ -128,17 +140,20 @@
     private var signalTask: TimerTask? = null
     private var searchMarkerTimer: Timer? = null
     private var taskId: String? = null
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
     private lateinit var aMap: AMap
     private lateinit var task: TaskBean
+    private lateinit var sensorManager: SensorManager
+    private lateinit var weakReferenceHandler: WeakReferenceHandler
+
 
     /***inner class 需要用到*****start*/
     private val gpioManager by lazy { GpioManager() }
     private val locationHub by lazy { LocationHub(this) }
     private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
-    private val attr = AudioAttributes.Builder()
-        .setUsage(AudioAttributes.USAGE_ALARM)
-        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
-        .build()
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
     private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
     private var soundResourceId = 0
     private var slowSoundResourceId = 0
@@ -167,6 +182,9 @@
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
+        sensorManager = getSystemService<SensorManager>()!!
+        weakReferenceHandler = WeakReferenceHandler(this)
+
         //task网络请求监听
         taskViewModel.markerFileResult.observe(this) {
             if (it.isSuccess) {
@@ -228,12 +246,9 @@
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -273,12 +288,9 @@
              * 改为Dialog方式，避免频繁打开/关闭串口
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -358,11 +370,8 @@
                         override fun onActionItemClick(position: Int) {
                             task = tasks[position]
                             SaveKeyValues.putValue(LocaleConstant.TASK_ID, task.taskId)
-                            AlertControlDialog.Builder()
-                                .setContext(context)
-                                .setTitle("提示")
-                                .setMessage("请选择操作方式")
-                                .setPositiveButton("执行工单")
+                            AlertControlDialog.Builder().setContext(context).setTitle("提示")
+                                .setMessage("请选择操作方式").setPositiveButton("执行工单")
                                 .setNegativeButton("提交工单")
                                 .setOnDialogButtonClickListener(object :
                                     AlertControlDialog.OnDialogButtonClickListener {
@@ -407,31 +416,25 @@
              * 如果开启自由巡检就不让探测
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
                         }
                     }).build().show()
             } else {
-                searchDialog.show()
+//                searchDialog.show()
                 //TODO 新探测界面
-//            searchNewDialog.show()
+                searchNewDialog.show()
             }
         }
 
         //自由巡检
         binding.stopFreeTaskButton.setOnLongClickListener {
-            AlertMessageDialog.Builder()
-                .setContext(context)
-                .setTitle("温馨提示")
-                .setMessage("是否确定结束此次自由巡检任务？")
-                .setPositiveButton("是")
+            AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？").setPositiveButton("是")
                 .setOnDialogButtonClickListener(object :
                     AlertMessageDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
@@ -513,9 +516,12 @@
                     if (labels.isNotEmpty()) {
                         val bean = labels.first()
                         aMap.addMarker(
-                            MarkerOptions()
-                                .position(LatLng(bean.lat.toDouble(), bean.lng.toDouble()))
-                                .icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
+                            MarkerOptions().position(
+                                LatLng(
+                                    bean.lat.toDouble(),
+                                    bean.lng.toDouble()
+                                )
+                            ).icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
                         )
                     }
                 }
@@ -888,6 +894,40 @@
         } else super.onKeyDown(keyCode, event)
     }
 
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            Log.d(kTag, "onSensorChanged => 数据不全，不计算")
+            return
+        }
+
+        weakReferenceHandler.sendEmptyMessage(sensorMessageCode)
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        if (msg.what == sensorMessageCode) {
+            if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+                SensorManager.getOrientation(rotationMatrix, valueArray)
+
+                val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+                searchNewDialog.updateDegreeValue(degree)
+            }
+        }
+        return true
+    }
+
     /***以下是地图生命周期管理************************************************************************/
 
     override fun onResume() {
@@ -900,11 +940,20 @@
             }
             showLabelsOnMap()
         }
+
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
     }
 
     override fun onPause() {
         super.onPause()
         binding.mapView.onPause()
+        sensorManager.unregisterListener(this)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
@@ -1739,7 +1788,7 @@
                     binding.energyValueView.text = "${energy}dB"
 
                     if (energy <= 700) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                        binding.energyTipsView.text = "信号较弱，可能距离较远"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
 
@@ -1754,11 +1803,11 @@
                         binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
                         binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
                     } else if (energy >= 4100) {
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                        binding.energyTipsView.text = "信号极强，接近标识器正上方"
                         binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
                     } else {
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                        binding.energyTipsView.text = "已靠近，请继续移动位置"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                     }
@@ -1771,6 +1820,15 @@
                 try {
                     val depthResponse = hex.take(10).hexToString()
                     val depth = depthResponse.drop(2).toInt()
+
+                    //根据型号设置不同的进度比例
+                    val result = DataBaseManager.get.queryLabelById(markerId)
+                    when (result.first().identifierType) {
+                        "EM30" -> binding.distancePgBar.progress = depth / 110
+                        "EM50" -> binding.distancePgBar.progress = depth / 150
+                        "EM14" -> binding.distancePgBar.progress = depth / 70
+                    }
+
                     AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
                         .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
                         .setOnDialogButtonClickListener(object :
@@ -1812,6 +1870,12 @@
             }
         }
 
+        //更新罗盘角度
+        fun updateDegreeValue(degree: Int) {
+            binding.degreeView.text = degree.toString()
+            binding.radarScanView.setDegreeValue(degree)
+        }
+
         private fun initTimer() {
             searchMarkerTimer = Timer()
 
diff --git a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
index f87089b..4f4f2e3 100644
--- a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
+++ b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
@@ -58,13 +58,18 @@
     //雷达扫描角度步长
     private var degrees = 0f
 
+    //方位角
+    private var degreeValue = 0
+
     private lateinit var tickPaint: Paint
     private lateinit var backPaint: Paint
     private lateinit var borderPaint: Paint
     private lateinit var shaderPaint: Paint
     private lateinit var dataPaint: Paint
+    private lateinit var trianglePaint: Paint
     private lateinit var innerPaint: TextPaint
     private lateinit var innerTextPath: Path
+    private lateinit var trianglePath: Path
 
