[重写]11号线BTM与VOBC通信服务
This commit is contained in:
parent
64a5989b71
commit
5735f54b30
@ -67,7 +67,7 @@ type ThirdPartyConfig struct {
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RsspAxleConfig RsspAxleConfig `json:"rsspAxleCfgs" description:"计轴通信配置"`
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//ElectricMachinery ElectricMachineryConfig `json:"electricMachinery" description:"电机配置"`
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ElectricMachinerys []ElectricMachineryConfig `json:"electricMachinerys" description:"电机配置"`
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BtmCanet BtmCanetConfig `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
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BtmCanet BtmCanetConfig `json:"btmCanet" description:"11号线工装配置"` //废字段再利用
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CidcModbus []CidcModbusConfig `json:"cidcModbus" description:"联锁驱采Modbus接口配置"`
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Radar RadarConfig `json:"radar" description:"车载雷达相关配置"`
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Acc AccConfig `json:"acc" description:"车载加速计"`
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@ -1 +1 @@
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Subproject commit 073f5e3156b66343ff283ba3530b4d3d63ca4461
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Subproject commit b7bc9bdb1f72aded0cd0d1f5c2d6970e6d1cef76
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301
third_party/btm_vobc/beijing11/msg.go
vendored
Normal file
301
third_party/btm_vobc/beijing11/msg.go
vendored
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@ -0,0 +1,301 @@
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package beijing11
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import (
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"encoding/binary"
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"github.com/snksoft/crc"
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"joylink.club/bj-rtsts-server/util/myreader"
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)
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const ( //数据帧外层增加用于区分ID命令帧和请求帧的帧类型字段
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id_Tupe = 0xF8
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rqst_Type = 0xE6
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)
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type frameType = byte
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const (
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frameType_ID frameType = 0x90 //ID命令帧
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frameType_Req frameType = 0x91 //请求帧
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frameType_Telegram frameType = 0x92 //报文帧
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frameType_Free frameType = 0x94 //空闲帧
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)
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type frameState = byte //帧正确/不正确（不好起名字，就这么着吧）
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const ( //以下以外的值无效
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fs_Correct frameState = 0x06 //帧正确
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fs_Error frameState = 0x15 //不正确
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fs_Init frameState = 0x00 //开机
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)
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type telegramState = byte //空闲/报文数据
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const ( //以下以外的值无效
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telegram_free = 0x05 //空闲
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telegram_on = 0x0A //报文数据
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telegram_init = 0x00 //开机
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)
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type btmWorkState byte
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const (
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bws_normal btmWorkState = 0x00 //正常工作
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bws_minorFault btmWorkState = 0x04 //警告BTM有轻微故障（单套故障，整机能工作），向 BDMS 汇报；
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bws_fault btmWorkState = 0xFF //BTM故障，不能正常工作；在MMI进行故障提示并向 ATS 汇报。
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)
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type ivState uint16 //电流/电压的状态
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const (
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iv_under ivState = 1 //欠流/欠压状态
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iv_over ivState = 2 //过流/过压状态
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iv_normal ivState = 3 //正常
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)
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type cableState uint16 //线缆状态
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const (
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cable_open cableState = 1 //开路
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cable_short cableState = 2 //短路
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cable_normal cableState = 3 //正常
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)
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type receiverBoardState uint16
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const (
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rbs_doubleFault receiverBoardState = 0 //双通道故障
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rbs_singleFault receiverBoardState = 1 //单通道故障
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rbs_normal receiverBoardState = 3 //正常
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)
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type powerBoardState uint16
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const (
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pbs_fault powerBoardState = 0 //故障
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pbs_singleFault powerBoardState = 1 //单通道故障
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pbs_doubleFault powerBoardState = 2 //双通道故障（文档写的单通道，应该是写错了）
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pbs_normal powerBoardState = 3 //正常
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)
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type cpuWorkTemperatureState uint16
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const (
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wts_tooHigh cpuWorkTemperatureState = 0 //过高
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wts_alarm cpuWorkTemperatureState = 1 //温度报警
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wts_unknown cpuWorkTemperatureState = 2 //未知
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wts_normal cpuWorkTemperatureState = 3 //正常
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)
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type baseFrame struct {
