列车车载应答器调试初始

dto/state_proto/device_state.pb.go

@@ -3043,10 +3043,11 @@ type BTMState struct {
 	DataSerialNumber             uint32 `protobuf:"varint,1,opt,name=dataSerialNumber,proto3" json:"dataSerialNumber,omitempty"`                        //数据流水号，0~255变化，每次加一
 	BaliseCount                  uint32 `protobuf:"varint,2,opt,name=baliseCount,proto3" json:"baliseCount,omitempty"`                                  //应答器计数（每过一个应答器加一，在同一个应答器内不变)（0~255）
 	MessageCounter               uint32 `protobuf:"varint,3,opt,name=messageCounter,proto3" json:"messageCounter,omitempty"`                            //报文计数器 (每解出一个报文加一)（0~255）
-	Telegram                     string `protobuf:"bytes,4,opt,name=telegram,proto3" json:"telegram,omitempty"`                                         //报文（16进制字符串）
+	Telegram                     string `protobuf:"bytes,4,opt,name=telegram,proto3" json:"telegram,omitempty"`                                         //应答器用户报文（16进制字符串）
 	Distance                     int64  `protobuf:"varint,5,opt,name=distance,proto3" json:"distance,omitempty"`                                        //BTM天线中心到应答器的距离，mm
 	AboveBalise                  bool   `protobuf:"varint,6,opt,name=aboveBalise,proto3" json:"aboveBalise,omitempty"`                                  //BTM天线即将经过应答器
 	BaliseTelegramForPcSimResend string `protobuf:"bytes,7,opt,name=baliseTelegramForPcSimResend,proto3" json:"baliseTelegramForPcSimResend,omitempty"` //列车pc仿真暂存应答器回复数据
+	Telegram128                  string `protobuf:"bytes,8,opt,name=telegram128,proto3" json:"telegram128,omitempty"`                                   //应答器报文128（16进制字符串）
 }
 
 func (x *BTMState) Reset() {
@@ -3130,6 +3131,13 @@ func (x *BTMState) GetBaliseTelegramForPcSimResend() string {
 	return ""
 }
 
+func (x *BTMState) GetTelegram128() string {
+	if x != nil {
+		return x.Telegram128
+	}
+	return ""
+}
+
 // 动力学相关参数返回数据，因golang float类型数据序列化后丢失精度故使用string
 // 此类型需要与 common_data 中的 TrainDynamicConfig类型属性保持一致
 type TrainDynamicConfigMqtt struct {
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 }
 
 var (

go.mod

@@ -100,3 +100,5 @@ require (
 	gopkg.in/ini.v1 v1.67.0 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 )
+
+require github.com/yousifnimah/Cryptx v1.0.1

go.sum

@@ -222,6 +222,8 @@ github.com/ugorji/go/codec v1.2.11 h1:BMaWp1Bb6fHwEtbplGBGJ498wD+LKlNSl25MjdZY4d
 github.com/ugorji/go/codec v1.2.11/go.mod h1:UNopzCgEMSXjBc6AOMqYvWC1ktqTAfzJZUZgYf6w6lg=
 github.com/yohamta/donburi v1.3.9 h1:sYAPaelSnxmoTGjgH9ZlYt4pUKrnwvAv4YGXxLZCK6E=
 github.com/yohamta/donburi v1.3.9/go.mod h1:5QkyraUjkzbMVTD2b8jaPFy1Uwjm/zdFN1c1lZGaezg=
+github.com/yousifnimah/Cryptx v1.0.1 h1:oZbB6CjvqOzkmoghsncb3/4sV2As8nqOJCjZPd08Xdw=
+github.com/yousifnimah/Cryptx v1.0.1/go.mod h1:vmpiwqtg+fR+KaAisCdz2+6k30jWb+/X7EyUysDKh0U=
 github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
 go.uber.org/atomic v1.9.0 h1:ECmE8Bn/WFTYwEW/bpKD3M8VtR/zQVbavAoalC1PYyE=
 go.uber.org/atomic v1.9.0/go.mod h1:fEN4uk6kAWBTFdckzkM89CLk9XfWZrxpCo0nPH17wJc=

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 2f5d8c3cfdf06ced1a0b0a50f47f9353c441e196
+Subproject commit 3a6df9a689212c49f8728e5eec98b77564307e1b

third_party/can_btm/balise_btm.go

@@ -59,11 +59,14 @@ func (s *btmCanetClient) GetState() state_proto.BTMState {
 	detector := s.baliseDetector
 
 	var telegram string
+	var tel128 string
 	info := detector.eq[len(detector.eq)-1]
 	if /*detector.aboveBalise &&*/ info != nil && len(info.telegram) != 0 {
 		telegram = fmt.Sprintf("%X", info.telegram)
+		tel128 = fmt.Sprintf("%X", info.telegram128)
 	} else {
 		telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
+		tel128 = strings.Repeat("00", balise_const.TelegramByteLen)
 	}
 	var dis int64
 	if info != nil {
@@ -74,6 +77,7 @@ func (s *btmCanetClient) GetState() state_proto.BTMState {
 		BaliseCount:      uint32(detector.baliseCounter),
 		MessageCounter:   uint32(detector.messageCounter),
 		Telegram:         telegram,
+		Telegram128:      tel128,
 		Distance:         dis,
 		AboveBalise:      detector.aboveBalise,
 	}
@@ -163,7 +167,7 @@ func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
 		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)
+			cf := message.NewCanetFrame(cfs[cfStart : cfStart+13])
 			//
 			switch cf.CanFrameType() {
 			case message.CfReq:
@@ -263,7 +267,7 @@ func (s *btmCanetClient) rspResendToAtp() {
 // 当未收到应答器报文时响应：时间同步帧、状态应答帧
 func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 	//BTM状态
-	statusF := message.NewBtmStatusRspFrame(s.atpReqSn, false)
+	statusF := message.NewBtmStatusRspFrame(s.atpReqSn)
 	btmStatus := s.createTrainBtmStatus()
 
 	statusF.AntennaFault = btmStatus.AntennaFault
@@ -284,9 +288,9 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 	//true-收到应答器报文
 	isRcvTelegram := sb != nil && len(sb.telegram) > 0
 	if isRcvTelegram { //当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
-		statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, sb.telegram, false, s.btmTime.TkNow(), s.btmTime.TkNow(), s.btmTime.TkNow(), false)
+		statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, sb.telegram, false, s.btmTime.TkNow(), s.btmTime.TkNow(), s.btmTime.TkNow())
 		if statusDataCfOk {
-			timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn, false)
+			timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
 			timeSyncF.T2 = s.btmTime.BtmTk
 			timeSyncF.T3 = s.btmTime.TkNow()
 			s.sendCanetFrame(timeSyncF.Encode().Encode())
@@ -297,7 +301,7 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 			slog.Warn("BtmCanetClient应答帧、数据帧编码失败")
 		}
 	} else { //当未收到应答器报文时响应：时间同步帧、状态应答帧
-		timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn, false)
+		timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
 		timeSyncF.T2 = s.btmTime.BtmTk
 		timeSyncF.T3 = s.btmTime.TkNow()
 		s.sendCanetFrame(timeSyncF.Encode().Encode())

