Merge branch 'master' of https://git.code.tencent.com/beijing-rtss-test/bj-rtsts-server-go

# Conflicts:
#	ts/protos/graphicData/stationLayoutGraphics.pb.go

third_party/can_btm/balise_btm.go

@@ -0,0 +1,128 @@
+package can_btm
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
+	"sort"
+)
+
+// btm与canet(网口-CAN口转换器)
+type btmCanetClient struct {
+	//udp
+	udpServer udp.UdpServer
+	//udp
+	udpClient     udp.UdpClient
+	localUdpPort  int
+	remoteUdpPort int
+	remoteIp      string
+	trainId       string
+}
+type BtmCanetClient interface {
+	Start()
+	Stop()
+	TrainId() string
+}
+type BtmMessageManager interface {
+	BtmRcvAtpReqFrame(trainId string, atpReq *message.AtpRequestFrame)
+	BtmScanBaliseContent(trainId string)
+}
+
+func NewBtmCanetClient(trainId string, remoteIp string, remoteUdpPort int, localUdpPort int) BtmCanetClient {
+	return &btmCanetClient{trainId: trainId, remoteIp: remoteIp, remoteUdpPort: remoteUdpPort, localUdpPort: localUdpPort}
+}
+func (s *btmCanetClient) TrainId() string {
+	return s.trainId
+}
+func (s *btmCanetClient) Start() {
+	//
+	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCanetFrames)
+	s.udpServer.Listen()
+	//
+	s.udpClient = udp.NewClient(fmt.Sprintf("%s:%d", s.remoteIp, s.remoteUdpPort))
+}
+
+func (s *btmCanetClient) Stop() {
+	if s.udpServer != nil {
+		s.udpServer.Close()
+	}
+	if s.udpClient != nil {
+		s.udpClient.Close()
+	}
+}
+func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
+	//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])
+			//
+			switch cf.CanFrameType() {
+			case message.CfReq:
+				s.dealWithAptReq(cf)
+			case message.CfStatusRsp:
+				s.dealWithBtmStatusRsp(cf)
+			case message.CfTimeSync:
+				s.dealWithBtmTimeSyncRsp(cf)
+			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 {
+				s.dealWithBtmDataFrames(dms)
+			}
+		}
+
+	} 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))
+	}
+}
+
+// 处理接收的ATP查询请求帧
+func (s *btmCanetClient) dealWithAptReq(f *message.CanetFrame) {
+	atpReq := &message.AtpRequestFrame{}
+	if !atpReq.Decode(f) {
+		slog.Warn("CanetFrame解码成AtpRequestFrame失败", "CanetFrame", f.String())
+	}
+	//处理查询请求
+	slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
+	//todo
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+// 处理接收的状态应答帧
+func (s *btmCanetClient) dealWithBtmStatusRsp(f *message.CanetFrame) {
+	slog.Debug(fmt.Sprintf("接收到状态应答帧%s", f.String()))
+}
+
+// 处理接收的时间同步校验应答帧
+func (s *btmCanetClient) dealWithBtmTimeSyncRsp(f *message.CanetFrame) {
+	slog.Debug(fmt.Sprintf("接收到时间同步校验应答帧%s", f.String()))
+}
+
+// 处理接收到的16帧数据帧
+func (s *btmCanetClient) dealWithBtmDataFrames(dms []*message.CanetFrame) {
+	for _, dm := range dms {
+		slog.Debug(fmt.Sprintf("接收到数据帧%s", dm.String()))
+	}
+}

third_party/message/can_atp_req.go

@@ -1,6 +1,10 @@
 package message
 
-import "log/slog"
+import (
+	"fmt"
+	"log/slog"
+	"strings"
+)
 
