From 1560f3063ca90d41c0717f8ed6e1fb00fde64776 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 12 八月 2024 15:56:56 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java | 98 ++++++++++
app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java | 47 +++++
app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java | 157 +++++++++++++++++
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java | 89 +++++++++
app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java | 41 ++++
app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java | 86 +++++++++
app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java | 11 +
7 files changed, 529 insertions(+), 0 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java
new file mode 100644
index 0000000..74bde9d
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java
@@ -0,0 +1,47 @@
+package com.zy.acs.common.domain.protocol;
+
+import com.zy.acs.common.utils.Utils;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.Serializable;
+
+/**
+ * 鍔ㄤ綔鍛戒护鍖�
+ * Created by vincent on 2023/3/21
+ */
+@Data
+public class AGV_02_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = 1664188062202647371L;
+
+ @Override
+ public byte[] writeToBytes() {
+ String serialNo = Utils.zeroFill(this.serialNo, 16);
+ byte[] serialNoBytes = Utils.reverse(serialNo.getBytes());
+ byte cmdCodeByte = (byte) this.getCmdCode();
+ byte valByte = (byte) this.getVal();
+
+ byte[] cmdBodyBytes = commandBody.writeToBytes();
+
+ return Utils.merge(serialNoBytes, cmdCodeByte, valByte, cmdBodyBytes);
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+ // 娴佹按鍙� - 16
+ private String serialNo;
+
+ // 鍛戒护鐮�
+ private int cmdCode;
+
+ // 灞炴�у��
+ private int val;
+
+ // 鍔ㄤ綔鍙傛暟
+ private ICommandBody commandBody;
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java b/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java
new file mode 100644
index 0000000..e50fa82
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java
@@ -0,0 +1,157 @@
+package com.zy.acs.gateway.domain;
+
+import com.core.common.Cools;
+import com.zy.acs.gateway.constant.AgvConstant;
+import com.zy.acs.gateway.constant.PacErrorType;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.ByteBufUtil;
+
+import java.util.Objects;
+
+/**
+ * AGV鎶ユ枃妯″瀷
+ * Created by vincent on 2023/3/10
+ */
+public class AgvPackage implements PackageSupport {
+
+ /**
+ * 婧愭暟鎹寘缂撳啿鍖�(寮曠敤)
+ */
+ private ByteBuf sourceBuff;
+
+ /**
+ * 鍘熷娑堟伅瀵瑰簲鐨�16杩涘埗瀛楃涓�
+ */
+ private String sourceHexStr;
+
+ /**
+ * 娑堟伅澶撮儴
+ */
+ private PacHeader header;
+
+ /**
+ * 娑堟伅浣�
+ */
+ private PacBody body;
+
+ /**
+ * 娑堟伅鐨勬牎姝ｇ爜
+ */
+ private int validCode;
+
+ /**
+ * 鏄惁涓烘牎楠屽紓甯稿寘
+ */
+ private boolean errorPac;
+
+ /**
+ * 鏍￠獙寮傚父绫诲瀷
+ */
+ private PacErrorType pacErrorType;
+
+ public static AgvPackage valueOfEmpty() {
+ AgvPackage agvPackage = new AgvPackage();
+ agvPackage.setHeader(new PacHeader())
+ .setBody(new PacBody())
+ .setValidCode((short) 0)
+ .setErrorPac(false);
+ return agvPackage;
+ }
+
+ public String toLogString() {
+ StringBuilder pacSb = new StringBuilder();
+ pacSb.append("AGV(").append(getHeader().getUniqueNo()).append(")")
+ .append("涓婁紶")
+ .append("[").append(getHeader().getProtocolType().getDes()).append("]娑堟伅.")