third_party/can_btm/balise_detection.go

@@ -42,7 +42,8 @@ type BtmAntennaScanningBaliseInfo struct {
 	BaliseId    string                 //应答器id
 	Time        time.Time              //应答器预计被BTM天线激活的时刻
 	active      bool                   //true-激活过，即列车扫过
-	telegram   []byte                 //应答器报文
+	telegram    []byte                 //应答器用户报文
+	telegram128 []byte                 //应答器报文
 	Distance    int64                  //BTM天线中心到应答器的距离，mm
 	BaliseType  proto.Transponder_Type //应答器类型
 }
@@ -88,7 +89,7 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 
 	if curExpect != nil && curExpect.Time.UnixMilli()-curTime.UnixMilli() < 20 { //20ms
 		//slog.Debug("将要激活应答器", "BaliseId", curExpect.BaliseId, "ActiveTime", dt)
-		telegram := t.rcvTelegram(wd, curExpect.BaliseId)
+		telegram, utel := t.rcvTelegram(wd, curExpect.BaliseId)
 
 		if curExpect.Distance <= 50 {
 			btm_vobc.Default().AppendBaliseMsgForTrain(vobcBtm, curExpect.BaliseId, telegram, curTime.UnixMilli())
@@ -97,7 +98,8 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 		if t.addExpectedBalise(curExpect) {
 			t.baliseCounterAdd1() //应答器计数器
 			if len(telegram) > 0 {
-				curExpect.telegram = telegram
+				curExpect.telegram = utel
+				curExpect.telegram128 = telegram
 				t.baliseMessageCounterAdd1() //报文计数器
 
 			}
@@ -137,14 +139,17 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
 }
 
 // BTM天线接收应答器报文(线程不安全)
-func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) []byte {
+func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) ([]byte, []byte) {
 	entry, ok := wd.EntityMap[baliseId]
 	if ok {
 		if component.BaliseWorkStateType.Get(entry).Work {
-			return component.BaliseFixedTelegramType.Get(entry).Telegram
+			tel := component.BaliseFixedTelegramType.Get(entry).Telegram
+			utel := component.BaliseFixedTelegramType.Get(entry).UserTelegram
+			return tel, utel
+			//return component.BaliseFixedTelegramType.Get(entry).Telegram
 		}
 	}
-	return nil
+	return nil, nil
 }
 
 // true-新增；false-更新

third_party/message/accelerometer.go

@@ -67,7 +67,7 @@ func (acc *Accelerometer) BuildCanData() []byte {
 	appData = append(appData, accData...)
 	appData = append(appData, byte(0))
 	canId := CanFrameId{ID1: 0xff, ID2: 0xff, ID3: 0xff, ID4: 0xff}
-	canNet := &CanetFrame{FF: false, RTR: false, CanLen: 7, CanId: canId, CanData: appData, IsTrainPcSim: false}
+	canNet := &CanetFrame{FF: false, RTR: false, CanLen: 7, CanId: canId, CanData: appData}
 	return canNet.Encode()
 }
 func (acc *Accelerometer) Encode() []byte {

third_party/message/btm_data.go

@@ -0,0 +1,94 @@
+package message
+
+import "encoding/binary"
+
+//数据帧（0x80+扩展类型）,一个CAN帧只能存储8个字节，对于一个应答器报文，分片到多个CAN数据帧中
+
+// BtmDataMessageFrame 数据帧-应答器报文
+// offset = [0x00,0x0c] 共13个即可用于存储应答器报文的共104个字节
+// BtmDataMessageTimeAFrame 数据帧-时间戳A
+// offset = 0x0d
+// BtmDataMessageTimeBFrame 数据帧-时间戳B
+// offset = 0x0e
+// BtmDataMessageEndFrame 数据帧-结束
+// offset = 0x7f
+const (
+	DATA_TIME_A_OFFSET = 0x0d
+	DATA_TIME_B_OFFSET = 0x0e
+	DATA_END_OFFSET    = 0x7f
+)
+
+type BtmDataMessageAtpFrame struct {
+	//帧ID
+	FId CanFrameId
+	//8字节,应答器报文片段
+	Message []byte
+}
+type BtmDataMessageAtpTimeAndEndFrame struct {
+	//帧ID
+	FId CanFrameId
+	//时间戳A
+	Time uint32
+	//CRC
+	Crc32 uint32
+}
+
+func CreateBtmDataMessageDataAtpFrame(sn byte, offset byte) *BtmDataMessageAtpFrame {
+	return &BtmDataMessageAtpFrame{
+		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
+	}
+}
+
+func (f *BtmDataMessageAtpFrame) Encode() *BtmHeadFrame {
+	cf := &BtmHeadFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+
+	dataBuf := make([]byte, 0, 8)
+	for _, data := range f.Message {
+		dataBuf = append(dataBuf, data)
+	}
+	cf.CanData = dataBuf
+	return cf
+}
+func (f *BtmDataMessageAtpFrame) Decode(cf *BtmHeadFrame) bool {
+	f.FId = cf.CanId
+	//
+	reader := NewCanBitsReader(cf.CanData, 8)
+	//
+	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
+}
+
+/////////////////////////////////////////////////////
+
+func (atp *BtmDataMessageAtpTimeAndEndFrame) Encode() *BtmHeadFrame {
+	cf := &BtmHeadFrame{}
+	cf.CanId = atp.FId
+	cf.CanLen = 8
+	data := make([]byte, 0)
+	data = binary.BigEndian.AppendUint32(data, atp.Time)
+	data = binary.BigEndian.AppendUint32(data, atp.Crc32)
+	cf.CanData = data
+	return cf
+}
+
+func CreateBtmDataMessageTimeAtpFrame(sn byte, offset byte) *BtmDataMessageAtpTimeAndEndFrame {
+	return &BtmDataMessageAtpTimeAndEndFrame{FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn)}
+}
+
+////////////////////////////////////////////////////////////
+
+func BtmDataMessageEndAtpFrame(sn byte) *BtmDataMessageAtpTimeAndEndFrame {
+	return &BtmDataMessageAtpTimeAndEndFrame{
+		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
+	}
+}