 //应答器传输模块BTM与车载ATP通信协议定义
 
@@ -30,36 +34,6 @@ type CanFrameId struct {
 	ID4 byte
 }
 
-func (f *CanFrameId) Encode(bits CanBitsWriter) {
-	bits.AddByte(f.ID1)
-	bits.AddByte(f.ID2)
-	bits.AddByte(f.ID3)
-	bits.AddBits(f.ID4, 5)
-}
-func (f *CanFrameId) Decode(bits CanBitsReader) bool {
-	if id, ok := bits.ReadByte(); ok {
-		f.ID1 = id
-	} else {
-		return false
-	}
-	if id, ok := bits.ReadByte(); ok {
-		f.ID2 = id
-	} else {
-		return false
-	}
-	if id, ok := bits.ReadByte(); ok {
-		f.ID3 = id
-	} else {
-		return false
-	}
-	if id, ok := bits.ReadBits(5); ok {
-		f.ID4 = id
-	} else {
-		return false
-	}
-	return true
-}
-
 // NewCanFrameId 创建CAN串行总线帧ID
 // dstAddr 目的设备地址
 // srcAddr 源设备地址
@@ -102,10 +76,24 @@ func NewAtpRequestFrame(sn byte) *AtpRequestFrame {
 		FId: *NewCanFrameId(CAN_ADDR_REQ_BTM, CAN_ADDR_REQ_ATP, CAN_FRAME_ATP_REQ, sn),
 	}
 }
-func (f *AtpRequestFrame) Decode(bits CanBitsReader) bool {
+func (f *AtpRequestFrame) String() string {
-	if !f.FId.Decode(bits) {
+	sb := strings.Builder{}
-		return false
+	sb.WriteString(fmt.Sprintf("AtpRequestFrame 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("PowerAmplifierTurnOn = %t", f.PowerAmplifierTurnOn))
+	sb.WriteString(fmt.Sprintf(",PowerAmplifierControlledByAtp = %t", f.PowerAmplifierControlledByAtp))
+	sb.WriteString(fmt.Sprintf(",ResendRequest = %d", f.ResendRequest))
+	sb.WriteString(fmt.Sprintf(",Speed = %d", f.Speed))
+	sb.WriteString(fmt.Sprintf(",Time = %d", f.Time))
+	sb.WriteString(fmt.Sprintf(",Crc16 = %d", f.Crc16))
+	sb.WriteString(fmt.Sprintf(",Crc16CheckOk = %t", f.Crc16CheckOk))
+	return sb.String()
+}
+func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
+	f.FId = cf.CanId
+	//
+	bits := NewCanBitsReader(cf.CanData, 8)
+	//
 	if d, ok := bits.ReadBits(1); ok {
 		f.PowerAmplifierTurnOn = d == 1
 	} else {
@@ -188,10 +176,14 @@ func (f *AtpRequestFrame) Decode(bits CanBitsReader) bool {
 	//
 	return true
 }
-func (f *AtpRequestFrame) Encode() CanBusData {
+func (f *AtpRequestFrame) Encode() *CanetFrame {
-	bits := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(bits)
+	bits := NewCanBitsWriter(8)
 	//
 	if f.PowerAmplifierTurnOn {
 		bits.AddBits(1, 1)
@@ -223,5 +215,7 @@ func (f *AtpRequestFrame) Encode() CanBusData {
 	bits.AddByte(byte(crc16 >> 8))
 	bits.AddByte(byte(crc16))
 	//
-	return bits.(CanBusData)
+	cf.CanData = bits.(CanBusData).GetData()
+	//
+	return cf
 }

third_party/message/can_btm_data.go

@@ -16,20 +16,26 @@ func NewBtmDataMessageFrame(sn byte, offset byte) *BtmDataMessageFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
 	}
 }
-func (f *BtmDataMessageFrame) Encode() CanBusData {
+func (f *BtmDataMessageFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(writer)
+	writer := NewCanBitsWriter(8)
 	//
 	for _, data := range f.Message {
 		writer.AddByte(data)
 	}
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	//
+	return cf
 }
-func (f *BtmDataMessageFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmDataMessageFrame) Decode(cf *CanetFrame) bool {
-	if !f.FId.Decode(reader) {
+	f.FId = cf.CanId
-		return false
+	//
-	}
+	reader := NewCanBitsReader(cf.CanData, 8)
 	//
 	f.Message = make([]byte, 0, 8)
 	for c := 0; c < 8; c++ {
@@ -61,10 +67,14 @@ func NewBtmDataMessageTimeAFrame(sn byte) *BtmDataMessageTimeAFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
 	}
 }
-func (f *BtmDataMessageTimeAFrame) Encode() CanBusData {
+func (f *BtmDataMessageTimeAFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(writer)
+	writer := NewCanBitsWriter(8)
 	//
 	byteMsk := uint32(0x00_00_00_ff)
 	//
@@ -78,13 +88,15 @@ func (f *BtmDataMessageTimeAFrame) Encode() CanBusData {
 	writer.AddByte(byte((f.Crc32A >> 8) & byteMsk))
 	writer.AddByte(byte(f.Crc32A & byteMsk))
 	//
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	//
+	return cf
 }
 
-func (f *BtmDataMessageTimeAFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmDataMessageTimeAFrame) Decode(cf *CanetFrame) bool {
-	if !f.FId.Decode(reader) {
+	f.FId = cf.CanId
-		return false
+	//
-	}
+	reader := NewCanBitsReader(cf.CanData, 8)
 	//
 	f.TimeA = 0
 	a1, a1Ok := reader.ReadByte()
@@ -157,10 +169,14 @@ func NewBtmDataMessageTimeBFrame(sn byte) *BtmDataMessageTimeBFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
 	}
 }
-func (f *BtmDataMessageTimeBFrame) Encode() CanBusData {
+func (f *BtmDataMessageTimeBFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(writer)
+	writer := NewCanBitsWriter(8)
 	//
 	byteMsk := uint32(0x00_00_00_ff)
 	//
@@ -174,12 +190,14 @@ func (f *BtmDataMessageTimeBFrame) Encode() CanBusData {
 	writer.AddByte(byte((f.Crc32B >> 8) & byteMsk))
 	writer.AddByte(byte(f.Crc32B & byteMsk))
 	//
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	//
+	return cf
 }
-func (f *BtmDataMessageTimeBFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmDataMessageTimeBFrame) Decode(cf *CanetFrame) bool {
-	if !f.FId.Decode(reader) {
+	f.FId = cf.CanId
-		return false
+	//
-	}
+	reader := NewCanBitsReader(cf.CanData, 8)
 	//
 	f.TimeB = 0
 	a1, a1Ok := reader.ReadByte()
@@ -253,10 +271,14 @@ func NewBtmDataMessageEndFrame(sn byte) *BtmDataMessageEndFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
 	}
 }
-func (f *BtmDataMessageEndFrame) Encode() CanBusData {
+func (f *BtmDataMessageEndFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(writer)
+	writer := NewCanBitsWriter(8)
 	//
 	byteMsk := uint32(0x00_00_00_ff)
 	//
@@ -270,12 +292,14 @@ func (f *BtmDataMessageEndFrame) Encode() CanBusData {
 	writer.AddByte(byte((f.Crc32C >> 8) & byteMsk))
 	writer.AddByte(byte(f.Crc32C & byteMsk))
 	//
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	//
+	return cf
 }
-func (f *BtmDataMessageEndFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmDataMessageEndFrame) Decode(cf *CanetFrame) bool {
-	if !f.FId.Decode(reader) {
+	f.FId = cf.CanId
-		return false
+	//
-	}
+	reader := NewCanBitsReader(cf.CanData, 8)
 	//
 	f.TkB = 0
 	a1, a1Ok := reader.ReadByte()

