From 2583078fdf32b87da154b1594f3e616a77824175 Mon Sep 17 00:00:00 2001
From: whycq <10027870+whycq@user.noreply.gitee.com>
Date: 星期一, 12 八月 2024 17:10:31 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java | 12
app/src/main/java/com/example/agvcontroller/protocol/ICodedStatus.java | 9
app/src/main/java/com/example/agvcontroller/protocol/ICommandBody.java | 12
app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java | 51 -
app/src/main/java/com/example/agvcontroller/protocol/Utils.java | 239 ++++++++
app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java | 29
app/src/main/java/com/example/agvcontroller/protocol/PacBody.java | 38 +
app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java | 24
app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java | 29
app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java | 2
app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java | 28 +
app/src/main/java/com/example/agvcontroller/protocol/EncryType.java | 66 ++
app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java | 50 +
app/src/main/java/com/example/agvcontroller/protocol/ProtocolType.java | 82 +++
app/src/main/java/com/example/agvcontroller/protocol/AgvProtocol.java | 37 +
app/src/main/java/com/example/agvcontroller/protocol/PacErrorType.java | 48 +
app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java | 32 +
app/src/main/java/com/example/agvcontroller/protocol/ValidUtil.java | 55 ++
app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java | 23
app/src/main/java/com/example/agvcontroller/protocol/ProtocolPojoType.java | 54 ++
app/src/main/java/com/example/agvcontroller/protocol/DirectionType.java | 9
app/src/main/java/com/example/agvcontroller/MainActivity.java | 72 +-
app/src/main/java/com/example/agvcontroller/protocol/Cools.java | 367 +++++++++++++
app/src/main/java/com/example/agvcontroller/StartActivity.java | 2
app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java | 87 +++
app/src/main/java/com/example/agvcontroller/protocol/SystemProperties.java | 94 +++
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java | 42
app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java | 2
28 files changed, 1,466 insertions(+), 129 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 4b3d37a..2df3a7f 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -8,6 +8,8 @@
import android.os.Bundle;
import android.os.Vibrator;
import android.util.Log;
+import android.view.KeyEvent;
+import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
@@ -32,54 +34,58 @@
private Button vibrateButton;
private Socket socket;
SocketManager socketManager;
+
+ String clientId;
NettyServerHandler nettyServerHandler;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
- // 浣滀负瀹㈡埛绔繛鎺�
- //SocketManager.getInstance().setHostAndPort("192.168.4.188", 802);
- //SocketManager.getInstance().connect();
-
- //SocketManager.getInstance().setPort(8080);
- //SocketManager.getInstance().startServer();
-
- // 璁剧疆绔彛鍙峰苟鍚姩鏈嶅姟绔�
- //SocketManager.getInstance().setPort(8080);
- //socketManager = new SocketManager();
- //socketManager.startServer(8080);
-
- // 鍚姩鏈嶅姟绔�
- //new Thread(() -> {
- // SocketManager.getInstance().startServer();
- //}).start();
-
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
vibrateButton = findViewById(R.id.btn_stop);
Intent intent = getIntent();
- String clientId = intent.getStringExtra("message");
+ //String clientId = intent.getStringExtra("message");
+ clientId = intent.getStringExtra("message");
Log.i("message1",clientId);
+ // 鍒濆鍖栧崟杞翠娇鑳�
+ byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
+ nettyServerHandler.sendMessageToClient(clientId, message2); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- vibrateButton.setOnClickListener(new View.OnClickListener() {
- @Override
- public void onClick(View v) {
- if (vibrator != null && vibrator.hasVibrator()) {
- //vibrator.vibrate(500);
- }
-
- //String clientId = "/192.168.4.188:63160";
- byte[] message1 = new byte[]{0x01, 0x02, 0x03, 0x04}; // 绀轰緥娑堟伅
- Log.i("message2",clientId);
- Log.i("message3", Arrays.toString(message1));
-
- nettyServerHandler.sendMessageToClient(clientId, message1); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
+ //vibrateButton.setOnClickListener(new View.OnClickListener() {
+ // @Override
+ // public void onClick(View v) {
+ // if (vibrator != null && vibrator.hasVibrator()) {
+ // //vibrator.vibrate(500);
+ // }
+ //
+ // //String clientId = "/192.168.4.188:63160";
+ // byte[] message1 = new byte[]{0x01, 0x02, 0x03, 0x04}; // 绀轰緥娑堟伅
+ // Log.i("message2",clientId);
+ // Log.i("message3", Arrays.toString(message1));
+ //
+ // nettyServerHandler.sendMessageToClient(clientId, message1); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ // }
+ //});
+ vibrateButton.setOnTouchListener(new CarTouchButton());
}
+ private class CarTouchButton implements View.OnTouchListener {
+
+ @Override
+ public boolean onTouch(View view, MotionEvent motionEvent) {
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
+ nettyServerHandler.sendMessageToClient(clientId, message2); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x07}; // 绀轰緥娑堟伅
+ nettyServerHandler.sendMessageToClient(clientId, message2); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ return false;
+ }
+ }
@Override
protected void onDestroy() {
super.onDestroy();
diff --git a/app/src/main/java/com/example/agvcontroller/StartActivity.java b/app/src/main/java/com/example/agvcontroller/StartActivity.java