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frameType frameType //帧类型
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len byte //帧长
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id byte //递增的ID码
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}
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func (b *baseFrame) decode(data []byte) error {
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b.frameType = data[0]
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b.len = data[1]
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b.id = data[2]
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return nil
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}
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type idFrame struct {
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baseFrame
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btmId uint16 //BTM的ID
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vobcId uint16 //VOBC的ID
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vobcCycle uint32 //VOBC周期号（1~0xFFFFFFFF，0不使用）
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reservedBytes []byte //预留字节（4字节）
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}
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func (i *idFrame) decode(data []byte) error {
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err := i.baseFrame.decode(data)
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if err != nil {
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return err
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}
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reader := myreader.NewReader(data[3:])
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i.btmId = binary.BigEndian.Uint16(reader.ReadBytes(2))
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i.vobcId = binary.BigEndian.Uint16(reader.ReadBytes(2))
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i.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
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return reader.Err
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}
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type reqFrame struct {
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baseFrame
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frameState frameState //帧正确/不正确
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telegramState telegramState //空闲/报文数据
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sn byte //报文序列号。1-255；开机时使用 0
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reservedBytes []byte //预留字节（10字节）
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vobcCycle uint32 //VOBC周期号（1~0xFFFFFFFF，0不使用）
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time []byte //年月日时分秒各占一个字节
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speed uint16 //速度 单位：cm/s
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vobcCycleDistance uint16 //周期走行距离 单位：cm
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}
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func (r *reqFrame) decode(data []byte) error {
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err := r.baseFrame.decode(data)
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if err != nil {
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return err
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}
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reader := myreader.NewReader(data[3:])
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r.frameState = reader.ReadByte()
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r.telegramState = reader.ReadByte()
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r.sn = reader.ReadByte()
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r.reservedBytes = reader.ReadBytes(10)
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r.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
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r.time = reader.ReadBytes(6)
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r.speed = binary.BigEndian.Uint16(reader.ReadBytes(2))
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r.vobcCycleDistance = binary.BigEndian.Uint16(reader.ReadBytes(2))
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return reader.Err
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}
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type telegramFrame struct {
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id byte //递增的id码
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headTTLTime uint16 //前沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
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sn byte //报文序列号。1-255，不使用0
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btmWorkState btmWorkState //BTM工作状态
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channel1GoodBitRate byte //1通道好码率（0~100）
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channel2GoodBitRate byte //2通道好码率（0~100）
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decodeDuration uint16 //解码时间。从包络前沿到解码成功的时间（没写单位，猜测是ms）
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//reservedBytes []byte //预留（9字节）
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tailTTLTime uint16 //后沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
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telegram []byte //应答器报文（104字节）
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responseDuration byte //响应时间。0~150，其他非法，单位0.1ms，误差小于3ms
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vobcReqCycle uint32 //VOBC请求帧周期号。（1~0xFFFFFFFF，不使用0）
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}
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func (t *telegramFrame) encode() []byte {
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data := make([]byte, 0, 150)
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data = append(data, frameType_Telegram)
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data = append(data, 0) //帧长度，占位
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data = append(data, t.id)
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data = binary.BigEndian.AppendUint16(data, t.headTTLTime)
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data = append(data, t.sn)
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data = append(data, byte(t.btmWorkState))
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data = append(data, t.channel1GoodBitRate)
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data = append(data, t.channel2GoodBitRate)
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data = binary.BigEndian.AppendUint16(data, t.decodeDuration)
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data = append(data, make([]byte, 9)...)
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data = binary.BigEndian.AppendUint16(data, t.tailTTLTime)
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data = append(data, t.telegram...)
