#

whycq

2024-08-17 d5722c5a50829df634f96bff131fb8cc01f6a17c

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

@@ -1,20 +1,14 @@
package com.zy.acs.gateway.handler.coder;
package com.example.agvcontroller.protocol;

import com.core.common.RadixTools;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.gateway.config.SystemProperties;
import com.zy.acs.gateway.constant.PackagePart;
import com.zy.acs.gateway.domain.AgvPackage;
import com.zy.acs.gateway.utils.ValidUtil;
import com.example.agvcontroller.socket.RadixTools;

import java.util.logging.Logger;

import io.netty.buffer.ByteBuf;
import io.netty.buffer.ByteBufUtil;
import io.netty.channel.ChannelHandler;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.MessageToByteEncoder;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

/**
 * 编码器
@@ -22,13 +16,13 @@
 * 处理方式: 异或和
 * Created by vincent on 2019-04-02
 */
@Component
//@Component
@ChannelHandler.Sharable
public class ProtocolEncoder extends MessageToByteEncoder<Object> {

    private static final Logger log = LoggerFactory.getLogger(ProtocolEncoder.class);
    //private static final Logger log = LoggerFactory.getLogger(ProtocolEncoder.class);

    @Autowired
    //@Autowired
    private SystemProperties systemProperties;

    @Override
@@ -40,6 +34,39 @@
        } else if (obj instanceof byte[]){
            out.writeBytes((byte[]) obj);


        } 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){

            AgvPackage pac = (AgvPackage)obj;
@@ -48,9 +75,9 @@

            byte[] bodyBytes = pac.getBody().getMessageBody().writeToBytes();   // body

            String uniqueNo = pac.getHeader().getUniqueNo();
            //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
@@ -60,7 +87,7 @@

            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
@@ -75,7 +102,7 @@


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

        }