joylink/rts-sim-testing-service
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This commit is contained in:
tiger_zhou 2024-05-29 11:48:25 +08:00
commit 3dcafa50e8
12 changed files with 477 additions and 93 deletions
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5
README.md
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@ -23,3 +23,8 @@
- 在 service 目录下添加具体的业务逻辑（数据库查询）
- 设置 go 代理 go env -w GOPROXY=https://goproxy.cn,direct
- 运行 go mod download / go mod tidy
# windows 编译linux环境
- go env -w GOOS=linux
- go build -o appname
- go env -w GOOS=windows

120
bin/acc_conn-example.go
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@ -5,10 +5,12 @@ import (
"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"
"sort"
"strconv"
"strings"
"time"
)
@ -34,76 +36,74 @@ func initConfig() {
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()
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, "===========")
initBtmTest()
//initAccTest()
//initSpeedTest()
//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))
}
}()
var testUserBtmMsg = "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
var freeBtmMsg = strings.Repeat("00", balise_const.UserTelegramByteLen)
//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")
func handleBtmVobcFrames(cfs []byte) {
frameType, dataText, err := message.BtmVobcDecode(cfs)
if err != nil {
return
}
if frameType == message.COMMAND_TYPE {
idCommand := &message.BtmVobcIdCommand{}
idCommand.Decode(dataText)
//userMsg, _ := hex.DecodeString(testUserBtmMsg)
//msg := &message.BtmVobcMessage{FontTtl: 5, BtmStatus: 0x00, DecodeTime: 10, BackTtl: 4, BtmMsg: userMsg, ResponseTime: 10,
// VobcLifeNum: idCommand.VobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: idCommand.AutoIdFrame}}
//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: idCommand.VobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: idCommand.AutoIdFrame}}
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=", idCommand.AutoIdFrame)
btmCli.Send(sendData2)
} else if frameType == message.REQUEST_TYPE {
req := &message.BtmVobcReq{}
req.Decode(dataText)
fmt.Println(req, "========================")
} else {
slog.Error("btm vobc 解析未知命令帧类型", strconv.FormatInt(int64(frameType), 16), frameType, "原始数据:", hex.EncodeToString(cfs), "长度:", len(cfs))
return
}
} 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))
@ -146,7 +146,7 @@ func testAcc(client udp.UdpClient, acc float32) {
if err != nil {
slog.Error("发送数据失败", "err", err)
}
time.Sleep(time.Millisecond * 500)
time.Sleep(time.Millisecond * 11)
}
}

5
bin/config/example.yml
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@ -4,3 +4,8 @@ acc:
speed:
remoteIp: "192.168.1.200"
remotePort: 4196
btm:
remoteIp: "192.168.1.199"
remotePort: 4196
localIp: "192.168.1.150"
localPort: 4646

7
bin/config/example_config.go
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@ -3,6 +3,7 @@ package config
type ExampleConfig struct {
Acc acc
Speed speed
Btm btm
}
type acc struct {
RemoteIp string
@ -12,3 +13,9 @@ type speed struct {
RemoteIp string
RemotePort int
}
type btm struct {
RemoteIp string
RemotePort int
LocalIp string
LocalPort int
}

2
rts-sim-testing-message

@ -1 +1 @@
Subproject commit 189cabea725167f98c15d0971ee20d01b044ce05
Subproject commit fed626ac4b0d1b2696026438d32fe812ebd00ac2

