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

package message

import (
	"encoding/binary"
	"fmt"
	"strings"
)

// BtmStatusRspFrame BTM发往ATP的状态应答帧
type BtmStatusRspFrame struct {
	//帧ID
	FId CanFrameId
	//数据流水号，0～255变化，每次加一
	Dsn byte
	//应答器计数（每过一个应答器加一，在同一个应答器内不变）
	BaliseCounter byte
	//报文计数器（每解出一个报文加一）
	MessageCounter byte
	//功率放大器状态，true-1 turn on ;false-0 turn off
	PowerAmplifierOn bool
	//ATP查询帧CRC16校验结果,true-1校验失败，false-0校验通过
	AtpReqCrcCheckWrong bool
	//功率放大器故障,true-1故障，false-0正常
	PowerAmplifierFailure bool
	//天线故障,true-1故障，false-0正常
	AntennaFault bool
	//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
}

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),

	}
}
func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
	f.FId = cf.CanId
	//
	reader := NewCanBitsReader(cf.CanData, 8)
	//数据流水号
	if d, ok := reader.ReadByte(); ok {
		f.Dsn = d
	} else {
		return false
	}
	//应答器计数
	if d, ok := reader.ReadByte(); ok {
		f.BaliseCounter = d
	} else {
		return false
	}
	//报文计数器
	if d, ok := reader.ReadByte(); ok {
		f.MessageCounter = d
	} else {
		return false
	}
	//功率放大器状态
	if d, ok := reader.ReadBits(1); ok {
		f.PowerAmplifierOn = 1 == d
	} else {
		return false
	}
	//ATP查询帧CRC16校验结果
	if d, ok := reader.ReadBits(1); ok {
		f.AtpReqCrcCheckWrong = 1 == d
	} else {
		return false
	}
	//功率放大器故障
	if d, ok := reader.ReadBits(1); ok {
		f.PowerAmplifierFailure = 1 == d
	} else {
		return false
	}
	//天线故障
	if d, ok := reader.ReadBits(1); ok {
		f.AntennaFault = 1 == d
	} else {
		return false
	}
	//BTM detailed code
	if d, ok := reader.ReadBits(4); ok {
		f.DetailedCode = d
	} else {
		return false
	}
	//tk time a
	tk1, tk1Ok := reader.ReadByte()
	if !tk1Ok {
		return false
	}
	tk2, tk2Ok := reader.ReadByte()
	if !tk2Ok {
		return false
	}
	tk3, tk3Ok := reader.ReadByte()
	if !tk3Ok {
		return false
	}
	tk4, tk4Ok := reader.ReadByte()
	if !tk4Ok {
		return false
	}
	f.TkTimeA = 0
	f.TkTimeA |= uint32(tk1) << 24
	f.TkTimeA |= uint32(tk2) << 16
	f.TkTimeA |= uint32(tk3) << 8
	f.TkTimeA |= uint32(tk4)
	//
	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.CanId = f.FId
	cf.CanLen = 8
	cf.FF = true
	cf.RTR = false
	//
	writer := NewCanBitsWriter(8)
	writer.AddByte(f.Dsn)
	writer.AddByte(f.BaliseCounter)
	writer.AddByte(f.MessageCounter)

	//
	if f.PowerAmplifierOn {
		writer.AddBits(1, 1)
	} else {
		writer.AddBits(0, 1)
	}
	//
	if f.AtpReqCrcCheckWrong {
		writer.AddBits(1, 1)
	} else {
		writer.AddBits(0, 1)
	}
	//
	if f.PowerAmplifierFailure {
		writer.AddBits(1, 1)
	} else {
		writer.AddBits(0, 1)
	}
	//
	if f.AntennaFault {
		writer.AddBits(1, 1)
	} else {
		writer.AddBits(0, 1)
	}
	//
	writer.AddBits(f.DetailedCode, 4)
	//tk time a
	tkMsk := uint32(0x00_00_00_ff)
	tk1 := byte((f.TkTimeA >> 24) & tkMsk)
	tk2 := byte((f.TkTimeA >> 16) & tkMsk)
	tk3 := byte((f.TkTimeA >> 8) & tkMsk)
	tk4 := byte(f.TkTimeA & tkMsk)
	writer.AddByte(tk1)
	writer.AddByte(tk2)
	writer.AddByte(tk3)
	writer.AddByte(tk4)
	//
	cf.CanData = writer.(CanBusData).GetData()
	return cf
}
func (f *BtmStatusRspFrame) String() string {
	sb := strings.Builder{}
	sb.WriteString(fmt.Sprintf("BtmStatusRspFrame 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("Dsn = %d", f.Dsn))
	sb.WriteString(fmt.Sprintf(",BaliseCounter = %d", f.BaliseCounter))
	sb.WriteString(fmt.Sprintf(",MessageCounter = %d", f.MessageCounter))
	sb.WriteString(fmt.Sprintf(",PowerAmplifierOn = %t", f.PowerAmplifierOn))
	sb.WriteString(fmt.Sprintf(",AtpReqCrcCheckWrong = %t", f.AtpReqCrcCheckWrong))
	sb.WriteString(fmt.Sprintf(",PowerAmplifierFailure = %t", f.PowerAmplifierFailure))
	sb.WriteString(fmt.Sprintf(",AntennaFault = %t", f.AntennaFault))
	sb.WriteString(fmt.Sprintf(",DetailedCode = %d", f.DetailedCode))
	sb.WriteString(fmt.Sprintf(",TkTimeA = %d", f.TkTimeA))
	return sb.String()
}