From 20245e35da8a9d809b2de91f4ec29dd39127f9d5 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期六, 17 八月 2024 10:07:07 +0800
Subject: [PATCH] #

---
 app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java        |    4 
 app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java        |    3 
 app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java        |   10 +
 app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java        |    4 
 app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java        |    4 
 app/src/main/java/com/example/agvcontroller/protocol/AGV_02_UP.java          |  115 ++++++++++++++++
 app/src/main/java/com/example/agvcontroller/utils/DialogUtil.java            |   27 +++
 app/src/main/java/com/example/agvcontroller/MainActivity.java                |   66 ++++++---
 app/src/main/java/com/example/agvcontroller/StartActivity.java               |    2 
 app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java        |    5 
 app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java   |    6 
 app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java        |    4 
 app/src/main/java/com/example/agvcontroller/protocol/MessageBodyHandler.java |  115 ++++++++++++++++
 app/src/main/java/com/example/agvcontroller/socket/NettyServer.java          |    6 
 app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java       |    2 
 15 files changed, 348 insertions(+), 25 deletions(-)

diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index b08e87c..1de3e8a 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -20,14 +20,13 @@
 import com.example.agvcontroller.action.HandOutAction;
 import com.example.agvcontroller.socket.NettyServerHandler;
 import com.example.agvcontroller.socket.SocketManager;
+import com.example.agvcontroller.utils.DialogUtil;
 import com.example.agvcontroller.utils.SnowflakeIdWorker;
 
 import java.net.Socket;
-import java.sql.Time;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.TimeoutException;
 
 
 public class MainActivity extends AppCompatActivity {
@@ -44,6 +43,7 @@
     private Button rotatopnLeftBtn;  // 宸︽棆杞�
     private Button goForwardBtn;  // 鍓嶈繘
     private Button goBackwardBtn;  // 鍚庨��
+    private Button modelSwitchBtn;  // 杩涘叆銆侀��鍑� 鎵嬪姩
     private Socket socket;
 
     SocketManager socketManager;
@@ -68,25 +68,7 @@
                 nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
                 handler.sendEmptyMessageDelayed(0, 100);
 
-                boolean result = false;
-                long timestamp = System.currentTimeMillis();
 
-                while (System.currentTimeMillis() - timestamp < 5000) {
-
-                    Object o = map.get(substring);
-
-                    if (null != o) {
-                        result = true;
-                        map.remove(o);
-                        break;
-                    }
-                }
-
-                if (result) {
-                    // alert ok
-                } else {
-                    throw new TimeoutException("瓒呮椂");
-                }
 
             }
             if (isOpen) {
@@ -117,12 +99,13 @@
         forceSwitchBtn = findViewById(R.id.btn_force_switch);
         goForwardBtn = findViewById(R.id.btn_go_forward);
         goBackwardBtn = findViewById(R.id.btn_go_backward);
+        modelSwitchBtn = findViewById(R.id.btn_model_switch);
 
         Intent intent = getIntent();
         clientId = intent.getStringExtra("message");
         Log.i("message1",clientId);
 
-        // 杩涘嚭鎵嬪姩妯″紡
+        // 寮哄埗妯″紡寮�鍏�
         forceSwitchBtn.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
@@ -138,6 +121,47 @@
                 nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
             }
         });
+
+        // 寮哄埗妯″紡寮�鍏�
+        modelSwitchBtn.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandOutAction.class)
+                        .setAgvNo("12")
+                        .setSerialNo(substring)
+                        .setVal(1)
+                        .bodySync((action) -> action.setPwd((short) 21));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+
+
+                boolean result = false;
+                long timestamp = System.currentTimeMillis();
+
+                Log.i("substring",substring);
+                while (System.currentTimeMillis() - timestamp < 20000) {
+
+                    Object o = map.get(substring);
+
+                    if (null != o) {
+                        result = true;
+                        map.remove(o);
+                        break;
+                    }
+                }
+
+                if (result) {
+                    // alert ok  淇敼鎸夐挳鏍峰紡 鍚嶇О
+                    modelSwitchBtn.setText("鑷姩妯″紡");
+                } else {
+//                    throw new TimeoutException("瓒呮椂");
+                    DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "璇锋眰搴旂瓟瓒呮椂锛�");
+                }
+            }
+        });
         stopBtn.setOnTouchListener(new CarTouchButton());
         goForwardBtn.setOnTouchListener(new CarTouchButton());
         goBackwardBtn.setOnTouchListener(new CarTouchButton());
diff --git a/app/src/main/java/com/example/agvcontroller/StartActivity.java b/app/src/main/java/com/example/agvcontroller/StartActivity.java
index f38311e..727f99b 100644
--- a/app/src/main/java/com/example/agvcontroller/StartActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/StartActivity.java
@@ -52,7 +52,7 @@
             }
         });
         socketManager = new SocketManager();
-        socketManager.startServer(8080);
+        socketManager.startServer(8081);
     }
 
