joylink/rts-sim-testing-service
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balise btm

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This commit is contained in:
xzb 2023-11-20 10:24:55 +08:00
parent 268e93ca88
commit 15c7a686f1
2 changed files with 289 additions and 4 deletions
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284
third_party/message/can_btm_data.go vendored
View File

@ -11,6 +11,40 @@ type BtmDataMessageFrame struct {
Message []byte
}
func NewBtmDataMessageFrame(sn byte, offset byte) *BtmDataMessageFrame {
return &BtmDataMessageFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
}
}
func (f *BtmDataMessageFrame) Encode() CanBusData {
writer := NewCanBitsWriter(12)
//
f.FId.Encode(writer)
//
for _, data := range f.Message {
writer.AddByte(data)
}
return writer.(CanBusData)
}
func (f *BtmDataMessageFrame) Decode(reader CanBitsReader) bool {
if !f.FId.Decode(reader) {
return false
}
//
f.Message = make([]byte, 0, 8)
for c := 0; c < 8; c++ {
data, ok := reader.ReadByte()
if !ok {
return false
}
f.Message = append(f.Message, data)
}
//
return true
}
/////////////////////////////////////////////////////
// BtmDataMessageTimeAFrame 数据帧-时间戳A
// offset = 0x0d
type BtmDataMessageTimeAFrame struct {
@ -22,6 +56,90 @@ type BtmDataMessageTimeAFrame struct {
Crc32A uint32
}
func NewBtmDataMessageTimeAFrame(sn byte) *BtmDataMessageTimeAFrame {
return &BtmDataMessageTimeAFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
}
}
func (f *BtmDataMessageTimeAFrame) Encode() CanBusData {
writer := NewCanBitsWriter(12)
//
f.FId.Encode(writer)
//
byteMsk := uint32(0x00_00_00_ff)
//
writer.AddByte(byte((f.TimeA >> 24) & byteMsk))
writer.AddByte(byte((f.TimeA >> 16) & byteMsk))
writer.AddByte(byte((f.TimeA >> 8) & byteMsk))
writer.AddByte(byte(f.TimeA & byteMsk))
//
writer.AddByte(byte((f.Crc32A >> 24) & byteMsk))
writer.AddByte(byte((f.Crc32A >> 16) & byteMsk))
writer.AddByte(byte((f.Crc32A >> 8) & byteMsk))
writer.AddByte(byte(f.Crc32A & byteMsk))
//
return writer.(CanBusData)
}
func (f *BtmDataMessageTimeAFrame) Decode(reader CanBitsReader) bool {
if !f.FId.Decode(reader) {
return false
}
//
f.TimeA = 0
a1, a1Ok := reader.ReadByte()
if !a1Ok {
return false
}
f.TimeA |= uint32(a1) << 24
//
a2, a2Ok := reader.ReadByte()
if !a2Ok {
return false
}
f.TimeA |= uint32(a2) << 16
//
a3, a3Ok := reader.ReadByte()
if !a3Ok {
return false
}
f.TimeA |= uint32(a3) << 8
//
a4, a4Ok := reader.ReadByte()
if !a4Ok {
return false
}
f.TimeA |= uint32(a4)
//
f.Crc32A = 0
c1, c1Ok := reader.ReadByte()
if !c1Ok {
return false
}
f.Crc32A |= uint32(c1) << 24
//
c2, c2Ok := reader.ReadByte()
if !c2Ok {
return false
}
f.Crc32A |= uint32(c2) << 16
//
c3, c3Ok := reader.ReadByte()
if !c3Ok {
return false
}
f.Crc32A |= uint32(c3) << 8
//
c4, c4Ok := reader.ReadByte()
if !c4Ok {
return false
}
f.Crc32A |= uint32(c4)
//
return true
}
//////////////////////////////////////////////////////////
// BtmDataMessageTimeBFrame 数据帧-时间戳B
// offset = 0x0e
type BtmDataMessageTimeBFrame struct {
@ -33,6 +151,90 @@ type BtmDataMessageTimeBFrame struct {
Crc32B uint32
}
func NewBtmDataMessageTimeBFrame(sn byte) *BtmDataMessageTimeBFrame {
return &BtmDataMessageTimeBFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
}
}
func (f *BtmDataMessageTimeBFrame) Encode() CanBusData {
writer := NewCanBitsWriter(12)
//
f.FId.Encode(writer)
//
byteMsk := uint32(0x00_00_00_ff)
//
writer.AddByte(byte((f.TimeB >> 24) & byteMsk))
writer.AddByte(byte((f.TimeB >> 16) & byteMsk))
writer.AddByte(byte((f.TimeB >> 8) & byteMsk))
writer.AddByte(byte(f.TimeB & byteMsk))
//
writer.AddByte(byte((f.Crc32B >> 24) & byteMsk))
writer.AddByte(byte((f.Crc32B >> 16) & byteMsk))
writer.AddByte(byte((f.Crc32B >> 8) & byteMsk))
writer.AddByte(byte(f.Crc32B & byteMsk))
//
return writer.(CanBusData)
}
func (f *BtmDataMessageTimeBFrame) Decode(reader CanBitsReader) bool {
if !f.FId.Decode(reader) {
return false
}
//
f.TimeB = 0
a1, a1Ok := reader.ReadByte()
if !a1Ok {
return false
}
f.TimeB |= uint32(a1) << 24
//
a2, a2Ok := reader.ReadByte()
if !a2Ok {
return false
}
f.TimeB |= uint32(a2) << 16
//
a3, a3Ok := reader.ReadByte()
if !a3Ok {
return false
}
f.TimeB |= uint32(a3) << 8
//
a4, a4Ok := reader.ReadByte()
if !a4Ok {
return false
}
f.TimeB |= uint32(a4)
//
f.Crc32B = 0
c1, c1Ok := reader.ReadByte()
if !c1Ok {
return false
}
f.Crc32B |= uint32(c1) << 24
//
c2, c2Ok := reader.ReadByte()
if !c2Ok {
return false
}
f.Crc32B |= uint32(c2) << 16
//
c3, c3Ok := reader.ReadByte()
if !c3Ok {
return false
}
f.Crc32B |= uint32(c3) << 8
//
c4, c4Ok := reader.ReadByte()
if !c4Ok {
return false
}
f.Crc32B |= uint32(c4)
//
return true
}
////////////////////////////////////////////////////////////
// BtmDataMessageEndFrame 数据帧-结束
// offset = 0x7f
type BtmDataMessageEndFrame struct {
@ -44,3 +246,85 @@ type BtmDataMessageEndFrame struct {
//1个状态应答帧 + 13个BtmDataMessageFrame + 1个BtmDataMessageTimeAFrame + 1个BtmDataMessageTimeBFrame + 1个BtmDataMessageEndFrame
Crc32C uint32
}
func NewBtmDataMessageEndFrame(sn byte) *BtmDataMessageEndFrame {
return &BtmDataMessageEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
}
}
func (f *BtmDataMessageEndFrame) Encode() CanBusData {
writer := NewCanBitsWriter(12)
//
f.FId.Encode(writer)
//
byteMsk := uint32(0x00_00_00_ff)
//
writer.AddByte(byte((f.TkB >> 24) & byteMsk))
writer.AddByte(byte((f.TkB >> 16) & byteMsk))
writer.AddByte(byte((f.TkB >> 8) & byteMsk))
writer.AddByte(byte(f.TkB & byteMsk))
//
writer.AddByte(byte((f.Crc32C >> 24) & byteMsk))
writer.AddByte(byte((f.Crc32C >> 16) & byteMsk))
writer.AddByte(byte((f.Crc32C >> 8) & byteMsk))
writer.AddByte(byte(f.Crc32C & byteMsk))
//
return writer.(CanBusData)
}
func (f *BtmDataMessageEndFrame) Decode(reader CanBitsReader) bool {
if !f.FId.Decode(reader) {
return false
}
//
f.TkB = 0
a1, a1Ok := reader.ReadByte()
if !a1Ok {
return false
}
f.TkB |= uint32(a1) << 24
//
a2, a2Ok := reader.ReadByte()
if !a2Ok {
return false
}
f.TkB |= uint32(a2) << 16
//
a3, a3Ok := reader.ReadByte()
if !a3Ok {
return false
}
f.TkB |= uint32(a3) << 8
//
a4, a4Ok := reader.ReadByte()
if !a4Ok {
return false
}
f.TkB |= uint32(a4)
//
f.Crc32C = 0
c1, c1Ok := reader.ReadByte()
if !c1Ok {
return false
}
f.Crc32C |= uint32(c1) << 24
//
c2, c2Ok := reader.ReadByte()
if !c2Ok {
return false
}
f.Crc32C |= uint32(c2) << 16
//
c3, c3Ok := reader.ReadByte()
if !c3Ok {
return false
}
f.Crc32C |= uint32(c3) << 8
//
c4, c4Ok := reader.ReadByte()
if !c4Ok {
return false
}
f.Crc32C |= uint32(c4)
//
return true
}

