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/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/udp"
	"log/slog"
	"sort"
	"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)
}

func main() {

	initConfig()
	accClient := udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
	go testAcc(accClient, 0.54)
	//btm server 接受数据测试
	ser := udp.NewServer(fmt.Sprintf("192.168.1.150:%d", 4646), handleCanetFrames)
	ser.Listen()
	fmt.Println(ser, "===========")

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

func handleCanetFrames(cfs []byte) {
	defer func() {
		if e := recover(); e != nil {
			slog.Debug(fmt.Sprintf("handleCanetFrames异常[%s]", e))
		}
	}()

	//一个cannet 帧 13字节
	if len(cfs) > 0 && len(cfs)%13 == 0 {
		cfSum := len(cfs) / 13
		dms := make([]*message.CanetFrame, 0, 16) //13个应答器报文数据帧+TimeA帧+TimeB帧+结束帧
		for cfi := 0; cfi < cfSum; cfi++ {
			cfStart := cfi * 13
			cf := message.NewCanetFrame(cfs[cfStart:cfStart+13], false)
			//
			switch cf.CanFrameType() {
			case message.CfReq:
				fmt.Println(message.CfReq)
			case message.CfStatusRsp:
				fmt.Println(message.CfStatusRsp)
			case message.CfTimeSync:
				fmt.Println(message.CfTimeSync)
			case message.CfMsg:
				fallthrough
			case message.CfMsgTimeA:
				fallthrough
			case message.CfMsgTimeB:
				fallthrough
			case message.CfMsgEnd:
				dms = append(dms, cf)
			default:
				slog.Warn("CanetFrame帧没有具体对应的应用帧", "CannetFrame", cf.String())
			} //switch
		} //for
		//将数据包按ID3即0x80+offset由小到大排序
		sort.SliceStable(dms, func(i, j int) bool {
			return dms[i].CanId.ID3 < dms[j].CanId.ID3
		})
		//有数据帧，但是不足16帧
		if len(dms) > 0 {
			if len(dms) != 16 {
				slog.Warn("接收到数据帧，但数据帧数量不足16帧")
			} else {
				slog.Warn("接收到数据帧，但数据帧数量不足16帧111111")
			}
		}

	} else {
		slog.Warn("从cannet接收数据，未满足条件‘len(cfs) > 0 && len(cfs)%13 == 0‘", "len(cfs)", len(cfs), "16:", hex.EncodeToString(cfs))
	}
}
func recive() {
	fmt.Println("11111111111111111")
	_ = udp.NewServer(fmt.Sprintf(":%d", 4196), handleCanetFrames)
}
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 * 500)
	}

}