index adb74d2..ebc0cdf 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(8022);
+ socketManager.startServer(8024);
}
@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
new file mode 100644
index 0000000..058cd45
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_01_DOWN.java
@@ -0,0 +1,50 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 璺緞鏁版嵁鍖�
+ * Created by vincent on 2023/3/16
+ */
+public class AGV_01_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = -2786382674008041014L;
+
+ @Override
+ public byte[] writeToBytes() {
+ String serialNo = Utils.zeroFill(this.serialNo, 16);
+ byte[] serialNoBytes = Utils.reverse(serialNo.getBytes());
+ //byte pathLen = (byte) actionItems.size();
+
+ byte[] pathBytes = new byte[0];
+ //for (AgvActionItem<? extends IActionBody> item : actionItems) {
+ // //byte[] bytes = RadixTools.intToBytes(Integer.parseInt(item.getQrCode()));
+ // //byte[] qrCodeBytes = Utils.reverse(bytes);
+ // //byte actionCodeByte = (byte) item.getActionCmdType().actionCode;
+ // //byte valByte = (byte) item.getVal();
+ // //byte[] actionBodyBytes = item.getActionBody().writeToBytes();
+ // //byte[] merge = Utils.merge(qrCodeBytes, actionCodeByte, valByte, actionBodyBytes);
+ // pathBytes = Utils.merge(pathBytes, merge);
+ //}
+
+ return Utils.merge(serialNoBytes, pathLen, pathBytes);
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+ // 娴佹按鍙� - 16
+ private String serialNo;
+
+ // 璺緞闀垮害
+ private int pathLen;
+
+ // 璺緞鍒楄〃
+ //private List<AgvActionItem<? extends IActionBody>> actionItems = new ArrayList<>();
+
+}
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 74bde9d..9578d44 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
@@ -1,8 +1,5 @@
-package com.zy.acs.common.domain.protocol;
+package com.example.agvcontroller.protocol;
-import com.zy.acs.common.utils.Utils;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
import java.io.Serializable;
@@ -10,7 +7,6 @@
* 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;
@@ -19,8 +15,10 @@
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 cmdCodeByte = (byte) this.getCmdCode();
+ byte cmdCodeByte = (byte) 1;
+ //byte valByte = (byte) this.getVal();
+ byte valByte = (byte) 1;
byte[] cmdBodyBytes = commandBody.writeToBytes();
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
new file mode 100644
index 0000000..882e607
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_03_DOWN.java
@@ -0,0 +1,23 @@
+package com.example.agvcontroller.protocol;
+
+import java.io.Serializable;
+
+/**
+ * 蹇冭烦
+ * Created by vincent on 2023/3/16
+ */
+public class AGV_03_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = 6922520599887812372L;
+
+ @Override
+ public byte[] writeToBytes() {
+ return new byte[0];
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+}
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
new file mode 100644
index 0000000..e59a7ff
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_80_DOWN.java
@@ -0,0 +1,24 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.io.Serializable;
+
+/**
+ * 婵�娲诲寘
+ * Created by vincent on 2023/3/16
+ */
+public class AGV_80_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = -8289774377582991418L;
+
+ @Override
+ public byte[] writeToBytes() {
+ return new byte[0];
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+}
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
new file mode 100644
index 0000000..7cdfe5d
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_A1_DOWN.java
@@ -0,0 +1,28 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.io.Serializable;
+
+/**
+ * 搴旂瓟姝ｅ父鍖�
+ * Created by vincent on 2023/3/16
+ */
+public class AGV_A1_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = -1744072958515341165L;
+
+ @Override
+ public byte[] writeToBytes() {
+ return Utils.merge(ackSign, Utils.reverse(temp));
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+ private byte ackSign = 0x11;
+
+ private byte[] temp = new byte[4];
+
+}
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
new file mode 100644
index 0000000..d3fff92
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_DOWN.java
@@ -0,0 +1,32 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.io.Serializable;
+
+/**
+ * Created by vincent on 2023/3/15
+ */
+public class AGV_F0_DOWN implements IMessageBody, Serializable {
+
+ private static final long serialVersionUID = 5769100530170067014L;
+
+ @Override
+ public byte[] writeToBytes() {
+ Utils.reverse(sysMark);
+ Utils.reverse(sysVersion);
+ Utils.reverse(temp);
+ return Utils.merge(sysMark, sysVersion, temp);
+ }
+
+ @Override
+ public void readFromBytes(byte[] bytes) {
+ }
+
+ private byte[] sysMark = new byte[] {0x00, 0x01};
+
+ private byte[] sysVersion = new byte[] {0x01, 0x01};
+
+ private byte[] temp = new byte[4];
+
+}
+
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java b/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java
index e50fa82..39f001f 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AgvPackage.java
@@ -1,8 +1,5 @@
-package com.zy.acs.gateway.domain;
+package com.example.agvcontroller.protocol;
-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;
@@ -12,7 +9,7 @@
* AGV鎶ユ枃妯″瀷
* Created by vincent on 2023/3/10
*/
-public class AgvPackage implements PackageSupport {
+public class AgvPackage {
/**
* 婧愭暟鎹寘缂撳啿鍖�(寮曠敤)
@@ -58,14 +55,14 @@
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 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
@@ -139,19 +136,19 @@
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;