19
third_party/acc/acc_vobc.go vendored
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@ -2,12 +2,14 @@ package acc
import (
"context"
"encoding/hex"
"fmt"
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/dto/common_proto"
"joylink.club/bj-rtsts-server/dto/state_proto"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/udp"
"log/slog"
"math"
"sync"
"time"
@ -30,11 +32,6 @@ var (
singleObj *accVobcService
)
/*const (
accInterval = 15
accSpeedUnit = 9.8
)*/
func Default() AccVobc {
defer initLock.Unlock()
initLock.Lock()
@ -59,8 +56,16 @@ func (acc *accVobcService) Start(accManager AccVobcManager) {
}
func (avs *accVobcService) SendAcc(acc *message.Accelerometer) {
avs.vobcClient.Send(acc.Encode())
if avs.vobcClient != nil {
data := acc.Encode()
hexStr := hex.EncodeToString(data)
slog.Info("发送 加速度消息数据:", hexStr)
err := avs.vobcClient.Send(data)
if err != nil {
slog.Info("发送 加速度消息数据失败:", hexStr)
return
}
}
//avs.vobcClient.Send(acc.BuildCanData())
}
func (avs *accVobcService) TrainAccSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {

38
third_party/btm_vobc/btm_vobc.go vendored Normal file
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@ -0,0 +1,38 @@
package btm_vobc
import (
"context"
"sync"
)
type BtmVobcManage interface {
}
type BtmVobcService interface {
Start()
Stop()
}
type BtmVobcClient struct {
calFun context.CancelFunc
}
var (
btmVobcLocker sync.Mutex
btmVobcClient *BtmVobcClient
)
func Default() BtmVobcService {
defer btmVobcLocker.Unlock()
btmVobcLocker.Lock()
if btmVobcClient == nil {
btmVobcClient = &BtmVobcClient{}
}
return btmVobcClient
}
func (b *BtmVobcClient) Start() {
//ctx, calFun := context.WithCancel(context.Background())
}
func (b *BtmVobcClient) Stop() {
}

41
third_party/btm_vobc/btm_vobc_test.go vendored Normal file
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@ -0,0 +1,41 @@
package btm_vobc
import (
"bytes"
"encoding/hex"
"fmt"
"sync/atomic"
"testing"
)
const (
code1 = "fffef890149e75e15511000006230000000000d4da14ebfffd"
code2 = "fffee601804f004d00800600002a004984ec6f4e902ef6912284000000000000000000000000000000067e000000000000411b0000f5bbee397698fffd"
)
var message_id atomic.Uint32
func TestDecode(t *testing.T) {
fmt.Println(code1[:4])
d, _ := hex.DecodeString(code1)
fmt.Println(d[:2])
dd := d[2 : len(d)-2]
fmt.Println(hex.EncodeToString(dd))
fmt.Println(bytes.Equal(d[:2], []byte{0xff, 0xfe}))
fmt.Println(message_id.Load())
}
func TestMsg(t *testing.T) {
index := 1
for i := 22; i <= 125; i++ {
fmt.Println(index)
index++
}
}
func TestBytes(t *testing.T) {
s := "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
d, _ := hex.DecodeString(s)
fmt.Println(len(d))
}

10
third_party/electrical_machinery/electrical_machinery.go vendored
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@ -1,6 +1,7 @@
package electrical_machinery
import (
"encoding/hex"
"fmt"
"joylink.club/bj-rtsts-server/dto/common_proto"
"joylink.club/bj-rtsts-server/dto/state_proto"
@ -48,7 +49,7 @@ func (s *electricalMachineryImpl) Start(manager ElectricMachineryMessageManager)
s.runConfig = manager.GetElectricMachineryRunConfig()
allNotOpen := true
for _, c := range s.runConfig {
if &c == nil || c.Ip == "" || !c.Open {
if &c != nil && c.Open {
allNotOpen = false
}
}
@ -79,9 +80,12 @@ func (s *electricalMachineryImpl) SendElectricMachineryMessage(emMap map[int]*me
for key, em := range emMap {
client := s.electricalMachineryUdpClientMap[key]
if client != nil {
err := client.Send(em.Encode())
data := em.Encode()
hexStr := hex.EncodeToString(data)
slog.Info("发送电机转速消息key", hexStr)
err := client.Send(data)
if err != nil {
slog.Error(err.Error())
slog.Info("发送电机转速消息失败key", hexStr)
}
}
}

