btm

third_party/can_btm/balise_btm.go

@@ -0,0 +1,49 @@
+package can_btm
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
+)
+
+// btm与canet(网口-CAN口转换器)
+type btmCanetClient struct {
+	//udp
+	udpServer udp.UdpServer
+	//udp
+	udpClient     udp.UdpClient
+	localUdpPort  int
+	remoteUdpPort int
+	remoteIp      string
+}
+
+func (s *btmCanetClient) Start() {
+	//
+	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCannetFrames)
+	s.udpServer.Listen()
+	//
+	s.udpClient = udp.NewClient(fmt.Sprintf("%s:%d", s.remoteIp, s.remoteUdpPort))
+}
+
+func (s *btmCanetClient) Stop() {
+	if s.udpServer != nil {
+		s.udpServer.Close()
+	}
+	if s.udpClient != nil {
+		s.udpClient.Close()
+	}
+}
+func (s *btmCanetClient) handleCannetFrames(cfs []byte) {
+	//一个cannet 帧 13字节
+	if len(cfs) > 0 && len(cfs)%13 == 0 {
+		cfSum := len(cfs) / 13
+		for cfi := 0; cfi < cfSum; cfi++ {
+			cfStart := cfi * 13
+			cf := message.NewCanetFrame(cfs[cfStart : cfStart+13])
+			fmt.Println(cf.String())
+		}
+	} else {
+		slog.Warn("从cannet接收数据，未满足条件‘len(cfs) > 0 && len(cfs)%13 == 0‘", "len(cfs)", len(cfs))
+	}
+}

third_party/message/can_net.go

@@ -2,6 +2,7 @@ package message
 
 import (
 	"fmt"
+	"log/slog"
 	"strings"
 )
 
@@ -69,3 +70,55 @@ func (p *CanetFrame) String() string {
 	}
 	return sb.String()
 }
+
+// CanFrameType 获取canet帧类型
+func (p *CanetFrame) CanFrameType() CanFrameType {
+	switch p.CanId.ID3 {
+	case 0x01:
+		{ //状态应答帧0x01
+			return CfStatusRsp
+		}
+	case 0x8d:
+		{ //msgTimeA数据帧0x80+0x0d
+			return CfMsgTimeA
+		}
+	case 0x8e:
+		{ //msgTimeB数据帧0x80+0x0e
+			return CfMsgTimeB
+		}
+	case 0xff:
+		{ //msgEnd数据帧0x80+0x7f
+			return CfMsgEnd
+		}
+	case 0x02:
+		{
+			if p.CanId.ID1 == 0x62 && p.CanId.ID2 == 0x81 {
+				return CfReq
+			} else {
+				return CfTimeSync
+			}
+		}
+	default:
+		if p.CanId.ID3 >= 0x80 && p.CanId.ID3 <= 0x8c { //数据帧0x80+(0x00-0x0c)
+			return CfMsg
+		} else {
+			slog.Warn(fmt.Sprintf("无法识别的Canet帧[%s]", p.String()))
+			return CfNon
+		}
+	}
+}
+
+// CanFrameType 帧类型定义
+type CanFrameType = byte
+
+// Can帧类型枚举
+const (
+	CfNon       = CanFrameType(0)
+	CfReq       = CanFrameType(1) //查询帧0x02
+	CfStatusRsp = CanFrameType(2) //状态应答帧0x01
+	CfTimeSync  = CanFrameType(3) //时间同步校验帧0x02
+	CfMsg       = CanFrameType(4) //数据帧0x80+(0x00-0x0c)
+	CfMsgTimeA  = CanFrameType(5) //msgTimeA数据帧0x80+0x0d
+	CfMsgTimeB  = CanFrameType(6) //msgTimeB数据帧0x80+0x0e
+	CfMsgEnd    = CanFrameType(7) //msgEnd数据帧0x80+0x7f
+)