third_party/message/btm_net.go

@@ -0,0 +1,67 @@
+package message
+
+import (
+	"bytes"
+	"encoding/binary"
+	"fmt"
+	"strings"
+)
+
+// CanetFrame USR-CANET200_V1.0.7 设备  以太网-CAN 透传协议帧(12字节)
+type BtmHeadFrame struct {
+	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 NewBtmHeadFrame(buf []byte) *BtmHeadFrame {
+	cf := &BtmHeadFrame{}
+	cf.Decode(buf)
+	return cf
+}
+func (p *BtmHeadFrame) Encode() []byte {
+	buf := make([]byte, 0)
+	//CAN 帧ID
+	frameId := uint32(p.CanId.ID1)<<21 | uint32(p.CanId.ID2)<<13 | uint32(p.CanId.ID3)<<5 | uint32(p.CanId.ID4)
+	buf = binary.BigEndian.AppendUint32(buf, frameId)
+	//CAN 帧数据
+	if len(p.CanData) != 8 {
+		panic(fmt.Sprintf("len(p.CanData)!=8 datalen:%v", len(p.CanData)))
+	}
+	buf = append(buf, p.CanData...)
+	return buf
+}
+
+func (p *BtmHeadFrame) Decode(buf []byte) {
+	bb := bytes.NewBuffer(buf)
+	var idSource uint32
+	binary.Read(bb, binary.BigEndian, &idSource)
+	data := make([]byte, bb.Len())
+	_, err := bb.Read(data)
+	if err != nil {
+		fmt.Println(err)
+		return
+	}
+	b1 := byte((idSource >> 21) & 0xFF)
+	b2 := byte((idSource >> 13) & 0xFF)
+	b3 := byte((idSource >> 5) & 0xFF)
+	b4 := byte(idSource & 0x1F)
+
+	p.CanId.ID1 = b1
+	p.CanId.ID2 = b2
+	p.CanId.ID3 = b3
+	p.CanId.ID4 = b4
+	p.CanData = data
+}
+
+func (p *BtmHeadFrame) String() string {
+	sb := strings.Builder{}
+	sb.WriteString(fmt.Sprintf("CanetFrame CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x", 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()
+}

third_party/message/can_atp_req.go

@@ -1,6 +1,8 @@
 package message
 
 import (
+	"bytes"
+	"encoding/binary"
 	"fmt"
 	"log/slog"
 	"strings"
@@ -68,7 +70,7 @@ type AtpRequestFrame struct {
 	Crc16 uint16
 	//解码时CRC16校验结果,true-校验通过
 	Crc16CheckOk bool
-	IsTrainPcSim bool
+	//IsTrainPcSim bool
 }
 
 // NewAtpRequestFrame 创建ATP查询帧
@@ -90,6 +92,38 @@ func (f *AtpRequestFrame) String() string {
 	sb.WriteString(fmt.Sprintf(",Crc16CheckOk = %t", f.Crc16CheckOk))
 	return sb.String()
 }
+
+func (f *AtpRequestFrame) Decode2(cf *BtmHeadFrame) bool {
+	f.FId = cf.CanId
+	buf := bytes.NewBuffer(cf.CanData)
+	if d, err := buf.ReadByte(); err == nil {
+		f.Speed = uint16(d << 4)
+
+		f.ResendRequest = GetBit(d, 5)>>5 | GetBit(d, 4)>>6
+		f.PowerAmplifierControlledByAtp = true
+		f.PowerAmplifierTurnOn = true
+	} else {
+		return false
+	}
+	if d, err := buf.ReadByte(); err == nil {
+		f.Speed |= uint16(d)
+	}
+	var time uint32
+	binary.Read(buf, binary.BigEndian, &time)
+	f.Time = time
+	var crc uint16
+	binary.Read(buf, binary.BigEndian, &crc)
+	f.Crc16 = crc
+	timeArr := make([]byte, 4)
+	binary.BigEndian.PutUint32(timeArr, time)
+	crc16 := Can_Crc16BtmReq(timeArr)
+	f.Crc16CheckOk = f.Crc16 == crc16
+	if !f.Crc16CheckOk {
+		slog.Debug("解码AtpRequestFrame，CRC16校验未通过！！")
+	}
+	return true
+
+}
 func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 	f.FId = cf.CanId
 	//
@@ -146,7 +180,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 	} else {
 		return false
 	}
-	crc16 := Can_Crc16(timeArr)
+	crc16 := Can_Crc16BtmReq(timeArr)
 	t1 := uint32(timeArr[0])
 	t2 := uint32(timeArr[1])
 	t3 := uint32(timeArr[2])
@@ -179,7 +213,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 }
 func (f *AtpRequestFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_btm_data.go

@@ -9,29 +9,27 @@ type BtmDataMessageFrame struct {
 	FId CanFrameId
 	//8字节,应答器报文片段
 	Message []byte
-	IsTrainPcSim bool
 }
 
-func NewBtmDataMessageFrame(sn byte, offset byte, isTrainPcSim bool) *BtmDataMessageFrame {
+func NewBtmDataMessageFrame(sn byte, offset byte) *BtmDataMessageFrame {
 	return &BtmDataMessageFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
-		IsTrainPcSim: isTrainPcSim,
 	}
 }
 func (f *BtmDataMessageFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true
 	cf.RTR = false
 	//
 	writer := NewCanBitsWriter(8)
-	//
 	for _, data := range f.Message {
 		writer.AddByte(data)
 	}
 	cf.CanData = writer.(CanBusData).GetData()
+
 	//
 	return cf
 }
@@ -63,45 +61,38 @@ type BtmDataMessageTimeAFrame struct {
 	TimeA uint32
 	//CRC
 	Crc32A uint32
-	IsTrainPcSim bool
 }
 
-func NewBtmDataMessageTimeAFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
+func NewBtmDataMessageTimeAFrame(sn byte) *BtmDataMessageTimeAFrame {
-	return &BtmDataMessageTimeAFrame{
-		FId:          *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
-		IsTrainPcSim: isTrainPcSim,
-	}
-}
-func NewBtmDataMessageTimeAFrame(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
 	return &BtmDataMessageTimeAFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
-		IsTrainPcSim: isTrainPcSim,
 	}
 }
+
 func (f *BtmDataMessageTimeAFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true
 	cf.RTR = false
-	//
+
 	writer := NewCanBitsWriter(8)
-	//
+
 	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))
-	//
+
 	cf.CanData = writer.(CanBusData).GetData()
-	//
+
 	return cf
 }
 
@@ -174,39 +165,36 @@ type BtmDataMessageTimeBFrame struct {
 	TimeB uint32
 	//CRC
 	Crc32B uint32
-	IsTrainPcSim bool
 }
 
