rts-sim-testing-service/bin/acc_conn-example.go

package main

import (
	"encoding/hex"
	"fmt"
	"github.com/spf13/viper"
	"joylink.club/bj-rtsts-server/bin/config"
	"joylink.club/bj-rtsts-server/const/balise_const"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/udp"
	"log/slog"
	"strconv"
	"strings"
	"time"
)

const config_name = "example"

var exampleConfig config.ExampleConfig

func initConfig() {
	cnf := viper.New()
	cnf.SetConfigName(config_name)
	cnf.SetConfigType("yml")
	cnf.AddConfigPath("./bin/config/")
	//cnf.AddConfigPath("./config/")
	cnf.AddConfigPath(".")
	err := cnf.ReadInConfig()
	if err != nil {
		panic(fmt.Errorf("读取配置文件错误: %w", err))
	}
	err = cnf.Unmarshal(&exampleConfig)
	if err != nil {
		panic(fmt.Errorf("解析配置文件错误: %w", err))
	}
	slog.Info("成功加载配置", "config", exampleConfig)
}

var btmCli udp.UdpClient

func initBtmTest() {
	ser := udp.NewServer(fmt.Sprintf("%v:%d", exampleConfig.Btm.LocalIp, exampleConfig.Btm.LocalPort), handleBtmVobcFrames)
	ser.Listen()
	btmCli = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Btm.RemoteIp, exampleConfig.Btm.RemotePort))
}

var accClient udp.UdpClient

func initAccTest() {
	accClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
	go testAcc(accClient, 0.54)
}

var speedClient udp.UdpClient

func initSpeedTest() {
	speedClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
	go testSpeed(speedClient, 30)
}
func main() {

	initConfig()
	initBtmTest()
	//initAccTest()
	//initSpeedTest()

	for {
	}
}

var testUserBtmMsg = "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
var freeBtmMsg = strings.Repeat("00", balise_const.UserTelegramByteLen)

func sendPacket(lifeNum uint32, autoId byte) {
	userMsg, _ := hex.DecodeString(testUserBtmMsg)

	msg := &message.BtmVobcMessage{FontTtl: 5, BtmStatus: 0x00, DecodeTime: 10, BackTtl: 4, BtmMsg: userMsg, ResponseTime: 10,
		VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: message.GetAutoMessageId()}
	sendData := msg.Encode()
	fmt.Println("发送btm vobc len:", len(sendData), "报文:", hex.EncodeToString(sendData), "报文序列号:", msg.MsgSerial)
	btmCli.Send(sendData)

	/*freeMsg, _ := hex.DecodeString(freeBtmMsg)

	msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: message.GetAutoMessageId()}
	sendData2 := msg2.Encode()
	fmt.Println("发送btm vobc 空报文11111:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
	btmCli.Send(sendData2)*/
}

func sendPacketFree(lifeNum uint32, autoId byte, msgs byte) {
	freeMsg, _ := hex.DecodeString(freeBtmMsg)
	newMsg := msgs + 1
	if newMsg > 255 {
		newMsg = 1
	}
	msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: newMsg}
	sendData2 := msg2.Encode()
	fmt.Println("发送btm vobc 空报文:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
	btmCli.Send(sendData2)
}

func RequestFramePackets(req *message.BtmVobcReq) {
	fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
		sendPacketFree(req.VobcLifeNum, req.AutoIdFrame, req.MessageSerial)
	} else if req.FrameStatus == message.REQ_FRAME_STATUS_OK {
		//帧正确，删除之前发送的数据
		fmt.Println("11111111111111111111")

	} else if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
		//帧不正确 重新发送2次，如果2次后仍然不正确，则删除之前发送的数据
		fmt.Println("22222222222222222")
	}
}
func handleBtmVobcFrames(cfs []byte) {
	fmt.Println("收到源数据:%v", hex.EncodeToString(cfs))
	frameType, dataText, err := message.BtmVobcDecode(cfs)
	if err != nil {
		return
	}
	if frameType == message.COMMAND_TYPE {
		idCommand := &message.BtmVobcIdCommand{}
		idCommand.Decode(dataText)
		sendPacket(idCommand.VobcLifeNum, idCommand.AutoIdFrame)
	} else if frameType == message.REQUEST_TYPE {
		req := &message.BtmVobcReq{}
		req.Decode(dataText)
		RequestFramePackets(req)
	} else {
		slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs)))
		return
	}

}

func testSpeed(client udp.UdpClient, speed float32) {

	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
	ac := message.ElectricMachinery{Speed: speed, WheelDiameter: 800, IsBack: false}
	var index int64
	for {
		data := ac.Encode()
		//fmt.Println(hex.EncodeToString(data))
		err := client.Send(data)
		index++
		if index%10 == 0 {
			slog.Info(fmt.Sprintf("发送speed数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
			ac = message.ElectricMachinery{Speed: 0, WheelDiameter: 800, IsBack: false}
			client.Send(ac.Encode())
			break
		}

		if err != nil {
			slog.Error("发送数据失败", "err", err)
		}
		time.Sleep(time.Millisecond * 200)
	}
}

// 加速度计
func testAcc(client udp.UdpClient, acc float32) {

	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
	ac := message.Accelerometer{Acc: acc}
	var index int64
	for {
		data := ac.Encode()
		//fmt.Println(hex.EncodeToString(data))
		err := client.Send(data)
		index++
		if index%10 == 0 {
			slog.Info(fmt.Sprintf("发送acc数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
		}

		if err != nil {
			slog.Error("发送数据失败", "err", err)
		}
		time.Sleep(time.Millisecond * 11)
	}

}