44
third_party/message/accelerometer.go vendored
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@ -7,7 +7,7 @@ import (
const (
accHeader = 0xA6
uaidDefault = 0x1C
uaidDefault = 0x71
G = 9.80665
)
@ -16,12 +16,6 @@ type Accelerometer struct {
Aux byte
}
const (
FullScaleG = 0x80000000 // 1g的Q31表示
DataMask = 0xC0 // 最高2位是数据位
ReadingMask = 0xFFFFC000 // 屏蔽标志位和编码位
)
func encodeAcc(a float32) (d2, d1, d0 byte) {
d2 = 0
d1 = 0
@ -29,7 +23,7 @@ func encodeAcc(a float32) (d2, d1, d0 byte) {
x := a / G
//fmt.Println(x)
v := uint32(0)
for i := 17; i >= 0; i-- {
for i := 16; i >= 0; i-- {
t := float32(1.0 / math.Pow(2, float64(17-i)))
if t > x {
continue
@ -43,6 +37,12 @@ func encodeAcc(a float32) (d2, d1, d0 byte) {
d0 = byte(v)
d1 = byte(v >> 8)
d2 = byte(v >> 16)
//accCode := v << 8 //数据向左移动8位,取后3个字节
//d2 = byte(accCode >> 16) //取出d2数据
//d1 = byte(accCode >> 8 << 8) // & 0xff //取出d1
//d0 = byte(accCode << 20) //& 0xf //取出d0高2位
//fmt.Printf("%b, %b, %b\n", d2, d1, d0)
return
}
@ -72,36 +72,42 @@ func (acc *Accelerometer) BuildCanData() []byte {
}
func (acc *Accelerometer) Encode() []byte {
d2, d1, d0 := encodeAcc(acc.Acc)
if acc.Acc > 0 {
setBit(d2, 7, 0)
} else {
setBit(d2, 7, 1)
}
data := make([]byte, 0)
data = append(data, accHeader)
data = append(data, uaidDefault)
data = append(data, d0)
data = append(data, d1)
data = append(data, d2)
data = append(data, acc.Aux)
data = append(data, byte(0))
cs := checkSum(data)
data = append(data, ^cs+1)
data = append(data, cs)
return data
}
func checkSum(data []byte) byte {
var sum byte = 0
var sum uint16 = 0
for _, d := range data {
sum += d
sum += uint16(d)
}
return sum
highByte := byte(sum >> 8) // 取高8位
lowByte := byte(sum) // 取低8位
secondSum := highByte + lowByte // 再次累加
//inverse := ^secondSum
return ^secondSum
}
func (acc *Accelerometer) Decode(Packet []byte) error {
if len(Packet) < 7 {
return fmt.Errorf("")
}
data := uint32(Packet[4])<<16 | uint32(Packet[3])<<8 | uint32(Packet[2])
// 应用屏蔽以移除标志位和编码位
data &= ReadingMask
// 将Q31值转换为float32加速度值（g）
acceleration := float32(float32(data) * (1.0 / float32(FullScaleG)))
decode2Acc(Packet[4], Packet[3], Packet[2])
fmt.Println(acceleration)
return nil
}