-func NewBtmDataMessageTimeBFrame(sn byte, isTrainPcSim bool) *BtmDataMessageTimeBFrame {
+func NewBtmDataMessageTimeBFrame(sn byte) *BtmDataMessageTimeBFrame {
 	return &BtmDataMessageTimeBFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
-		IsTrainPcSim: isTrainPcSim,
 	}
 }
 func (f *BtmDataMessageTimeBFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true
 	cf.RTR = false
 	//
 	writer := NewCanBitsWriter(8)
-	//
+
 	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))
-	//
+
 	cf.CanData = writer.(CanBusData).GetData()
-	//
+
 	return cf
 }
 func (f *BtmDataMessageTimeBFrame) Decode(cf *CanetFrame) bool {
@@ -279,24 +267,17 @@ type BtmDataMessageEndFrame struct {
 	//CRC32C校验包含对状态应答帧与数据帧的总校验，总共为8×17-4=132字节，4-即Crc32C
 	//1个状态应答帧 + 13个BtmDataMessageFrame + 1个BtmDataMessageTimeAFrame + 1个BtmDataMessageTimeBFrame + 1个BtmDataMessageEndFrame
 	Crc32C uint32
-	IsTrainPcSim bool
 }
 
-func NewBtmDataMessageEndFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
+func NewBtmDataMessageEndFrame(sn byte) *BtmDataMessageEndFrame {
-	return &BtmDataMessageEndFrame{
-		FId:          *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
-		IsTrainPcSim: isTrainPcSim,
-	}
-}
-func NewBtmDataMessageEndFrame(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
 	return &BtmDataMessageEndFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
-		IsTrainPcSim: isTrainPcSim,
 	}
 }
+
 func (f *BtmDataMessageEndFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_btm_rsp.go

@@ -1,18 +1,19 @@
 package message
 
-import "log/slog"
+import (
+	"encoding/binary"
+	"fmt"
+	"log/slog"
+)
 
-func CreateBtmRspFramesData2(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
+// 返回应答器数据帧(数据帧 + timeA+timeB+结束帧)
-	/*	if len(msg) > 104 { //数据帧最多存储13*8个字节
+func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
-		return nil, false
+	sn := statusRsp.CanId.ID4
-	}*/
+	//应答器整个是16个数据帧，其中报文占13帧，timeA,timeB 占2帧，最后是结束帧
-	//最近一次ATP查询请求序列号
-	sn := statusRsp.FId.ID4
-	//13个BtmDataMessageFrame [0x00,0x0c]
 	//数据
-	dms := make([]*BtmDataMessageFrame, 13)
+	dms := make([]*BtmDataMessageAtpFrame, 13)
 	for mr := 0x00; mr <= 0x0c; mr++ {
-		dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
+		dms[mr] = CreateBtmDataMessageDataAtpFrame(sn, byte(mr))
 		dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
 		//
 		if !msgPackError {
@@ -32,70 +33,62 @@ func CreateBtmRspFramesData2(statusRsp *BtmStatusRspFrame, msg []byte, msgPackEr
 			}
 		}
 	}
-	//
+	dtA := createTimeA(sn, DATA_TIME_A_OFFSET, msgTimeA, msgPackError, msg)
-	dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
+	dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg)
-	dtA.TimeA = msgTimeA
-	if !msgPackError {
-		var crc32AData []byte
-		crc32AData = append(crc32AData, msg...)
-		crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
-		dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
-	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-		dtA.Crc32A = 0xff_ff_ff_ff
-	}
-	//
-	dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
-	dtB.TimeB = msgTimeB
-	if !msgPackError {
-		var crc32BData []byte
-		crc32BData = append(crc32BData, msg...)
-		crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
-		dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
-	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-		dtB.Crc32B = 0xff_ff_ff_ff
-	}
-	//
-	end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
-	end.TkB = tkTimeB
-	//
-	statusCf := statusRsp.Encode()
-	dmsCfs := make([]*CanetFrame, 0, 13)
-	for _, dm := range dms {
-		dmsCfs = append(dmsCfs, dm.Encode())
-	}
 	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 = Can_Crc32(crc32cData)
-	//
-	endCf := end.Encode()
-	//
-	rt := make([]byte, 0, 221) //17*13
-	rt = append(rt, statusCf.Encode2()...)
-	for _, dmCf := range dmsCfs {
-		rt = append(rt, dmCf.Encode2()...)
-	}
-	rt = append(rt, dtACf.Encode2()...)
-	rt = append(rt, dtBCf.Encode2()...)
-	rt = append(rt, endCf.Encode2()...)
-	if isTrainPcSim && len(rt) != 221 {
 
-	} else if len(rt) != 221 {
+	//结束帧
-		slog.Warn("len(rt)!=221")
+
+	end := createDataAtpEnd(sn, tkTimeB, statusRsp.CanData, msg, dtACf.CanData, dtBCf.CanData)
+
+	endCf := end.Encode()
+	rt := make([]byte, 0) //17*12
+	for _, dmCf := range dms {
+		rt = append(rt, dmCf.Encode().Encode()...)
+	}
+	rt = append(rt, dtACf.Encode()...)
+	rt = append(rt, dtBCf.Encode()...)
+	rt = append(rt, endCf.Encode()...)
+	if len(rt) != 192 {
+		slog.Warn(fmt.Sprintf("len(rt)!=192 实际数据长度:%v", len(rt)))
 		return nil, false
 	}
-
 	return rt, true
 }
+func createDataAtpEnd(sn byte, time uint32, statusData, msg, dtAData, dtBData []byte) *BtmDataMessageAtpTimeAndEndFrame {
+	end := BtmDataMessageEndAtpFrame(sn)
+	end.Time = time
+	crc32cData := make([]byte, 0)
+
+	crc32cData = append(crc32cData, statusData...)
+	crc32cData = append(crc32cData, msg...)
+	crc32cData = append(crc32cData, dtAData...)
+	crc32cData = append(crc32cData, dtBData...)
+	crc32cData = binary.BigEndian.AppendUint32(crc32cData, end.Time)
+	end.Crc32 = Can_Crc32(crc32cData)
+	return end
+}
+
+func createTimeA(sn, offset byte, time uint32, msgPackError bool, msg []byte) *BtmDataMessageAtpTimeAndEndFrame {
+	tf := CreateBtmDataMessageTimeAtpFrame(sn, offset)
+	tf.Time = time
+	if !msgPackError {
+		var crcData []byte
+		crcData = append(crcData, msg...)
+		crcData = binary.BigEndian.AppendUint32(crcData, time)
+		if offset == DATA_TIME_A_OFFSET {
+			tf.Crc32 = Can_Crc32A(crcData) //CRC32A的校验范围是：报文+时间戳B
+
+		} else {
+			tf.Crc32 = Can_Crc32B(crcData) //CRC32B的校验范围是：报文+时间戳B
+		}
+
+	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
+		tf.Crc32 = 0xff_ff_ff_ff
+	}
+	return tf
+}
 
