joylink/rts-sim-module
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btm

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This commit is contained in:
xzb 2023-11-28 13:30:04 +08:00
parent a6334da22d
commit 21ba021648
3 changed files with 43 additions and 15 deletions
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4
fi/train.go
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@ -6,6 +6,7 @@ import (
"joylink.club/ecs/filter"
"joylink.club/rtsssimulation/component"
"joylink.club/rtsssimulation/entity"
"joylink.club/rtsssimulation/sys/device_sys"
)
// AddTrainToWorld 添加列车
@ -48,6 +49,9 @@ func UpdateTrainPositionFromDynamics(w ecs.World, tpi TrainPositionInfo) error {
train.HeadLinkOffset = int64(tpi.HeadLinkOffset)
train.TailLink = tpi.TailLink
train.TailLinkOffset = int64(tpi.TailLinkOffset)
//根据列车位置探测应答器
device_sys.NewBaliseDetection().DetectBalise(w, te)
//
return ecs.NewOkEmptyResult()
} else {
return ecs.NewErrResult(fmt.Errorf("列车[%s]实体不存在", tpi.TrainId))

1
sys/bind.go
View File

@ -39,6 +39,5 @@ func BindSystem(w ecs.World) {
device_sys.NewSectionDetectSystem(),
//应答器
device_sys.NewBaliseSystem(),
device_sys.NewBaliseDetectSystem(),
)
}

53
sys/device_sys/balise_detection.go
View File

@ -8,6 +8,7 @@ import (
"joylink.club/rtsssimulation/entity"
"joylink.club/rtsssimulation/repository"
"log/slog"
"math"
"sort"
"strings"
)
@ -24,26 +25,50 @@ func NewBaliseDetectSystem() *BaliseDetectSystem {
trainQuery: ecs.NewQuery(filter.Contains(component.UidType, component.TrainPositionInfoType, component.TrainBtmType)),
}
}
var (
lastHeadLink string
lastHeadOffset int64
)
func (s *BaliseDetectSystem) Update(w ecs.World) {
wd := entity.GetWorldData(w)
//所有列车
//列车速度80KM/H时，222mm/10ms
s.trainQuery.Each(w, func(entry *ecs.Entry) {
btm := component.TrainBtmType.Get(entry)
if btm.PowerAmplifierSwitch { //车载应答器天线功率放大器开启
tp := component.TrainPositionInfoType.Get(entry)
balises := wd.Repo.ResponderListByLink(tp.HeadLink)
detectedBalise := s.detect(wd, tp, balises)
//列车应答器天线扫描到应答器,获取应答器报文发送给BTM
tbt := s.findBaliseTelegram(wd, detectedBalise)
var detectedBaliseId string
if detectedBalise != nil {
detectedBaliseId = detectedBalise.Id()
}
btm.Scanning(detectedBalise != nil, detectedBaliseId, tbt)
}
s.DetectBalise(w, entry)
})
}
func NewBaliseDetection() *BaliseDetectSystem {
return &BaliseDetectSystem{}
}
// DetectBalise 列车应答器天线探测应答器
func (s *BaliseDetectSystem) DetectBalise(w ecs.World, trainEntry *ecs.Entry) {
wd := entity.GetWorldData(w)
btm := component.TrainBtmType.Get(trainEntry)
if btm.PowerAmplifierSwitch { //车载应答器天线功率放大器开启
tp := component.TrainPositionInfoType.Get(trainEntry)
//测试用
if tp.HeadLink == lastHeadLink {
dm := math.Abs(float64(tp.HeadLinkOffset-lastHeadOffset) / 1000)
if dm >= 2 {
slog.Debug(fmt.Sprintf("车头移动当前帧与上一帧移动的差值 : %f (m)", dm))
}
}
balises := wd.Repo.ResponderListByLink(tp.HeadLink)
detectedBalise := s.detect(wd, tp, balises)
//列车应答器天线扫描到应答器,获取应答器报文发送给BTM
tbt := s.findBaliseTelegram(wd, detectedBalise)
var detectedBaliseId string
if detectedBalise != nil {
detectedBaliseId = detectedBalise.Id()
}
btm.Scanning(detectedBalise != nil, detectedBaliseId, tbt)
//测试用
lastHeadLink = tp.HeadLink
lastHeadOffset = tp.HeadLinkOffset
}
}
// 获取应答器激活的有效报文
func (s *BaliseDetectSystem) findBaliseTelegram(wd *component.WorldData, detectedBalise *repository.Transponder) *component.TrainBaliseTelegram {