From 5f6a768b35d1d533e7bba8d64f01586f8238800e Mon Sep 17 00:00:00 2001
From: weizhihong <weizhihong@joylink.club>
Date: Mon, 30 Oct 2023 15:23:56 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E5=AF=B9=E8=81=94=E9=94=81=E6=8E=A5?=
 =?UTF-8?q?=E5=8F=97=E6=B6=88=E6=81=AF=E8=A7=A3=E6=9E=90=E3=80=91?=
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---
 third_party/message/interlock.go | 36 +++++++++++++++++++++++++-------
 1 file changed, 29 insertions(+), 7 deletions(-)

diff --git a/third_party/message/interlock.go b/third_party/message/interlock.go
index 4edc56a..3868239 100644
--- a/third_party/message/interlock.go
+++ b/third_party/message/interlock.go
@@ -90,11 +90,19 @@ type InterlockReceiveMsgPkg struct {
 	toagent_len    int32
 	et_out_num     int32
 	tcc_output_len int32
-	Header         *InterlockMsgPkgHeader // 包头
-	SyncZone       []bool                 // 同步区状态
-	DriveInfo      []bool                 // 驱动数据
-	TccInfo        []bool                 // 应答器报文
-	Tail           *InterlockMsgPkgTail   // 包尾
+	Header         *InterlockMsgPkgHeader      // 包头
+	SyncZone       []byte                      // 同步区状态
+	DriveInfo      []bool                      // 驱动数据
+	TccInfo        []*InterlockResponderMsgPkg // 应答器报文
+	Tail           *InterlockMsgPkgTail        // 包尾
+}
+
+// 应答器数据格式
+type InterlockResponderMsgPkg struct {
+	Index         byte
+	InternalIndex byte
+	Reserve       byte
+	MsgInfo       []byte
 }
 
 // ET_OUT_NUM、TOAGENTLEN、TCC_OUTPUT_LEN（应答器数量*131）的具体数值取决于数据配置。
@@ -115,7 +123,7 @@ func (t *InterlockReceiveMsgPkg) Decode(buf []byte) error {
 	// 同步区状态
 	preIndex = lastIndex
 	lastIndex = lastIndex + t.toagent_len
-	t.parseByte(t.SyncZone, buf, preIndex, lastIndex)
+	t.SyncZone = buf[preIndex:lastIndex]
 	// 驱动数据
 	preIndex = lastIndex
 	lastIndex = lastIndex + t.et_out_num
@@ -123,7 +131,7 @@ func (t *InterlockReceiveMsgPkg) Decode(buf []byte) error {
 	// 应答器报文
 	preIndex = lastIndex
 	lastIndex = lastIndex + t.tcc_output_len
-	t.parseByte(t.TccInfo, buf, preIndex, lastIndex)
+	t.TccInfo = parseResponder(buf, preIndex, lastIndex)
 	// 包尾
 	t.Tail.Decode(buf)
 	return nil
@@ -137,3 +145,17 @@ func (t *InterlockReceiveMsgPkg) parseByte(r []bool, buf []byte, start, end int3
 		}
 	}
 }
+
+func parseResponder(buf []byte, start, end int32) []*InterlockResponderMsgPkg {
+	var msgs []*InterlockResponderMsgPkg
+	for i := start; i < end; i = i + 128 {
+		b := buf[i : i+128]
+		msgs = append(msgs, &InterlockResponderMsgPkg{
+			Index:         b[0],
+			InternalIndex: b[1],
+			Reserve:       b[2],
+			MsgInfo:       b[3:],
+		})
+	}
+	return msgs
+}