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列车车载应答器调试初始

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tiger_zhou 2024-07-25 14:55:46 +08:00
parent 72ca826be2
commit 8a34935d0f
18 changed files with 868 additions and 841 deletions
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742
dto/state_proto/device_state.pb.go
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@ -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 {
@ -6154,7 +6162,7 @@ var file_device_state_proto_rawDesc = []byte{
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@ -6172,377 +6180,379 @@ var file_device_state_proto_rawDesc = []byte{
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}
var (

2
go.mod
View File

@ -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

2
go.sum
View File

@ -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=

2
rts-sim-testing-message

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

14
third_party/can_btm/balise_btm.go vendored
View File

@ -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())

27
third_party/can_btm/balise_detection.go vendored
View File

@ -39,12 +39,13 @@ type BtmAntennaToBaliseInfo struct {
BaliseType proto.Transponder_Type //应答器类型
}
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
Distance int64 //BTM天线中心到应答器的距离，mm
BaliseType proto.Transponder_Type //应答器类型
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
}
// BaliseDetector 车载BTM天线，应答器探测器
@ -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

2
third_party/message/accelerometer.go vendored
View File

@ -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 {

94
third_party/message/btm_data.go vendored Normal file
View File

@ -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),
}
}

67
third_party/message/btm_net.go vendored Normal file
View File

@ -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()
}

40
third_party/message/can_atp_req.go vendored
View File

@ -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

77
third_party/message/can_btm_data.go vendored
View File

@ -8,30 +8,28 @@ type BtmDataMessageFrame struct {
//帧ID
FId CanFrameId
//8字节,应答器报文片段
Message []byte
IsTrainPcSim bool
Message []byte
}
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,
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
}
}
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
}
@ -62,46 +60,39 @@ type BtmDataMessageTimeAFrame struct {
//时间戳A
TimeA uint32
//CRC
Crc32A uint32
IsTrainPcSim bool
Crc32A uint32
}
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,
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
}
}
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
}
@ -173,40 +164,37 @@ type BtmDataMessageTimeBFrame struct {
//时间戳B
TimeB uint32
//CRC
Crc32B uint32
IsTrainPcSim bool
Crc32B uint32
}
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,
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
}
}
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 {
@ -278,25 +266,18 @@ type BtmDataMessageEndFrame struct {
TkB uint32
//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
Crc32C uint32
}
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,
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
}
}
func (f *BtmDataMessageEndFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true

233
third_party/message/can_btm_rsp.go vendored
View File

@ -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) {
/* if len(msg) > 104 { //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]
// 返回应答器数据帧(数据帧 + timeA+timeB+结束帧)
func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
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
//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 := 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()
dmsCfs := make([]*CanetFrame, 0, 13)
for _, dm := range dms {
dmsCfs = append(dmsCfs, dm.Encode())
}
dtA := createTimeA(sn, DATA_TIME_A_OFFSET, msgTimeA, msgPackError, msg)
dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg)
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 {
slog.Warn("len(rt)!=221")
//结束帧
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.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 := NewBtmDataMessageEndFrame(sn)
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
}

37
third_party/message/can_btm_status_rsp.go vendored
View File

@ -1,6 +1,7 @@
package message
import (
"encoding/binary"
"fmt"
"strings"
)
@ -26,15 +27,14 @@ type BtmStatusRspFrame struct {
//BTM detailed code
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
TkTimeA uint32
}
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)

22
third_party/message/can_btm_time_sync_rsp.go vendored
View File

@ -1,6 +1,7 @@
package message
import (
"encoding/binary"
"fmt"
"strings"
)
@ -14,15 +15,14 @@ type BtmTimeSyncCheckFrame struct {
T2 uint32
//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
T3 uint32
}
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