     //雷达扫描线后面的渐变梯度
     private lateinit var sweepGradient: SweepGradient
@@ -72,9 +77,18 @@
     //背景栅格图
     private lateinit var bitmap: Bitmap
 
+    //指示针
+    private lateinit var needleBitmap: Bitmap
+
     //雷达旋转矩阵
     private lateinit var matrix: Matrix
 
+    //方位三角形边长
+    private val tickLength = 20f.dp2px(context)
+
+    //背景区域范围
+    private var bgRect: Rect
+
     init {
         val type = context.obtainStyledAttributes(attrs, R.styleable.RadarScanView)
         borderColor = type.getColor(R.styleable.RadarScanView_radar_borderColor, Color.GRAY)
@@ -86,10 +100,12 @@
         innerRadius = radius - 10.dp2px(context)
 
         //需要给外围刻度留位置
-        viewSideLength = radius + 10.dp2px(context)
+        viewSideLength = radius + 30.dp2px(context)
         //辅助框
         rect = Rect(-viewSideLength, -viewSideLength, viewSideLength, viewSideLength)
 
+        bgRect = Rect(-radius, -radius, radius, radius)
+
         initPaint()
 
         //控制转动
@@ -142,6 +158,17 @@
         )
         innerTextPath.addArc(innerRectF, -90f, 360f)
 
+        trianglePaint = Paint()
+        trianglePaint.color = Color.RED
+        trianglePaint.style = Paint.Style.FILL
+        trianglePaint.isAntiAlias = true
+        trianglePath = Path()
+        trianglePath.moveTo(0f, -viewSideLength.toFloat() + tickLength * 1.5f)
+        trianglePath.lineTo(tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.lineTo(-tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.close()
+        needleBitmap = BitmapFactory.decodeResource(context.resources, R.mipmap.bg_needle)
+
         //扫描线画笔
         shaderPaint = Paint()
         shaderPaint.isAntiAlias = true
@@ -200,7 +227,7 @@
         canvas.translate(centerX, centerY)
 
         //画背景
-        canvas.drawBitmap(bitmap, -radius.toFloat(), -radius.toFloat(), backPaint)
+        canvas.drawBitmap(bitmap, null, bgRect, backPaint)
 
 //        drawGuides(canvas)
 
@@ -263,6 +290,26 @@
             )
         }
 
+        //画正北方小三角
+        canvas.drawPath(trianglePath, trianglePaint)
+
+        //画实时方位角
+//        for (angle in 0..degreeValue step 3) {
+//            //角度需要转为弧度
+//            val radians = (angle - 90) * (Math.PI / 180)
+//
+//            canvas.drawBitmap(
+//                needleBitmap,
+//                -(needleBitmap.width shr 1).toFloat(),
+//                -(radians + needleBitmap.height).toFloat(),
+//                trianglePaint
+//            )
+//        }
+        //角度需要转为弧度
+        val radians = degreeValue * (Math.PI / 180)
+
+//        canvas.drawBitmap(needleBitmap, null, bgRect, trianglePaint)
+
         //画数据点
         points.forEach {
             canvas.drawCircle(it.x, it.y, 10f, dataPaint)
@@ -290,6 +337,16 @@
     }
 
     /**
+     * 更新罗盘方位角度
+     * @param value 方位角
+     * */
+    fun setDegreeValue(value: Int) {
+        degreeValue = value
+        //实时刷新角度值
+        invalidate()
+    }
+
+    /**
      * 数据点
      * @param dataPoints 数据点集合
      * */
diff --git a/app/src/main/res/layout/dialog_search_marker_new.xml b/app/src/main/res/layout/dialog_search_marker_new.xml
index c341a72..a3ff080 100644
--- a/app/src/main/res/layout/dialog_search_marker_new.xml
+++ b/app/src/main/res/layout/dialog_search_marker_new.xml
@@ -8,6 +8,13 @@
     android:gravity="center_horizontal"
     android:orientation="vertical">
 
+    <TextView
+        android:id="@+id/degreeView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="0"
+        android:textColor="@color/white" />
+
     <LinearLayout
         android:layout_width="320dp"
         android:layout_height="wrap_content"
@@ -46,10 +53,10 @@
         android:id="@+id/radarScanView"
         android:layout_width="320dp"
         android:layout_height="0dp"
-        android:layout_marginVertical="@dimen/dp_30"
+        android:layout_marginVertical="@dimen/dp_20"
         android:layout_weight="1"
         app:radar_border="@dimen/dp_1"
-        app:radar_borderColor="#8054ADA8"
+        app:radar_borderColor="#8000FFF0"
         app:radar_circleCount="4"
         app:radar_radius="@dimen/dp_125" />
 

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index 1cbecc3..8d772fc 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -9,10 +9,16 @@
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
 import android.os.CountDownTimer
+import android.os.Handler
+import android.os.Message
 import android.util.Log
 import android.view.KeyEvent
 import android.view.View
@@ -81,6 +87,7 @@
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
 import com.pengxh.kt.lite.extensions.dateToTimestamp
 import com.pengxh.kt.lite.extensions.dp2px
+import com.pengxh.kt.lite.extensions.getSystemService
 import com.pengxh.kt.lite.extensions.initDialogLayoutParams
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
@@ -92,6 +99,7 @@
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.LoadingDialogHub
 import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
 import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
@@ -107,7 +115,8 @@
 import java.util.TimerTask
 