     @Subscribe(threadMode = ThreadMode.MAIN)
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java
index 058cd45..b02e5bd 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java
@@ -38,6 +38,9 @@
 
     }
 
+    public String getSerialNo() {
+        return serialNo;
+    }
     // 娴佹按鍙� - 16
     private String serialNo;
 
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
index a9a1292..e8346e1 100644
--- 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
@@ -1,6 +1,10 @@
 package com.example.agvcontroller.protocol;
 
 
+import com.example.agvcontroller.action.AgvCompleteType;
+import com.example.agvcontroller.action.CommonConstant;
+import com.example.agvcontroller.socket.RadixTools;
+
 import java.io.Serializable;
 
 /**
@@ -27,7 +31,13 @@
 
     @Override
     public void readFromBytes(byte[] messageBodyBytes) {
+        try {
+            this.serialNo = new String(Utils.sliceWithReverse(messageBodyBytes, 0, 16));
 
+            this.cmdCode = Utils.slice(messageBodyBytes, 16, 1)[0];
+        } catch (Exception e) {
+
+        }
     }
 
     // 娴佹按鍙� - 16
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_UP.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_UP.java
new file mode 100644
index 0000000..f6990d3
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_UP.java
@@ -0,0 +1,115 @@
+package com.example.agvcontroller.protocol;
+
+import com.example.agvcontroller.action.AgvCompleteType;
+import com.example.agvcontroller.action.CommonConstant;
+import com.example.agvcontroller.socket.RadixTools;
+
+import java.io.Serializable;
+
+/**
+ * 鍔ㄤ綔瀹屾垚鏁版嵁鍖�
+ *
+ * Created by vincent on 2023/3/21
+ */
+public class AGV_02_UP implements IMessageBody, Serializable {
+
+    private static final long serialVersionUID = 8403019742104020004L;
+
+    @Override
+    public byte[] writeToBytes() {
+        return new byte[0];
+    }
+
+    @Override
+    public void readFromBytes(byte[] bytes) {
+//        try {
+            this.serialNo = new String(Utils.sliceWithReverse(bytes, 0, 16));
+//        } catch (UnsupportedEncodingException e) {
+//            e.printStackTrace();
+//        }
+        this.completeCode = Utils.slice(bytes, 16, 1)[0];
+        this.completeType = AgvCompleteType.query(this.completeCode);
+        this.qrCode = Utils.zeroFill(String.valueOf(RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 17, 4))), CommonConstant.QR_CODE_LEN);
+        this.direction = RadixTools.byteToShort(Utils.sliceWithReverse(bytes, 21,2));
+//        this.locCode = new String(Utils.sliceWithReverse(bytes, 23, 16)).replaceAll("\\u0000", "");
+//        this.boxCode = new String(Utils.sliceWithReverse(bytes, 39, 16)).replaceAll("\\u0000", "");
+        this.locCode = Utils.zeroFill(String.valueOf(RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 23, 4))), CommonConstant.QR_CODE_LEN);
+        this.boxCode = Utils.zeroFill(String.valueOf(RadixTools.bytesToInt(Utils.sliceWithReverse(bytes, 39, 4))), CommonConstant.QR_CODE_LEN);
+    }
+
+    private String serialNo;
+
+    // 瀹屾垚鍔ㄤ綔鐮�
+    private int completeCode;
+
+    private AgvCompleteType completeType;
+
+    // 鍦伴潰鐮� - 8浣�
+    private String qrCode;
+
+    // 杞﹀ご鏈濆悜
+    private short direction;
+
+    // 璐т綅浜岀淮鐮�
+    private String locCode;
+
+    public String getSerialNo() {
+        return serialNo;
+    }
+
+    public void setSerialNo(String serialNo) {
+        this.serialNo = serialNo;
+    }
+
+    public int getCompleteCode() {
+        return completeCode;
+    }
+
+    public void setCompleteCode(int completeCode) {
+        this.completeCode = completeCode;
+    }
+
+    public AgvCompleteType getCompleteType() {
+        return completeType;
+    }
+
+    public void setCompleteType(AgvCompleteType completeType) {
+        this.completeType = completeType;
+    }
+
+    public String getQrCode() {
+        return qrCode;
+    }
+
+    public void setQrCode(String qrCode) {
+        this.qrCode = qrCode;
+    }
+
+    public short getDirection() {
+        return direction;
+    }
+
+    public void setDirection(short direction) {
+        this.direction = direction;
+    }
+
+    public String getLocCode() {
+        return locCode;
+    }
+
+    public void setLocCode(String locCode) {
+        this.locCode = locCode;
+    }
+
+    public String getBoxCode() {
+        return boxCode;
+    }
+
+    public void setBoxCode(String boxCode) {
+        this.boxCode = boxCode;
+    }
+
+    // 鏂欑浜岀淮鐮�
+    private String boxCode;
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java
index 882e607..173e3e8 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java
@@ -20,4 +20,8 @@
 