- }
+// 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/AgvProtocol.java b/app/src/main/java/com/example/agvcontroller/protocol/AgvProtocol.java
new file mode 100644
index 0000000..9914c0f
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AgvProtocol.java
@@ -0,0 +1,37 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.io.Serializable;
+
+/**
+ * Created by vincent on 2023/3/23
+ */
+//@Data
+public class AgvProtocol implements Serializable {
+
+ private static final long serialVersionUID = 8858385758421567504L;
+
+ private String agvNo;
+
+ private int timestamp;
+
+ private IMessageBody messageBody;
+
+ public static AgvProtocol build(String agvNo) {
+ AgvProtocol protocol = new AgvProtocol();
+ protocol.setAgvNo(agvNo);
+ //protocol.setTimestamp((int) (System.currentTimeMillis()/1000));
+ return protocol;
+ }
+
+ public AgvProtocol setAgvNo(String agvNo) {
+ this.agvNo = agvNo;
+ return this;
+ }
+
+ public AgvProtocol setMessageBody(IMessageBody messageBody) {
+ this.messageBody = messageBody;
+ return this;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java b/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java
index a5047c8..22c6368 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/CRCUtils.java
@@ -1,4 +1,4 @@
-package com.zy.acs.gateway.utils;
+package com.example.agvcontroller.protocol;
/**
* CRC16寰幆鍐椾綑鏍￠獙鐮�
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/Cools.java b/app/src/main/java/com/example/agvcontroller/protocol/Cools.java
new file mode 100644
index 0000000..be634d7
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/Cools.java
@@ -0,0 +1,367 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.lang.reflect.*;
+import java.nio.charset.StandardCharsets;
+import java.security.MessageDigest;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * Created by vincent on 2019-06-09
+ */
+public class Cools {
+
+ public static boolean isEmpty(Object... objects) {
+ for (Object obj : objects){
+ if (isEmpty(obj)){
+ return true;
+ }
+ }
+ return false;
+ }
+
+ @SuppressWarnings("rawtypes")
+ public static boolean isEmpty(Object o) {
+ if (o == null) {
+ return true;
+ }
+ if (o instanceof String) {
+ if (o.toString().trim().equals("")) {
+ return true;
+ }
+ } else if (o instanceof List) {
+ if (((List) o).size() == 0) {
+ return true;
+ }
+ } else if (o instanceof Map) {
+ if (((Map) o).size() == 0) {
+ return true;
+ }
+ } else if (o instanceof Set) {
+ if (((Set) o).size() == 0) {
+ return true;
+ }
+ } else if (o instanceof Object[]) {
+ if (((Object[]) o).length == 0) {
+ return true;
+ }
+ } else if (o instanceof int[]) {
+ if (((int[]) o).length == 0) {
+ return true;
+ }
+ } else if (o instanceof long[]) {
+ if (((long[]) o).length == 0) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ public static int sqlLimitIndex(Integer pageIndex, Integer pageSize){
+ return (pageIndex - 1) * pageSize;
+ }
+
+ //public static String enToken(String username, String password){
+ // return AesUtils.encrypt(username, zerofill(password, 16));
+ //}
+
+ //public static String deTokn(String token, String password){
+ // //return AesUtils.decrypt(token, zerofill(password, 16));
+ //}
+
+ public static String zerofill(String msg, Integer count){
+ if (msg.length() == count){
+ return msg;
+ } else if (msg.length() > count){
+ return msg.substring(0, 16);
+ } else {
+ StringBuilder msgBuilder = new StringBuilder(msg);
+ for (int i = 0; i<count-msg.length(); i++){
+ msgBuilder.append("0");
+ }
+ return msgBuilder.toString();
+ }
+ }
+
+ /**
+ * 鎴彇瀛楃涓�(榛樿end=true)
+ * @param str 琚埅瀛楃涓�
+ * @param end true:鏈�鍚庝竴涓瓧绗� / false:绗竴涓瓧绗�
+ */
+ public static String deleteChar(String str, boolean end){
+ if (isEmpty(str)){
+ return "";
+ }
+ if (end){
+ return str.substring(0, str.length()-1);
+ } else {
+ return str.substring(1);
+ }
+ }
+
+ public static String deleteChar(String str){
+ return deleteChar(str, true);
+ }
+
+
+ /**
+ * map 杞� 瀵硅薄
+ */
+ public static <T> T conver(Map<? extends String, ?> map, Class<T> cls){
+ T instance = null;
+ try {
+ Constructor<T> constructor = cls.getDeclaredConstructor();
+ boolean constructorAccessible = constructor.isAccessible();
+ constructor.setAccessible(true);
+ instance = constructor.newInstance();
+ constructor.setAccessible(constructorAccessible);
+ } catch (IllegalAccessException | InstantiationException | NoSuchMethodException | InvocationTargetException e) {
+ e.printStackTrace();
+ }
+ Class<?> prototype = cls;
+ do {
+ for (Field field : prototype.getDeclaredFields()){
+ if (Modifier.isFinal(field.getModifiers())
+ || Modifier.isStatic(field.getModifiers())
+ || Modifier.isTransient(field.getModifiers())){
+ continue;
+ }
+ String fieldName = field.getName();
+ Object val = null;
+ if (map.containsKey(fieldName)){
+ val = map.get(fieldName);
+ }
+ if (val != null){
+ boolean fieldAccessible = field.isAccessible();
+ field.setAccessible(true);
+ Class<?> type = field.getType();
+ try {
+ Constructor<?> constructor = type.getDeclaredConstructor(String.class);
+ boolean constructorAccessible = constructor.isAccessible();
+ constructor.setAccessible(true);
+ field.set(instance, constructor.newInstance(String.valueOf(val)));
+ constructor.setAccessible(constructorAccessible);
+ } catch (IllegalAccessException
+ | InstantiationException
+ | InvocationTargetException
+ | NoSuchMethodException e) {
+ System.err.println("convert error ===> Class["+prototype+"],Field:["+fieldName+"],Type:["+type+"],Value:["+val+"]");
+ }