270
third_party/message/btm_vobc_data.go vendored Normal file
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@ -0,0 +1,270 @@
package message
import (
"bytes"
"encoding/binary"
"encoding/hex"
"fmt"
"github.com/snksoft/crc"
"log/slog"
"strconv"
"sync"
)
const (
TRAIN_BTM_ENDA = 0x75E1
TRAIN_BTM_ENDB = 0x75E2
ID_COMMAND_TYPE = 0xF8 //命令帧
REQT_TYPE = 0xE6 //请求帧
)
const (
COMMAND_TYPE = 0x90 //ID 命令帧 VOBC→BTM20 字节
REQUEST_TYPE = 0x91 //请求帧 VOBC→BTM34 字节
MESSAGE_TYPE = 0x92 //报文帧 BTM→VOBC 135 字节
FREE_MESSAGE_TYPE = 0x94 //空闲帧 BTM→VOBC 135 字节
)
var PACKAGE_HEAD = []byte{0xFF, 0xFE}
var PACKAGE_END = []byte{0xFF, 0xFD}
func BtmVobcDecode(packData []byte) (byte, []byte, error) {
head := packData[:2]
end := packData[len(packData)-2:]
if !bytes.Equal(head, PACKAGE_HEAD) || !bytes.Equal(end, PACKAGE_END) {
slog.Error("btm vobc 数据包头或包尾尾错误", hex.EncodeToString(packData))
return 0, nil, fmt.Errorf("btm vobc 数据包头或包尾尾错误")
}
data := packData[2 : len(packData)-2]
command := data[0]
if command != ID_COMMAND_TYPE && command != REQT_TYPE {
slog.Error("btm vobc 解析未知命令帧", strconv.FormatInt(int64(command), 16), command)
return 0, nil, fmt.Errorf("btm vobc 解析未知命令帧")
}
dataText := data[1:]
frameType := dataText[0]
return frameType, dataText, nil
/* if frameType == COMMAND_TYPE {
} else if frameType == REQUEST_TYPE {
} else {
slog.Error("btm vobc 解析未知命令帧类型", strconv.FormatInt(int64(frameType), 16))
return
}*/
}
type BaseBtmVobc struct {
Frame byte //帧类型
FrameLen byte //帧长定义为 TEXT+CRC32，ID 命令帧为 20 字节；
AutoIdFrame byte // 无论何时传输数据，该数都在 1-255 范围内递增，在错误重传时也是递增的，255 之后是 1，不使用 0；
Crc32 uint32
}
func baseDecode(d []byte) (BaseBtmVobc, []byte) {
frame := d[0]
frameLen := d[1]
autoIdFrame := d[2]
crc32 := binary.BigEndian.Uint32(d[len(d)-4:])
realData := d[3 : len(d)-4]
return BaseBtmVobc{Frame: frame, FrameLen: frameLen, Crc32: crc32, AutoIdFrame: autoIdFrame}, realData
}
func baseEncode(source []byte) []byte {
data := make([]byte, 0)
crc32 := crc.CalculateCRC(crc.CRC32, source)
newSource := binary.BigEndian.AppendUint32(source, uint32(crc32))
data = append(data, PACKAGE_HEAD...)
data = append(data, newSource...)
data = append(data, PACKAGE_END...)
return data
}
// ID 命令帧的正文
type BtmVobcIdCommand struct {
BaseBtmVobc
BtmId uint16 //VOBC 向 BTM 分配的 ID，暂定 0x75E1 或者0x75A2，其他无效；
VobcId uint16 //暂定 0x5511，其他无效
VobcLifeNum uint32 //7~10 1~FFFFFFFF，0 不使用
yuliu []byte //11-15 预留字节
}
func (b *BtmVobcIdCommand) Decode(data []byte) {
base, realData := baseDecode(data)
b.BaseBtmVobc = base
b.BtmId = binary.BigEndian.Uint16(realData[0:2])
b.VobcId = binary.BigEndian.Uint16(realData[2:4])
b.VobcLifeNum = binary.BigEndian.Uint32(realData[4:8])
}
// 请求帧的正文
type BtmVobcReq struct {
BaseBtmVobc
FrameStatus byte //帧正确/不正确 06h：帧正确15h：不正确00h：开机状态填00 其它无效
MessageType byte // 空闲/报文数据 05h：空闲0Ah：报文数据00h：开机状态填00 其它无效
MessageSerial byte //报文序列号 1-255；开机时使用0
yuliu []byte //预留字节（10 字节）
VobcLifeNum uint32 // VOBC 周期号 1~FFFFFFFF，0 不使用
