From 318bd727e2fe02e4f541dfe943f77606af41d509 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期四, 06 二月 2025 14:30:11 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 52 insertions(+), 5 deletions(-)
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 9b07744..0c05544 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
@@ -21,6 +21,7 @@
import com.example.agvcontroller.action.AGV_11_UP;
import com.example.agvcontroller.action.AckMsgBuilder;
import com.example.agvcontroller.met.AbstractInboundHandler;
+import com.example.agvcontroller.protocol.AGV_03_UP;
import com.example.agvcontroller.protocol.AGV_12_UP;
import com.example.agvcontroller.protocol.AGV_13_UP;
import com.example.agvcontroller.protocol.AGV_A1_DOWN;
@@ -45,6 +46,18 @@
private static final String TAG = "NettyServerHandler";
private static ConcurrentHashMap<String, Channel> channelMap = new ConcurrentHashMap<>();
private Map<String, Runnable> pendingRemovals = new HashMap<>();
+ int battery = 0;
+ int status = 0;
+ int agvStatus = 0;
+ String positionID = "--";
+ int positionX = 0;
+ int positionY = 0;
+ float agvAngle = 0;
+ float gyroAngle = 0;
+ int forkHeight = 0;
+ int forkExtend = 0;
+ int forkAngle = 0;
+ int agvError = 0;
private Handler handler = new Handler(Looper.getMainLooper()) {
@Override
public void handleMessage(Message msg) {
@@ -138,6 +151,10 @@
ProtocolType ackType = isNeedAck(pac);
final String uniqueNo = pac.getHeader().getUniqueNo();
String agvNo;
+ AGVCar agvCar;
+
+ String log;
+
label : switch (pac.getHeader().getProtocolType()){
case ACTION_COMPLETE: // 鍔ㄤ綔瀹屾垚鏁版嵁鍖�
AGV_11_UP agv_11_up = (AGV_11_UP) pac.getBody().getMessageBody();
@@ -154,20 +171,50 @@
AGV_12_UP agv_12_up = (AGV_12_UP) pac.getBody().getMessageBody();
agvNo = pac.getHeader().getUniqueNo();
channelMap.put(clientId, ctx.channel());
- EventBus.getDefault().post(new AGVCar(clientId,ip,port,agvNo,1));
+ agvStatus = agv_12_up.getStatus();
+ positionID = agv_12_up.getQrCode();
+ positionX = agv_12_up.getOffsetX();
+ positionY = agv_12_up.getOffsetY();
+ agvAngle = agv_12_up.getAGVCurrentAngle();
+ gyroAngle = agv_12_up.getGyroAngle();
+ forkHeight = agv_12_up.getCurrentAltitude();
+ forkExtend = agv_12_up.getForkLength();
+ forkAngle = agv_12_up.getLoaderTheta();
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
+ EventBus.getDefault().post(agvCar);
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss.SSS") + " 涓婅: " + ip + "[鏈夌爜瀹炴椂鏁版嵁鍖匽>>>" + pac.getSourceHexStr();
+ Log.d("updown", log);
+ AGVApplication.addLog(log);
break label;
case DATA_WITHOUT_CODE_REPORT:
AGV_13_UP agv_13_up = (AGV_13_UP) pac.getBody().getMessageBody();
agvNo = pac.getHeader().getUniqueNo();
channelMap.put(clientId, ctx.channel());
- EventBus.getDefault().post(new AGVCar(clientId,ip,port,agvNo,1));
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
+ EventBus.getDefault().post(agvCar);
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss:SSS") + " 涓婅: " + ip + "[鏃犵爜瀹炴椂鏁版嵁鍖匽>>>" + pac.getSourceHexStr();
+ Log.d("updown", log);
+ AGVApplication.addLog(log);
+ break label;
+ case HEARTBEAT_REPORT:
+ AGV_03_UP agv_03_up = (AGV_03_UP) pac.getBody().getMessageBody();
+ battery = agv_03_up.getBattery();
+ agvError = agv_03_up.getError();
+// pac.getBody().getMessageBody()
+ agvNo = pac.getHeader().getUniqueNo();
+ channelMap.put(clientId, ctx.channel());
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
+ EventBus.getDefault().post(agvCar);
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss.SSS") + " 涓婅: " + ip + "[蹇冭烦鍖匽>>>" + pac.getSourceHexStr();
+ Log.d("updown", log);
+ AGVApplication.addLog(log);
break label;
case LOGIN_REPORT:
AGV_F0_UP agv_f0_up = (AGV_F0_UP) pac.getBody().getMessageBody();
if (null != ackType) {
AgvPackage ackPac = AckMsgBuilder.ofSuccess(pac, ackType);
AGV_F0_DOWN agv_f0_down = (AGV_F0_DOWN) ackPac.getBody().getMessageBody();
- String log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss") + " 涓婅: " + ip + "[鐧诲綍鍖匽>>>" + pac.getSourceHexStr();
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss.SSS") + " 涓婅: " + ip + "[鐧诲綍鍖匽>>>" + pac.getSourceHexStr();
Log.d("updown", log);
AGVApplication.addLog(log);
@@ -175,11 +222,11 @@
ctx.writeAndFlush(ackPac);
}
- final int battery = agv_f0_up.getBattery();
+ battery = agv_f0_up.getBattery();
// pac.getBody().getMessageBody()
agvNo = pac.getHeader().getUniqueNo();
channelMap.put(clientId, ctx.channel());
- AGVCar agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,0,0,0,0,0,0,0,0,0,0);
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
EventBus.getDefault().post(agvCar);
break label;
--
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