From 8e6d7c8275117ca2659e7f82051f8af19741aa9d Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期五, 07 二月 2025 16:51:33 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java | 123 +++++++++++++++++++++++++++++++++-------
1 files changed, 101 insertions(+), 22 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 28297aa..bcc5bad 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
@@ -2,6 +2,8 @@
+import static com.example.agvcontroller.utils.DateUtils.formatDate;
+
import io.netty.buffer.ByteBuf;
import io.netty.buffer.ByteBufUtil;
import io.netty.buffer.Unpooled;
@@ -13,11 +15,13 @@
import android.os.Message;
import android.util.Log;
+import com.example.agvcontroller.AGVApplication;
import com.example.agvcontroller.AGVCar;
import com.example.agvcontroller.MainActivity;
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;
@@ -26,11 +30,13 @@
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.protocol.AgvPackage;
import com.example.agvcontroller.protocol.ProtocolType;
+import com.example.agvcontroller.utils.DateUtils;
import org.greenrobot.eventbus.EventBus;
import java.net.InetSocketAddress;
+import java.util.Date;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -40,6 +46,21 @@
private static final String TAG = "NettyServerHandler";
private static ConcurrentHashMap<String, Channel> channelMap = new ConcurrentHashMap<>();
private Map<String, Runnable> pendingRemovals = new HashMap<>();
+ AGVCar agvCar;
+ 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;
+ String agvNo = "--";
+ String log;
private Handler handler = new Handler(Looper.getMainLooper()) {
@Override
public void handleMessage(Message msg) {
@@ -57,14 +78,19 @@
String ip = remoteAddress.getAddress().getHostAddress();
int port = remoteAddress.getPort();
channelMap.put(clientId, ctx.channel());
- EventBus.getDefault().post(new AGVCar(clientId,ip,port,"--",0));
- Log.d(TAG, "Client connected: " + clientId);
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 1, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
- // 鍙栨秷寤惰繜鍒犻櫎鎿嶄綔
- if (pendingRemovals.containsKey(clientId)) {
- handler.removeCallbacks(pendingRemovals.get(clientId));
- pendingRemovals.remove(clientId);
- }
+ EventBus.getDefault().post(agvCar);
+// Log.d(TAG, "Client connected: " + clientId);
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss.SSS") + " 涓婅: " + ip + "[tcp]>>>宸茶繛鎺�";
+ Log.d("updown", log);
+ AGVApplication.addLog(log);
+
+// // 鍙栨秷寤惰繜鍒犻櫎鎿嶄綔
+// if (pendingRemovals.containsKey(clientId)) {
+// handler.removeCallbacks(pendingRemovals.get(clientId));
+// pendingRemovals.remove(clientId);
+// }
}
@@ -74,24 +100,38 @@
InetSocketAddress remoteAddress = (InetSocketAddress) ctx.channel().remoteAddress();
String ip = remoteAddress.getAddress().getHostAddress();
int port = remoteAddress.getPort();
- channelMap.remove(clientId);
+// channelMap.remove(clientId);
EventBus.getDefault().post(clientId);
- Log.d(TAG, "Client disconnected: " + clientId);
+// Log.d(TAG, "Client disconnected: " + clientId);
+ agvCar = new AGVCar(clientId, ip, port, agvNo, 0, battery,agvStatus,positionID,positionX,positionY,agvAngle,gyroAngle,forkHeight,forkExtend,forkAngle,agvError);
- // 鍚姩寤惰繜鍒犻櫎鎿嶄綔
- Runnable removalRunnable = new Runnable() {
- @Override
- public void run() {
- removeItem(clientId);
- }
- };
- pendingRemovals.put(clientId, removalRunnable);
- handler.postDelayed(removalRunnable, 20000); // 20绉掑悗鎵ц鍒犻櫎鎿嶄綔
+ EventBus.getDefault().post(agvCar);
+// Log.d(TAG, "Client connected: " + clientId);
+ log = formatDate(new Date(), "yyyy-MM-dd HH:mm:ss.SSS") + " 涓婅: " + ip + "[tcp]>>>鏂紑杩炴帴";
+ Log.d("updown", log);
+ AGVApplication.addLog(log);
+// // 鍚姩寤惰繜鍒犻櫎鎿嶄綔
+// Runnable removalRunnable = new Runnable() {
+// @Override
+// public void run() {
+// removeItem(clientId);
+// }
+// };
+// pendingRemovals.put(clientId, removalRunnable);
+// handler.postDelayed(removalRunnable, 20000); // 20绉掑悗鎵ц鍒犻櫎鎿嶄綔
}
private void removeItem(String clientId) {
+// 鍘熷厛鏄鍒犻櫎鍚庣画涓轰簡鑳藉姩鎬佽嚜鍔ㄨ繛鎺ラ渶瑕佹洿鏂�
+// if (channelMap.remove(clientId) != null) {
+// Log.d(TAG, "Client removed after 20 seconds: " + clientId);
+// EventBus.getDefault().post(clientId);
+// } else {
+// Log.d(TAG, "Client already reconnected or not found: " + clientId);
+// }
+
if (channelMap.remove(clientId) != null) {
Log.d(TAG, "Client removed after 20 seconds: " + clientId);
EventBus.getDefault().post(clientId);
@@ -132,7 +172,6 @@
// ack
ProtocolType ackType = isNeedAck(pac);
final String uniqueNo = pac.getHeader().getUniqueNo();
- String agvNo;
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();
@@ -149,24 +188,63 @@
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();
+ 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);
+
+// EventBus.getDefault().post(log);
+
ctx.writeAndFlush(ackPac);
}
+ battery = agv_f0_up.getBattery();
+// 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);
break label;
}
@@ -180,6 +258,7 @@
}
return sb.toString();
}
+
// 灏嗗崄鍏繘鍒跺瓧绗︿覆杞崲涓哄瓧鑺傛暟缁�
private byte[] hexStringToByteArray(String s) {
int len = s.length();
--
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