 // CreateBtmRspFramesData BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
 //
@@ -104,7 +97,7 @@ func CreateBtmRspFramesData2(statusRsp *BtmStatusRspFrame, msg []byte, msgPackEr
 // 共17帧，17X12个字节，每个帧12字节
 // msg - 应答器报文
 // msgPackError - true BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
+func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
 	/*	if len(msg) > 104 { //数据帧最多存储13*8个字节
 		return nil, false
 	}*/
@@ -114,7 +107,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 	//数据
 	dms := make([]*BtmDataMessageFrame, 13)
 	for mr := 0x00; mr <= 0x0c; mr++ {
-		dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
+		dms[mr] = NewBtmDataMessageFrame(sn, byte(mr))
 		dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
 		//
 		if !msgPackError {
@@ -135,7 +128,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		}
 	}
 	//
-	dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
+	dtA := NewBtmDataMessageTimeAFrame(sn)
 	dtA.TimeA = msgTimeA
 	if !msgPackError {
 		var crc32AData []byte
@@ -146,7 +139,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		dtA.Crc32A = 0xff_ff_ff_ff
 	}
 	//
-	dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
+	dtB := NewBtmDataMessageTimeBFrame(sn)
 	dtB.TimeB = msgTimeB
 	if !msgPackError {
 		var crc32BData []byte
@@ -157,102 +150,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		dtB.Crc32B = 0xff_ff_ff_ff
 	}
 	//
-	end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
+	end := NewBtmDataMessageEndFrame(sn)
-	end.TkB = tkTimeB
-	//
-	statusCf := statusRsp.Encode()
-	dmsCfs := make([]*CanetFrame, 0, 13)
-	for _, dm := range dms {
-		dmsCfs = append(dmsCfs, dm.Encode())
-	}
-	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 = Can_Crc32(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 isTrainPcSim && len(rt) != 221 {
-
-	} else if len(rt) != 221 {
-		slog.Warn("len(rt)!=221")
-		return nil, false
-	}
-
-	return rt, true
-}
-
-func CreateBtmRspFramesDataForPcSim(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
-	if len(msg) > 128 { //数据帧最多存储13*8个字节
-		return nil, false
-	}
-	//最近一次ATP查询请求序列号
-	sn := statusRsp.FId.ID4
-	//13个BtmDataMessageFrame [0x00,0x0c]
-	//数据
-	dms := make([]*BtmDataMessageFrame, 14)
-	for mr := 0x00; mr <= 0x0E; mr++ {
-		dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
-		dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
-		//
-		if !msgPackError {
-			mi := mr * 8
-			if mi < len(msg) { //数据帧中有<=8个字节数据
-				if mi+7 < len(msg) {
-					dms[mr].Message = msg[mi : mi+8]
-				} else {
-					for i, d := range msg[mi:] {
-						dms[mr].Message[i] = d
-					}
-				}
-			}
-		} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-			for c := 0; c < 8; c++ {
-				dms[mr].Message[c] = 0xff
-			}
-		}
-	}
-	//
-	dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
-	//dtA.TimeA = msgTimeA
-	//if !msgPackError {
-	//	var crc32AData []byte
-	//	crc32AData = append(crc32AData, msg...)
-	//	crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
-	//	dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
-	//} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-	//	dtA.Crc32A = 0xff_ff_ff_ff
-	//}
-	//
-	dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
-	dtB.TimeB = msgTimeB
-	if !msgPackError {
-		var crc32BData []byte
-		crc32BData = append(crc32BData, msg...)
-		crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
-		dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
-	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
-		dtB.Crc32B = 0xff_ff_ff_ff
-	}
-	//
-	end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
 	end.TkB = tkTimeB
 	//
 	statusCf := statusRsp.Encode()
@@ -288,5 +186,6 @@ func CreateBtmRspFramesDataForPcSim(statusRsp *BtmStatusRspFrame, msg []byte, ms
 		slog.Warn("len(rt)!=221")
 		return nil, false
 	}
+
 	return rt, true
 }

third_party/message/can_btm_status_rsp.go

@@ -1,6 +1,7 @@
 package message
 
 import (
+	"encoding/binary"
 	"fmt"
 	"strings"
 )
@@ -27,14 +28,13 @@ type BtmStatusRspFrame struct {
 	DetailedCode byte
 	//有具体报文内容时TK A时刻填充为CD信号上升沿时刻，报文全零时TK A时刻填充为CD信号下降沿时刻。
 	TkTimeA uint32
-	IsTrainPcSim bool
 }
 
-func NewBtmStatusRspFrame(sn byte, isTrainPcSim bool) *BtmStatusRspFrame {
+func NewBtmStatusRspFrame(sn byte) *BtmStatusRspFrame {
 	return &BtmStatusRspFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_STATUS_RSP, sn),
 		//FId:          *NewCanFrameId(0x00, 0x00, 0x05, sn),
-		IsTrainPcSim: isTrainPcSim,
+
 	}
 }
 func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
@@ -114,9 +114,35 @@ func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
 	//
 	return true
 }
+
+func (f *BtmStatusRspFrame) EncodeBtmAtp() *BtmHeadFrame {
+	cf := &BtmHeadFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	data := make([]byte, 0)
+	data = append(data, f.Dsn)
+	data = append(data, f.BaliseCounter)
+	data = append(data, f.MessageCounter)
+	var state byte = 0
+	if f.PowerAmplifierOn {
+		state = setBit(state, 7, 1)
+	}
+	if f.AtpReqCrcCheckWrong {
+		state = setBit(state, 6, 1)
+	}
+	if f.PowerAmplifierFailure {
+		state = setBit(state, 5, 1)
+	}
+	if f.AntennaFault {
+		state = setBit(state, 4, 1)
+	}
+	data = append(data, state)
+	data = binary.BigEndian.AppendUint32(data, f.TkTimeA)
+	cf.CanData = data
+	return cf
+}
 func (f *BtmStatusRspFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true
@@ -126,6 +152,7 @@ func (f *BtmStatusRspFrame) Encode() *CanetFrame {
 	writer.AddByte(f.Dsn)
 	writer.AddByte(f.BaliseCounter)
 	writer.AddByte(f.MessageCounter)
+
 	//
 	if f.PowerAmplifierOn {
 		writer.AddBits(1, 1)

third_party/message/can_btm_time_sync_rsp.go

@@ -1,6 +1,7 @@
 package message
 
 import (
+	"encoding/binary"
 	"fmt"
 	"strings"
 )
@@ -15,14 +16,13 @@ type BtmTimeSyncCheckFrame struct {
 	//T3时刻
 	//BTM将在T3时刻发送回复帧给ATP，并保持流水号与ATP查询帧一致。
 	T3 uint32
-	IsTrainPcSim bool
 }
 