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data = append(data, t.responseDuration)
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data = binary.BigEndian.AppendUint32(data, t.vobcReqCycle)
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data[1] = byte(len(data) + 4) //帧长度赋值
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data = binary.BigEndian.AppendUint32(data, crc32(data))
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return data
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}
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type freeFrame struct {
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id byte //递增的id码
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sn byte //报文序列号。1-255，开机时为0
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btmWorkState btmWorkState //BTM工作状态
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workTemperature byte //工作温度。单位℃
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//reservedBytes []byte //预留（6字节）
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//14-15字节。功放板、天线状态
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amp1CurrentState ivState //功放1电流状态（0-1位）
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amp1VoltageState ivState //功放1电压状态（2-3位）
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amp2CurrentState ivState //功放2电流状态（4-5位）
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amp2VoltageState ivState //功放2电压状态（6-7位）
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antenna1Fault bool //天线1状态（8-9位）（1故障，3正常）
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cable1State cableState //线缆1状态（10-11位）
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antenna2Fault bool //天线1状态（12-13位）（1故障，3正常）
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cable2State cableState //线缆2状态（14-15位）
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//16-17字节。接收板状态
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selfCheckChannel1Fault bool //上行自检码检测通道1（0位）（1正常，0故障）
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selfCheckChannel2Fault bool //上行自检码检测通道2（1位）（1正常，0故障）
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fskChannel1Fault bool //FSK连接线状态通道1（2位）（1正常，0故障）
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fskChannel2Fault bool //FSK连接线状态通道2（3位）（1正常，0故障）
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receiverBoardState receiverBoardState //接收板状态（6-7位）
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//18-19字节。电源板状态
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channel1_24v ivState //通道1 24V状态（0-1位）
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channel2_24v ivState //通道2 24V状态（2-3位）
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channel1_23vFault bool //通道1 23V状态（4位）（1正常，0故障）
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channel2_23vFault bool //通道2 23V状态（5位）（1正常，0故障）
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powerBoardState powerBoardState //电源板状态（14-15位）
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//20-21字节。处理器板
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cpuBoardId byte //板卡ID槽位号（0-1位）（0-1号板卡，1-2号板卡，类推）
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cpuWorkTemperatureState cpuWorkTemperatureState //工作温度状态（2-3位）
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//freeData []byte //空闲数据（104字节，全填0）
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responseDuration byte //相应时间，0-150，其他非法，单位0.1ms
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vobcCycle uint32 //VOBC请求帧周期号
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}
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func (f *freeFrame) encode() []byte {
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data := make([]byte, 0, 150)
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data = append(data, frameType_Free)
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data = append(data, 0) //帧长度，占位
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data = append(data, f.id)
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data = append(data, f.sn)
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data = append(data, byte(f.btmWorkState))
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data = append(data, f.workTemperature)
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data = append(data, make([]byte, 6)...)
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//功放板、天线状态
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var ampState uint16
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ampState += uint16(f.amp1CurrentState) << 15
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ampState += uint16(f.amp1VoltageState) << 13
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ampState += uint16(f.amp2CurrentState) << 11
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ampState += uint16(f.amp2VoltageState) << 9
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if f.antenna1Fault {
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ampState += uint16(1) << 7
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} else {
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ampState += uint16(3) << 7
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}
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ampState += uint16(f.cable1State) << 5
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if f.antenna2Fault {
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ampState += uint16(1) << 3
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} else {
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ampState += uint16(3) << 3
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}
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ampState += uint16(f.cable2State)
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data = binary.BigEndian.AppendUint16(data, ampState)
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//接收板状态
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var receiverState uint16
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if !f.selfCheckChannel1Fault {
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receiverState += uint16(1) << 15
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}
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if !f.selfCheckChannel2Fault {
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receiverState += uint16(1) << 14
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}
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if !f.fskChannel1Fault {
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receiverState += uint16(1) << 13
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}
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if !f.fskChannel2Fault {
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receiverState += uint16(1) << 12
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}
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receiverState += uint16(f.receiverBoardState) << 9
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data = binary.BigEndian.AppendUint16(data, receiverState)
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//电源板状态
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var powerState uint16
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powerState += uint16(f.channel1_24v) << 15
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powerState += uint16(f.channel2_24v) << 13
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if !f.channel1_23vFault {
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powerState += uint16(1) << 11
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}
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if !f.channel2_23vFault {
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powerState += uint16(1) << 10
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}
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powerState += uint16(f.powerBoardState)
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data = binary.BigEndian.AppendUint16(data, powerState)
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//处理器板
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var cpuState uint16
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cpuState += uint16(f.cpuBoardId) << 15
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cpuState += uint16(f.cpuWorkTemperatureState) << 13
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data = binary.BigEndian.AppendUint16(data, cpuState)
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//其它
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data = append(data, make([]byte, 104)...)
