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

package message

import (
	"bytes"
	"encoding/binary"
	"fmt"
	"strconv"
	"time"
)

const PC_SIM_HEADER = 0xEB

type TrainPcSimBaseMessage struct {
	Type    byte
	DataLen byte
	Data    []byte
	Crc     uint16 // 校验码
}

// 编码
func (tp *TrainPcSimBaseMessage) Encode() []byte {
	pack := make([]byte, 0)
	pack = append(pack, PC_SIM_HEADER)
	pack = append(pack, tp.Type)

	pack = append(pack, byte(len(tp.Data)+1+1+1+2))
	if len(tp.Data) > 0 {
		pack = append(pack, tp.Data...)
		//dataBufs := bytes.NewBuffer(nil)
		//binary.Write(dataBufs, binary.BigEndian, tp.Data)
		//data := dataBufs.Bytes()
		//pack = append(pack, data...)
	}

	pack = binary.BigEndian.AppendUint16(pack, uint16(0xffff))
	//pack = binary.BigEndian.AppendUint16(pack, uint16(crc.CalculateCRC(crc.CRC16, pack[1:])))
	return pack
}

func TrainPcSimDecode(data []byte) []*TrainPcSimBaseMessage {

	bms := make([]*TrainPcSimBaseMessage, 0)
	buf := bytes.NewBuffer(data)

	//hexData := hex.EncodeToString(data)
	for {
		if buf.Len() < 3 {
			return bms /*, fmt.Errorf("解析仿真pc数据失败，数据长度小于3")*/
		}
		header, _ := buf.ReadByte()
		if header != PC_SIM_HEADER {
			return bms /*, fmt.Errorf("数据包头错误,数据头为%v", hexData)*/
		}
		msgType, _ := buf.ReadByte()
		dataLen, _ := buf.ReadByte()
		dataLen = dataLen - 3 - 2
		if buf.Len() < int(dataLen) {
			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())*/
		}
		sourceData := make([]byte, dataLen)
		buf.Read(sourceData)
		var crc uint16
		binary.Read(buf, binary.BigEndian, &crc)
		bms = append(bms, &TrainPcSimBaseMessage{Type: msgType, DataLen: dataLen - 2, Data: sourceData, Crc: crc})
	}
	return bms
}

// 解码
func (tp *TrainPcSimBaseMessage) Decode(data []byte) error {
	if len(data) < 3 {
		return fmt.Errorf("")
	}
	buf := bytes.NewBuffer(data)
	h, _ := buf.ReadByte()
	if h != PC_SIM_HEADER {
		return fmt.Errorf("")
	}
	var pcType byte
	pcType, _ = buf.ReadByte()
	dataLen, _ := buf.ReadByte()
	dataLen = dataLen - 3
	if buf.Len() < int(dataLen) {
		return fmt.Errorf("")
	}

	var dd = make([]byte, dataLen-2)

	binary.Read(buf, binary.BigEndian, &dd)
	var crcCode uint16
	binary.Read(buf, binary.BigEndian, &crcCode)
	tp.Type = pcType
	tp.DataLen = dataLen
	tp.Data = dd
	tp.Crc = crcCode
	return nil
	//crc.CalculateCRC(crc.CRC16, data)
}

func IsTrue(d bool) byte {
	if d {
		return 1
	}
	return 0
}
func IsTrueForByte(d byte) bool {
	if d == 1 {
		return true
	}
	return false
}

// 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；
// 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。
func AtpLowPowerByte(d byte) bool {
	if d == 0 {
		return true
	}
	return false
}