-func NewBtmTimeSyncCheckFrame(sn byte, isTrainPcSim bool) *BtmTimeSyncCheckFrame {
+func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
 	return &BtmTimeSyncCheckFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
 		//FId:          *NewCanFrameId(0x00, 0x00, 0x35, sn),
-		IsTrainPcSim: isTrainPcSim,
+
 	}
 }
 
@@ -77,9 +77,21 @@ func (f *BtmTimeSyncCheckFrame) Decode(cf *CanetFrame) bool {
 	//
 	return true
 }
+
+func (f *BtmTimeSyncCheckFrame) EncodeBtmAtp() *BtmHeadFrame {
+	cf := &BtmHeadFrame{}
+	cf.CanId = f.FId
+	cf.CanLen = 8
+	data := make([]byte, 0)
+	data = binary.BigEndian.AppendUint32(data, f.T2)
+	data = binary.BigEndian.AppendUint32(data, f.T3)
+	cf.CanData = data
+
+	return cf
+}
 func (f *BtmTimeSyncCheckFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
-	cf.IsTrainPcSim = f.IsTrainPcSim
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_bus.go

@@ -1,6 +1,8 @@
 package message
 
-import "github.com/snksoft/crc"
+import (
+	"github.com/snksoft/crc"
+)
 
 /////////////////////CAN串行总线 bit 流处理 ////////////////////////
 
@@ -199,25 +201,30 @@ const (
 	CAN_BITS_LEN8 = byte(0b1111_1111)
 )
 
-///////////////////// CRC ////////////////////////
-
-// const (
-// 	CAN_CRC16_ATPREQ = 0x11021
-// 	CAN_CRC32        = 0x04C11DB7
-// )
-
 var (
 	CAN_CRC16 = crc.CCITT
-	CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: true, ReflectOut: true, FinalXor: 0xFFFFFFFF}
+	CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: false, ReflectOut: false, FinalXor: 0x000000}
+	ATP_TIMEA = crc.CRC32
+	ATP_TIMEB = crc.Castagnoli
+	ATP_REQ   = crc.XMODEM
 )
 
 func Can_Crc16(data []byte) uint16 {
 	return uint16(crc.CalculateCRC(CAN_CRC16, data))
 }
+func Can_Crc16BtmReq(data []byte) uint16 {
+	return uint16(crc.CalculateCRC(ATP_REQ, data))
+}
 
 func Can_Crc32(data []byte) uint32 {
 	return uint32(crc.CalculateCRC(CAN_CRC32, data))
 }
+func Can_Crc32A(data []byte) uint32 {
+	return uint32(crc.CalculateCRC(ATP_TIMEA, data))
+}
+func Can_Crc32B(data []byte) uint32 {
+	return uint32(crc.CalculateCRC(ATP_TIMEB, data))
+}
 
 //var (
 //	crc16AtpReqTable []uint32 = nil
@@ -232,6 +239,7 @@ func Can_Crc32(data []byte) uint32 {
 //			crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
 //		}
 //	}
+//
 //	func calculateAtpReqCrc16(data []byte) uint16 {
 //		crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
 //		return uint16(crc)

third_party/message/can_net.go

@@ -1,8 +1,6 @@
 package message
 
 import (
-	"bytes"
-	"encoding/binary"
 	"fmt"
 	"log/slog"
 	"strings"
@@ -15,37 +13,17 @@ type CanetFrame struct {
 	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
-	IsTrainPcSim bool       //是否列车pc仿真
+
 }
 
-func NewCanetFrame(buf []byte, isTrainPcSim bool) *CanetFrame {
+func NewCanetFrame(buf []byte) *CanetFrame {
-	cf := &CanetFrame{IsTrainPcSim: isTrainPcSim}
+	cf := &CanetFrame{}
 	cf.Decode(buf)
 	return cf
 }
 
-func NewCanetFrame2(buf []byte, isTrainPcSim bool) *CanetFrame {
-	cf := &CanetFrame{IsTrainPcSim: isTrainPcSim}
-	cf.Decode2(buf)
-	return cf
-}
-func (p *CanetFrame) Encode2() []byte {
-	buf := make([]byte, 0)
-	//CAN 帧ID
-	frameId := uint32(p.CanId.ID1)<<21 | uint32(p.CanId.ID2)<<13 | uint32(p.CanId.ID3)<<5 | uint32(p.CanId.ID4)
-
-	buf = binary.BigEndian.AppendUint32(buf, frameId)
-	//CAN 帧数据
-	if len(p.CanData) != 8 {
-		panic("len(p.CanData)!=8")
-	}
-	buf = append(buf, p.CanData...)
-	return buf
-}
-
 func (p *CanetFrame) Encode() []byte {
 	buf := make([]byte, 0)
-	if !p.IsTrainPcSim {
 	//canet200帧信息
 	b1 := byte(0x00)
 	if p.FF {
@@ -56,16 +34,11 @@ func (p *CanetFrame) Encode() []byte {
 	}
 	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)
-	if p.IsTrainPcSim {
-		buf = append(buf, p.CanId.ID4)
-	} else {
 	buf = append(buf, p.CanId.ID4<<3)
-	}
 
 	//CAN 帧数据
 	if len(p.CanData) != 8 {
@@ -74,28 +47,7 @@ func (p *CanetFrame) Encode() []byte {
 	buf = append(buf, p.CanData...)
 	return buf
 }
-func (p *CanetFrame) Decode2(buf []byte) {
 
-	bb := bytes.NewBuffer(buf)
-	var idSource uint32
-	binary.Read(bb, binary.BigEndian, &idSource)
-	data := make([]byte, bb.Len())
-	_, err := bb.Read(data)
-	if err != nil {
-		fmt.Println(err)
-		return
-	}
-
-	b1 := byte(idSource >> 21)
-	b2 := byte((idSource << 7) >> 13)
-	b3 := byte((idSource << 15) >> 20)
-	b4 := byte(idSource & 0x1f)
-	p.CanId.ID1 = b1
-	p.CanId.ID2 = b2
-	p.CanId.ID3 = b3
-	p.CanId.ID4 = b4
-	p.CanData = data
-}
 func (p *CanetFrame) Decode(buf []byte) {
 	if len(buf) != 13 {
 		panic("len(buf)!=13")
@@ -113,8 +65,8 @@ func (p *CanetFrame) Decode(buf []byte) {
 }
 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, isTrainPcSim=%v", p.FF, p.RTR, p.CanLen,
+	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, p.IsTrainPcSim))
+		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))

