101 lines
3.2 KiB
Go
101 lines
3.2 KiB
Go
package message
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import "log/slog"
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//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
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// CreateBtmRspFramesData 数据帧与状态应答帧同时发送给ATP
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// 共17帧，17X12个字节，每个帧12字节
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// msg - 应答器报文
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// msgPackError - true BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
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func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
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if len(msg) > 104 { //数据帧最多存储13*8个字节
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return nil, false
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}
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//最近一次ATP查询请求序列号
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sn := statusRsp.FId.ID4
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//13个BtmDataMessageFrame [0x00,0x0c]
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dms := make([]*BtmDataMessageFrame, 13)
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for mr := 0x00; mr <= 0x0c; mr++ {
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dms[mr] = NewBtmDataMessageFrame(sn, byte(mr))
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dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
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//
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if !msgPackError {
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mi := mr * 8
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if mi < len(msg) { //数据帧中有<=8个字节数据
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if mi+7 < len(msg) {
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dms[mr].Message = msg[mi : mi+8]
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} else {
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for i, d := range msg[mi:] {
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dms[mr].Message[i] = d
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}
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}
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}
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} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
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for c := 0; c < 8; c++ {
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dms[mr].Message[c] = 0xff
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}
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}
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}
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//
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dtA := NewBtmDataMessageTimeAFrame(sn)
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dtA.TimeA = msgTimeA
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if !msgPackError {
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var crc32AData []byte
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crc32AData = append(crc32AData, msg...)
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crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
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dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
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} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
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dtA.Crc32A = 0xff_ff_ff_ff
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}
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//
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dtB := NewBtmDataMessageTimeBFrame(sn)
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dtB.TimeB = msgTimeB
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if !msgPackError {
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var crc32BData []byte
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crc32BData = append(crc32BData, msg...)
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crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
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dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
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} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
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dtB.Crc32B = 0xff_ff_ff_ff
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}
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//
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end := NewBtmDataMessageEndFrame(sn)
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end.TkB = tkTimeB
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//
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statusCf := statusRsp.Encode()
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dmsCfs := make([]*CanetFrame, 0, 13)
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for _, dm := range dms {
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dmsCfs = append(dmsCfs, dm.Encode())
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}
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dtACf := dtA.Encode()
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dtBCf := dtB.Encode()
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//
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crc32cData := make([]byte, 0, 132)
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crc32cData = append(crc32cData, statusCf.CanData...)
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for _, dmCf := range dmsCfs {
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crc32cData = append(crc32cData, dmCf.CanData...)
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}
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crc32cData = append(crc32cData, dtACf.CanData...)
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crc32cData = append(crc32cData, dtBCf.CanData...)
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crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
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//
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end.Crc32C = Can_Crc32(crc32cData)
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//
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endCf := end.Encode()
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//
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rt := make([]byte, 0, 221) //17*13
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rt = append(rt, statusCf.Encode()...)
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for _, dmCf := range dmsCfs {
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rt = append(rt, dmCf.Encode()...)
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}
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rt = append(rt, dtACf.Encode()...)
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rt = append(rt, dtBCf.Encode()...)
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rt = append(rt, endCf.Encode()...)
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if len(rt) != 221 {
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slog.Warn("len(rt)!=221")
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return nil, false
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}
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return rt, true
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}
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