66
third_party/message/can_bus.go vendored
View File

@ -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 ////////////////////////
@ -199,47 +201,53 @@ 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
// crc32CanTable []uint32 = nil
// )
//var (
// crc16AtpReqTable []uint32 = nil
// crc32CanTable []uint32 = nil
//)
// func CreateCanCrcTable() {
// if crc16AtpReqTable == nil {
// crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
// }
// if crc32CanTable == nil {
// crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
// }
// }
// func calculateAtpReqCrc16(data []byte) uint16 {
// crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
// return uint16(crc)
// }
// func calculateCanCrc32(data []byte) uint32 {
// crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
// return crc
// }
// func CreateCanCrcTable() {
// if crc16AtpReqTable == nil {
// crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
// }
// if crc32CanTable == nil {
// crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
// }
// }
//
// func calculateAtpReqCrc16(data []byte) uint16 {
// crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
// return uint16(crc)
// }
//func calculateCanCrc32(data []byte) uint32 {
// crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
// return crc
//}
// // CRC32A的校验范围是：报文+时间戳A
// func calculateDataRspCrc32A(data []byte) uint32 {

88
third_party/message/can_net.go vendored
View File

@ -1,8 +1,6 @@
package message
import (
"bytes"
"encoding/binary"
"fmt"
"log/slog"
"strings"
@ -10,62 +8,37 @@ import (
// CanetFrame USR-CANET200_V1.0.7 设备 以太网-CAN 透传协议帧(13字节)
type CanetFrame struct {
FF bool //true-1扩展帧
RTR bool //true-1远程帧
CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
CanId CanFrameId //CAN帧ID
CanData []byte //CAN帧数据，8字节
IsTrainPcSim bool //是否列车pc仿真
FF bool //true-1扩展帧
RTR bool //true-1远程帧
CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
CanId CanFrameId //CAN帧ID
CanData []byte //CAN帧数据，8字节
}
func NewCanetFrame(buf []byte, isTrainPcSim bool) *CanetFrame {
cf := &CanetFrame{IsTrainPcSim: isTrainPcSim}
func NewCanetFrame(buf []byte) *CanetFrame {
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 {
b1 |= 0x80 //bit7
}
if p.RTR {
b1 |= 0x40 //bit6
}
b1 |= p.CanLen & 0x0f
buf = append(buf, b1)
//canet200帧信息
b1 := byte(0x00)
if p.FF {
b1 |= 0x80 //bit7
}
if p.RTR {
b1 |= 0x40 //bit6
}
b1 |= p.CanLen & 0x0f
buf = append(buf, b1)
//CAN 帧ID
buf = append(buf, p.CanId.ID1)
buf = append(buf, p.CanId.ID2)
buf = append(buf, p.CanId.ID3)
if p.IsTrainPcSim {
buf = append(buf, p.CanId.ID4)
} else {
buf = append(buf, p.CanId.ID4<<3)
}
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,
p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4, p.IsTrainPcSim))
sb.WriteString(fmt.Sprintf("CanetFrame FF = %t, RTR = %t, CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x", p.FF, p.RTR, p.CanLen,
p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
sb.WriteString("CanData = ")
for _, d := range p.CanData {
sb.WriteString(fmt.Sprintf(" 0x%0x ", d))

104
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -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
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) {

90
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -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)
atpReq := &message.AtpRequestFrame{IsTrainPcSim: true}
if !atpReq.Decode(trainAtm) {
if train.BtmState == nil {
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))
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
queryDataStr := make([]string, 0)
queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
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)*/
queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
queryData = append(queryData, timeSyncF.EncodeBtmAtp().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)
queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
queryData = append(queryData, timeSyncF.Encode().Encode2()...)
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)*/
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
timeSyncF.T2 = cl.BtmTk
timeSyncF.T3 = cl.TkNow()
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().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryDataStr)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
} 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 {
statusF := message.NewBtmStatusRspFrame(canIdSn, atpReq.IsTrainPcSim)
//btmStatus := aa(train, atpReq)
func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn byte) *message.BtmStatusRspFrame {
statusF := message.NewBtmStatusRspFrame(canIdSn)
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