rts-sim-testing-service/third_party/message/can_btm_time_sync_rsp.go

package message

import (
	"encoding/binary"
	"fmt"
	"strings"
)

// BtmTimeSyncCheckFrame BTM发往ATP的时间校验帧
type BtmTimeSyncCheckFrame struct {
	//帧ID
	FId CanFrameId
	//T2时刻
	//当收到某一流水号的ATP查询帧后，BTM将记录接收到该查询帧的时间值做为T2时刻。
	T2 uint32
	//T3时刻
	//BTM将在T3时刻发送回复帧给ATP，并保持流水号与ATP查询帧一致。
	T3 uint32
}

func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
	return &BtmTimeSyncCheckFrame{
		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
		//FId:          *NewCanFrameId(0x00, 0x00, 0x35, sn),

	}
}

func (f *BtmTimeSyncCheckFrame) Decode(cf *CanetFrame) bool {
	f.FId = cf.CanId
	//
	reader := NewCanBitsReader(cf.CanData, 8)
	//T2
	t21, t21Ok := reader.ReadByte()
	if !t21Ok {
		return false
	}
	t22, t22Ok := reader.ReadByte()
	if !t22Ok {
		return false
	}
	t23, t23Ok := reader.ReadByte()
	if !t23Ok {
		return false
	}
	t24, t24Ok := reader.ReadByte()
	if !t24Ok {
		return false
	}
	f.T2 = 0
	f.T2 |= uint32(t21) << 24
	f.T2 |= uint32(t22) << 16
	f.T2 |= uint32(t23) << 8
	f.T2 |= uint32(t24)
	//T3
	t31, t31Ok := reader.ReadByte()
	if !t31Ok {
		return false
	}
	t32, t32Ok := reader.ReadByte()
	if !t32Ok {
		return false
	}
	t33, t33Ok := reader.ReadByte()
	if !t33Ok {
		return false
	}
	t34, t34Ok := reader.ReadByte()
	if !t34Ok {
		return false
	}
	f.T3 = 0
	f.T3 |= uint32(t31) << 24
	f.T3 |= uint32(t32) << 16
	f.T3 |= uint32(t33) << 8
	f.T3 |= uint32(t34)
	//
	return true
}

func (f *BtmTimeSyncCheckFrame) EncodeBtmAtp() *BtmHeadFrame {
	cf := &BtmHeadFrame{}
	cf.CanId = f.FId
	cf.CanLen = 8
	data := make([]byte, 0)
	data = binary.BigEndian.AppendUint32(data, f.T2)
	data = binary.BigEndian.AppendUint32(data, f.T3)
	cf.CanData = data

	return cf
}
func (f *BtmTimeSyncCheckFrame) Encode() *CanetFrame {
	cf := &CanetFrame{}

	cf.CanId = f.FId
	cf.CanLen = 8
	cf.FF = true
	cf.RTR = false
	//
	writer := NewCanBitsWriter(8)
	//
	timeByteMsk := uint32(0x00_00_00_ff)
	//t2
	t21 := byte((f.T2 >> 24) & timeByteMsk)
	t22 := byte((f.T2 >> 16) & timeByteMsk)
	t23 := byte((f.T2 >> 8) & timeByteMsk)
	t24 := byte(f.T2 & timeByteMsk)
	writer.AddByte(t21)
	writer.AddByte(t22)
	writer.AddByte(t23)
	writer.AddByte(t24)
	//t3
	t31 := byte((f.T3 >> 24) & timeByteMsk)
	t32 := byte((f.T3 >> 16) & timeByteMsk)
	t33 := byte((f.T3 >> 8) & timeByteMsk)
	t34 := byte(f.T3 & timeByteMsk)
	writer.AddByte(t31)
	writer.AddByte(t32)
	writer.AddByte(t33)
	writer.AddByte(t34)
	//
	cf.CanData = writer.(CanBusData).GetData()
	return cf
}
func (f *BtmTimeSyncCheckFrame) String() string {
	sb := strings.Builder{}
	sb.WriteString(fmt.Sprintf("BtmTimeSyncCheckFrame ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,",
		f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
	sb.WriteString(fmt.Sprintf("T2 = %d", f.T2))
	sb.WriteString(fmt.Sprintf(",T3 = %d", f.T3))
	return sb.String()
}