package com.example.agvcontroller.protocol;
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import com.example.agvcontroller.action.CommonConstant;
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import com.example.agvcontroller.socket.RadixTools;
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import java.io.Serializable;
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import java.nio.ByteBuffer;
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/**
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* 实时数据包2
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* Created by vincent on 2023/3/16
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*/
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public class AGV_13_UP implements IMessageBody, Serializable {
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private static final long serialVersionUID = 6993991304425938465L;
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@Override
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public byte[] writeToBytes() {
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return new byte[0];
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}
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@Override
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public void readFromBytes(byte[] bytes) {
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//地面码ID
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this.qrCode = Utils.zeroFill(String.valueOf(RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 0, 4))), CommonConstant.QR_CODE_LEN);;
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//当前状态
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this.status = Utils.slice(bytes, 4, 1)[0];
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//直行方向坐标
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this.straightDirectionPosition = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 5, 4));
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//AGV当前角度
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// this.AGVCurrentAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 9, 4));
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this.AGVCurrentAngle = ByteBuffer.wrap(Utils.sliceWithReverse(bytes, 9, 4)).getFloat();
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//陀螺仪角度
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this.gyroAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 13, 4));
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//编码器角度
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this.encoderAngle = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 17, 4));
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//当前高度
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this.currentAltitude = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 21, 2));
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//货叉伸出距离
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this.forkLength = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 23, 2));
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//载货台旋转角度
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this.loaderTheta = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 25, 2));
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//传感器状态标志
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// this.sensorStatusFlags = RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 27, 4));
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byte[] sensorStatusBytes = Utils.slice(bytes, 27, 4);
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parseSensorStatue(sensorStatusBytes);
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}
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@Override
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public String getSerialNo() {
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return "";
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}
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//地面码ID
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private String qrCode;
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//当前状态
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private int status;
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//直行方向坐标-单位：mm
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private int straightDirectionPosition;
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//AGV当前角度-单位：°
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private float AGVCurrentAngle;
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//陀螺仪角度-单位：°
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private int gyroAngle;
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//编码器角度-单位：°
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private int encoderAngle;
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//当前高度
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private int currentAltitude;
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// 货叉伸出距离
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private int forkLength;
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// 载货台旋转角度
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private int loaderTheta;
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//传感器状态标志
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private int sensorStatusFlags;
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// 取放货状态
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private byte inOutFlag;
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private void parseSensorStatue(byte[] bytes) {
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this.tempLoc1 = Utils.getBit(bytes[0], 0);
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this.tempLoc2 = Utils.getBit(bytes[0], 1);
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this.tempLoc3 = Utils.getBit(bytes[0], 2);
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this.tempLoc4 = Utils.getBit(bytes[0], 3);
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this.tempLoc5 = Utils.getBit(bytes[0], 4);
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this.tempLoc6 = Utils.getBit(bytes[0], 5);
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this.tempLoc7 = Utils.getBit(bytes[0], 6);
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this.tempLoc8 = Utils.getBit(bytes[0], 7);
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this.inOutFlag = bytes[1];
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// this.tempLoc9 = Utils.getBit(bytes[1], 0);
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// this.tempLoc10 = Utils.getBit(bytes[1], 1);
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// this.tempLoc11 = Utils.getBit(bytes[1], 2);
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// this.tempLoc12 = Utils.getBit(bytes[1], 3);
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// this.tempLoc13 = Utils.getBit(bytes[1], 4);
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// this.tempLoc14 = Utils.getBit(bytes[1], 5);
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// this.tempLoc15 = Utils.getBit(bytes[1], 6);
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// this.tempLoc16 = Utils.getBit(bytes[1], 7);
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this.expandFront = Utils.getBit(bytes[2], 0);
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this.expandBack = Utils.getBit(bytes[2], 1);
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this.expandLeft = Utils.getBit(bytes[2], 2);
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this.expandRight = Utils.getBit(bytes[2], 3);
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this.finger1 = Utils.getBit(bytes[2], 4);
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this.finger2 = Utils.getBit(bytes[2], 5);
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this.finger3 = Utils.getBit(bytes[2], 6);
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this.finger4 = Utils.getBit(bytes[2], 7);
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this.rotaLeft = Utils.getBit(bytes[3], 0);
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this.rotaRight = Utils.getBit(bytes[3], 1);
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this.loaderFront = Utils.getBit(bytes[3], 2);
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this.loaderBack = Utils.getBit(bytes[3], 3);
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this.loaderMid = Utils.getBit(bytes[3], 4);
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this.liftMid = Utils.getBit(bytes[3], 5);
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this.liftUp = Utils.getBit(bytes[3], 6);
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this.liftBottom = Utils.getBit(bytes[3], 7);
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}
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// 暂存货位1检测
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private boolean tempLoc1;
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// 暂存货位2检测
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private boolean tempLoc2;
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// 暂存货位3检测
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private boolean tempLoc3;
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// 暂存货位4检测
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private boolean tempLoc4;
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// 暂存货位5检测
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private boolean tempLoc5;
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// 暂存货位6检测
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private boolean tempLoc6;
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// 暂存货位7检测
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private boolean tempLoc7;
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// 暂存货位8检测
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private boolean tempLoc8;
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// 暂存货位9检测
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private boolean tempLoc9;
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// 暂存货位10检测
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private boolean tempLoc10;
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// 暂存货位11检测
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private boolean tempLoc11;
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// 暂存货位12检测
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private boolean tempLoc12;
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// 暂存货位13检测
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private boolean tempLoc13;
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// 暂存货位14检测
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private boolean tempLoc14;
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// 暂存货位15检测
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private boolean tempLoc15;
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// 暂存货位16检测
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private boolean tempLoc16;
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// 伸缩前限位
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private boolean expandFront;
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// 伸缩后限位
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private boolean expandBack;
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// 伸缩左零位
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private boolean expandLeft;
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// 伸缩右零位
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private boolean expandRight;
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// 拨指1位置
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private boolean finger1;
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// 拨指2位置
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private boolean finger2;
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// 拨指3位置
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private boolean finger3;
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// 拨指4位置
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private boolean finger4;
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// 回转左到位
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private boolean rotaLeft;
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// 回转右到位
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private boolean rotaRight;
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// 载货台前探货
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private boolean loaderFront;
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// 载货台后探货
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private boolean loaderBack;
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// 载货台货物检测
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private boolean loaderMid;
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// 升降零位
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private boolean liftMid;
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// 升降上限位
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private boolean liftUp;
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// 升降下限位
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private boolean liftBottom;
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}
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