TimeStamp []byte //年月日时分秒各占一个字节
Speed uint16 //速度 单位：cm/s
VobcLifeWalkDistance uint16 //VOBC 周期走行距离 单位：cm
}
func (b *BtmVobcReq) Decode(data []byte) {
base, realData := baseDecode(data)
b.BaseBtmVobc = base
b.FrameStatus = realData[0]
b.MessageType = realData[1]
b.MessageSerial = realData[2]
b.yuliu = realData[3:13]
b.VobcLifeNum = binary.BigEndian.Uint32(realData[13:17])
b.TimeStamp = realData[17:25]
b.Speed = binary.BigEndian.Uint16(realData[25:26])
b.VobcLifeWalkDistance = binary.BigEndian.Uint16(realData[26:27])
}
var MESSAGE_AUTO_ID byte = 1
var MESSAGE_SERIAL byte = 1
var lock sync.Mutex
func getAutoId() byte {
defer lock.Unlock()
lock.Lock()
if MESSAGE_AUTO_ID <= 0 {
MESSAGE_AUTO_ID = 1
} else if MESSAGE_AUTO_ID > 255 {
MESSAGE_AUTO_ID = 1
}
MESSAGE_AUTO_ID += 1
return MESSAGE_AUTO_ID
}
func getAutoMessageId() byte {
defer lock.Unlock()
lock.Lock()
if MESSAGE_SERIAL <= 0 {
MESSAGE_SERIAL = 1
} else if MESSAGE_SERIAL > 255 {
MESSAGE_SERIAL = 1
}
MESSAGE_SERIAL += 1
return MESSAGE_SERIAL
}
const (
btm_status_ok = 0x00
btm_status_warn = 0x04
)
var mesage_yuliu = []byte{0, 0, 0, 0, 0, 0, 0, 0, 0}
// 报文帧的正文
type BtmVobcMessage struct {
BaseBtmVobc
FontTtl uint16 //前沿 TTL 时间 单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms
MsgSerial byte //报文序列号 1-255；不使用 0
BtmStatus byte //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI进行故障提示并向ATS 汇报
Enter1 byte //1 通道好码率 0~100
Enter2 byte //2 通道好码率 0~100
DecodeTime uint16 //解码时间：从包络前沿到解码成功的时间，单位0.1ms。
yuliu []byte //11~19 预留 填 0
BackTtl uint16 //后沿 TTL 时间单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms.
BtmMsg []byte //22~125 应答器报文
ResponseTime byte //0~150，其他非法，单位0.1ms 误差小于 3ms
VobcLifeNum uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
}
func (b *BtmVobcMessage) Encode() []byte {
data := make([]byte, 0)
buf := bytes.NewBuffer(data)
b.MsgSerial = getAutoMessageId()
binary.Write(buf, binary.BigEndian, byte(MESSAGE_TYPE))
binary.Write(buf, binary.BigEndian, byte(0x87))
binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
//binary.Write(buf, binary.BigEndian, getAutoId())
binary.Write(buf, binary.BigEndian, b.FontTtl)
binary.Write(buf, binary.BigEndian, b.MsgSerial)
binary.Write(buf, binary.BigEndian, b.BtmStatus)
binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter1
binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter2
binary.Write(buf, binary.BigEndian, b.DecodeTime)
binary.Write(buf, binary.BigEndian, mesage_yuliu)
binary.Write(buf, binary.BigEndian, b.BackTtl)
binary.Write(buf, binary.BigEndian, b.BtmMsg)
binary.Write(buf, binary.BigEndian, b.ResponseTime)
binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
return baseEncode(buf.Bytes())
}
var yuliu3 = []byte{0, 0, 0, 0, 0, 0}
type BtmVobcMsgFree struct {
BaseBtmVobc
//yuliu1 byte
//yuliu2 byte
MsgSerial byte //1-255；开机时为0
BtmStatus byte //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI 进行故障提示并向ATS 汇报
WorkTemperature byte
//yuliu3 []byte //8~13 保留 填 0
