#

whycq

2024-08-17 d5722c5a50829df634f96bff131fb8cc01f6a17c

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

@@ -1,5 +1,7 @@
package com.example.agvcontroller.protocol;

import com.example.agvcontroller.socket.RadixTools;

import java.util.logging.Logger;

import io.netty.buffer.ByteBuf;
@@ -32,6 +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;