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data = append(data, f.responseDuration)
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data = binary.BigEndian.AppendUint32(data, f.vobcCycle)
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data[1] = byte(len(data) + 4) //帧长度赋值
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data = binary.BigEndian.AppendUint32(data, crc32(data))
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return data
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}
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var crcHash = crc.NewHash(&crc.Parameters{
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Width: 32,
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Polynomial: crc.CRC32.Polynomial,
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ReflectIn: false,
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ReflectOut: false,
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Init: 0xFFFFFFFF,
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FinalXor: 0,
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})
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func crc32(data []byte) uint32 {
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return uint32(crcHash.CalculateCRC(data))
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}
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214
third_party/btm_vobc/beijing11/service.go
vendored
Normal file
214
third_party/btm_vobc/beijing11/service.go
vendored
Normal file
@ -0,0 +1,214 @@
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package beijing11
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import (
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"bytes"
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"encoding/hex"
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"fmt"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/bj-rtsts-server/third_party/tpapi"
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"joylink.club/bj-rtsts-server/third_party/udp"
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"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
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"log/slog"
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"sync"
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)
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var (
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logTag = "[北京11号线BTM-VOBC通信]"
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privateLogger *slog.Logger
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loggerInit sync.Once
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)
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var (
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mu = sync.Mutex{} //启动任务时使用，避免重复启动任务
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serviceCtx *serviceContext //当前正在运行的服务
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)
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type serviceContext struct {
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simulation *memory.VerifySimulation
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client udp.UdpClient
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server udp.UdpServer
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id 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
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sn byte //报文序列号。1-255；开机时使用0
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lastCmdId byte //vobc ID命令帧最新的ID码（1~255，不使用0）
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lastReqId byte //vobc 请求帧最新的ID码（1~255，不使用0）
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btmId uint16 //BTM的id
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vobcId uint16 //VOBC的id
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state tpapi.ThirdPartyApiServiceState
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}