 @SuppressLint("all")
-class MainActivity : SerialPortActivity<ActivityMainBinding>() {
+class MainActivity : SerialPortActivity<ActivityMainBinding>(), SensorEventListener,
+    Handler.Callback {
 
     private val kTag = "MainActivity"
     private val context = this@MainActivity
@@ -118,6 +127,9 @@
     private val installDialog by lazy { InstallMarkerDialog(this) }
     private val searchDialog by lazy { SearchMarkerDialog(this) }
     private val searchNewDialog by lazy { SearchMarkerNewDialog(this) }
+    private val sensorMessageCode = 2024022301
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
     private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
@@ -128,17 +140,20 @@
     private var signalTask: TimerTask? = null
     private var searchMarkerTimer: Timer? = null
     private var taskId: String? = null
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
     private lateinit var aMap: AMap
     private lateinit var task: TaskBean
+    private lateinit var sensorManager: SensorManager
+    private lateinit var weakReferenceHandler: WeakReferenceHandler
+
 
     /***inner class 需要用到*****start*/
     private val gpioManager by lazy { GpioManager() }
     private val locationHub by lazy { LocationHub(this) }
     private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
-    private val attr = AudioAttributes.Builder()
-        .setUsage(AudioAttributes.USAGE_ALARM)
-        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
-        .build()
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
     private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
     private var soundResourceId = 0
     private var slowSoundResourceId = 0
@@ -167,6 +182,9 @@
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
+        sensorManager = getSystemService<SensorManager>()!!
+        weakReferenceHandler = WeakReferenceHandler(this)
+
         //task网络请求监听
         taskViewModel.markerFileResult.observe(this) {
             if (it.isSuccess) {
@@ -228,12 +246,9 @@
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -273,12 +288,9 @@
              * 改为Dialog方式，避免频繁打开/关闭串口
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -358,11 +370,8 @@
                         override fun onActionItemClick(position: Int) {
                             task = tasks[position]
                             SaveKeyValues.putValue(LocaleConstant.TASK_ID, task.taskId)
-                            AlertControlDialog.Builder()
-                                .setContext(context)
-                                .setTitle("提示")
-                                .setMessage("请选择操作方式")
-                                .setPositiveButton("执行工单")
+                            AlertControlDialog.Builder().setContext(context).setTitle("提示")
+                                .setMessage("请选择操作方式").setPositiveButton("执行工单")
                                 .setNegativeButton("提交工单")
                                 .setOnDialogButtonClickListener(object :
                                     AlertControlDialog.OnDialogButtonClickListener {
@@ -407,31 +416,25 @@
              * 如果开启自由巡检就不让探测
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
                         }
                     }).build().show()
             } else {
-                searchDialog.show()
+//                searchDialog.show()
                 //TODO 新探测界面
-//            searchNewDialog.show()
+                searchNewDialog.show()
             }
         }
 
         //自由巡检
         binding.stopFreeTaskButton.setOnLongClickListener {
-            AlertMessageDialog.Builder()
-                .setContext(context)
-                .setTitle("温馨提示")
-                .setMessage("是否确定结束此次自由巡检任务？")
-                .setPositiveButton("是")
+            AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？").setPositiveButton("是")
                 .setOnDialogButtonClickListener(object :
                     AlertMessageDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
@@ -513,9 +516,12 @@
                     if (labels.isNotEmpty()) {
                         val bean = labels.first()
                         aMap.addMarker(
-                            MarkerOptions()
-                                .position(LatLng(bean.lat.toDouble(), bean.lng.toDouble()))
-                                .icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
+                            MarkerOptions().position(
+                                LatLng(
+                                    bean.lat.toDouble(),
+                                    bean.lng.toDouble()
+                                )
+                            ).icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
                         )
                     }
                 }
@@ -888,6 +894,40 @@
         } else super.onKeyDown(keyCode, event)
     }
 
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            Log.d(kTag, "onSensorChanged => 数据不全，不计算")
+            return
+        }
+
+        weakReferenceHandler.sendEmptyMessage(sensorMessageCode)
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        if (msg.what == sensorMessageCode) {
+            if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+                SensorManager.getOrientation(rotationMatrix, valueArray)
+
+                val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+                searchNewDialog.updateDegreeValue(degree)
+            }
+        }
+        return true
+    }
+
     /***以下是地图生命周期管理************************************************************************/
 
     override fun onResume() {
@@ -900,11 +940,20 @@
             }
             showLabelsOnMap()
         }
+
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
     }
 
     override fun onPause() {
         super.onPause()
         binding.mapView.onPause()
+        sensorManager.unregisterListener(this)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
@@ -1739,7 +1788,7 @@
                     binding.energyValueView.text = "${energy}dB"
 
                     if (energy <= 700) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                        binding.energyTipsView.text = "信号较弱，可能距离较远"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
 
@@ -1754,11 +1803,11 @@
                         binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
                         binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
                     } else if (energy >= 4100) {
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                        binding.energyTipsView.text = "信号极强，接近标识器正上方"
                         binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
                     } else {
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                        binding.energyTipsView.text = "已靠近，请继续移动位置"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                     }
@@ -1771,6 +1820,15 @@
                 try {
                     val depthResponse = hex.take(10).hexToString()
                     val depth = depthResponse.drop(2).toInt()
+
+                    //根据型号设置不同的进度比例
+                    val result = DataBaseManager.get.queryLabelById(markerId)
+                    when (result.first().identifierType) {
+                        "EM30" -> binding.distancePgBar.progress = depth / 110
+                        "EM50" -> binding.distancePgBar.progress = depth / 150
+                        "EM14" -> binding.distancePgBar.progress = depth / 70
+                    }
+
                     AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
                         .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
                         .setOnDialogButtonClickListener(object :
@@ -1812,6 +1870,12 @@
             }
         }
 
+        //更新罗盘角度
+        fun updateDegreeValue(degree: Int) {
+            binding.degreeView.text = degree.toString()
+            binding.radarScanView.setDegreeValue(degree)
+        }
+
         private fun initTimer() {
             searchMarkerTimer = Timer()
 
diff --git a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
index f87089b..4f4f2e3 100644
--- a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
+++ b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
@@ -58,13 +58,18 @@
     //雷达扫描角度步长
     private var degrees = 0f
 