+ field.setAccessible(fieldAccessible);
+ }
+ }
+ prototype = prototype.getSuperclass();
+ } while (!Object.class.equals(prototype));
+ return instance;
+ }
+
+ /**
+ * 瀵硅薄 杞� map
+ */
+ public static Map<String, Object> conver(Object obj){
+ Class<?> cls = obj.getClass();
+ Field[] fields = getAllFields(cls);
+ Map<String, Object> map = new HashMap<>();
+ for (Field field : fields) {
+ if (Modifier.isFinal(field.getModifiers())
+ || Modifier.isStatic(field.getModifiers())
+ || Modifier.isTransient(field.getModifiers())){
+ continue;
+ }
+ String key = field.getName();
+ boolean flag = field.isAccessible();
+ field.setAccessible(true);
+ Object val = null;
+ try {
+ val = field.get(obj);
+ } catch (IllegalAccessException e) {
+ e.printStackTrace();
+ }
+ field.setAccessible(flag);
+ if (val != null){
+ map.put(key, val);
+ }
+ }
+ return map;
+ }
+
+ /**
+ * 鑾峰彇鎸囧畾Class锛堝強鍏禨uperClass锛夌殑鎴愬憳鍙橀噺
+ */
+ public static Field[] getAllFields(Class<?> cls){
+ return getAllFields(cls, null);
+ }
+
+ /**
+ * 閫掑綊鍚堝苟鍩虹被Field
+ */
+ private static Field[] getAllFields(Class<?> cls, Field[] params){
+ Field[] fields = (params == null) ? cls.getDeclaredFields() : params;
+ Class<?> superCls = cls.getSuperclass();
+ if (superCls == null || superCls == Object.class){
+ return fields;
+ }
+ Field[] superClsFields = superCls.getDeclaredFields();
+ fields = addAll(fields, superClsFields);
+ return getAllFields(superCls, fields);
+ }
+
+ /**
+ * 鏍规嵁fieldName鑾峰彇Field瀵硅薄
+ */
+ public static Field getField(Class<?> cls, String fieldName) {
+ Field[] allFields = getAllFields(cls);
+ for (Field field : allFields) {
+ if (field.getName().equals(fieldName)) {
+ return field;
+ }
+ }
+ return null;
+ }
+
+ /**
+ * 鑾峰彇瀵硅薄涓煇涓狥ield鐨勫��
+ */
+ public static Object getFieldValue(Object obj, Field field) {
+ if (null == field) {
+ return null;
+ } else {
+ if (obj instanceof Class) {
+ obj = null;
+ }
+ if (!field.isAccessible()) {
+ field.setAccessible(true);
+ }
+ try {
+ return field.get(obj);
+ } catch (IllegalAccessException e) {
+ throw new RuntimeException(e);
+ }
+ }
+ }
+
+ /**
+ * 鏁扮粍鍙犲姞
+ */
+ @SuppressWarnings("unchecked")
+ public static <T> T[] addAll(T[] array1, T... array2) {
+ if (array1 == null) {
+ return clone(array2);
+ } else if (array2 == null) {
+ return clone(array1);
+ } else {
+ Class<?> cls = array1.getClass().getComponentType();
+ T[] joinedArray = (T[]) Array.newInstance(cls, array1.length + array2.length);
+ System.arraycopy(array1, 0, joinedArray, 0, array1.length);
+
+ try {
+ System.arraycopy(array2, 0, joinedArray, array1.length, array2.length);
+ return joinedArray;
+ } catch (ArrayStoreException e) {
+ Class<?> type2 = array2.getClass().getComponentType();
+ if (!cls.isAssignableFrom(type2)) {
+ throw new RuntimeException("Cannot store " + type2.getName() + " in an array of " + cls.getName(), e);
+ } else {
+ throw e;
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍏嬮殕
+ */
+ private static <T> T[] clone(T[] array) {
+ return array == null ? null : array.clone();
+ }
+
+ /**
+ * map鎿嶄綔
+ */
+ public static CoolMap add(String key,Object value){
+ CoolMap map = new CoolMap();
+ map.put(key, value);
+ return map;
+ }
+
+ public static class CoolMap extends HashMap<String, Object>{
+
+ public CoolMap add(String key,Object value){
+ this.put(key, value);
+ return this;
+ }
+
+ public CoolMap $(String key,Object value){
+ this.put(key, value);
+ return this;
+ }
+
+ }
+
+ public static String md5(String string){
+ try{
+ MessageDigest md5 = MessageDigest.getInstance("MD5");
+ byte[] bytes = md5.digest(string.getBytes(StandardCharsets.UTF_8));
+ char[] chars = new char[bytes.length * 2];
+ for (int i = 0; i < bytes.length; i++) {
+ int b = bytes[i];
+ chars[i * 2] = hexDigits[(b & 0xF0) >> 4];
+ chars[i * 2 + 1] = hexDigits[b & 0x0F];
+ }
+ return new String(chars).toLowerCase();
+ } catch (Exception e) {
+ e.printStackTrace();
+ throw new RuntimeException("md5鍔犲瘑澶辫触,str=".concat(string));
+ }
+ }
+
+ private static char[] hexDigits = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
+
+ //public static Map<String, Object> translate(Object obj){
+ // Class<?> cls = obj.getClass();
+ // Field[] fields = getAllFields(cls);
+ // Map<String, Object> map = new HashMap<>();
+ // for (Field field : fields) {
+ // String key = field.getName();
+ // if (field.isAnnotationPresent(CoolTranslate.class)){
+ // CoolTranslate annotation = field.getAnnotation(CoolTranslate.class);
+ // if (!isEmpty(annotation.value())) {
+ // key = annotation.value();
+ // }
+ // }
+ // boolean flag = field.isAccessible();
+ // field.setAccessible(true);
+ // Object val = null;
+ // try {
+ // val = field.get(obj);
+ // } catch (IllegalAccessException e) {
+ // e.printStackTrace();
+ // }
+ // field.setAccessible(flag);
+ // if (val != null){
+ // map.put(key, val);
+ // }
+ // }
+ // return map;
+ //}
+
+ public static boolean eq(String str, String str0) {
+ if (Cools.isEmpty(str) && Cools.isEmpty(str0)) {
+ return true;
+ }
+ if (Cools.isEmpty(str) && !Cools.isEmpty(str0)) {
+ return false;
+ }
+ if (Cools.isEmpty(str0) && !Cools.isEmpty(str)) {
+ return false;
+ }
+ if (str.equals(str0)) {
+ return true;
+ }
+ return false;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/DirectionType.java b/app/src/main/java/com/example/agvcontroller/protocol/DirectionType.java
new file mode 100644
index 0000000..cbac087
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/DirectionType.java
@@ -0,0 +1,9 @@
+package com.example.agvcontroller.protocol;
