68 lines
1.7 KiB
Go
68 lines
1.7 KiB
Go
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package message
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import (
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"bytes"
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"encoding/binary"
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"fmt"
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"strings"
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)
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// CanetFrame USR-CANET200_V1.0.7 设备 以太网-CAN 透传协议帧(12字节)
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type BtmHeadFrame struct {
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CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
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CanId CanFrameId //CAN帧ID
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CanData []byte //CAN帧数据，8字节
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}
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func NewBtmHeadFrame(buf []byte) *BtmHeadFrame {
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cf := &BtmHeadFrame{}
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cf.Decode(buf)
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return cf
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}
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func (p *BtmHeadFrame) Encode() []byte {
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buf := make([]byte, 0)
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//CAN 帧ID
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frameId := uint32(p.CanId.ID1)<<21 | uint32(p.CanId.ID2)<<13 | uint32(p.CanId.ID3)<<5 | uint32(p.CanId.ID4)
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buf = binary.BigEndian.AppendUint32(buf, frameId)
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//CAN 帧数据
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if len(p.CanData) != 8 {
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panic(fmt.Sprintf("len(p.CanData)!=8 datalen:%v", len(p.CanData)))
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}
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buf = append(buf, p.CanData...)
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return buf
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}
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func (p *BtmHeadFrame) Decode(buf []byte) {
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bb := bytes.NewBuffer(buf)
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var idSource uint32
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binary.Read(bb, binary.BigEndian, &idSource)
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data := make([]byte, bb.Len())
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_, err := bb.Read(data)
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if err != nil {
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fmt.Println(err)
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return
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}
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b1 := byte((idSource >> 21) & 0xFF)
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b2 := byte((idSource >> 13) & 0xFF)
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b3 := byte((idSource >> 5) & 0xFF)
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b4 := byte(idSource & 0x1F)
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p.CanId.ID1 = b1
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p.CanId.ID2 = b2
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p.CanId.ID3 = b3
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p.CanId.ID4 = b4
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p.CanData = data
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}
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func (p *BtmHeadFrame) String() string {
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sb := strings.Builder{}
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sb.WriteString(fmt.Sprintf("CanetFrame CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x", p.CanLen,
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p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
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sb.WriteString("CanData = ")
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for _, d := range p.CanData {
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sb.WriteString(fmt.Sprintf(" 0x%0x ", d))
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}
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return sb.String()
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}
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