third_party/train_pc_sim/train_pc_sim.go

@@ -50,6 +50,7 @@ type TrainPcSim interface {
 	TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
 	ResetPluseCount(sta *state_proto.TrainState)
 	//FindAllThirdPartState() []tpapi.ThirdPartyApiService
+	DsnAddAndReturn() byte
 }
 
 type TrainPcSimManage interface {
@@ -75,9 +76,8 @@ type trainPcSimService struct {
 	newPcSimclientMap map[string]*TrainPcReciverData
 	cancleContext     context.CancelFunc
 	trainPcSimManage  TrainPcSimManage
-	//speedPlace        *message.TrainSpeedPlaceReportMsg
-	//trainSpeedPlace   map[string]*message.TrainSpeedPlaceReportMsg
 	configs           []config.VehiclePCSimConfig
+	btmDsn            uint8
 }
 
 var (
@@ -111,6 +111,14 @@ func (d *trainPcSimService) TrueService() bool {
 func (d *trainPcSimService) ServiceDesc() string {
 	return Name
 }
+func (d *trainPcSimService) DsnAddAndReturn() byte {
+	defer initLock.Unlock()
+	initLock.Lock()
+	returnVal := d.btmDsn
+	d.btmDsn = returnVal + 1
+	return returnVal
+}
+
 func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
 	return t.ConnState.TypeName
 }
@@ -196,40 +204,6 @@ func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimC
 	return nil, fmt.Errorf("未找到对应的车载pc连接配置")
 }
 
-/*func (d *trainPcSimService) connTrainPcSim(ctx context.Context) {
-
-	go func() {
-		for {
-			select {
-			case <-ctx.Done():
-				d.newCloseAllConn()
-				return
-			default:
-			}
-			trains := d.trainPcSimManage.GetConnTrain2()
-			if len(trains) > 0 {
-				for _, t := range trains {
-					clientKey := FindTrainPcSimClientKey(t)
-					if clientKey == "" {
-						slog.Error("未找到对应的pc仿真连接,trainId:", t.Id, "删除对应客户端")
-						d.newCloseConn(clientKey)
-						continue
-					}
-					rd := d.newPcSimclientMap[clientKey]
-					if rd == nil {
-						d.newPcSimclientMap[clientKey] = &TrainPcReciverData{pcSimManage: d.trainPcSimManage, clientKey: clientKey, tcpClient: &tcp.TcpClient{}}
-					}
-					if !rd.tcpClient.IsConning() {
-						d.newCloseConn(clientKey)
-						d.initConn(clientKey)
-					}
-				}
-			}
-			time.Sleep(time.Second)
-		}
-	}()
-}*/
-
 func (d *trainPcSimService) initConn(clientKey string) error {
 
 	rd := d.newPcSimclientMap[clientKey]
@@ -239,11 +213,10 @@ func (d *trainPcSimService) initConn(clientKey string) error {
 		rd.trainInit = false
 		rd.tcpClient = nil
 	}
-
 	cfg, cfgErr := d.findConfig(clientKey)
 	if cfgErr != nil {
 		errMsg := fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey)
-		slog.Error(errMsg, cfgErr.Error())
+		//slog.Error(errMsg, cfgErr.Error())
 		rd.updateState(tpapi.ThirdPartyState_Broken)
 		return sys_error.New(errMsg, cfgErr)
 	}
@@ -251,7 +224,7 @@ func (d *trainPcSimService) initConn(clientKey string) error {
 	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
 	if err != nil {
 		connErrMsg := fmt.Sprintf("车载pc连接失败 clientKey:%v", clientKey)
-		slog.Error(connErrMsg, err.Error())
+		//slog.Error(connErrMsg, err.Error())
 		rd.updateState(tpapi.ThirdPartyState_Broken)
 		return sys_error.New(connErrMsg, err)
 	} else {
@@ -283,7 +256,7 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
 		slog.Error("车载pc仿真配置未开启")
 		return
 	}
-	//third_party.AppendService(d.findAllThirdPartState())
+
 	d.configs = configs
 	ctx, ctxFun := context.WithCancel(context.Background())
 	d.cancleContext = ctxFun
@@ -303,17 +276,6 @@ func (d *trainPcSimService) Stop() {
 	d.newCloseAllConn()
 }
 
-/*
-	func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
-		if train.ConnState.Conn && (train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_A || train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_B) {
-			train.PluseCount = &state_proto.SensorSpeedPulseCount{}
-			d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
-		} else {
-			train.PluseCount = nil
-			d.speedPlace = nil
-		}
-	}
-*/
 func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
 	clientKey := FindTrainPcSimClientKey2(train)
 	err := d.initConn(clientKey)
@@ -402,13 +364,12 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 				bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
 				d.TrainPluseCountReset(train)
 				dataCode := bm.Encode()
-				slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
+				//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
 				err := trainClient.tcpClient.Send(dataCode)
 				if err != nil {
 					slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
 				}
 			}
-
 		}
 
 		time.Sleep(time.Millisecond * 80)
@@ -450,7 +411,7 @@ func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
 	}
 	msgs = append(msgs, msg.Encode()...)
 	hexData := hex.EncodeToString(msgs)
-	slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
+	//slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
 	err := trainClient.tcpClient.Send(msgs)
 
 	if err != nil {
@@ -493,7 +454,7 @@ func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, t
 			msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
 		}
 		da := msg.Encode()
-		slog.Info("发送列车手柄消息", "msg", hex.EncodeToString(da))
+		//slog.Info("发送列车手柄消息", "msg", hex.EncodeToString(da))
 		err := trainClient.tcpClient.Send(da)
 		//err := client.Send(da)
 		if err != nil {
@@ -519,7 +480,7 @@ func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, tr
 
 	for _, msg := range baseMsgs {
 		da := msg.Encode()
-		slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
+		//slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
 		err := trainClient.tcpClient.Send(da)
 
 		if err != nil {
@@ -539,7 +500,7 @@ func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgTy
 		msg := &message.TrainPcSimBaseMessage{Type: msgType, Data: dd}
 
 		da := msg.Encode()
-		//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
+		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
 		err := trainClient.tcpClient.Send(da)
 		if err != nil {
 			slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
@@ -558,37 +519,13 @@ func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgTyp
 	msg.Data = data
 
 	da := msg.Encode()
-	//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,无应答器:%v,数据:%v", msgType == message.RECIVE_TRAIN_BTM_NOT_DATA, hex.EncodeToString(da)))
+	slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%x，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
 	err := trainClient.tcpClient.Send(da)
 	if err != nil {
 		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
 	}
 }
 