third_party/message/can_btm_rsp.go

@@ -61,60 +61,38 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 	end := NewBtmDataMessageEndFrame(sn)
 	end.TkB = tkTimeB
 	//
-	crc32CData := make([]byte, 0, 132) //17*8-4
+	statusCf := statusRsp.Encode()
-	rt := make([]byte, 0, 204)         //17*12
+	dmsCfs := make([]*CanetFrame, 0, 13)
-	// 状态应答帧
-	statusData := statusRsp.Encode()
-	crc32CData = append(crc32CData, canFrameContent(statusData)...)
-	rt = append(rt, statusData.GetData()...)
-	// 数据帧
 	for _, dm := range dms {
-		dmData := dm.Encode()
+		dmsCfs = append(dmsCfs, dm.Encode())
-		crc32CData = append(crc32CData, canFrameContent(dmData)...)
-		rt = append(rt, dmData.GetData()...)
-	}
-	// 消息时刻A
-	dtAData := dtA.Encode()
-	crc32CData = append(crc32CData, canFrameContent(dtAData)...)
-	rt = append(rt, dtAData.GetData()...)
-	// 消息时刻B
-	dtBData := dtB.Encode()
-	crc32CData = append(crc32CData, canFrameContent(dtBData)...)
-	rt = append(rt, dtBData.GetData()...)
-	// 消息结束帧
-	crc32CData = append(crc32CData, canTimeToBytes(end.TkB)...)
-	if len(crc32CData) != 132 {
-		slog.Warn("BtmDataMessageEndFrame crc32 校验数据须132字节")
-		return nil, false
-	}
-	end.Crc32C = calculateDataRspCrc32C(crc32CData)
-	rt = append(rt, end.Encode().GetData()...)
-	if len(rt) != 204 {
-		slog.Warn("BTM响应ATP 17帧须136字节")
-		return nil, false
 	}
+	dtACf := dtA.Encode()
+	dtBCf := dtB.Encode()
 	//
+	crc32cData := make([]byte, 0, 132)
+	crc32cData = append(crc32cData, statusCf.CanData...)
+	for _, dmCf := range dmsCfs {
+		crc32cData = append(crc32cData, dmCf.CanData...)
+	}
+	crc32cData = append(crc32cData, dtACf.CanData...)
+	crc32cData = append(crc32cData, dtBCf.CanData...)
+	crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
+	//
+	end.Crc32C = calculateDataRspCrc32C(crc32cData)
+	//
+	endCf := end.Encode()
+	//
+	rt := make([]byte, 0, 221) //17*13
+	rt = append(rt, statusCf.Encode()...)
+	for _, dmCf := range dmsCfs {
+		rt = append(rt, dmCf.Encode()...)
+	}
+	rt = append(rt, dtACf.Encode()...)
+	rt = append(rt, dtBCf.Encode()...)
+	rt = append(rt, endCf.Encode()...)
+	if len(rt) != 221 {
+		slog.Warn("len(rt)!=221")
+		return nil, false
+	}
 	return rt, true
 }
-
-// CAN帧中除去开始29bits的剩余8字节数据
-func canFrameContent(canFrame CanBusData) []byte {
-	rd := NewCanBitsReader(canFrame.GetData(), canFrame.GetLastRowBitsLen())
-	rd.ReadByte()  //ID1
-	rd.ReadByte()  //ID2
-	rd.ReadByte()  //ID3
-	rd.ReadBits(5) //ID4
-	//
-	rt := make([]byte, 0, 8)
-	for {
-		d, ok := rd.ReadByte()
-		if !ok {
-			break
-		}
-		rt = append(rt, d)
-	}
-	if len(rt) != 8 {
-		panic("CAN帧中数据体须为8字节")
-	}
-	return rt
-}

third_party/message/can_btm_status_rsp.go

@@ -29,10 +29,10 @@ func NewBtmStatusRspFrame(sn byte) *BtmStatusRspFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_STATUS_RSP, sn),
 	}
 }
-func (f *BtmStatusRspFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
-	if !f.FId.Decode(reader) {
+	f.FId = cf.CanId
-		return false
+	//
-	}
+	reader := NewCanBitsReader(cf.CanData, 8)
 	//数据流水号
 	if d, ok := reader.ReadByte(); ok {
 		f.Dsn = d
@@ -106,10 +106,14 @@ func (f *BtmStatusRspFrame) Decode(reader CanBitsReader) bool {
 	//
 	return true
 }
-func (f *BtmStatusRspFrame) Encode() CanBusData {
+func (f *BtmStatusRspFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
 	//
-	f.FId.Encode(writer)
+	writer := NewCanBitsWriter(8)
 	writer.AddByte(f.Dsn)
 	writer.AddByte(f.BaliseCounter)
 	writer.AddByte(f.MessageCounter)
@@ -150,5 +154,6 @@ func (f *BtmStatusRspFrame) Encode() CanBusData {
 	writer.AddByte(tk3)
 	writer.AddByte(tk4)
 	//
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	return cf
 }

third_party/message/can_btm_time_sync_rsp.go

@@ -17,11 +17,10 @@ func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
 	}
 }
-func (f *BtmTimeSyncCheckFrame) Decode(reader CanBitsReader) bool {
+func (f *BtmTimeSyncCheckFrame) Decode(cf *CanetFrame) bool {
+	f.FId = cf.CanId
 	//
-	if !f.FId.Decode(reader) {
+	reader := NewCanBitsReader(cf.CanData, 8)
-		return false
-	}
 	//T2
 	t21, t21Ok := reader.ReadByte()
 	if !t21Ok {
@@ -69,9 +68,14 @@ func (f *BtmTimeSyncCheckFrame) Decode(reader CanBitsReader) bool {
 	//
 	return true
 }
-func (f *BtmTimeSyncCheckFrame) Encode() CanBusData {
+func (f *BtmTimeSyncCheckFrame) Encode() *CanetFrame {
-	writer := NewCanBitsWriter(12)
+	cf := &CanetFrame{}
-	f.FId.Encode(writer)
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	cf.FF = true
+	cf.RTR = false
+	//
+	writer := NewCanBitsWriter(8)
 	//
 	timeByteMsk := uint32(0x00_00_00_ff)
 	//t2
@@ -93,5 +97,6 @@ func (f *BtmTimeSyncCheckFrame) Encode() CanBusData {
 	writer.AddByte(t33)
 	writer.AddByte(t34)
 	//
-	return writer.(CanBusData)
+	cf.CanData = writer.(CanBusData).GetData()
+	return cf
 }