9
third_party/message/can_bus.go vendored
View File

@ -5,11 +5,12 @@ package message
// CanBits 可以在CAN总线上传输的bit流
// 按bit位来存储数据
// 一个字节中bit位编号，从高位到低位依次为bit7-bit0
// 对于一个CAN帧：29bits帧ID+64bits帧数据，以bit为单位，最后一字节即第12个字节的低位3bits为无用数据
type CanBits struct {
Data []byte
LastBitsLen int //Data中最后一个字节中从高位到低位存储数据的有效位数，值范围[1,8],8-LastBitsLen则为最后一个字节中低位剩余的空位数量
readRowIndex int //行读指针，Data中的一个字节为一行，从0开始；当前值表示当前可读位置
readColIndex int //列读指针,字节中的bit位为列，从7开始到0，字节中最左侧bit为最高位编号7；当前值表示当前可读位置;当值为-1时表示已经读结束
Data []byte //bits
LastBitsLen int //Data中最后一个字节中从高位到低位存储数据的有效位数，值范围[1,8],8-LastBitsLen则为最后一个字节中低位剩余的空位数量
readRowIndex int //行读指针，Data中的一个字节为一行，从0开始；当前值表示当前可读位置
readColIndex int //列读指针,字节中的bit位为列，从7开始到0，字节中最左侧bit为最高位编号7；当前值表示当前可读位置;当值为-1时表示已经读结束
}
// CanBusData CAN总线上传输的数据