#

whycq

2025-01-20 1a6230570a8f1419173b2ecd22548cc01ab08195

 app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java

@@ -1,5 +1,8 @@
package com.example.agvcontroller.protocol;


import com.example.agvcontroller.socket.RadixTools;

import java.util.logging.Logger;

import io.netty.buffer.ByteBuf;
@@ -30,7 +33,42 @@
            out.writeBytes((ByteBuf) obj);

        } else if (obj instanceof byte[]){
            out.writeBytes((byte[]) obj);
//            out.writeBytes((byte[]) obj);

            out.writeBytes((byte[]) new byte[]{
                    0x0D, 0x0A
            });
        } else if (obj instanceof AgvAction<?>){


            AgvAction action = (AgvAction)obj;

            String uniqueNo = action.getAgvNo();

            byte[] uniqueNoBytes = RadixTools.intToBytes(Integer.parseInt(uniqueNo));   // uniqueno

            byte[] bodyBytes = action.writeToBytes();


            int len = PackagePart.UNIQUENO.getLen()     // len
                    + PackagePart.TIMESTAMP.getLen()
                    + PackagePart.COMMAND_MARK.getLen()
                    + bodyBytes.length;

            out.writeByte((byte)0xEE)         // symbol
                    .writeShortLE(len)
                    .writeBytes(Utils.reverse(uniqueNoBytes))       // uniqueno
                    .writeIntLE((int) (System.currentTimeMillis() / 1000))   // timestamp
                    .writeByte(ProtocolPojoType.ACTION_COMMAND.protocolType.getCode()) // type
                    .writeBytes(bodyBytes)                          // body
                    .writeShort((short)0)                 // valid
            ;

            int validCode = ValidUtil.calculateValidByteFromBuff(out);
            out.resetReaderIndex();

            out.writerIndex(out.readableBytes() - 2);
            out.writeShortLE(validCode);

        } else if (obj instanceof AgvPackage){

@@ -42,7 +80,7 @@

            //String uniqueNo = pac.getHeader().getUniqueNo();

            //byte[] uniquenoBytes = RadixTools.intToBytes(Integer.parseInt(pac.getHeader().getUniqueNo()));   // uniqueno
            byte[] uniquenoBytes = RadixTools.intToBytes(Integer.parseInt(pac.getHeader().getUniqueNo()));   // uniqueno


            int len = PackagePart.UNIQUENO.getLen()     // len
@@ -52,7 +90,7 @@

            out.writeByte(pac.getHeader().getStartSymbol())         // symbol
                    .writeShortLE(len)
                    //.writeBytes(Utils.reverse(uniquenoBytes))       // uniqueno
                    .writeBytes(Utils.reverse(uniquenoBytes))       // uniqueno
                    .writeIntLE((int) (System.currentTimeMillis() / 1000))   // timestamp
                    .writeByte(pac.getHeader().getProtocolType().getCode()) // type
                    .writeBytes(bodyBytes)                          // body
@@ -64,11 +102,6 @@

            out.writerIndex(out.readableBytes() - 2);
            out.writeShortLE(pac.getValidCode());


            if (systemProperties.isPrintPacLog()){
                //log.info("Agv [{}] 下行 [{}] >>> {}", uniqueNo, pac.getHeader().getProtocolType().getDes(), ByteBufUtil.hexDump(out).toUpperCase());
            }

        }