#

whycq

2025-01-20 a42814eaa86c2167764b73a22ca0b1a0bebd32b6

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

@@ -1,5 +1,6 @@
package com.example.agvcontroller.protocol;


import com.example.agvcontroller.socket.RadixTools;

import java.util.logging.Logger;
@@ -32,9 +33,11 @@
            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<?>){


@@ -77,7 +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
@@ -87,7 +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
@@ -99,11 +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());
            }

        }