+ .append("鍘熷娑堟伅[").append(getSourceHexStr()).append("]");
+ return pacSb.toString();
+ }
+
+ public ByteBuf getSourceBuff() {
+ // 鍥犱负澶勭悊buffer鏃讹紝鎬绘槸甯屾湜鎷垮埌涓�涓噸缃簡readerIndex鐨刡uf
+ if (Objects.nonNull(this.sourceBuff)) {
+ this.sourceBuff.resetReaderIndex();
+ }
+ return this.sourceBuff;
+ }
+
+ public AgvPackage setSourceBuff(ByteBuf sourceBuff) {
+ this.sourceBuff = sourceBuff;
+ if (Cools.isEmpty(this.sourceHexStr)) {
+ this.sourceBuff.resetReaderIndex();
+ this.sourceHexStr = ByteBufUtil.hexDump(this.sourceBuff).toUpperCase();
+ this.sourceBuff.resetReaderIndex();
+ }
+ return this;
+ }
+
+ public PacHeader getHeader() {
+ return header;
+ }
+
+ public AgvPackage setHeader(PacHeader header) {
+ this.header = header;
+ return this;
+ }
+
+ public PacBody getBody() {
+ return body;
+ }
+
+ public AgvPackage setBody(PacBody body) {
+ this.body = body;
+ return this;
+ }
+
+ public int getValidCode() {
+ return validCode;
+ }
+
+ public AgvPackage setValidCode(int validCode) {
+ this.validCode = validCode;
+ return this;
+ }
+
+ public boolean isErrorPac() {
+ return errorPac;
+ }
+
+ public AgvPackage setErrorPac(boolean errorPac) {
+ this.errorPac = errorPac;
+ return this;
+ }
+
+ public String getSourceHexStr() {
+ return sourceHexStr;
+ }
+
+ public AgvPackage setSourceHexStr(String sourceHexStr) {
+ this.sourceHexStr = sourceHexStr;
+ return this;
+ }
+
+ public PacErrorType getPacErrorType() {
+ return pacErrorType;
+ }
+
+ public AgvPackage setPacErrorType(PacErrorType pacErrorType) {
+ this.pacErrorType = pacErrorType;
+ return this;
+ }
+
+ public ByteBuf convert(ByteBuf byteBuf){
+ byteBuf.writeByte(this.getHeader().getStartSymbol())
+ .writeShort(this.getHeader().getContentLength())
+ .writeByte(this.getHeader().getProtocolType().getCode())
+ .writeBytes(this.getHeader().getUniqueNo().getBytes(AgvConstant.CHARSET_GBK))
+ .writeByte(this.getHeader().getEncryptType().getCode())
+ .writeBytes(this.getBody().getContent())
+ .writeByte(this.getValidCode());
+ // 璁＄畻骞惰缃牎楠岀爜
+// this.setValidCode(ValidUtil.caculateValidByteFromBuff(byteBuf));
+ byteBuf.resetReaderIndex();
+ byteBuf.writerIndex(byteBuf.readableBytes() - 1).writeByte(this.getValidCode());
+ return byteBuf;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java b/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java
new file mode 100644
index 0000000..a5047c8
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java
@@ -0,0 +1,41 @@
+package com.zy.acs.gateway.utils;
+
+/**
+ * CRC16寰幆鍐椾綑鏍￠獙鐮�
+ * Created by vincent on 2023/3/13
+ */
+public class CRCUtils {
+
+ /**
+ * 涓�涓瓧鑺傚崰 8浣�
+ */
+ private static final int BITS_OF_BYTE = 8;
+
+ /**
+ * 澶氶」寮�
+ */
+ private static final int POLYNOMIAL = 0XA001;
+
+ /**
+ * CRC瀵勫瓨鍣ㄩ粯璁ゅ垵濮嬪��
+ */
+ private static final int INITIAL_VALUE = 0XFFFF;
+
+ /**
+ * CRC16 缂栫爜
+ * @param bytes 缂栫爜鍐呭
+ * @return 缂栫爜缁撴灉
+ */
+ public static int crc16(byte[] bytes) {
+ int res = INITIAL_VALUE;
+ for (byte data : bytes) {
+ // 鎶奲yte杞崲鎴恑nt鍚庡啀璁＄畻
+ res = res ^ (data & 0XFF);
+ for (int i = 0; i < BITS_OF_BYTE; i++) {
+ res = (res & 0X0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
+ }
+ }
+ return res;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java b/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