+    //方位角
+    private var degreeValue = 0
+
     private lateinit var tickPaint: Paint
     private lateinit var backPaint: Paint
     private lateinit var borderPaint: Paint
     private lateinit var shaderPaint: Paint
     private lateinit var dataPaint: Paint
+    private lateinit var trianglePaint: Paint
     private lateinit var innerPaint: TextPaint
     private lateinit var innerTextPath: Path
+    private lateinit var trianglePath: Path
 
     //雷达扫描线后面的渐变梯度
     private lateinit var sweepGradient: SweepGradient
@@ -72,9 +77,18 @@
     //背景栅格图
     private lateinit var bitmap: Bitmap
 
+    //指示针
+    private lateinit var needleBitmap: Bitmap
+
     //雷达旋转矩阵
     private lateinit var matrix: Matrix
 
+    //方位三角形边长
+    private val tickLength = 20f.dp2px(context)
+
+    //背景区域范围
+    private var bgRect: Rect
+
     init {
         val type = context.obtainStyledAttributes(attrs, R.styleable.RadarScanView)
         borderColor = type.getColor(R.styleable.RadarScanView_radar_borderColor, Color.GRAY)
@@ -86,10 +100,12 @@
         innerRadius = radius - 10.dp2px(context)
 
         //需要给外围刻度留位置
-        viewSideLength = radius + 10.dp2px(context)
+        viewSideLength = radius + 30.dp2px(context)
         //辅助框
         rect = Rect(-viewSideLength, -viewSideLength, viewSideLength, viewSideLength)
 
+        bgRect = Rect(-radius, -radius, radius, radius)
+
         initPaint()
 
         //控制转动
@@ -142,6 +158,17 @@
         )
         innerTextPath.addArc(innerRectF, -90f, 360f)
 
+        trianglePaint = Paint()
+        trianglePaint.color = Color.RED
+        trianglePaint.style = Paint.Style.FILL
+        trianglePaint.isAntiAlias = true
+        trianglePath = Path()
+        trianglePath.moveTo(0f, -viewSideLength.toFloat() + tickLength * 1.5f)
+        trianglePath.lineTo(tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.lineTo(-tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.close()
+        needleBitmap = BitmapFactory.decodeResource(context.resources, R.mipmap.bg_needle)
+
         //扫描线画笔
         shaderPaint = Paint()
         shaderPaint.isAntiAlias = true
@@ -200,7 +227,7 @@
         canvas.translate(centerX, centerY)
 
         //画背景
-        canvas.drawBitmap(bitmap, -radius.toFloat(), -radius.toFloat(), backPaint)
+        canvas.drawBitmap(bitmap, null, bgRect, backPaint)
 
 //        drawGuides(canvas)
 
@@ -263,6 +290,26 @@
             )
         }
 
+        //画正北方小三角
+        canvas.drawPath(trianglePath, trianglePaint)
+
+        //画实时方位角
+//        for (angle in 0..degreeValue step 3) {
+//            //角度需要转为弧度
+//            val radians = (angle - 90) * (Math.PI / 180)
+//
+//            canvas.drawBitmap(
+//                needleBitmap,
+//                -(needleBitmap.width shr 1).toFloat(),
+//                -(radians + needleBitmap.height).toFloat(),
+//                trianglePaint
+//            )
+//        }
+        //角度需要转为弧度
+        val radians = degreeValue * (Math.PI / 180)
+
+//        canvas.drawBitmap(needleBitmap, null, bgRect, trianglePaint)
+
         //画数据点
         points.forEach {
             canvas.drawCircle(it.x, it.y, 10f, dataPaint)
@@ -290,6 +337,16 @@
     }
 
     /**
+     * 更新罗盘方位角度
+     * @param value 方位角
+     * */
+    fun setDegreeValue(value: Int) {
+        degreeValue = value
+        //实时刷新角度值
+        invalidate()
+    }
+
+    /**
      * 数据点
      * @param dataPoints 数据点集合
      * */
diff --git a/app/src/main/res/layout/dialog_search_marker_new.xml b/app/src/main/res/layout/dialog_search_marker_new.xml
index c341a72..a3ff080 100644
--- a/app/src/main/res/layout/dialog_search_marker_new.xml
+++ b/app/src/main/res/layout/dialog_search_marker_new.xml
@@ -8,6 +8,13 @@
     android:gravity="center_horizontal"
     android:orientation="vertical">
 
+    <TextView
+        android:id="@+id/degreeView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="0"
+        android:textColor="@color/white" />
+
     <LinearLayout
         android:layout_width="320dp"
         android:layout_height="wrap_content"
@@ -46,10 +53,10 @@
         android:id="@+id/radarScanView"
         android:layout_width="320dp"
         android:layout_height="0dp"
-        android:layout_marginVertical="@dimen/dp_30"
+        android:layout_marginVertical="@dimen/dp_20"
         android:layout_weight="1"
         app:radar_border="@dimen/dp_1"
-        app:radar_borderColor="#8054ADA8"
+        app:radar_borderColor="#8000FFF0"
         app:radar_circleCount="4"
         app:radar_radius="@dimen/dp_125" />
 
diff --git a/app/src/main/res/mipmap-xhdpi/bg_needle.png b/app/src/main/res/mipmap-xhdpi/bg_needle.png
new file mode 100644
index 0000000..ece3665
--- /dev/null
+++ b/app/src/main/res/mipmap-xhdpi/bg_needle.png
Binary files differ

diff --git a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
index 925c804..1d82f51 100644
--- a/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/SmallLabelBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "SMALL_LABEL_BEAN".
-*/
+ */
 public class SmallLabelBeanDao extends AbstractDao<SmallLabelBean, Long> {
 