// 列车速度位置报告
type TrainSpeedPlaceReportMsg struct {
	PulseCount1 uint32
	PulseCount2 uint32
}

func (tp *TrainSpeedPlaceReportMsg) ParsePulseCount1(s1, s2 uint32) {
	tp.PulseCount1 += s1
	tp.PulseCount2 += s2
}
func (tp *TrainSpeedPlaceReportMsg) Encode(runDir bool, s1, s2 uint32) []byte {
	data := make([]byte, 0)
	data = binary.BigEndian.AppendUint16(data, uint16(IsTrue(runDir)))
	data = binary.BigEndian.AppendUint32(data, s1)
	data = binary.BigEndian.AppendUint32(data, s2)
	data = binary.BigEndian.AppendUint32(data, tp.PulseCount1)
	data = binary.BigEndian.AppendUint32(data, tp.PulseCount2)
	now := time.Now().UTC()
	// 将时间转换为毫秒
	millis := now.UnixNano() / int64(time.Millisecond)
	millisStr := strconv.Itoa(int(millis))
	strs := []rune(millisStr)

	second, _ := strconv.Atoi(string(strs[:len(strs)-3]))
	mm, _ := strconv.Atoi(string(strs[len(strs)-3:]))
	data = binary.BigEndian.AppendUint32(data, uint32(second))
	data = binary.BigEndian.AppendUint16(data, uint16(mm))

	return data
}

func (tp *TrainSpeedPlaceReportMsg) Decode(d []byte) {
	buf := bytes.NewBuffer(d)
	var runDir uint16
	binary.Read(buf, binary.BigEndian, &runDir)
	var s1 uint32
	binary.Read(buf, binary.BigEndian, &s1)
	var s2 uint32
	binary.Read(buf, binary.BigEndian, &s2)
	var c1 uint32
	binary.Read(buf, binary.BigEndian, &c1)
	var c2 uint32
	binary.Read(buf, binary.BigEndian, &c2)
	var ts uint32
	binary.Read(buf, binary.BigEndian, &ts)
	var mts uint16
	binary.Read(buf, binary.BigEndian, &mts)

	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))

}

// 轨旁向列车pc仿真发送的命令码
const (
	//手柄零位方向向前
	DIR_ZERO_FORWARD = 0x2d
	//钥匙开关状态
	KEY_STATE = iota - 1
	//手柄向前控制
	HANDLE_FORWORD
	//手柄向后控制
	HANDLE_BACKWORD
	//外部紧急制动反馈
	OUTER_EMERGENCY_BRAKE
	//列车制动状态
	TRAIN_BRAKE_STATE
	//开左门
	LEFT_OPEN_DOOR
	//关右门
	CLOSE_RIGHT_DOOR
	//关左门
	CLOSE_LEFT_DOOR
	//开右门
	OPEN_RIGHT_DOOR
	//折返按钮
	TURN_BACK
	//强制门允许
	FORCE_DOOR_ALLOW
	//模式降级按钮
	TRAIN_MODE_DOWN

	//确认按钮
	CONFIRM
	//模式升级按钮
	TRAIN_MODE_UP
	//牵引制动手柄零位
	HANDLE_TO_ZERO
	//ATO发车按钮
	ATO_SEND_TRAIN

	//列车完整性
	TRAIN_INTEGRITY
	//车载ATP/ATO旁路状态
	ATP_ATO_BYPASS_STATe
	//车辆牵引已切除状态
	TRAIN_TRACTION_CUTED
	//障碍物检测按钮
	OBSTACLE_CHECK
	//驾驶室激活反馈按钮
	DRIVER_ACTIVE_REPORT
	//制动重故障按钮
	BRAKE_HEAVY_FAULT
	//左门状态按钮
	LEFT_DOOR_STATE
	//右门状态按钮
	RIGHT_DOOR_STATE
	//唤醒按钮
	WAKE_UP
	//检修按钮
	OVERHAUL
	//欠压按钮
	UNDERVOLTAGE
	//休眠按钮
	SLEEP
	_
	//紧急手柄拉下
	EMERGENT_HANDLE_DOWN
	//车门锁闭状态
	DOOR_LOCK_STATE
	//逃生门状态
	LIFE_DOOR
	//车辆低压上电状态
	TRAIN_LOW_POWER
	//ATP上电按钮
	ATP_POWER_ON
	//atp切除
	ATP_CUT
	//AA自动开关门
	DOOR_MODE_AA

	//AM自开人关
	DOOR_MODE_AM
	//MM人开人关
	DOOR_MODE_MM
	_
	NOT_BREAK
)