306 lines
6.9 KiB
Go
306 lines
6.9 KiB
Go
package message
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import (
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"bytes"
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"encoding/binary"
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"fmt"
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"math"
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"strconv"
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"time"
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)
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const PC_SIM_HEADER = 0xEB
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type TrainPcSimBaseMessage struct {
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Type byte
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DataLen byte
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Data []byte
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Crc uint16 // 校验码
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}
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// 编码
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func (tp *TrainPcSimBaseMessage) Encode() []byte {
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pack := make([]byte, 0)
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pack = append(pack, PC_SIM_HEADER)
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pack = append(pack, tp.Type)
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pack = append(pack, byte(len(tp.Data)+1+1+1+2))
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if len(tp.Data) > 0 {
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pack = append(pack, tp.Data...)
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//dataBufs := bytes.NewBuffer(nil)
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//binary.Write(dataBufs, binary.BigEndian, tp.Data)
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//data := dataBufs.Bytes()
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//pack = append(pack, data...)
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}
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pack = binary.BigEndian.AppendUint16(pack, uint16(0xffff))
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//pack = binary.BigEndian.AppendUint16(pack, uint16(crc.CalculateCRC(crc.CRC16, pack[1:])))
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return pack
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}
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func TrainPcSimDecode(data []byte) []*TrainPcSimBaseMessage {
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bms := make([]*TrainPcSimBaseMessage, 0)
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buf := bytes.NewBuffer(data)
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//hexData := hex.EncodeToString(data)
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for {
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if buf.Len() < 3 {
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return bms /*, fmt.Errorf("解析仿真pc数据失败，数据长度小于3")*/
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}
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header, _ := buf.ReadByte()
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if header != PC_SIM_HEADER {
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return bms /*, fmt.Errorf("数据包头错误,数据头为%v", hexData)*/
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}
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msgType, _ := buf.ReadByte()
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dataLen, _ := buf.ReadByte()
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dataLen = dataLen - 3 - 2
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if buf.Len() < int(dataLen) {
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return bms /*, fmt.Errorf("数据长度不够,数据类型为%v,需要长度:%v,实际长度:%v", msgType, dataLen, buf.Len())*/
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}
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sourceData := make([]byte, dataLen)
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buf.Read(sourceData)
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var crc uint16
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binary.Read(buf, binary.BigEndian, &crc)
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bms = append(bms, &TrainPcSimBaseMessage{Type: msgType, DataLen: dataLen - 2, Data: sourceData, Crc: crc})
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}
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return bms
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}
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// 解码
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func (tp *TrainPcSimBaseMessage) Decode(data []byte) error {
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if len(data) < 3 {
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return fmt.Errorf("")
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}
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buf := bytes.NewBuffer(data)
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h, _ := buf.ReadByte()
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if h != PC_SIM_HEADER {
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return fmt.Errorf("")
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}
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var pcType byte
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pcType, _ = buf.ReadByte()
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dataLen, _ := buf.ReadByte()
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dataLen = dataLen - 3
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if buf.Len() < int(dataLen) {
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return fmt.Errorf("")
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}
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var dd = make([]byte, dataLen-2)
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binary.Read(buf, binary.BigEndian, &dd)
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var crcCode uint16
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binary.Read(buf, binary.BigEndian, &crcCode)
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tp.Type = pcType
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tp.DataLen = dataLen
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tp.Data = dd
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tp.Crc = crcCode
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return nil
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//crc.CalculateCRC(crc.CRC16, data)
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}
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func IsTrue(d bool) byte {
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if d {
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return 1
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}
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return 0
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}
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func IsTrueForByte(d byte) bool {
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if d == 1 {
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return true
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}
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return false
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}
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// 确定、否定是你软件里的概念吧，比如ATP输出量---紧急，我们就认为是低电平有效。即0代表有紧急，1代表无紧急；
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// 比如ATP的输入量---钥匙，我们认为是高电平有效，即1代表上钥匙，0代表下钥匙。
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func AtpLowPowerByte(d byte) bool {
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if d == 0 {
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return true
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}
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return false
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}
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// 列车速度位置报告
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type TrainSpeedPlaceReportMsg struct {
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PulseCount1 float32
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PulseCount2 float32
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Pp1 float32
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Pp2 float32
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HistoryCount float32
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Tmp bool
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PcCount float32
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}
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func (tp *TrainSpeedPlaceReportMsg) ParsePulseCount1(s1, s2 uint32) {
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//tp.PulseCount1 += tp.HistoryCount
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//tp.PulseCount2 += tp.HistoryCount
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tp.PulseCount1 += float32(s1) * 200 / math.Pi / 840
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tp.PulseCount2 += float32(s2) * 200 / math.Pi / 840
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//tp.HistoryCount += s1
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}
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func (tp *TrainSpeedPlaceReportMsg) ParsePulseCut(s1, s2 float32) {
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/* if s1 == 0 || s2 == 0 {
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tp.PulseCount1 = tp.HistoryCount
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tp.PulseCount2 = tp.HistoryCount
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return
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}*/
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tp.HistoryCount += s1
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d1 := tp.PulseCount1 - s1
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if d1 <= 0 {
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d1 = 0