+
+public enum DirectionType {
+
+ DOWN,
+ UP,
+ ;
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/EncryType.java b/app/src/main/java/com/example/agvcontroller/protocol/EncryType.java
new file mode 100644
index 0000000..5722bf5
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/EncryType.java
@@ -0,0 +1,66 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 鍔犲瘑鏍囪瘑鏋氫妇
+ * Created by vincent on 2019-04-02
+ */
+public enum EncryType implements ICodedStatus {
+
+ /**
+ * 鏁版嵁涓嶅姞瀵�
+ */
+ ENCRY_EMPTY(0x01),
+ /**
+ * RSA绠楁硶鍔犲瘑
+ */
+ ENCRY_RSA(0x02),
+ /**
+ * AES128浣嶇畻娉曞姞瀵�
+ */
+ ENCRY_AES128(0x03),
+ /**
+ * 寮傚父
+ */
+ ENCRY_EXCEPTION(0xFE),
+ /**
+ * 鏃犳晥
+ */
+ ENCRY_INVALID(0xFF);
+
+ /**
+ * 鍏朵粬鏁板�间负棰勭暀
+ */
+
+ private int code;
+ EncryType(int code) {
+ this.code = code;
+ }
+
+
+ public static EncryType getByCode(int code) {
+ for (EncryType e :
+ EncryType.values()) {
+ if (e.getCode() == code) {
+ return e;
+ }
+ }
+ return null;
+ }
+
+ @Override
+ public int getCode() {
+ return code;
+ }
+
+ // 棰勬湡鐨勬湡鏈涘�硷紝閫楀彿鍒嗛殧
+ public static String expectedVals() {
+ StringBuilder valSb = new StringBuilder();
+ for (EncryType c :
+ EncryType.values()) {
+ valSb.append(c.getCode()).append(",");
+ }
+ // 鍒犻櫎鏈�鍚庝竴涓�楀彿
+ valSb.deleteCharAt(valSb.length() - 1);
+ return valSb.toString();
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ICodedStatus.java b/app/src/main/java/com/example/agvcontroller/protocol/ICodedStatus.java
new file mode 100644
index 0000000..794f0f1
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ICodedStatus.java
@@ -0,0 +1,9 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 棰勭暀鎺ュ彛锛屽弽灏勬椂璋冪敤
+ * Created by vincent on 2019-04-03
+ */
+public interface ICodedStatus {
+ int getCode();
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ICommandBody.java b/app/src/main/java/com/example/agvcontroller/protocol/ICommandBody.java
new file mode 100644
index 0000000..188c970
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ICommandBody.java
@@ -0,0 +1,12 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 鍛戒护鍙傛暟
+ */
+public interface ICommandBody {
+
+ byte[] writeToBytes();
+
+ void readFromBytes(byte[] messageBodyBytes);
+
+}
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 a6a6d90..35efd0c 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/IMessageBody.java
@@ -1,4 +1,4 @@
-package com.zy.acs.common.domain.protocol;
+package com.example.agvcontroller.protocol;
import java.io.Serializable;
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/PacBody.java b/app/src/main/java/com/example/agvcontroller/protocol/PacBody.java
new file mode 100644
index 0000000..bdcd9ed
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PacBody.java
@@ -0,0 +1,38 @@
+package com.example.agvcontroller.protocol;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.ByteBufUtil;
+
+/**
+ * 鍗忚浣�
+ * Created by vincent on 2019-04-03
+ */
+public class PacBody {
+
+ private ByteBuf content;
+
+ private IMessageBody messageBody;
+
+ public ByteBuf getContent() {
+ return content;
+ }
+
+ public PacBody setContent(ByteBuf content) {
+ this.content = content.duplicate();
+ return this;
+ }
+
+ public IMessageBody getMessageBody() {
+ return messageBody;
+ }
+
+ public void setMessageBody(IMessageBody messageBody) {
+ this.messageBody = messageBody;
+ }
+
+ @Override
+ public String toString() {
+ return ByteBufUtil.hexDump(content);
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/PacErrorType.java b/app/src/main/java/com/example/agvcontroller/protocol/PacErrorType.java
new file mode 100644
index 0000000..6eec109
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PacErrorType.java
@@ -0,0 +1,48 @@
+package com.example.agvcontroller.protocol;
+
+
+public enum PacErrorType implements ICodedStatus {
+
+ /**
+ * 瑙ｆ瀽寮傚父
+ */
+ PAC_ANALYZE_ERROR(0x01, "鎶ユ枃瑙ｆ瀽寮傚父"),
+
+ /**
+ * 鎶ユ枃闀垮害楠岃瘉寮傚父
+ */
+ PAC_LENGTH_ERROR(0x02, "鎶ユ枃闀垮害楠岃瘉寮傚父"),
+
+ /**
+ * 鎶ユ枃鏍￠獙寮傚父
+ */
+ PAC_VALID_ERROR(0x023, "鎶ユ枃闀垮害楠岃瘉寮傚父"),
+
+ ;
+
+ private int code; // 缂栫爜
+ private String des; // 鎻忚堪
+
+ PacErrorType(int code, String des) {
+ this.code = code;
+ this.des = des;
+ }
+
+ public int getCode() {
+ return code;
+ }
+
+ public String getDes() {
+ return des;
+ }
+
+ public static PacErrorType getByCode(int code) {
+ for (PacErrorType c :
+ PacErrorType.values()) {
+ if (c.getCode() == code) {
+ return c;
+ }
+ }
+ return null;
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java b/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java
index a41be16..2912ac4 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PacHeader.java
@@ -1,15 +1,10 @@
-package com.zy.acs.gateway.domain;
+package com.example.agvcontroller.protocol;
-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 {
/**
@@ -84,15 +79,15 @@
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();
- }
+ //@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/PackagePart.java b/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java
new file mode 100644
index 0000000..679690b
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/PackagePart.java
@@ -0,0 +1,87 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 鎶ユ枃鏍囪瘑鏋氫妇
+ * 涓嬫爣1: 璧峰绱㈠紩
+ * 涓嬫爣2: 闀垮害
+ * 涓嬫爣3: 鎻忚堪
+ * Created by vincent on 2019-04-03
+ */
+public enum PackagePart {
+
+ /**
+ * 璧峰绗�
+ */
+ START_SYMBOL(0, 1, "璧峰绗�"),
+
+ /**
+ * 鏁版嵁鍗曞厓闀垮害
+ */
+ CONTENT_LENGTH(1, 2, "鏁版嵁鍗曞厓闀垮害"),
+
+
+ /**
+ * 鍞竴鏍囪瘑鐮�
+ */
+ UNIQUENO(3, 4, "鍞竴鏍囪瘑鐮�"),
+
+ /**
+ * 鏃堕棿鎴�
+ */