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func Start(sim *memory.VerifySimulation) {
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config := sim.GetRunConfig().BtmVobc
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client := udp.NewClient(fmt.Sprintf("%s:%d", config.RemoteIp, config.RemoteUdpPort))
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serviceCtx := serviceContext{
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simulation: sim,
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client: client,
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}
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server := udp.NewServer(fmt.Sprintf(":%d", config.LocalUdpPort), serviceCtx.handle)
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err := server.Listen()
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if err != nil {
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Stop(sim)
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return
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}
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serviceCtx.server = server
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serviceCtx.state = tpapi.ThirdPartyState_Normal
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}
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func Stop(sim *memory.VerifySimulation) {
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if serviceCtx != nil && serviceCtx.simulation == sim {
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if serviceCtx.server != nil {
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serviceCtx.server.Close()
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}
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if serviceCtx.client != nil {
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serviceCtx.client.Close()
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}
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serviceCtx = nil
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logger().Info("服务停止")
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}
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}
|
||||
|
||||
func (s *serviceContext) handle(data []byte) {
|
||||
logger().Info(fmt.Sprintf("收到数据：%x", data))
|
||||
if !bytes.HasPrefix(data, []byte{0xFF, 0xFE}) || !bytes.HasSuffix(data, []byte{0xFF, 0xFD}) {
|
||||
logger().Error("帧头/帧尾不对，丢弃数据")
|
||||
return
|
||||
}
|
||||
decodeBytes, _ := message.TranslateFromFFFE(data[3 : len(data)-2])
|
||||
switch data[2] {
|
||||
case id_Tupe:
|
||||
frame := idFrame{}
|
||||
err := frame.decode(decodeBytes)
|
||||
if err != nil {
|
||||
logger().Error(fmt.Sprintf("id命令帧解析出错：%s", err))
|
||||
return
|
||||
}
|
||||
s.handleIdFrame(&frame)
|
||||
case rqst_Type:
|
||||
frame := reqFrame{}
|
||||
err := frame.decode(decodeBytes[20 : len(decodeBytes)-2]) //RSSP-I协议部分不做校验，直接忽略
|
||||
if err != nil {
|
||||
logger().Error(fmt.Sprintf("请求帧解析出错：%s", err))
|
||||
return
|
||||
}
|
||||
s.handleReqFrame(&frame)
|
||||
}
|
||||
}
|
||||
|
||||
func (s *serviceContext) handleIdFrame(frame *idFrame) {
|
||||
if frame.id < s.lastCmdId {
|
||||
logger().Error(fmt.Sprintf("vobc ID命令帧id倒退[%d：%d]", s.lastCmdId, frame.id))
|
||||
}
|
||||
s.lastCmdId = frame.id
|
||||
s.btmId = frame.btmId
|
||||
s.vobcId = frame.vobcId
|
||||
rspFrame := freeFrame{
|
||||
id: s.nextId(),
|
||||
sn: s.nextSn(),
|
||||
btmWorkState: bws_normal,
|
||||
workTemperature: 20,
|
||||
amp1CurrentState: iv_normal,
|
||||
amp1VoltageState: iv_normal,
|
||||
amp2CurrentState: iv_normal,
|
||||
amp2VoltageState: iv_normal,
|
||||
antenna1Fault: false,
|
||||
cable1State: cable_normal,
|
||||
antenna2Fault: false,
|
||||
cable2State: cable_normal,
|
||||
selfCheckChannel1Fault: false,
|
||||
selfCheckChannel2Fault: false,
|
||||
fskChannel1Fault: false,
|
||||
fskChannel2Fault: false,
|
||||
receiverBoardState: rbs_normal,
|
||||
channel1_24v: iv_normal,
|
||||
channel2_24v: iv_normal,
|
||||
channel1_23vFault: false,
|
||||