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}
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d2 := tp.PulseCount1 - s2
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if d2 <= 0 {
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d2 = 0
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}
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tp.PulseCount1 = d1
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tp.PulseCount2 = d2
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}
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func (tp *TrainSpeedPlaceReportMsg) Encode(runDir uint16, s1 uint32) []byte {
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data := make([]byte, 0)
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data = binary.BigEndian.AppendUint16(data, runDir)
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data = binary.BigEndian.AppendUint32(data, s1)
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data = binary.BigEndian.AppendUint32(data, s1)
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tp.PcCount = tp.PulseCount1 * 200 / math.Pi / float32(840)
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data = binary.BigEndian.AppendUint32(data, uint32(tp.PcCount))
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data = binary.BigEndian.AppendUint32(data, uint32(tp.PcCount))
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/*now := time.Now().UTC()
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// 将时间转换为毫秒
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millis := now.UnixNano() / int64(time.Millisecond)
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millisStr := strconv.Itoa(int(millis))
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strs := []rune(millisStr)
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sec := now.Unix()
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millisStr2 := strconv.Itoa(int(sec))
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strs2 := []rune(millisStr2)
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dd, _ := strconv.Atoi(string(strs2[5:]))
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mm, _ := strconv.Atoi(string(strs[len(strs)-3:]))*/
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sec, ms := tp.time()
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data = binary.BigEndian.AppendUint32(data, sec)
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data = binary.BigEndian.AppendUint16(data, ms)
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return data
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}
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func (tp *TrainSpeedPlaceReportMsg) time() (uint32, uint16) {
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now := time.Now().UnixMilli()
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timeNowStr := strconv.Itoa(int(now))
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timeStrs := []rune(timeNowStr)
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sec, _ := strconv.Atoi(string(timeStrs[5:10]))
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ms, _ := strconv.Atoi(string(timeStrs[10:]))
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return uint32(sec), uint16(ms)
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}
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func (tp *TrainSpeedPlaceReportMsg) Decode(d []byte) {
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buf := bytes.NewBuffer(d)
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var runDir uint16
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binary.Read(buf, binary.BigEndian, &runDir)
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var s1 uint32
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binary.Read(buf, binary.BigEndian, &s1)
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var s2 uint32
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binary.Read(buf, binary.BigEndian, &s2)
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var c1 uint32
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binary.Read(buf, binary.BigEndian, &c1)
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var c2 uint32
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binary.Read(buf, binary.BigEndian, &c2)
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var ts uint32
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binary.Read(buf, binary.BigEndian, &ts)
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var mts uint16
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binary.Read(buf, binary.BigEndian, &mts)
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fmt.Println(fmt.Sprintf("列车方向:%v,1路脉冲数:%v,2路脉冲数:%v,1路累计数:%v,2路累计数:%v,时间:%v,时间(毫秒):%v", runDir, s1, s2, c1, c2, ts, mts))
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}
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// 轨旁向列车pc仿真发送的命令码
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const (
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//手柄零位方向向前
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DIR_ZERO_FORWARD = 0x2d
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//钥匙开关状态
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KEY_STATE = iota - 1
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//手柄向前控制
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HANDLE_FORWORD
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//手柄向后控制
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HANDLE_BACKWORD
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//外部紧急制动反馈
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OUTER_EMERGENCY_BRAKE
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//列车制动状态
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TRAIN_BRAKE_STATE
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//开左门
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LEFT_OPEN_DOOR
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//关右门
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CLOSE_RIGHT_DOOR
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//关左门
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CLOSE_LEFT_DOOR
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//开右门
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OPEN_RIGHT_DOOR
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//折返按钮
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TURN_BACK
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//强制门允许
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FORCE_DOOR_ALLOW
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//模式降级按钮
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TRAIN_MODE_DOWN
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//确认按钮
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CONFIRM
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//模式升级按钮
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TRAIN_MODE_UP
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//牵引制动手柄零位
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HANDLE_TO_ZERO
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//ATO发车按钮
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ATO_SEND_TRAIN
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//列车完整性
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TRAIN_INTEGRITY
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//车载ATP/ATO旁路状态
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ATP_ATO_BYPASS_STATe
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//车辆牵引已切除状态
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TRAIN_TRACTION_CUTED
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//障碍物检测按钮
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OBSTACLE_CHECK
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//驾驶室激活反馈按钮
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DRIVER_ACTIVE_REPORT
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//制动重故障按钮
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BRAKE_HEAVY_FAULT
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//左门状态按钮
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LEFT_DOOR_STATE
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//右门状态按钮
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RIGHT_DOOR_STATE
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//唤醒按钮
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WAKE_UP
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//检修按钮
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OVERHAUL
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//欠压按钮
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UNDERVOLTAGE
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//休眠按钮
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SLEEP
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_
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//紧急手柄拉下
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EMERGENT_HANDLE_DOWN
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//车门锁闭状态
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DOOR_LOCK_STATE
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//逃生门状态
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LIFE_DOOR
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//车辆低压上电状态
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TRAIN_LOW_POWER
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//ATP上电按钮
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ATP_POWER_ON
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//atp切除
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ATP_CUT
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//AA自动开关门
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DOOR_MODE_AA
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//AM自开人关
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DOOR_MODE_AM
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//MM人开人关
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DOOR_MODE_MM
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_
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NOT_BREAK
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)
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