+ TIMESTAMP(7, 4, "鏃堕棿鎴�"),
+
+ /**
+ * 鍛戒护鏍囪瘑
+ */
+ COMMAND_MARK(11, 1, "鍛戒护鏍囪瘑"),
+
+ /**
+ * 鏁版嵁鍗曞厓
+ */
+ CONTENT(12, -1, "鏁版嵁鍗曞厓"),
+
+ /**
+ * 鏍￠獙鐮�
+ */
+ VALIDE_CODE( -1, 2, "鏍￠獙鐮�"),
+
+ /**
+ * 搴旂瓟鏍囧織
+ */
+ ACK_MARK(3, 1, "搴旂瓟鏍囧織"),
+
+ /**
+ * 鏁版嵁鍗曞厓鍔犲瘑鏂瑰紡
+ */
+ ENCRYPT_TYPE(21, 1, "鏁版嵁鍗曞厓鍔犲瘑鏂瑰紡"),
+
+ ;
+
+ // 瀛楄妭娈靛紑濮嬬储寮�
+ private Integer startIndex;
+
+ // 瀛楄妭娈垫�诲瓧鑺傛暟
+ private Integer len;
+
+ // 鎻忚堪
+ private String des;
+
+ PackagePart(int startIndex, int len, String des) {
+ this.startIndex = startIndex;
+ this.len = len;
+ this.des = des;
+ }
+
+ public Integer getStartIndex() {
+ return startIndex;
+ }
+
+ public Integer getLen() {
+ return len;
+ }
+
+ public String getDes() {
+ return des;
+ }
+
+}
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 04a396a..ddc38e0 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
@@ -1,20 +1,12 @@
-package com.zy.acs.gateway.handler.coder;
+package com.example.agvcontroller.protocol;
-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 java.util.logging.Logger;
+
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�
@@ -22,13 +14,13 @@
* 澶勭悊鏂瑰紡: 寮傛垨鍜�
* Created by vincent on 2019-04-02
*/
-@Component
+//@Component
@ChannelHandler.Sharable
public class ProtocolEncoder extends MessageToByteEncoder<Object> {
- private static final Logger log = LoggerFactory.getLogger(ProtocolEncoder.class);
+ //private static final Logger log = LoggerFactory.getLogger(ProtocolEncoder.class);
- @Autowired
+ //@Autowired
private SystemProperties systemProperties;
@Override
@@ -48,9 +40,9 @@
byte[] bodyBytes = pac.getBody().getMessageBody().writeToBytes(); // body
- String uniqueNo = pac.getHeader().getUniqueNo();
+ //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
@@ -58,14 +50,14 @@
+ 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();
@@ -75,7 +67,7 @@
if (systemProperties.isPrintPacLog()){
- log.info("Agv [{}] 涓嬭 [{}] >>> {}", uniqueNo, pac.getHeader().getProtocolType().getDes(), ByteBufUtil.hexDump(out).toUpperCase());
+ //log.info("Agv [{}] 涓嬭 [{}] >>> {}", uniqueNo, pac.getHeader().getProtocolType().getDes(), ByteBufUtil.hexDump(out).toUpperCase());
}
}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolPojoType.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolPojoType.java
new file mode 100644
index 0000000..301b5cf
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolPojoType.java
@@ -0,0 +1,54 @@
+package com.example.agvcontroller.protocol;
+
+
+/**
+ * 搴旂瓟瀹炰綋鏋氫妇
+ * Created by vincent on 2019-04-02
+ */
+public enum ProtocolPojoType {
+
+ PATH_COMMAND(ProtocolType.PATH_COMMAND, AGV_01_DOWN.class),
+
+ ACTION_COMMAND(ProtocolType.ACTION_COMMAND, AGV_02_DOWN.class),
+
+ LOGIN_ACK(ProtocolType.LOGIN_ACK, AGV_F0_DOWN.class),
+
+ ACTION_SUCCESS_ACK(ProtocolType.ACTION_SUCCESS_ACK, AGV_A1_DOWN.class),
+
+ ACTIVATION_COMMAND(ProtocolType.ACTIVATION_COMMAND, AGV_80_DOWN.class),
+
+ HEARTBEAT_COMMAND(ProtocolType.HEARTBEAT_COMMAND, AGV_03_DOWN.class),
+
+ ;
+
+
+ public final ProtocolType protocolType;
+
+
+ public final Class<? extends IMessageBody> clazz;
+
+ ProtocolPojoType(ProtocolType protocolType, Class<? extends IMessageBody> clazz) {
+ this.protocolType = protocolType;
+ this.clazz = clazz;
+ }
+
+
+ public static ProtocolPojoType query(ProtocolType protocolType) {
+ for (ProtocolPojoType type : ProtocolPojoType.values()) {
+ if (protocolType.equals(type.protocolType)) {
+ return type;
+ }
+ }
+ return null;
+ }
+
+ public static ProtocolPojoType query(Class<? extends IMessageBody> clazz) {
+ for (ProtocolPojoType type : ProtocolPojoType.values()) {
+ if (clazz.equals(type.clazz)) {
+ return type;
+ }
+ }
+ return null;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolType.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolType.java
new file mode 100644
index 0000000..1e0e8d3
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolType.java
@@ -0,0 +1,82 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 鏍囪瘑鏋氫妇
+ * Created by vincent on 2019-04-02
+ */
+public enum ProtocolType implements ICodedStatus {
+
+ // 涓嬭 -------------------------------------------------------------------
+
+ PATH_COMMAND(0x01, "璺緞鏁版嵁鍖�", DirectionType.DOWN),
+
+ ACTION_COMMAND(0x02, "鍔ㄤ綔鍛戒护鍖�", DirectionType.DOWN),
+
+ HEARTBEAT_COMMAND(0x03, "蹇冭烦鍖�", DirectionType.DOWN),
+
+ FAULT_CLEAR_COMMAND(0x04, "鏁呴殰鍛戒护鍖�", DirectionType.DOWN),
+
+ ACTIVATION_COMMAND(0x80, "婵�娲诲寘", DirectionType.DOWN),
+
+ LOGIN_ACK(0xF0, "鐧诲綍搴旂瓟鍖�", DirectionType.DOWN),
+
+ ACTION_SUCCESS_ACK(0xA1, "鍔ㄤ綔瀹屾垚鎴愬姛搴旂瓟", DirectionType.DOWN),
+
+ ACTION_FAIL_ACK(0xA0, "鍔ㄤ綔瀹屾垚澶辫触搴旂瓟", DirectionType.DOWN),
+
+ // 涓婅 -------------------------------------------------------------------
+
+ PATH_ACK(0x01, "璺緞搴旂瓟鍖�", DirectionType.UP),
+
+ COMMAND_ACK(0x02, "鍛戒护搴旂瓟鍖�", DirectionType.UP),
+
+ ACTION_COMPLETE(0x11, "鍔ㄤ綔瀹屾垚鍖�", DirectionType.UP),
+
+ DATA_CODE_REPORT(0x12, "鏈夌爜瀹炴椂鏁版嵁鍖�", DirectionType.UP),
+
+ DATA_WITHOUT_CODE_REPORT(0x13, "鏃犵爜瀹炴椂鏁版嵁鍖�", DirectionType.UP),
+
+ HEARTBEAT_REPORT(0x03, "蹇冭烦鍖�", DirectionType.UP),
+
+ FAULT_REPORT(0x04, "鏁呴殰鏁版嵁鍖�", DirectionType.UP),
+
+ HANDLE_FALUT_ACK(0x14, "鏁呴殰娓呴櫎搴旂瓟鍖�", DirectionType.UP),
+
+ SILO_REPORT(0x70, "鏂欎粨淇℃伅鍖�", DirectionType.UP),
+
+ LOGIN_REPORT(0xF0, "鏈哄櫒浜虹櫥闄嗘暟鎹寘", DirectionType.UP),
+
+ ;
+
+ private final int code; // 缂栫爜
+ private final String des; // 鎻忚堪
+ private final DirectionType direction;
+
+ ProtocolType(int code, String des, DirectionType direction) {
+ this.code = code;
+ this.des = des;
