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

package message

import (
	"encoding/binary"
	"fmt"
	"log/slog"
)

// 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([]*BtmDataMessageAtpFrame, 13)
	for mr := 0x00; mr <= 0x0c; mr++ {
		dms[mr] = CreateBtmDataMessageDataAtpFrame(sn, byte(mr))
		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 := 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()

	//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
//
//	数据帧与状态应答帧同时发送给ATP
//
// 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) ([]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]
	//数据
	dms := make([]*BtmDataMessageFrame, 13)
	for mr := 0x00; mr <= 0x0c; mr++ {
		dms[mr] = NewBtmDataMessageFrame(sn, byte(mr))
		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)
	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)
	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)
	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 len(rt) != 221 {
		slog.Warn("len(rt)!=221")
		return nil, false
	}

	return rt, true
}