From 1a6230570a8f1419173b2ecd22548cc01ab08195 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期一, 20 一月 2025 16:44:42 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java | 63 ++++++++++++++++++++++++-------
1 files changed, 48 insertions(+), 15 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..15f2a0a 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 +1,8 @@
package com.example.agvcontroller.protocol;
+
+import com.example.agvcontroller.socket.RadixTools;
+
import java.util.logging.Logger;
import io.netty.buffer.ByteBuf;
@@ -30,7 +33,42 @@
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<?>){
+
+
+ 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){
@@ -42,7 +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
@@ -50,25 +88,20 @@
+ 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();
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());
- }
}
--
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