+ this.direction = direction;
+ }
+
+ public int getCode() {
+ return code;
+ }
+
+ public String getDes() {
+ return des;
+ }
+
+ public DirectionType getDirection() {
+ return direction;
+ }
+
+ public static ProtocolType getByCode(int code, DirectionType direction) {
+ for (ProtocolType type : ProtocolType.values()) {
+ if (type.getCode() == code && type.getDirection() == direction) {
+ return type;
+ }
+ }
+ return null;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java
index 2ea178b..8f35911 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolUtils.java
@@ -1,38 +1,33 @@
-package com.zy.acs.gateway.utils;
+package com.example.agvcontroller.protocol;
-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;
+
+import java.util.logging.Logger;
/**
* Created by vincent on 2019-04-03
*/
public class ProtocolUtils {
- private static final Logger log = LoggerFactory.getLogger(ProtocolUtils.class);
+ //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());
+ //ProtocolPojoType protocolPojo = ProtocolPojoType.query(protocol.getMessageBody().getClass());
- assert protocolPojo != null;
+ //assert protocolPojo != null;
AgvPackage ackPackage = AgvPackage.valueOfEmpty();
ackPackage.getHeader()
.setStartSymbol((byte)0xEE)
.setContentLength(0)
- .setUniqueNo(protocol.getAgvNo())
- .setTimestamp(protocol.getTimestamp())
- .setProtocolType(protocolPojo.protocolType)
+ //.setUniqueNo(protocol.getAgvNo())
+ //.setTimestamp(protocol.getTimestamp())
+ //.setProtocolType(protocolPojo.protocolType)
;
- ackPackage.getBody().setMessageBody(protocol.getMessageBody());
+ //ackPackage.getBody().setMessageBody(protocol.getMessageBody());
return ackPackage;
@@ -65,9 +60,9 @@
} catch (ReflectiveOperationException reflectiveOperationException) {
- log.error("MessageBodyHandler 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());
+ //log.error("java鍙嶅皠鍒涘缓瀹炰緥澶辫触锛歿}", protocolPojo.clazz.getName());
return null;
}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/SystemProperties.java b/app/src/main/java/com/example/agvcontroller/protocol/SystemProperties.java
new file mode 100644
index 0000000..0ac9ddf
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/SystemProperties.java
@@ -0,0 +1,94 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+
+/**
+ * vc绯荤粺閰嶇疆
+ * Created by luxiaotao on 2018/10/15
+ */
+//@Configuration
+//@ConfigurationProperties(prefix = "agv-tcp")
+public class SystemProperties {
+
+ public static String HOST_NAME;
+
+ static {
+ try {
+ HOST_NAME = InetAddress.getLocalHost().getHostName();
+ } catch (UnknownHostException e) {
+ System.err.println("find hostname err");
+ }
+ }
+
+ private int port;
+
+ private int heartSeconds;
+
+ private int backlog;
+
+ private boolean keepAlive;
+
+ private int sndbuf;
+
+ private int rcvbuf;
+
+ private boolean printPacLog;
+
+ public int getPort() {
+ return port;
+ }
+
+ public void setPort(int port) {
+ this.port = port;
+ }
+
+ public int getHeartSeconds() {
+ return heartSeconds;
+ }
+
+ public void setHeartSeconds(int heartSeconds) {
+ this.heartSeconds = heartSeconds;
+ }
+
+ public int getBacklog() {
+ return backlog;
+ }
+
+ public void setBacklog(int backlog) {
+ this.backlog = backlog;
+ }
+
+ public boolean isKeepAlive() {
+ return keepAlive;
+ }
+
+ public void setKeepAlive(boolean keepAlive) {
+ this.keepAlive = keepAlive;
+ }
+
+ public int getSndbuf() {
+ return sndbuf;
+ }
+
+ public void setSndbuf(int sndbuf) {
+ this.sndbuf = sndbuf;
+ }
+
+ public int getRcvbuf() {
+ return rcvbuf;
+ }
+
+ public void setRcvbuf(int rcvbuf) {
+ this.rcvbuf = rcvbuf;
+ }
+
+ public boolean isPrintPacLog() {
+ return printPacLog;
+ }
+
+ public void setPrintPacLog(final boolean printPacLog) {
+ this.printPacLog = printPacLog;
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/Utils.java b/app/src/main/java/com/example/agvcontroller/protocol/Utils.java
new file mode 100644
index 0000000..29d3654
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/Utils.java
@@ -0,0 +1,239 @@
+package com.example.agvcontroller.protocol;
+
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+
+/**
+ * Created by vincent on 2023/3/14
+ */
+public class Utils {
+
+ /**
+ * 鏁扮粍鍊掑簭
+ * @param bytes
+ * @param <T>
+ */
+ public static <T> byte[] reverse(byte[] bytes) {
+ if (bytes == null) return null;
+ for (int start = 0, end = bytes.length - 1; start < end; start++, end--) {
+ byte temp = bytes[end];
+ bytes[end] = bytes[start];
+ bytes[start] = temp;
+ }
+ return bytes;
+ }
+
+ /**
+ * 鎴彇鏁扮粍
+ * @param bytes 鍘熸暟缁�
+ * @param pos 瀹氫綅锛堟埅鍙栧悗鍖呭惈瀹氫綅鐐规暟鎹級
+ * @param len 闀垮害
+ * @return new arr
+ */
+ public static byte[] slice(byte[] bytes, int pos, int len) {
+ if (bytes == null || bytes.length == 0 || len == 0) {
+ return new byte[0];
+ }
+ if (pos + len > bytes.length) {
+ throw new RuntimeException("com.zy.acs.common.utils ArrayIndexOutOfBoundsException\n" +
+ "鍘熸暟缁� bytes 闀垮害涓� " + bytes.length + "锛屾埅鍙栭暱搴﹁秴杩囧師鏁扮粍锛�");
+ }
+ byte[] arr = new byte[len];
+ System.arraycopy(bytes, pos, arr, 0, len);
+ return arr;
+ }
+
+ public static byte[] sliceWithReverse(byte[] bytes, int pos, int len) {
+ byte[] slice = slice(bytes, pos, len);
+ reverse(slice);
+ return slice;
+ }
+
+ public static byte[] merge(Object... objects) {
+ int len = 0;
+ for (Object object : objects) {
+ if (object instanceof byte[]) {
+ byte[] bytes = (byte[]) object;
+ len += bytes.length;
+ }
+ if (object instanceof Byte) {
+ len++;
+ }
+ }
+ byte[] arr = new byte[len];
+ int idx = 0;
+ for (Object object : objects) {