//0-1 位 功放 1 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
//2-3 位 功放 1 电压状态 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
//4-5 位 （预留） 功放 2 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
//6-7 位 功放 2 电压状 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
//8-9 位 天线 1 状态 天线 1 状态：“1”-故障；“3”-正常。
//10-11 位 线缆 1 状态 线缆 1 状态：“1”-开路；“2”-短路；“3”-正常。
//12-13 位 （预留） 天线 2 状态 天线 2 状态：“1”-故障；“3”-正常。
//14-15 位 （预留） 线缆 2 状态 线缆 2 状态：“1”-开路；“2”-短路；“3”-正常。
Fun1 uint16 //第 14-15 字节（功放板、天线状态）
//第 0 位 上行自检码检测通道 1 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
//第 1 位 上行自检码检测通道 2 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
//第 2 位 FSK 连接线状态通道 1状态：“1”-正常；“0”-故障。
//第 3 位 FSK 连接线状态通道 2状态：“1”-正常；“0”-故障。
//第 4-5 位 保留 保留
//第 6-7 位 接收板状态 状态：“0”-双通道故障；“1”-单通道故障；“3”-正常第
//8-15位保留 保留
Fun2 uint16 //第 16-17 字节（接收板状态）
//第 0-1 位 通 道 1-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
//第 2-3 位 通 道 2-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
//第 4 位 通 道 1-23V 状态 状态：“1”-正常；“0”-故障。
//第 5 位 通 道 2-23V 状态 状态：“1”-正常；“0”-故障。
//第 6-13位保留 保留
//第 14-15位 电源板状态 电源板状态：“0”-故障；“1”-单通道故障；“2”-单通道故障；“3”- 正常。
Fun3 uint16 //第 18-19 字节（电源板状态）
//第 0-1 位 板卡 ID 槽位号 “0”-1 号板卡；“1”-2 号板卡；“2”-3 号板卡；“3”-4 号板卡机箱正面从右往左顺序为处理器板1,2,3（预留）,4（预留），同一个通信周期只有一个板卡报警
//第 2-3 位 工作温度状态 “0”-过高；“1”-温度报警；“2”-未知；“3”-正常。
//其他位保留 注：保留位全部为1
Fun4 uint16 //第 20-21 字节（处理器板）
FreeMsg []byte //22~125 空闲数据 全填 00H
RespTime byte //响应时间 0~150，其他非法，单位0.1ms
VobcLifeNum uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
}
func (b *BtmVobcMsgFree) Encode() []byte {
data := make([]byte, 0)
buf := bytes.NewBuffer(data)
b.MsgSerial = getAutoMessageId()
binary.Write(buf, binary.BigEndian, byte(FREE_MESSAGE_TYPE))
binary.Write(buf, binary.BigEndian, byte(0x87))
//binary.Write(buf, binary.BigEndian, getAutoId())
binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
binary.Write(buf, binary.BigEndian, byte(0)) //保留
binary.Write(buf, binary.BigEndian, byte(0)) //保留
binary.Write(buf, binary.BigEndian, b.MsgSerial)
binary.Write(buf, binary.BigEndian, b.BtmStatus)
binary.Write(buf, binary.BigEndian, b.WorkTemperature)
binary.Write(buf, binary.BigEndian, yuliu3)
binary.Write(buf, binary.BigEndian, b.Fun1)
binary.Write(buf, binary.BigEndian, b.Fun2)
binary.Write(buf, binary.BigEndian, b.Fun3)
binary.Write(buf, binary.BigEndian, b.Fun4)
binary.Write(buf, binary.BigEndian, b.FreeMsg)
binary.Write(buf, binary.BigEndian, b.RespTime)
binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
return baseEncode(buf.Bytes())
}

3
third_party/radar/radar_vobc.go vendored
View File

@ -66,7 +66,10 @@ func (rv *radarVobc) Start(radar RadarVobcManager) {
// sendRadarInfo 发送速度，位移计数 给vobc
func (rv *radarVobc) SendMsg(ri *message.RadarInfo) {
if rv.vobcClient != nil {
rv.vobcClient.Send(ri.Encode())
}
}
func (rv *radarVobc) TrainSpeedSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
forward := trainState.VobcState.DirectionForward