channel2_23vFault: false,
|
||||
powerBoardState: pbs_normal,
|
||||
cpuBoardId: 0,
|
||||
cpuWorkTemperatureState: wts_normal,
|
||||
responseDuration: 0,
|
||||
vobcCycle: frame.vobcCycle,
|
||||
}
|
||||
encode := rspFrame.encode()
|
||||
err := s.client.Send(encode)
|
||||
if err != nil {
|
||||
logger().Error("发送数据失败")
|
||||
} else {
|
||||
logger().Info(fmt.Sprintf("回复ID命令帧：%x", encode))
|
||||
}
|
||||
}
|
||||
|
||||
func (s *serviceContext) handleReqFrame(frame *reqFrame) {
|
||||
if frame.frameState == fs_Error {
|
||||
logger().Info("上一帧的报文序列或者CRC检查不正确")
|
||||
}
|
||||
if frame.id <= s.lastReqId {
|
||||
logger().Info(fmt.Sprintf("vobc请求帧id倒退【%d：%d】", s.lastReqId, frame.id))
|
||||
return
|
||||
}
|
||||
s.lastReqId = frame.id
|
||||
|
||||
s.simulation.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
|
||||
trainState := value.(*state_proto.TrainState)
|
||||
if trainState.ConnState.Conn && trainState.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
|
||||
telFrame := telegramFrame{}
|
||||
telFrame.id = s.nextId()
|
||||
telFrame.headTTLTime = 1
|
||||
telFrame.sn = s.nextSn()
|
||||
telFrame.btmWorkState = bws_normal
|
||||
telFrame.channel1GoodBitRate = 100
|
||||
telFrame.channel2GoodBitRate = 100
|
||||
telFrame.decodeDuration = 1
|
||||
telFrame.tailTTLTime = 1
|
||||
for _, bs := range trainState.BtmBaliseCacheA.BaliseList {
|
||||
if !bs.IsSend {
|
||||
telegram, err := hex.DecodeString(bs.Telegram)
|
||||
if err != nil {
|
||||
logger().Error(fmt.Sprintf("用户报文解码出错：%s", err))
|
||||
continue
|
||||
}
|
||||
telFrame.telegram = telegram
|
||||
}
|
||||
}
|
||||
telFrame.responseDuration = 10
|
||||
telFrame.vobcReqCycle = frame.vobcCycle
|
||||
|
||||
encode := telFrame.encode()
|
||||
err := s.client.Send(encode)
|
||||
if err != nil {
|
||||
logger().Error("发送数据失败")
|
||||
} else {
|
||||
logger().Info(fmt.Sprintf("回复vobc请求帧：%x", encode))
|
||||
}
|
||||
return false
|
||||
}
|
||||
return true
|
||||
})
|
||||
}
|
||||
|
||||
func (s *serviceContext) nextId() byte {
|
||||
s.id++
|
||||
if s.id == 0 {
|
||||
s.id++
|
||||
}
|
||||
return s.id
|
||||
}
|
||||
|
||||
func (s *serviceContext) nextSn() byte {
|
||||
tmp := s.sn
|
||||
s.sn++
|
||||
if s.sn == 0 {
|
||||
s.sn++
|
||||
}
|
||||
return tmp
|
||||
}
|
||||
|
||||
func logger() *slog.Logger {
|
||||
loggerInit.Do(func() {
|
||||
privateLogger = slog.Default().With("tag", logTag)
|
||||
})
|
||||
return privateLogger
|
||||
}
|
||||
@ -61,7 +61,7 @@ func (s *serviceContext) ServiceDesc() string {
|
||||
}
|
||||
|
||||
func Start(simulation *memory.VerifySimulation) {
|
||||
config := simulation.GetRunConfig().BtmVobc
|
||||
config := simulation.GetRunConfig().BtmCanet
|
||||
if !config.Open {
|
||||
return
|
||||
}
|
||||
@ -82,7 +82,7 @@ func Start(simulation *memory.VerifySimulation) {
|
||||
}
|
||||
|
||||
func Stop(simulation *memory.VerifySimulation) {
|
||||
if serviceCtx.simulation == simulation {
|
||||
if serviceCtx != nil && serviceCtx.simulation == simulation {
|
||||
serviceCtx.cancelFunc()
|
||||
if serviceCtx.client != nil {
|
||||
serviceCtx.client.Close()
|
||||
|
||||
@ -5,6 +5,7 @@ import (
|
||||
"joylink.club/bj-rtsts-server/service"
|
||||
"joylink.club/bj-rtsts-server/third_party/acc"
|
||||
axleBeijing12 "joylink.club/bj-rtsts-server/third_party/axle_device/beijing12"
|
||||
btmBeijing11 "joylink.club/bj-rtsts-server/third_party/btm_vobc/beijing11"
|
||||
"joylink.club/bj-rtsts-server/third_party/interlock/beijing11"
|
||||
"joylink.club/bj-rtsts-server/third_party/interlock/beijing12"
|
||||
"joylink.club/bj-rtsts-server/third_party/radar"
|
||||
@ -171,8 +172,8 @@ func runThirdParty(s *memory.VerifySimulation) error {
|
||||
//列车加速计发送vobc
|
||||
acc.Default().Start(s)
|
||||
train_pc_sim.Default().Start(s)
|
||||
//btm vobc
|
||||
semi_physical_train.BtmDefault().Start(s)
|
||||
//11号线VOBC通信
|
||||
btmBeijing11.Start(s)
|
||||
//11号线工装通信
|
||||
trainBeijing11.Start(s)
|
||||
return nil
|
||||
|
||||
Loading…
Reference in New Issue
Block a user