rts-sim-module/fi/train.go

package fi

import (
	"fmt"
	"joylink.club/ecs"
	"joylink.club/ecs/filter"
	"joylink.club/rtsssimulation/component"
	"joylink.club/rtsssimulation/entity"
	"joylink.club/rtsssimulation/sys/device_sys"
)

// AddTrainToWorld 添加列车
func AddTrainToWorld(w ecs.World, trainId string) error {
	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
		wd := entity.GetWorldData(w)
		_, find := wd.EntityMap[trainId]
		if !find {
			entity.NewTrainWithBtmEntity(w, trainId)
		}
		return ecs.NewOkEmptyResult()
	})
	return result.Err
}

// RemoveTrainFromWorld 移除列车
func RemoveTrainFromWorld(w ecs.World, trainId string) error {
	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
		wd := entity.GetWorldData(w)
		te, find := wd.EntityMap[trainId]
		if find {
			te.Remove()
			delete(wd.EntityMap, trainId)
		}
		return ecs.NewOkEmptyResult()
	})
	return result.Err
}

// UpdateTrainPositionFromDynamics 更新列车所在的物理区段
func UpdateTrainPositionFromDynamics(w ecs.World, tpi TrainPositionInfo) error {
	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
		wd := entity.GetWorldData(w)
		te, find := wd.EntityMap[tpi.TrainId]
		if find {
			train := component.TrainPositionInfoType.Get(te)
			//
			lastTrainHeadPos := &device_sys.TrainHeadPosition{Up: train.Up, HeadLink: train.HeadLink, HeadLinkOffset: train.HeadLinkOffset}
			//
			train.Up = tpi.Up
			train.Len = int64(tpi.Len)
			train.HeadLink = tpi.HeadLink
			train.HeadLinkOffset = int64(tpi.HeadLinkOffset)
			train.TailLink = tpi.TailLink
			train.TailLinkOffset = int64(tpi.TailLinkOffset)
			//列车车头移动范围
			curTrainHeadPos := &device_sys.TrainHeadPosition{Up: train.Up, HeadLink: train.HeadLink, HeadLinkOffset: train.HeadLinkOffset}
			//根据列车位置探测应答器
			device_sys.NewBaliseDetection().DetectBalise(w, te, lastTrainHeadPos, curTrainHeadPos)
			//
			return ecs.NewOkEmptyResult()
		} else {
			return ecs.NewErrResult(fmt.Errorf("列车[%s]实体不存在", tpi.TrainId))
		}

	})
	return result.Err
}

// FindTrainBaliseBtmStatus 获取车载BTM的相关状态信息
func FindTrainBaliseBtmStatus(w ecs.World) (*TrainBtmStatus, error) {
	result := <-ecs.Request[*TrainBtmStatus](w, func() ecs.Result[*TrainBtmStatus] {
		//获取当前关联CANET设备的列车
		canetTrain := findCanetTrain(w)
		if canetTrain == nil {
			return ecs.NewResult[*TrainBtmStatus](nil, fmt.Errorf("系统中当前不存在与CANET设备关联的列车实体"))
		}
		//
		trainId := component.UidType.Get(canetTrain).Id
		btm := component.TrainBtmType.Get(canetTrain)
		btmStatus := &TrainBtmStatus{
			TrainId:             trainId,
			PowerAmplifierOn:    btm.PowerAmplifierSwitch,
			PowerAmplifierFault: false,
			AboveBalise:         btm.AboveBalise,
			AntennaFault:        false,
			BaliseCounter:       btm.BaliseCounter,
			MessageCounter:      btm.MessageCounter,
		}
		return ecs.NewOkResult(btmStatus)
	})
	return result.Val, result.Err
}

// TrainBalisePowerAmplifierSwitch 车载应答器天线功率放大器开关控制
func TrainBalisePowerAmplifierSwitch(w ecs.World, turnOn bool) error {
	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
		//获取当前关联CANET设备的列车
		canetTrain := findCanetTrain(w)
		if canetTrain == nil {
			return ecs.NewErrResult(fmt.Errorf("系统中当前不存在与CANET设备关联的列车实体"))
		}
		//
		train := component.TrainBtmType.Get(canetTrain)
		train.PowerAmplifierSwitch = turnOn
		return ecs.NewOkEmptyResult()
	})
	return result.Err
}

// GetScannedBaliseTelegram 获取扫描到的应答器报文
func GetScannedBaliseTelegram(w ecs.World) (*component.TrainBaliseTelegram, error) {
	result := <-ecs.Request[*component.TrainBaliseTelegram](w, func() ecs.Result[*component.TrainBaliseTelegram] {
		//获取当前关联CANET设备的列车
		canetTrain := findCanetTrain(w)
		if canetTrain == nil {
			return ecs.NewResult[*component.TrainBaliseTelegram](nil, fmt.Errorf("系统中当前不存在与CANET设备关联的列车实体"))
		}
		//
		train := component.TrainBtmType.Get(canetTrain)
		tbt := train.FindScannedBalises()
		if tbt != nil {
			return ecs.NewOkResult(tbt)
		} else {
			return ecs.NewResult[*component.TrainBaliseTelegram](nil, fmt.Errorf("此刻没有要发送的应答器报文"))
		}
	})
	return result.Val, result.Err
}

var trainQuery = ecs.NewQuery(filter.Contains(component.UidType, component.TrainPositionInfoType, component.TrainBtmType))

// 获取当前关联CANET设备的列车
func findCanetTrain(w ecs.World) *ecs.Entry {
	var canetTrain *ecs.Entry = nil
	trainQuery.Each(w, func(entry *ecs.Entry) { //目前默认取第一辆
		if canetTrain == nil {
			canetTrain = entry
		}
	})
	return canetTrain
}

// /////////////////////////////////////////////////////////////////////////////////////////

type TrainBtmStatus struct {
	TrainId             string
	PowerAmplifierOn    bool //BTM功率放大器是否开启
	PowerAmplifierFault bool //BTM功率放大器是否有故障
	AntennaFault        bool //BTM应答器天线是否有故障
	AboveBalise         bool //BTM当前是否在应答器上方
	BaliseCounter       int  //应答器计数（每过一个应答器加一，在同一个应答器内不变）
	MessageCounter      int  //报文计数器（每解出一个应答器报文加一）
}

type TrainPositionInfo struct {
	//列车id
	TrainId string
	//列车头当前运行方向（true偏移量增大/false减小方向）
	Up bool
	//列车长度 mm
	Len uint32
	//列车所在轨道link
	HeadLink string
	//列车所在link偏移量（mm）
	HeadLinkOffset uint32
	//列车所在轨道link
	TailLink string
	//列车所在link偏移量（mm）
	TailLinkOffset uint32
}