third_party/message/can_bus.go

@@ -4,8 +4,6 @@ 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 //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
@@ -203,31 +201,40 @@ const (
 
 const (
 	CAN_CRC16_ATPREQ = 0x11021
+	CAN_CRC32        = 0x04C11DB7
 )
 
 var (
 	crc16AtpReqTable []uint32 = nil
+	crc32CanTable    []uint32 = nil
 )
 
-func CanCreateCrcTable() {
+func CreateCanCrcTable() {
 	if crc16AtpReqTable == nil {
 		crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
 	}
+	if crc32CanTable == nil {
+		crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
+	}
 }
 func calculateAtpReqCrc16(data []byte) uint16 {
 	crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
 	return uint16(crc)
 }
+func calculateCanCrc32(data []byte) uint32 {
+	crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
+	return crc
+}
 
 // CRC32A的校验范围是：报文+时间戳A
 func calculateDataRspCrc32A(data []byte) uint32 {
-	return 0
+	return calculateCanCrc32(data)
 }
 
 // CRC32B的校验范围是：报文+时间戳B
 func calculateDataRspCrc32B(data []byte) uint32 {
-	return 0
+	return calculateCanCrc32(data)
 }
 func calculateDataRspCrc32C(data []byte) uint32 {
-	return 0
+	return calculateCanCrc32(data)
 }

third_party/message/can_net.go

@@ -0,0 +1,124 @@
+package message
+
+import (
+	"fmt"
+	"log/slog"
+	"strings"
+)
+
+// CanetFrame USR-CANET200_V1.0.7 设备  以太网-CAN 透传协议帧(13字节)
+type CanetFrame struct {
+	FF      bool       //true-1扩展帧
+	RTR     bool       //true-1远程帧
+	CanLen  byte       //CAN帧数据长度[0,8]，CanData中有效数据字节数
+	CanId   CanFrameId //CAN帧ID
+	CanData []byte     //CAN帧数据，8字节
+}
+
+func NewCanetFrame(buf []byte) *CanetFrame {
+	cf := &CanetFrame{}
+	cf.Decode(buf)
+	return cf
+}
+func (p *CanetFrame) Encode() []byte {
+	buf := make([]byte, 0, 13)
+	//canet200帧信息
+	b1 := byte(0x00)
+	if p.FF {
+		b1 |= 0x80 //bit7
+	}
+	if p.RTR {
+		b1 |= 0x40 //bit6
+	}
+	b1 |= p.CanLen & 0x0f
+	buf = append(buf, b1)
+	//CAN 帧ID
+	buf = append(buf, p.CanId.ID1)
+	buf = append(buf, p.CanId.ID2)
+	buf = append(buf, p.CanId.ID3)
+	buf = append(buf, p.CanId.ID4<<3)
+	//CAN 帧数据
+	if len(p.CanData) != 8 {
+		panic("len(p.CanData)!=8")
+	}
+	buf = append(buf, p.CanData...)
+	return buf
+}
+func (p *CanetFrame) Decode(buf []byte) {
+	if len(buf) != 13 {
+		panic("len(buf)!=13")
+	}
+	//
+	p.FF = buf[0]&0x80 == 0x80
+	p.RTR = buf[0]&0x40 == 0x40
+	p.CanLen = buf[0] & 0x0f
+	//1 2 3 4
+	p.CanId.ID1 = buf[1]
+	p.CanId.ID2 = buf[2]
+	p.CanId.ID3 = buf[3]
+	p.CanId.ID4 = buf[4] >> 3
+	//
+	p.CanData = buf[5:]
+}
+func (p *CanetFrame) String() string {
+	sb := strings.Builder{}
+	sb.WriteString(fmt.Sprintf("CanetFrame FF = %t, RTR = %t, CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,", p.FF, p.RTR, p.CanLen,
+		p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
+	sb.WriteString("CanData = ")
+	for _, d := range p.CanData {
+		sb.WriteString(fmt.Sprintf(" 0x%0x ", d))
+	}
+	return sb.String()
+}
+
+// CanFrameType 获取canet帧类型
+func (p *CanetFrame) CanFrameType() CanFrameType {
+	switch p.CanId.ID3 {
+	case 0x01:
+		{ //状态应答帧0x01
+			return CfStatusRsp
+		}
+	case 0x8d:
+		{ //msgTimeA数据帧0x80+0x0d
+			return CfMsgTimeA
+		}
+	case 0x8e:
+		{ //msgTimeB数据帧0x80+0x0e
+			return CfMsgTimeB
+		}
+	case 0xff:
+		{ //msgEnd数据帧0x80+0x7f
+			return CfMsgEnd
+		}
+	case 0x02:
+		{
+			if p.CanId.ID1 == 0x62 && p.CanId.ID2 == 0x81 {
+				return CfReq
+			} else {
+				return CfTimeSync
+			}
+		}
+	default:
+		if p.CanId.ID3 >= 0x80 && p.CanId.ID3 <= 0x8c { //数据帧0x80+(0x00-0x0c)
+			return CfMsg
+		} else {
+			slog.Warn(fmt.Sprintf("无法识别的Canet帧[%s]", p.String()))
+			return CfNon
+		}
+	}
+}
+
+// CanFrameType 帧类型定义
+type CanFrameType = byte
+
+// Can帧类型枚举
+const (
+	CfNon       = CanFrameType(0)
+	CfReq       = CanFrameType(1) //查询帧0x02
+	CfStatusRsp = CanFrameType(2) //状态应答帧0x01
+	CfTimeSync  = CanFrameType(3) //时间同步校验帧0x02
+	CfMsg       = CanFrameType(4) //数据帧0x80+(0x00-0x0c)
+	CfMsgTimeA  = CanFrameType(5) //msgTimeA数据帧0x80+0x0d
+	CfMsgTimeB  = CanFrameType(6) //msgTimeB数据帧0x80+0x0e
+	CfMsgEnd    = CanFrameType(7) //msgEnd数据帧0x80+0x7f
+)