new file mode 100644
index 0000000..a6a6d90
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
@@ -0,0 +1,11 @@
+package com.zy.acs.common.domain.protocol;
+
+import java.io.Serializable;
+
+public interface IMessageBody extends Serializable {
+
+ byte[] writeToBytes();
+
+ void readFromBytes(byte[] messageBodyBytes);
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java b/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java
new file mode 100644
index 0000000..a41be16
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java
@@ -0,0 +1,98 @@
+package com.zy.acs.gateway.domain;
+
+import com.zy.acs.gateway.constant.EncryType;
+import com.zy.acs.gateway.constant.ProtocolType;
+import lombok.Data;
+import org.apache.commons.lang.builder.ToStringBuilder;
+
+/**
+ * 鍗忚澶�
+ * Created by vincent on 2019-04-03
+ */
+@Data
+public class PacHeader {
+
+ /**
+ * 璧峰绗�
+ * 鍥哄畾涓�"0xEE || 0xAA"
+ */
+ private byte startSymbol;
+
+ /**
+ * 鏁版嵁鍗曞厓闀垮害
+ */
+ private int contentLength;
+
+ /**
+ * 鍞竴鏍囪瘑鐮�
+ */
+ private String uniqueNo;
+
+ /**
+ * 鏃堕棿鎴�
+ */
+ private int timestamp;
+
+ /**
+ * 鍛戒护鏍囪瘑
+ */
+ private ProtocolType protocolType;
+
+ /**
+ * 娴佹按鍙�
+ */
+ private String serialNum;
+
+ /**
+ * 鏁版嵁鍗曞厓鍔犲瘑鏂瑰紡
+ */
+ private EncryType encryptType;
+
+
+ public PacHeader setStartSymbol(Byte startSymbol) {
+ this.startSymbol = startSymbol;
+ return this;
+ }
+
+ public PacHeader setProtocolType(ProtocolType protocolType) {
+ this.protocolType = protocolType;
+ return this;
+ }
+
+ public PacHeader setTimestamp(Integer timestamp) {
+ this.timestamp = timestamp;
+ return this;
+ }
+
+ public PacHeader setSerialNum(String serialNum) {
+ this.serialNum = serialNum;
+ return this;
+ }
+
+ public PacHeader setUniqueNo(String uniqueNo) {
+ this.uniqueNo = uniqueNo;
+ return this;
+ }
+
+ public PacHeader setEncryptType(EncryType encryptType) {
+ this.encryptType = encryptType;
+ return this;
+ }
+
+ public PacHeader setContentLength(int contentLength) {
+ this.contentLength = contentLength;
+ return this;
+ }
+
+ @Override
+ public String toString() {
+ return new ToStringBuilder(this)
+ .append("startSymbol", startSymbol)
+ .append("contentLength", contentLength)
+ .append("uniqueNo", uniqueNo)
+ .append("timestamp", timestamp)
+ .append("protocolType", protocolType.getDes())
+ .append("serialNum", serialNum)
+ .toString();
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
new file mode 100644
index 0000000..04a396a
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
@@ -0,0 +1,89 @@
+package com.zy.acs.gateway.handler.coder;
+
+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 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;
+
+/**
+ * 缂栫爜鍣�
+ * 姝よВ鐮佸櫒灏嗕細鐢熸垚鏍￠獙鐮�
+ * 澶勭悊鏂瑰紡: 寮傛垨鍜�
+ * Created by vincent on 2019-04-02
+ */
+@Component
+@ChannelHandler.Sharable
+public class ProtocolEncoder extends MessageToByteEncoder<Object> {
+
+ private static final Logger log = LoggerFactory.getLogger(ProtocolEncoder.class);
+
+ @Autowired
+ private SystemProperties systemProperties;
+
+ @Override
+ protected void encode(ChannelHandlerContext ctx, Object obj, ByteBuf out) {
+
+ if (obj instanceof ByteBuf){
+ out.writeBytes((ByteBuf) obj);
+
+ } else if (obj instanceof byte[]){