     public static final String TABLENAME = "SMALL_LABEL_BEAN";
@@ -51,14 +52,16 @@
     public SmallLabelBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public SmallLabelBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"SMALL_LABEL_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"MARKER_ID\" TEXT," + // 1: markerId
@@ -83,7 +86,9 @@
                 "\"MEMO3\" TEXT);"); // 20: memo3
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"SMALL_LABEL_BEAN\"";
         db.execSQL(sql);
@@ -92,107 +97,107 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -202,107 +207,107 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, SmallLabelBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(2, markerId);
         }
- 
+
         String locationNo = entity.getLocationNo();
         if (locationNo != null) {
             stmt.bindString(3, locationNo);
         }
- 
+
         String locationName = entity.getLocationName();
         if (locationName != null) {
             stmt.bindString(4, locationName);
         }
- 
+
         String smallMarkerId = entity.getSmallMarkerId();
         if (smallMarkerId != null) {
             stmt.bindString(5, smallMarkerId);
         }
- 
+
         String cableName = entity.getCableName();
         if (cableName != null) {
             stmt.bindString(6, cableName);
         }
- 
+
         String cableNo = entity.getCableNo();
         if (cableNo != null) {
             stmt.bindString(7, cableNo);
         }
- 
+
         String line = entity.getLine();
         if (line != null) {
             stmt.bindString(8, line);
         }
- 
+
         String pressLevel = entity.getPressLevel();
         if (pressLevel != null) {
             stmt.bindString(9, pressLevel);
         }
- 
+
         String cableType = entity.getCableType();
         if (cableType != null) {
             stmt.bindString(10, cableType);
         }
- 
+
         String cableSpec = entity.getCableSpec();
         if (cableSpec != null) {
             stmt.bindString(11, cableSpec);
         }
- 
+
         String cableBrand = entity.getCableBrand();
         if (cableBrand != null) {
             stmt.bindString(12, cableBrand);
         }
- 
+
         String cableStart = entity.getCableStart();
         if (cableStart != null) {
             stmt.bindString(13, cableStart);
         }
- 
+
         String cableEnd = entity.getCableEnd();
         if (cableEnd != null) {
             stmt.bindString(14, cableEnd);
         }
- 
+
         String hasJoint = entity.getHasJoint();
         if (hasJoint != null) {
             stmt.bindString(15, hasJoint);
         }
- 
+
         String jointCreator = entity.getJointCreator();
         if (jointCreator != null) {
             stmt.bindString(16, jointCreator);
         }
- 
+
         String createTime = entity.getCreateTime();
         if (createTime != null) {
             stmt.bindString(17, createTime);
         }
- 
+
         String path = entity.getPath();
         if (path != null) {
             stmt.bindString(18, path);
         }
- 
+
         String memo1 = entity.getMemo1();
         if (memo1 != null) {
             stmt.bindString(19, memo1);
         }
- 
+
         String memo2 = entity.getMemo2();
         if (memo2 != null) {
             stmt.bindString(20, memo2);
         }
- 
+
         String memo3 = entity.getMemo3();
         if (memo3 != null) {
             stmt.bindString(21, memo3);
@@ -312,36 +317,36 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public SmallLabelBean readEntity(Cursor cursor, int offset) {
         SmallLabelBean entity = new SmallLabelBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
-            cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
-            cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
-            cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
-            cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
-            cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
-            cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
-            cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
-            cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
-            cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
-            cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
-            cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // markerId
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // locationNo
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // locationName
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // smallMarkerId
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // cableName
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // cableNo
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // line
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // pressLevel
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9), // cableType
+                cursor.isNull(offset + 10) ? null : cursor.getString(offset + 10), // cableSpec
+                cursor.isNull(offset + 11) ? null : cursor.getString(offset + 11), // cableBrand
+                cursor.isNull(offset + 12) ? null : cursor.getString(offset + 12), // cableStart
+                cursor.isNull(offset + 13) ? null : cursor.getString(offset + 13), // cableEnd
+                cursor.isNull(offset + 14) ? null : cursor.getString(offset + 14), // hasJoint
+                cursor.isNull(offset + 15) ? null : cursor.getString(offset + 15), // jointCreator
+                cursor.isNull(offset + 16) ? null : cursor.getString(offset + 16), // createTime
+                cursor.isNull(offset + 17) ? null : cursor.getString(offset + 17), // path
+                cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18), // memo1
+                cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19), // memo2
+                cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20) // memo3
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, SmallLabelBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -365,17 +370,17 @@
         entity.setMemo1(cursor.isNull(offset + 18) ? null : cursor.getString(offset + 18));
         entity.setMemo2(cursor.isNull(offset + 19) ? null : cursor.getString(offset + 19));
         entity.setMemo3(cursor.isNull(offset + 20) ? null : cursor.getString(offset + 20));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(SmallLabelBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(SmallLabelBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -391,5 +396,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
index 3f9d999..59eee37 100644
--- a/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
+++ b/app/src/main/java/com/casic/detector/greendao/TaskBeanDao.java
@@ -12,9 +12,10 @@
 import org.greenrobot.greendao.internal.DaoConfig;
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
-/** 
+
+/**
  * DAO for table "TASK_BEAN".
-*/
+ */
 public class TaskBeanDao extends AbstractDao<TaskBean, Long> {
 
     public static final String TABLENAME = "TASK_BEAN";
@@ -40,14 +41,16 @@
     public TaskBeanDao(DaoConfig config) {
         super(config);
     }
-    
+
     public TaskBeanDao(DaoConfig config, DaoSession daoSession) {
         super(config, daoSession);
     }
 
-    /** Creates the underlying database table. */
+    /**
+     * Creates the underlying database table.
+     */
     public static void createTable(Database db, boolean ifNotExists) {
-        String constraint = ifNotExists? "IF NOT EXISTS ": "";
+        String constraint = ifNotExists ? "IF NOT EXISTS " : "";
         db.execSQL("CREATE TABLE " + constraint + "\"TASK_BEAN\" (" + //
                 "\"_id\" INTEGER PRIMARY KEY AUTOINCREMENT ," + // 0: id
                 "\"SCANNER\" TEXT," + // 1: scanner
@@ -61,7 +64,9 @@
                 "\"STATE\" TEXT);"); // 9: state
     }
 