     }
 
+    public String getSerialNo() {
+        return "";
+    }
+
 }
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java
index e59a7ff..5d5b18a 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java
@@ -21,4 +21,8 @@
 
     }
 
+    public String getSerialNo() {
+        return "";
+    }
+
 }
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java
index b51952f..0715f0b 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java
@@ -41,4 +41,8 @@
 
     private byte[] temp = new byte[4];
 
+    public String getSerialNo() {
+        return "";
+    }
+
 }
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java
index d3fff92..b1b2438 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java
@@ -28,5 +28,9 @@
 
     private byte[] temp = new byte[4];
 
+    public String getSerialNo() {
+        return "";
+    }
+
 }
 
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java b/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
index 35efd0c..b2b1ef5 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
@@ -8,4 +8,6 @@
 
     void readFromBytes(byte[] messageBodyBytes);
 
+    String getSerialNo();
+
 }
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/MessageBodyHandler.java b/app/src/main/java/com/example/agvcontroller/protocol/MessageBodyHandler.java
new file mode 100644
index 0000000..90f3681
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/MessageBodyHandler.java
@@ -0,0 +1,115 @@
+package com.example.agvcontroller.protocol;
+
+import com.example.agvcontroller.met.AbstractInboundHandler;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandler;
+import io.netty.channel.ChannelHandlerContext;
+
+/**
+ * 鎶ユ枃涓讳綋handler
+ * Created by vincent on 2023-03-15
+ */
+//@Component("messageBodyHandler")
+@ChannelHandler.Sharable
+public class MessageBodyHandler extends AbstractInboundHandler<AgvPackage> {
+
+    private static final Logger log = LoggerFactory.getLogger(MessageBodyHandler.class);
+
+    @Override
+    @SuppressWarnings("all")
+    protected boolean channelRead0(ChannelHandlerContext ctx, AgvPackage pac) {
+
+        String namespace = IMessageBody.class.getPackage().getName();
+
+        ProtocolType protocolType = pac.getHeader().getProtocolType();
+
+
+        if (null == protocolType) {
+
+            // 鏈煡鍖�
+            return Boolean.FALSE;
+        }
+
+        String className =  namespace +  ".AGV_" + Utils.zeroFill(Integer.toHexString(protocolType.getCode()).toUpperCase(), 2)
+                +"_"
+
+                +  pac.getHeader().getProtocolType().getDirection().toString().toUpperCase();
+
+        Class<?> cls = null;
+        try {
+
+
+            cls  =   Class.forName(className);;
+
+        } catch (ClassNotFoundException e) {
+
+            log.error("MessageBodyHandler ClassNotFoundException", e);log.error("鎵句笉鍒版寚瀹氱被锛歿}", className);
+
+            return Boolean.FALSE;
+        }
+
+        Object obj = null;
+
+        if (null != cls) {
+
+
+            try {
+                obj = cls.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}", className);
+
+                // 銆傘�傘��
+                return Boolean.FALSE;
+            }
+
+
+        }
+
+        ByteBuf contentBuf = pac.getBody().getContent();           contentBuf.markReaderIndex();   // sign
+        // body.buf 灞炰簬鍒囩墖鑾峰彇锛� slice 涓� channel涓殑缂撳啿鍖� 涓哄悓涓� refenec
+
+
+
+            contentBuf.resetReaderIndex();
+
+        int len= contentBuf.readableBytes();
+
+        byte[] bytes = new byte[len];
+
+
+
+        pac.getBody().getContent().readBytes(bytes);
+
+
+
+        // 璇诲彇瀛楄妭鏁扮粍 ===>>     瀹為檯鎶ユ枃绫诲瀷
+        IMessageBody iMessageBody = null;
+
+        if (null != obj) {
+
+            if ( obj  instanceof IMessageBody) {
+
+                iMessageBody = (IMessageBody) obj;
+
+
+                    iMessageBody.readFromBytes(bytes);
+            }
+
+        }
+
+
+
+        pac.getBody().setMessageBody(iMessageBody);     contentBuf.resetReaderIndex();
+
+        return true;
+    }
+
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java b/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java
index 679690b..d92aecf 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java
@@ -36,6 +36,11 @@
     COMMAND_MARK(11, 1, "鍛戒护鏍囪瘑"),
 