third_party/tcp/tcp_client.go

@@ -1,41 +0,0 @@
-package tcp
-
-import "net"
-
-type client struct {
-	laddr *net.TCPAddr //local address
-	raddr *net.TCPAddr //remote address
-	con   *net.TCPConn //tcp 连接
-}
-
-func (c *client) NewClientWithLocal(remoteAddr string, localAddr string) *client {
-	ra, raEr := net.ResolveTCPAddr("tcp", remoteAddr)
-	if raEr != nil {
-		panic(raEr)
-	}
-	c.raddr = ra
-	//
-	la, laEr := net.ResolveTCPAddr("tcp", localAddr)
-	if laEr != nil {
-		panic(laEr)
-	}
-	c.laddr = la
-	return c
-}
-func (c *client) NewClient(remoteAddr string) *client {
-	ra, raEr := net.ResolveTCPAddr("tcp", remoteAddr)
-	if raEr != nil {
-		panic(raEr)
-	}
-	c.raddr = ra
-	c.con.LocalAddr()
-	return c
-}
-func (c *client) Start() error {
-	con, e := net.DialTCP(c.raddr.Network(), c.laddr, c.raddr)
-	if e != nil {
-		return e
-	}
-	c.con = con
-	return nil
-}

third_party/tcp/tcp_server.go

@@ -1 +0,0 @@
-package tcp

ts/simulation/wayside/memory/wayside_simulation.go

@@ -1031,10 +1031,11 @@ func fillProtoRepository(repo *proto.Repository, storage *graphicData.RtssGraphi
 			turnoutPort = convertDevicePort(data.TransponderRef)
 		}
 		responder := &proto.Transponder{
-			Id:          data.Common.Id,
+			Id:            data.Common.Id,
-			Km:          convertKm(data.KilometerSystem),
+			Km:            convertKm(data.KilometerSystem),
-			SectionId:   sectionId,
+			SectionId:     sectionId,
-			TurnoutPort: turnoutPort,
+			TurnoutPort:   turnoutPort,
+			FixedTelegram: data.FixedTelegram,
 		}
 		repo.Transponders = append(repo.Transponders, converTransponderUid(responder, uidsMap))
 		for _, stationName := range data.CentralizedStations {