-/*func (d *trainPcSimService) PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent) {
-	if len(events) <= 0 {
-		return
-	}
-	trainClient, trainDataErr := d.findTrainConn(train)
-	if trainDataErr != nil {
-		slog.Error("")
-		return
-	}
-
-	msgs := make([]byte, 0)
-	for _, event := range events {
-		msg := &message.TrainPcSimBaseMessage{Type: event.Type, Data: event.Data}
-		code := msg.Encode()
-		msgs = append(msgs, code...)
-	}
-	hexCode := hex.EncodeToString(msgs)
-	slog.Info(fmt.Sprintf("列车数字量信息发送数据:%v", hexCode))
-	err := trainClient.tcpClient.Send(msgs)
-	if err != nil {
-		slog.Error(fmt.Sprintf("列车数字量信息发送失败,数据:%v", hexCode))
-	}
-}*/
-
 func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage) {
 	if len(baseMessage) <= 0 {
 		return
@@ -601,7 +538,6 @@ func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, b
 
 	for _, msg := range baseMessage {
 		d.sendData(trainClient.tcpClient, msg.Encode())
-
 	}
 }
 func (d *trainPcSimService) sendData(client *tcp.TcpClient, data []byte) {

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -516,6 +516,7 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 		if message.GetBit(data3, 3) == 0 {
 			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}})
 		}
+		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})
 	}
 	train_pc_sim.Default().SendTrainControlMsg(train, tce)
 	return initResult
@@ -675,73 +676,67 @@ func (s *VerifySimulation) TrainPcSimMockInfo(train *state_proto.TrainState, dat
 
 // 4.4.4.	车载输出BTM查询同步帧报文内容（0x04）
 func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []byte) {
-	//slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
+	//time.Sleep(time.Millisecond * 50)
+	slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
 	if len(data) < 12 {
 		slog.Error("列车btm查询报文长度错误:", len(data))
 		return
 	}
-	//train := s.FindConnTrain(connType)
-	if train.BtmState == nil {
-		slog.Warn("列车暂时未获取到应答器信息")
-		return
-	}
-	/*if train == nil {
-		slog.Error("车载输出btm查询,未找到连接车载pc仿真的列车")
-		return
-	}
-	if !train.ConnState.Conn {
-		slog.Error("车载输出btm查询,列车未连接车载pc仿真")
-		return
-	}*/
 
-	trainAtm := message.NewCanetFrame2(data, true)
+	if train.BtmState == nil {
-	atpReq := &message.AtpRequestFrame{IsTrainPcSim: true}
+		slog.Warn(fmt.Sprintf("列车暂时未获取到应答器信息,无法进行btm查询列车id:%v", train.Id))
-	if !atpReq.Decode(trainAtm) {
+		return
+	}
+	trainAtm := message.NewBtmHeadFrame(data)
+	atpReq := &message.AtpRequestFrame{}
+
+	if !atpReq.Decode2(trainAtm) {
 		slog.Warn("列车pc驾驶模拟-CanetFrame解码成AtpRequestFrame失败", "CanetFrame", trainAtm.String())
 		return
 	}
+
 	cl := clock(atpReq)
-	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl)
+	dsn := train_pc_sim.Default().DsnAddAndReturn()
+	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
+	//slog.Info(fmt.Sprintf("id1:%x,id2:%x,id3:%x,id4:%x,resendRequest:%v,reqTime:%v,dsn:%v", trainAtm.CanId.ID1, trainAtm.CanId.ID2, trainAtm.CanId.ID3, trainAtm.CanId.ID4, atpReq.ResendRequest, atpReq.Time, dsn))
 	if atpReq.ResendRequest == 2 {
 		//重新发送
 		if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
 			dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
+		} else {
+			timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
+			timeSyncF.T2 = cl.BtmTk
+			timeSyncF.T3 = cl.TkNow()
+			queryData := make([]byte, 0)
+			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
+			queryData = append(queryData, timeSyncF.Encode().Encode()...)
+			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 		}
 	} else {
-		timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4, true)
+		timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
 		timeSyncF.T2 = cl.BtmTk
 		timeSyncF.T3 = cl.TkNow()
 		telCount := strings.Count(train.BtmState.Telegram, "00")
 		if telCount >= balise_const.UserTelegramByteLen {
-			//无数据
+			queryData := make([]byte, 0)
-			queryDataStr := make([]string, 0)
+			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
-			queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
+			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
-			queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
+			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
-			train_pc_sim.Default().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryDataStr)
-
-			/*			queryData := make([]byte, 0)
-						queryData = append(queryData, btmRepFrame.Encode().Encode()...)
-						queryData = append(queryData, timeSyncF.Encode().Encode()...)
-						train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)*/
 		} else {
 			//有数据
 			aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
-			statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData2(btmRepFrame, aliseData, false, cl.TkNow(), cl.TkNow(), cl.TkNow(), true)
+			stateRepFrame := btmRepFrame.EncodeBtmAtp()
+			statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, cl.BtmTk, cl.BtmTk, cl.BtmTk)
 			if statusDataCfOk {
-				/*				queryData := make([]byte, 0)
+				timeSyncF.T2 = cl.BtmTk
-								queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
+				timeSyncF.T3 = cl.TkNow()
-								queryData = append(queryData, timeSyncF.Encode().Encode2()...)
+				queryData := make([]byte, 0)
+				queryData = append(queryData, stateRepFrame.Encode()...)
+				queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 				queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
 				train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
-								train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)*/
+				train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
-				queryDataStr := make([]string, 0)
-				queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
-				queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
-				queryDataStr = append(queryDataStr, hex.EncodeToString(statusDataCf)) //数据帧包含结束帧
-				train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
-				train_pc_sim.Default().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryDataStr)
-
 			} else {
 				slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
 			}
@@ -749,22 +744,21 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 	}
 }
 
-func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock) *message.BtmStatusRspFrame {
+func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn byte) *message.BtmStatusRspFrame {
-	statusF := message.NewBtmStatusRspFrame(canIdSn, atpReq.IsTrainPcSim)
+	statusF := message.NewBtmStatusRspFrame(canIdSn)
-	//btmStatus := aa(train, atpReq)
-
 	statusF.PowerAmplifierOn = true
 	statusF.PowerAmplifierFailure = false
 	statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
 	statusF.AntennaFault = false
 	statusF.BaliseCounter = byte(btmState.BaliseCount)
 	statusF.MessageCounter = byte(btmState.MessageCounter)
-	statusF.TkTimeA = cl.TkNow()
+	//statusF.TkTimeA = cl.TkNow()
+	statusF.TkTimeA = cl.BtmTk
 	statusF.DetailedCode = 0
 	if btmState.AboveBalise {
 		statusF.DetailedCode = 0x07
 	}
-	dsn := byte(btmState.DataSerialNumber) + 1
+
 	btmState.DataSerialNumber = uint32(dsn)
 	statusF.Dsn = dsn
 	return statusF