-    /** Drops the underlying database table. */
+    /**
+     * Drops the underlying database table.
+     */
     public static void dropTable(Database db, boolean ifExists) {
         String sql = "DROP TABLE " + (ifExists ? "IF EXISTS " : "") + "\"TASK_BEAN\"";
         db.execSQL(sql);
@@ -70,52 +75,52 @@
     @Override
     protected final void bindValues(DatabaseStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -125,52 +130,52 @@
     @Override
     protected final void bindValues(SQLiteStatement stmt, TaskBean entity) {
         stmt.clearBindings();
- 
+
         Long id = entity.getId();
         if (id != null) {
             stmt.bindLong(1, id);
         }
- 
+
         String scanner = entity.getScanner();
         if (scanner != null) {
             stmt.bindString(2, scanner);
         }
- 
+
         String desc = entity.getDesc();
         if (desc != null) {
             stmt.bindString(3, desc);
         }
- 
+
         String taskId = entity.getTaskId();
         if (taskId != null) {
             stmt.bindString(4, taskId);
         }
- 
+
         String taskCode = entity.getTaskCode();
         if (taskCode != null) {
             stmt.bindString(5, taskCode);
         }
- 
+
         String markerId = entity.getMarkerId();
         if (markerId != null) {
             stmt.bindString(6, markerId);
         }
- 
+
         String markerRealId = entity.getMarkerRealId();
         if (markerRealId != null) {
             stmt.bindString(7, markerRealId);
         }
- 
+
         String lng = entity.getLng();
         if (lng != null) {
             stmt.bindString(8, lng);
         }
- 
+
         String lat = entity.getLat();
         if (lat != null) {
             stmt.bindString(9, lat);
         }
- 
+
         String state = entity.getState();
         if (state != null) {
             stmt.bindString(10, state);
@@ -180,25 +185,25 @@
     @Override
     public Long readKey(Cursor cursor, int offset) {
         return cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0);
-    }    
+    }
 
     @Override
     public TaskBean readEntity(Cursor cursor, int offset) {
         TaskBean entity = new TaskBean( //
-            cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
-            cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
-            cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
-            cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
-            cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
-            cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
-            cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
-            cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
-            cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
-            cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
+                cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0), // id
+                cursor.isNull(offset + 1) ? null : cursor.getString(offset + 1), // scanner
+                cursor.isNull(offset + 2) ? null : cursor.getString(offset + 2), // desc
+                cursor.isNull(offset + 3) ? null : cursor.getString(offset + 3), // taskId
+                cursor.isNull(offset + 4) ? null : cursor.getString(offset + 4), // taskCode
+                cursor.isNull(offset + 5) ? null : cursor.getString(offset + 5), // markerId
+                cursor.isNull(offset + 6) ? null : cursor.getString(offset + 6), // markerRealId
+                cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7), // lng
+                cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8), // lat
+                cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9) // state
         );
         return entity;
     }
-     
+
     @Override
     public void readEntity(Cursor cursor, TaskBean entity, int offset) {
         entity.setId(cursor.isNull(offset + 0) ? null : cursor.getLong(offset + 0));
@@ -211,17 +216,17 @@
         entity.setLng(cursor.isNull(offset + 7) ? null : cursor.getString(offset + 7));
         entity.setLat(cursor.isNull(offset + 8) ? null : cursor.getString(offset + 8));
         entity.setState(cursor.isNull(offset + 9) ? null : cursor.getString(offset + 9));
-     }
-    
+    }
+
     @Override
     protected final Long updateKeyAfterInsert(TaskBean entity, long rowId) {
         entity.setId(rowId);
         return rowId;
     }
-    
+
     @Override
     public Long getKey(TaskBean entity) {
-        if(entity != null) {
+        if (entity != null) {
             return entity.getId();
         } else {
             return null;
@@ -237,5 +242,5 @@
     protected final boolean isEntityUpdateable() {
         return true;
     }
-    
+
 }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index 1cbecc3..8d772fc 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -9,10 +9,16 @@
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
 import android.os.CountDownTimer
+import android.os.Handler
+import android.os.Message
 import android.util.Log
 import android.view.KeyEvent
 import android.view.View
@@ -81,6 +87,7 @@
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
 import com.pengxh.kt.lite.extensions.dateToTimestamp
 import com.pengxh.kt.lite.extensions.dp2px
+import com.pengxh.kt.lite.extensions.getSystemService
 import com.pengxh.kt.lite.extensions.initDialogLayoutParams
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
@@ -92,6 +99,7 @@
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.LoadingDialogHub
 import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
 import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
@@ -107,7 +115,8 @@
 import java.util.TimerTask
 
 @SuppressLint("all")
-class MainActivity : SerialPortActivity<ActivityMainBinding>() {
+class MainActivity : SerialPortActivity<ActivityMainBinding>(), SensorEventListener,
+    Handler.Callback {
 
     private val kTag = "MainActivity"
     private val context = this@MainActivity
@@ -118,6 +127,9 @@
     private val installDialog by lazy { InstallMarkerDialog(this) }
     private val searchDialog by lazy { SearchMarkerDialog(this) }
     private val searchNewDialog by lazy { SearchMarkerNewDialog(this) }
+    private val sensorMessageCode = 2024022301
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
     private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
@@ -128,17 +140,20 @@
     private var signalTask: TimerTask? = null
     private var searchMarkerTimer: Timer? = null
     private var taskId: String? = null
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
     private lateinit var aMap: AMap
     private lateinit var task: TaskBean
+    private lateinit var sensorManager: SensorManager
+    private lateinit var weakReferenceHandler: WeakReferenceHandler
+
 
