From 00fd3eb5037f07763d4e8d3e5729066d3dc097ea Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期三, 08 一月 2025 14:47:43 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java | 53 ++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 44 insertions(+), 9 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
index ddc38e0..9cb2cd5 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
+++ b/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;
@@ -42,7 +77,7 @@
//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
@@ -50,14 +85,14 @@
+ PackagePart.COMMAND_MARK.getLen()
+ bodyBytes.length;
- //out.writeByte(pac.getHeader().getStartSymbol()) // symbol
- // .writeShortLE(len)
- // .writeBytes(Utils.reverse(uniquenoBytes)) // uniqueno
- // .writeIntLE((int) (System.currentTimeMillis() / 1000)) // timestamp
- // .writeByte(pac.getHeader().getProtocolType().getCode()) // type
- // .writeBytes(bodyBytes) // body
- // .writeShort(pac.getValidCode()) // valid
- //;
+ out.writeByte(pac.getHeader().getStartSymbol()) // symbol
+ .writeShortLE(len)
+ //.writeBytes(Utils.reverse(uniquenoBytes)) // uniqueno
+ .writeIntLE((int) (System.currentTimeMillis() / 1000)) // timestamp
+ .writeByte(pac.getHeader().getProtocolType().getCode()) // type
+ .writeBytes(bodyBytes) // body
+ .writeShort(pac.getValidCode()) // valid
+ ;
pac.setValidCode(ValidUtil.calculateValidByteFromBuff(out));
out.resetReaderIndex();
--
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