rts-sim-testing-service/third_party/message/can_atp_req.go

package message

import (
	"fmt"
	"log/slog"
	"strings"
)

//应答器传输模块BTM与车载ATP通信协议定义

const (
	CAN_ADDR_REQ_BTM        = byte(0x62) //设备地址
	CAN_ADDR_REQ_ATP        = byte(0x81) //设备地址
	CAN_ADDR_RSP_BTM        = byte(0x02) //设备地址
	CAN_ADDR_RSP_ATP        = byte(0x01) //设备地址
	CAN_FRAME_ATP_REQ       = byte(0x02) //帧类型-查询请求帧
	CAN_FRAME_STATUS_RSP    = byte(0x01) //状态应答帧
	CAN_FRAME_TIME_SYNC_RSP = byte(0x02) //时间同步应答帧
	CAN_FRAME_DATA_RSP      = byte(0x80) //数据应答帧
	CAN_FRAME_DATA_END_RSP  = byte(0xff) //数据结束应答帧
)

////////////////////////////////////////////////////////////////////////////////////

// CanFrameId CAN串行总线帧ID定义,29bits
type CanFrameId struct {
	//ID1 8bits
	ID1 byte
	//ID2 8bits
	ID2 byte
	//ID3 8bits
	ID3 byte
	//ID4 5bits ,有效位[bit4,bit0]，无效位[bit7,bit5]
	ID4 byte
}

// NewCanFrameId 创建CAN串行总线帧ID
// dstAddr 目的设备地址
// srcAddr 源设备地址
// frameType 帧类型
// sn 序列号
func NewCanFrameId(dstAddr byte, srcAddr byte, frameType byte, sn byte) *CanFrameId {
	return &CanFrameId{
		ID1: dstAddr,
		ID2: srcAddr,
		ID3: frameType,
		ID4: sn,
	}
}

////////////////////////////////////////////////////////////////

// AtpRequestFrame ATP查询帧
type AtpRequestFrame struct {
	//帧ID
	FId CanFrameId
	//功率放大器命令，false-0关闭功率放大器，true-1s开启功率放大器
	PowerAmplifierTurnOn bool
	//功率放大器控制者，false-0BTM控制，true-1ATP控制
	PowerAmplifierControlledByAtp bool
	//重发请求
	ResendRequest byte
	//速度,1=0.1km/h
	Speed uint16
	//当前ATP系统时间，1=1ms
	Time uint32
	//crc 校验码，从数据流中接收到的
	Crc16 uint16
	//解码时CRC16校验结果,true-校验通过
	Crc16CheckOk bool
}

// NewAtpRequestFrame 创建ATP查询帧
func NewAtpRequestFrame(sn byte) *AtpRequestFrame {
	return &AtpRequestFrame{
		FId: *NewCanFrameId(CAN_ADDR_REQ_BTM, CAN_ADDR_REQ_ATP, CAN_FRAME_ATP_REQ, sn),
	}
}
func (f *AtpRequestFrame) String() string {
	sb := strings.Builder{}
	sb.WriteString(fmt.Sprintf("AtpRequestFrame ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,",
		f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
	sb.WriteString(fmt.Sprintf("PowerAmplifierTurnOn = %t", f.PowerAmplifierTurnOn))
	sb.WriteString(fmt.Sprintf(",PowerAmplifierControlledByAtp = %t", f.PowerAmplifierControlledByAtp))
	sb.WriteString(fmt.Sprintf(",ResendRequest = %d", f.ResendRequest))
	sb.WriteString(fmt.Sprintf(",Speed = %d", f.Speed))
	sb.WriteString(fmt.Sprintf(",Time = %d", f.Time))
	sb.WriteString(fmt.Sprintf(",Crc16 = %d", f.Crc16))
	sb.WriteString(fmt.Sprintf(",Crc16CheckOk = %t", f.Crc16CheckOk))
	return sb.String()
}
func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
	f.FId = cf.CanId
	//
	bits := NewCanBitsReader(cf.CanData, 8)
	//
	if d, ok := bits.ReadBits(1); ok {
		f.PowerAmplifierTurnOn = d == 1
	} else {
		return false
	}
	if d, ok := bits.ReadBits(1); ok {
		f.PowerAmplifierControlledByAtp = d == 1
	} else {
		return false
	}
	if d, ok := bits.ReadBits(2); ok {
		f.ResendRequest = d
	} else {
		return false
	}
	//speed
	f.Speed = 0x0000
	if d, ok := bits.ReadBits(4); ok {
		f.Speed = uint16(d)
		f.Speed <<= 8
	} else {
		return false
	}
	if d, ok := bits.ReadByte(); ok {
		f.Speed |= uint16(d)
	} else {
		return false
	}
	//time
	f.Time = 0
	timeArr := make([]byte, 4, 4)
	if d, ok := bits.ReadByte(); ok {
		timeArr[0] = d
	} else {
		return false
	}
	if d, ok := bits.ReadByte(); ok {
		timeArr[1] = d
	} else {
		return false
	}
	if d, ok := bits.ReadByte(); ok {
		timeArr[2] = d
	} else {
		return false
	}
	if d, ok := bits.ReadByte(); ok {
		timeArr[3] = d
	} else {
		return false
	}
	crc16 := Can_Crc16(timeArr)
	t1 := uint32(timeArr[0])
	t2 := uint32(timeArr[1])
	t3 := uint32(timeArr[2])
	t4 := uint32(timeArr[3])
	f.Time |= t1 << 24
	f.Time |= t2 << 16
	f.Time |= t3 << 8
	f.Time |= t4
	//crc
	f.Crc16 = 0
	if d, ok := bits.ReadByte(); ok {
		crc1 := uint16(d)
		f.Crc16 |= crc1 << 8
	} else {
		return false
	}
	if d, ok := bits.ReadByte(); ok {
		crc2 := uint16(d)
		f.Crc16 |= crc2
	} else {
		return false
	}
	//crc校验
	f.Crc16CheckOk = f.Crc16 == crc16
	if !f.Crc16CheckOk {
		slog.Debug("解码AtpRequestFrame，CRC16校验未通过！！")
	}
	//
	return true
}
func (f *AtpRequestFrame) Encode() *CanetFrame {
	cf := &CanetFrame{}
	cf.CanId = f.FId
	cf.CanLen = 8
	cf.FF = true
	cf.RTR = false
	//
	bits := NewCanBitsWriter(8)
	//
	if f.PowerAmplifierTurnOn {
		bits.AddBits(1, 1)
	} else {
		bits.AddBits(0, 1)
	}
	//
	if f.PowerAmplifierControlledByAtp {
		bits.AddBits(1, 1)
	} else {
		bits.AddBits(0, 1)
	}
	//
	bits.AddBits(f.ResendRequest, 2)
	//速度
	bits.AddBits(byte(f.Speed>>8), 4)
	bits.AddByte(byte(f.Speed))
	//时间
	timeArr := make([]byte, 4, 4)
	timeArr[0] = byte(f.Time >> 24)
	timeArr[1] = byte(f.Time >> 16)
	timeArr[2] = byte(f.Time >> 8)
	timeArr[3] = byte(f.Time)
	for _, timeByte := range timeArr {
		bits.AddByte(timeByte)
	}
	//crc
	crc16 := Can_Crc16(timeArr)
	bits.AddByte(byte(crc16 >> 8))
	bits.AddByte(byte(crc16))
	//
	cf.CanData = bits.(CanBusData).GetData()
	//
	return cf
}