     /***inner class 需要用到*****start*/
     private val gpioManager by lazy { GpioManager() }
     private val locationHub by lazy { LocationHub(this) }
     private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
-    private val attr = AudioAttributes.Builder()
-        .setUsage(AudioAttributes.USAGE_ALARM)
-        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
-        .build()
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
     private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
     private var soundResourceId = 0
     private var slowSoundResourceId = 0
@@ -167,6 +182,9 @@
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
+        sensorManager = getSystemService<SensorManager>()!!
+        weakReferenceHandler = WeakReferenceHandler(this)
+
         //task网络请求监听
         taskViewModel.markerFileResult.observe(this) {
             if (it.isSuccess) {
@@ -228,12 +246,9 @@
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -273,12 +288,9 @@
              * 改为Dialog方式，避免频繁打开/关闭串口
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
@@ -358,11 +370,8 @@
                         override fun onActionItemClick(position: Int) {
                             task = tasks[position]
                             SaveKeyValues.putValue(LocaleConstant.TASK_ID, task.taskId)
-                            AlertControlDialog.Builder()
-                                .setContext(context)
-                                .setTitle("提示")
-                                .setMessage("请选择操作方式")
-                                .setPositiveButton("执行工单")
+                            AlertControlDialog.Builder().setContext(context).setTitle("提示")
+                                .setMessage("请选择操作方式").setPositiveButton("执行工单")
                                 .setNegativeButton("提交工单")
                                 .setOnDialogButtonClickListener(object :
                                     AlertControlDialog.OnDialogButtonClickListener {
@@ -407,31 +416,25 @@
              * 如果开启自由巡检就不让探测
              * */
             if (isFreeTask) {
-                AlertMessageDialog.Builder()
-                    .setContext(this)
-                    .setTitle("温馨提示")
+                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
                     .setMessage("正在自由巡检任务中，请完成此次任务之后再使用此功能")
-                    .setPositiveButton("好的")
-                    .setOnDialogButtonClickListener(object :
+                    .setPositiveButton("好的").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
 
                         }
                     }).build().show()
             } else {
-                searchDialog.show()
+//                searchDialog.show()
                 //TODO 新探测界面
-//            searchNewDialog.show()
+                searchNewDialog.show()
             }
         }
 
         //自由巡检
         binding.stopFreeTaskButton.setOnLongClickListener {
-            AlertMessageDialog.Builder()
-                .setContext(context)
-                .setTitle("温馨提示")
-                .setMessage("是否确定结束此次自由巡检任务？")
-                .setPositiveButton("是")
+            AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？").setPositiveButton("是")
                 .setOnDialogButtonClickListener(object :
                     AlertMessageDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
@@ -513,9 +516,12 @@
                     if (labels.isNotEmpty()) {
                         val bean = labels.first()
                         aMap.addMarker(
-                            MarkerOptions()
-                                .position(LatLng(bean.lat.toDouble(), bean.lng.toDouble()))
-                                .icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
+                            MarkerOptions().position(
+                                LatLng(
+                                    bean.lat.toDouble(),
+                                    bean.lng.toDouble()
+                                )
+                            ).icon(BitmapDescriptorFactory.fromResource(R.mipmap.label_blue1))
                         )
                     }
                 }
@@ -888,6 +894,40 @@
         } else super.onKeyDown(keyCode, event)
     }
 
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            Log.d(kTag, "onSensorChanged => 数据不全，不计算")
+            return
+        }
+
+        weakReferenceHandler.sendEmptyMessage(sensorMessageCode)
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        if (msg.what == sensorMessageCode) {
+            if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+                SensorManager.getOrientation(rotationMatrix, valueArray)
+
+                val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+                searchNewDialog.updateDegreeValue(degree)
+            }
+        }
+        return true
+    }
+
     /***以下是地图生命周期管理************************************************************************/
 
     override fun onResume() {
@@ -900,11 +940,20 @@
             }
             showLabelsOnMap()
         }
+
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
     }
 
     override fun onPause() {
         super.onPause()
         binding.mapView.onPause()
+        sensorManager.unregisterListener(this)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
@@ -1739,7 +1788,7 @@
                     binding.energyValueView.text = "${energy}dB"
 
                     if (energy <= 700) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                        binding.energyTipsView.text = "信号较弱，可能距离较远"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
 
@@ -1754,11 +1803,11 @@
                         binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
                         binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
                     } else if (energy >= 4100) {
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                        binding.energyTipsView.text = "信号极强，接近标识器正上方"
                         binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
                     } else {
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                        binding.energyTipsView.text = "已靠近，请继续移动位置"
                         binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
                         binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                     }
@@ -1771,6 +1820,15 @@
                 try {
                     val depthResponse = hex.take(10).hexToString()
                     val depth = depthResponse.drop(2).toInt()
+
+                    //根据型号设置不同的进度比例
+                    val result = DataBaseManager.get.queryLabelById(markerId)
+                    when (result.first().identifierType) {
+                        "EM30" -> binding.distancePgBar.progress = depth / 110
+                        "EM50" -> binding.distancePgBar.progress = depth / 150
+                        "EM14" -> binding.distancePgBar.progress = depth / 70
+                    }
+
                     AlertMessageDialog.Builder().setContext(context).setTitle("温馨提示")
                         .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
                         .setOnDialogButtonClickListener(object :
@@ -1812,6 +1870,12 @@
             }
         }
 
+        //更新罗盘角度
+        fun updateDegreeValue(degree: Int) {
+            binding.degreeView.text = degree.toString()
+            binding.radarScanView.setDegreeValue(degree)
+        }
+
         private fun initTimer() {
             searchMarkerTimer = Timer()
 
diff --git a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
index f87089b..4f4f2e3 100644
--- a/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
+++ b/app/src/main/java/com/casic/detector/widgets/RadarScanView.kt
@@ -58,13 +58,18 @@
     //雷达扫描角度步长
     private var degrees = 0f
 