     /**
+     * 娴佹按鍙�
+     */
+    SERIAL_NUM(13, 16, "娴佹按鍙�"),
+
+    /**
      * 鏁版嵁鍗曞厓
      */
     CONTENT(12, -1, "鏁版嵁鍗曞厓"),
diff --git a/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java b/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
index 278bac0..1871469 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
@@ -1,5 +1,6 @@
 package com.example.agvcontroller.socket;
 
+import com.example.agvcontroller.protocol.MessageBodyHandler;
 import com.example.agvcontroller.protocol.ProtocolDecoder;
 import com.example.agvcontroller.protocol.ProtocolEncoder;
 
@@ -35,7 +36,10 @@
                     .childHandler(new ChannelInitializer<SocketChannel>() {
                         @Override
                         public void initChannel(SocketChannel ch) throws Exception {
-                            ch.pipeline().addLast(new ProtocolEncoder()).addLast(new ProtocolDecoder(4096)).addLast(new NettyServerHandler());
+                            ch.pipeline().addLast(new ProtocolEncoder())
+                                    .addLast(new ProtocolDecoder(4096))
+                                    .addLast(new MessageBodyHandler())
+                                    .addLast(new NettyServerHandler());
                         }
                     })
 //                    .addLast(new NettyServerHandler())
diff --git a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
index f27d329..a33faad 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
@@ -67,7 +67,9 @@
     @Override
     protected boolean channelRead0(ChannelHandlerContext ctx, AgvPackage pac) throws Exception {
 
-        String serialNum = pac.getHeader().getSerialNum();
+        String serialNum = pac.getBody().getMessageBody().getSerialNo();
+        Log.i("substring",serialNum);
+        MainActivity.map.put(serialNum, Boolean.TRUE);
         // ack
         ProtocolType ackType = isNeedAck(pac);
         final String uniqueNo = pac.getHeader().getUniqueNo();
@@ -88,7 +90,7 @@
                     ctx.writeAndFlush(ackPac);
                 }
 
-                MainActivity.map.put(serialNum, Boolean.TRUE);
+
 
                 break label;
         }
diff --git a/app/src/main/java/com/example/agvcontroller/utils/DialogUtil.java b/app/src/main/java/com/example/agvcontroller/utils/DialogUtil.java
new file mode 100644
index 0000000..cb5f2cc
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/utils/DialogUtil.java
@@ -0,0 +1,27 @@
+package com.example.agvcontroller.utils;
+
+import android.app.AlertDialog;
+import android.content.Context;
+import android.content.DialogInterface;
+
+public class DialogUtil {
+
+    public static void showAlertDialog(Context context, String title, String message) {
+        AlertDialog.Builder builder = new AlertDialog.Builder(context);
+        builder.setTitle(title)
+                .setMessage(message)
+                .setPositiveButton("纭畾", new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        dialog.dismiss();
+                    }
+                })
+                .setNegativeButton("鍙栨秷", new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialog, int which) {
+                        dialog.dismiss();
+                    }
+                })
+                .show();
+    }
+}

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