+ if (object instanceof byte[]) {
+ byte[] bytes = (byte[]) object;
+ System.arraycopy(bytes, 0, arr, idx, bytes.length);
+ idx += bytes.length;
+ }
+ if (object instanceof Byte) {
+ byte[] bytes = new byte[] {(Byte) object};
+ System.arraycopy(bytes, 0, arr, idx, bytes.length);
+ idx += bytes.length;
+ }
+ }
+ return arr;
+ }
+
+ public static <T> String join(T[] array, String seq) {
+ StringBuilder sb = new StringBuilder();
+ if (array != null) {
+ for (int i = 0; i < array.length; i++) {
+ sb.append(array[i]);
+ if (i < array.length - 1) {
+ sb.append(seq);
+ }
+ }
+ }
+ return sb.toString();
+ }
+
+ public static String zeroFill(String msg, Integer len) {
+ len = Optional.ofNullable(len).orElse(16);
+ if (msg.length() == len){
+ return msg;
+ } else if (msg.length() > len){
+ return msg.substring(0, 16);
+ } else {
+ StringBuilder msgBuilder = new StringBuilder(msg);
+ for (int i = 0; i<len-msg.length(); i++){
+ msgBuilder.insert(0,"0");
+ }
+ return msgBuilder.toString();
+ }
+ }
+
+ public static String removePrefix(String str, String prefix) {
+ if (!Cools.isEmpty(str) && !Cools.isEmpty(prefix)) {
+ if (str.startsWith(prefix)) {
+ return str.substring(prefix.length());
+ } else {
+ return str;
+ }
+ } else {
+ return str;
+ }
+ }
+
+ public static String removeSuffix(String str, String suffix) {
+ if (!Cools.isEmpty(str) && !Cools.isEmpty(suffix)) {
+ if (str.endsWith(suffix)) {
+ return str.substring(0, str.indexOf(suffix));
+ } else {
+ return str;
+ }
+ } else {
+ return str;
+ }
+ }
+
+ /**
+ * 澶ч┘宄� 杞� symbol灏忛┘宄�
+ */
+ public static String toSymbolCase(String str, char symbol) {
+ if (str == null) {
+ return null;
+ } else {
+ int length = str.length();
+ StringBuilder sb = new StringBuilder();
+
+ for(int i = 0; i < length; ++i) {
+ char c = str.charAt(i);
+ if (Character.isUpperCase(c)) {
+ Character preChar = i > 0 ? str.charAt(i - 1) : null;
+ Character nextChar = i < str.length() - 1 ? str.charAt(i + 1) : null;
+ if (null != preChar) {
+ if (symbol == preChar) {
+ if (null == nextChar || Character.isLowerCase(nextChar)) {
+ c = Character.toLowerCase(c);
+ }
+ } else if (Character.isLowerCase(preChar)) {
+ sb.append(symbol);
+ if (null == nextChar || Character.isLowerCase(nextChar)) {
+ c = Character.toLowerCase(c);
+ }
+ } else if (null == nextChar || Character.isLowerCase(nextChar)) {
+ sb.append(symbol);
+ c = Character.toLowerCase(c);
+ }
+ } else if (null == nextChar || Character.isLowerCase(nextChar)) {
+ c = Character.toLowerCase(c);
+ }
+ }
+
+ sb.append(c);
+ }
+
+ return sb.toString();
+ }
+ }
+
+ public static String toCamelCase(CharSequence name) {
+ if (null == name) {
+ return null;
+ } else {
+ String name2 = name.toString();
+ if (name2.contains("_")) {
+ int length = name2.length();
+ StringBuilder sb = new StringBuilder(length);
+ boolean upperCase = false;
+
+ for(int i = 0; i < length; ++i) {
+ char c = name2.charAt(i);
+ if (c == '_') {
+ upperCase = true;
+ } else if (upperCase) {
+ sb.append(Character.toUpperCase(c));
+ upperCase = false;
+ } else {
+ sb.append(Character.toLowerCase(c));
+ }
+ }
+
+ return sb.toString();
+ } else {
+ return name2;
+ }
+ }
+ }
+
+ public static String sub(String str, Integer maxLen) {
+ if (str.length() > maxLen) {
+ return str.substring(0, maxLen);
+ }
+ return str;
+ }
+
+ public static String generateSeqNum(String lastSeqNum) {
+ if (Cools.isEmpty(lastSeqNum)) {
+ return zeroFill("1", 4);
+ } else {
+ int i = Integer.parseInt(lastSeqNum);
+ if (i >= 9999) {
+ return zeroFill("1", 4);
+ } else {
+ return zeroFill(String.valueOf(i+1), 4);
+ }
+ }
+ }
+
+ // pos start in 0
+ public static boolean getBit(byte b, int position) {
+ if (position < 0 || position > 7) {
+ throw new IllegalArgumentException("Bit position must be between 0 and 7");
+ }
+ int mask = 1 << position;
+ return (b & mask) != 0;
+ }
+
+ public static <T> List<T> singletonList(T o) {
+ List<T> list = new ArrayList<>();
+ list.add(o);
+ return list;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ValidUtil.java b/app/src/main/java/com/example/agvcontroller/protocol/ValidUtil.java
new file mode 100644
index 0000000..d889df9
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ValidUtil.java
@@ -0,0 +1,55 @@
+package com.example.agvcontroller.protocol;
+
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 鏍￠獙宸ュ叿绫�
+ * Created by vincent on 2019-04-03
+ */
+public class ValidUtil {
+
+ public static final Integer MAX_DEFAULT = 65531;
+
+ /**
+ * 鏍￠獙娑堟伅涓暟鍊兼槸鍚﹀湪瀵瑰簲鍏佽鐨勮寖鍥村唴
+ * @param item 琚牎楠屾暟鎹��
+ * @param min 鍏佽鐨勬渶灏忓��
+ * @param max 鍏佽鐨勬渶澶у��
+ */
+ public static boolean rangeValid(int item, int min, int max) {
+ return !(item < min || item > max);
+ }
+
+ /**
+ * 寮傛垨鏍￠獙鍖呭畬鏁�
+ * 浠庡懡浠ゅ崟鍏冿紙绗笁涓瓧鑺傦級寮�濮嬶紝涓�娆′笌鍚庝竴涓瓧鑺傚紓鎴栵紝鐩磋嚦鍊掓暟绗簩涓瓧鑺傘��
+ * 灏嗗紓鎴栫殑缁撴灉涓庢姤鏂囦腑鏈�鍚庝竴涓瓧鑺傛瘮杈冦��
+ * -鐩哥瓑锛氭姤鏂囧畬鏁�
+ * -涓嶇浉绛夛細鎶ユ枃涓嶅畬鏁�
+ */
+ public static boolean validPac(AgvPackage pac) {
+ ByteBuf buf = pac.getSourceBuff();
+ return getValdByteInMsg(pac) == calculateValidByteFromBuff(buf);
+ }
+
+ /**
+ * 浠庡綋鍓嶆暟鎹寘璁＄畻鏍￠獙鐮�
+ */
+ public static int calculateValidByteFromBuff(ByteBuf buf) {
+ buf.resetReaderIndex();
+ byte[] bytes = new byte[buf.readableBytes() - PackagePart.VALIDE_CODE.getLen()];
+ buf.readBytes(bytes);
+ int currValidByte = CRCUtils.crc16(bytes);
+ // 閲嶇疆璇绘寚閽�
+ buf.resetReaderIndex();
+ return currValidByte;
+ }
+
+ /**
+ * 鑾峰彇褰撳墠鏁版嵁鍖呬腑鐨勬牎楠岀爜(鏈�鍚庝竴浣嶅瓧鑺�)
+ */
+ public static int getValdByteInMsg(AgvPackage pac) {
+ return pac.getValidCode();
+ }
+
+}
--
Gitblit v1.9.1