btm

third_party/can_btm/balise_btm.go

@@ -5,6 +5,7 @@ import (
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 	"log/slog"
+	"sort"
 )
 
 // btm与canet(网口-CAN口转换器)
@@ -16,11 +17,27 @@ type btmCanetClient struct {
 	localUdpPort  int
 	remoteUdpPort int
 	remoteIp      string
+	trainId       string
+}
+type BtmCanetClient interface {
+	Start()
+	Stop()
+	TrainId() string
+}
+type BtmMessageManager interface {
+	BtmRcvAtpReqFrame(trainId string, atpReq *message.AtpRequestFrame)
+	BtmScanBaliseContent(trainId string)
 }
 
+func NewBtmCanetClient(trainId string, remoteIp string, remoteUdpPort int, localUdpPort int) BtmCanetClient {
+	return &btmCanetClient{trainId: trainId, remoteIp: remoteIp, remoteUdpPort: remoteUdpPort, localUdpPort: localUdpPort}
+}
+func (s *btmCanetClient) TrainId() string {
+	return s.trainId
+}
 func (s *btmCanetClient) Start() {
 	//
-	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCannetFrames)
+	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCanetFrames)
 	s.udpServer.Listen()
 	//
 	s.udpClient = udp.NewClient(fmt.Sprintf("%s:%d", s.remoteIp, s.remoteUdpPort))
@@ -34,16 +51,78 @@ func (s *btmCanetClient) Stop() {
 		s.udpClient.Close()
 	}
 }
-func (s *btmCanetClient) handleCannetFrames(cfs []byte) {
+func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
 	//一个cannet 帧 13字节
 	if len(cfs) > 0 && len(cfs)%13 == 0 {
 		cfSum := len(cfs) / 13
+		dms := make([]*message.CanetFrame, 0, 16) //13个应答器报文数据帧+TimeA帧+TimeB帧+结束帧
 		for cfi := 0; cfi < cfSum; cfi++ {
 			cfStart := cfi * 13
 			cf := message.NewCanetFrame(cfs[cfStart : cfStart+13])
-			fmt.Println(cf.String())
+			//
+			switch cf.CanFrameType() {
+			case message.CfReq:
+				s.dealWithAptReq(cf)
+			case message.CfStatusRsp:
+				s.dealWithBtmStatusRsp(cf)
+			case message.CfTimeSync:
+				s.dealWithBtmTimeSyncRsp(cf)
+			case message.CfMsg:
+				fallthrough
+			case message.CfMsgTimeA:
+				fallthrough
+			case message.CfMsgTimeB:
+				fallthrough
+			case message.CfMsgEnd:
+				dms = append(dms, cf)
+			default:
+				slog.Warn("CanetFrame帧没有具体对应的应用帧", "CannetFrame", cf.String())
+			} //switch
+		} //for
+		//将数据包按ID3即0x80+offset由小到大排序
+		sort.SliceStable(dms, func(i, j int) bool {
+			return dms[i].CanId.ID3 < dms[j].CanId.ID3
+		})
+		//有数据帧，但是不足16帧
+		if len(dms) > 0 {
+			if len(dms) != 16 {
+				slog.Warn("接收到数据帧，但数据帧数量不足16帧")
+			} else {
+				s.dealWithBtmDataFrames(dms)
+			}
 		}
+
 	} else {
 		slog.Warn("从cannet接收数据，未满足条件‘len(cfs) > 0 && len(cfs)%13 == 0‘", "len(cfs)", len(cfs))
 	}
 }
+
+// 处理接收的ATP查询请求帧
+func (s *btmCanetClient) dealWithAptReq(f *message.CanetFrame) {
+	atpReq := &message.AtpRequestFrame{}
+	if !atpReq.Decode(f) {
+		slog.Warn("CanetFrame解码成AtpRequestFrame失败", "CanetFrame", f.String())
+	}
+	//处理查询请求
+	slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
+	//todo
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+// 处理接收的状态应答帧
+func (s *btmCanetClient) dealWithBtmStatusRsp(f *message.CanetFrame) {
+	slog.Debug(fmt.Sprintf("接收到状态应答帧%s", f.String()))
+}
+
+// 处理接收的时间同步校验应答帧
+func (s *btmCanetClient) dealWithBtmTimeSyncRsp(f *message.CanetFrame) {
+	slog.Debug(fmt.Sprintf("接收到时间同步校验应答帧%s", f.String()))
+}
+
+// 处理接收到的16帧数据帧
+func (s *btmCanetClient) dealWithBtmDataFrames(dms []*message.CanetFrame) {
+	for _, dm := range dms {
+		slog.Debug(fmt.Sprintf("接收到数据帧%s", dm.String()))
+	}
+}