+    //方位角
+    private var degreeValue = 0
+
     private lateinit var tickPaint: Paint
     private lateinit var backPaint: Paint
     private lateinit var borderPaint: Paint
     private lateinit var shaderPaint: Paint
     private lateinit var dataPaint: Paint
+    private lateinit var trianglePaint: Paint
     private lateinit var innerPaint: TextPaint
     private lateinit var innerTextPath: Path
+    private lateinit var trianglePath: Path
 
     //雷达扫描线后面的渐变梯度
     private lateinit var sweepGradient: SweepGradient
@@ -72,9 +77,18 @@
     //背景栅格图
     private lateinit var bitmap: Bitmap
 
+    //指示针
+    private lateinit var needleBitmap: Bitmap
+
     //雷达旋转矩阵
     private lateinit var matrix: Matrix
 
+    //方位三角形边长
+    private val tickLength = 20f.dp2px(context)
+
+    //背景区域范围
+    private var bgRect: Rect
+
     init {
         val type = context.obtainStyledAttributes(attrs, R.styleable.RadarScanView)
         borderColor = type.getColor(R.styleable.RadarScanView_radar_borderColor, Color.GRAY)
@@ -86,10 +100,12 @@
         innerRadius = radius - 10.dp2px(context)
 
         //需要给外围刻度留位置
-        viewSideLength = radius + 10.dp2px(context)
+        viewSideLength = radius + 30.dp2px(context)
         //辅助框
         rect = Rect(-viewSideLength, -viewSideLength, viewSideLength, viewSideLength)
 
+        bgRect = Rect(-radius, -radius, radius, radius)
+
         initPaint()
 
         //控制转动
@@ -142,6 +158,17 @@
         )
         innerTextPath.addArc(innerRectF, -90f, 360f)
 
+        trianglePaint = Paint()
+        trianglePaint.color = Color.RED
+        trianglePaint.style = Paint.Style.FILL
+        trianglePaint.isAntiAlias = true
+        trianglePath = Path()
+        trianglePath.moveTo(0f, -viewSideLength.toFloat() + tickLength * 1.5f)
+        trianglePath.lineTo(tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.lineTo(-tickLength * 0.5f, -viewSideLength.toFloat() + tickLength * 0.75f)
+        trianglePath.close()
+        needleBitmap = BitmapFactory.decodeResource(context.resources, R.mipmap.bg_needle)
+
         //扫描线画笔
         shaderPaint = Paint()
         shaderPaint.isAntiAlias = true
@@ -200,7 +227,7 @@
         canvas.translate(centerX, centerY)
 
         //画背景
-        canvas.drawBitmap(bitmap, -radius.toFloat(), -radius.toFloat(), backPaint)
+        canvas.drawBitmap(bitmap, null, bgRect, backPaint)
 
 //        drawGuides(canvas)
 
@@ -263,6 +290,26 @@
             )
         }
 
+        //画正北方小三角
+        canvas.drawPath(trianglePath, trianglePaint)
+
+        //画实时方位角
+//        for (angle in 0..degreeValue step 3) {
+//            //角度需要转为弧度
+//            val radians = (angle - 90) * (Math.PI / 180)
+//
+//            canvas.drawBitmap(
+//                needleBitmap,
+//                -(needleBitmap.width shr 1).toFloat(),
+//                -(radians + needleBitmap.height).toFloat(),
+//                trianglePaint
+//            )
+//        }
+        //角度需要转为弧度
+        val radians = degreeValue * (Math.PI / 180)
+
+//        canvas.drawBitmap(needleBitmap, null, bgRect, trianglePaint)
+
         //画数据点
         points.forEach {
             canvas.drawCircle(it.x, it.y, 10f, dataPaint)
@@ -290,6 +337,16 @@
     }
 
     /**
+     * 更新罗盘方位角度
+     * @param value 方位角
+     * */
+    fun setDegreeValue(value: Int) {
+        degreeValue = value
+        //实时刷新角度值
+        invalidate()
+    }
+
+    /**
      * 数据点
      * @param dataPoints 数据点集合
      * */
diff --git a/app/src/main/res/layout/dialog_search_marker_new.xml b/app/src/main/res/layout/dialog_search_marker_new.xml
index c341a72..a3ff080 100644
--- a/app/src/main/res/layout/dialog_search_marker_new.xml
+++ b/app/src/main/res/layout/dialog_search_marker_new.xml
@@ -8,6 +8,13 @@
     android:gravity="center_horizontal"
     android:orientation="vertical">
 
+    <TextView
+        android:id="@+id/degreeView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="0"
+        android:textColor="@color/white" />
+
     <LinearLayout
         android:layout_width="320dp"
         android:layout_height="wrap_content"
@@ -46,10 +53,10 @@
         android:id="@+id/radarScanView"
         android:layout_width="320dp"
         android:layout_height="0dp"
-        android:layout_marginVertical="@dimen/dp_30"
+        android:layout_marginVertical="@dimen/dp_20"
         android:layout_weight="1"
         app:radar_border="@dimen/dp_1"
-        app:radar_borderColor="#8054ADA8"
+        app:radar_borderColor="#8000FFF0"
         app:radar_circleCount="4"
         app:radar_radius="@dimen/dp_125" />
 
diff --git a/app/src/main/res/mipmap-xhdpi/bg_needle.png b/app/src/main/res/mipmap-xhdpi/bg_needle.png
new file mode 100644
index 0000000..ece3665
--- /dev/null
+++ b/app/src/main/res/mipmap-xhdpi/bg_needle.png
Binary files differ
diff --git a/app/src/main/res/mipmap-xhdpi/bg_radar.png b/app/src/main/res/mipmap-xhdpi/bg_radar.png
index 8329c2d..ff6c02c 100644
--- a/app/src/main/res/mipmap-xhdpi/bg_radar.png
+++ b/app/src/main/res/mipmap-xhdpi/bg_radar.png
Binary files differ