+ out.writeBytes((byte[]) obj);
+
+ } else if (obj instanceof AgvPackage){
+
+ AgvPackage pac = (AgvPackage)obj;
+
+
+
+ byte[] bodyBytes = pac.getBody().getMessageBody().writeToBytes(); // body
+
+ String uniqueNo = pac.getHeader().getUniqueNo();
+
+ byte[] uniquenoBytes = RadixTools.intToBytes(Integer.parseInt(pac.getHeader().getUniqueNo())); // uniqueno
+
+
+ int len = PackagePart.UNIQUENO.getLen() // len
+ + PackagePart.TIMESTAMP.getLen()
+ + 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
+ ;
+
+ pac.setValidCode(ValidUtil.calculateValidByteFromBuff(out));
+ out.resetReaderIndex();
+
+ out.writerIndex(out.readableBytes() - 2);
+ out.writeShortLE(pac.getValidCode());
+
+
+ if (systemProperties.isPrintPacLog()){
+ log.info("Agv [{}] 涓嬭 [{}] >>> {}", uniqueNo, pac.getHeader().getProtocolType().getDes(), ByteBufUtil.hexDump(out).toUpperCase());
+ }
+
+ }
+
+
+ }
+
+// EE | 11 00 | 01 00 00 00 | 0C AB 12 64 | F0 | 01 00 | 01 01 | 00 00 00 00 | 4C F7
+// # | len | uniqueno | timestamp | cmd | content | crc
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java
new file mode 100644
index 0000000..2ea178b
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java
@@ -0,0 +1,86 @@
+package com.zy.acs.gateway.utils;
+
+import com.zy.acs.common.domain.AgvProtocol;
+import com.zy.acs.common.domain.protocol.IMessageBody;
+import com.zy.acs.gateway.constant.ProtocolPojoType;
+import com.zy.acs.gateway.constant.ProtocolType;
+import com.zy.acs.gateway.domain.AgvPackage;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * Created by vincent on 2019-04-03
+ */
+public class ProtocolUtils {
+
+ private static final Logger log = LoggerFactory.getLogger(ProtocolUtils.class);
+
+ // 涓嬭鍗忚鎶ユ枃缁勮
+ public static AgvPackage installDownProtocol(AgvProtocol protocol){
+
+
+ ProtocolPojoType protocolPojo = ProtocolPojoType.query(protocol.getMessageBody().getClass());
+
+ assert protocolPojo != null;
+
+ AgvPackage ackPackage = AgvPackage.valueOfEmpty();
+ ackPackage.getHeader()
+ .setStartSymbol((byte)0xEE)
+ .setContentLength(0)
+ .setUniqueNo(protocol.getAgvNo())
+ .setTimestamp(protocol.getTimestamp())
+ .setProtocolType(protocolPojo.protocolType)
+ ;
+
+ ackPackage.getBody().setMessageBody(protocol.getMessageBody());
+
+ return ackPackage;
+
+ }
+
+ // 涓嬭鍗忚鎶ユ枃缁勮
+ public static AgvPackage installDownProtocol(String uniqueNo, ProtocolType protocolType){
+
+
+ AgvPackage ackPackage = AgvPackage.valueOfEmpty();
+ ackPackage.getHeader()
+ .setStartSymbol((byte)0xEE)
+ .setContentLength(0)
+ .setUniqueNo(uniqueNo)
+ .setTimestamp((int)System.currentTimeMillis()/1000)
+ .setProtocolType(protocolType)
+ ;
+
+ ProtocolPojoType protocolPojo = ProtocolPojoType.query(protocolType);
+
+
+ assert protocolPojo != null;
+
+
+ IMessageBody iMessageBody = null;
+
+ try {
+
+ iMessageBody = protocolPojo.clazz.newInstance();
+ } catch (ReflectiveOperationException reflectiveOperationException) {
+
+
+ log.error("MessageBodyHandler ReflectiveOperationException", reflectiveOperationException);
+
+ log.error("java鍙嶅皠鍒涘缓瀹炰緥澶辫触锛歿}", protocolPojo.clazz.getName());
+
+ return null;
+ }
+
+
+
+ ackPackage.getBody().setMessageBody(iMessageBody);
+
+
+
+ return ackPackage;
+ }
+
+
+
+}
--
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