balise detect

component/train.go

@@ -53,15 +53,14 @@ type TrainBtm struct {
 	AboveBalise bool
 	//列车在运行方向顺序扫描到的应答器
 	//避免丢失
-	scannedBalises chan *TrainBaliseTelegram
+	//*TrainBaliseTelegram
+	scannedBalises *telegramQueue
 	//最近经过的应答器id
 	lastTelegram *TrainBaliseTelegram
 }
 
-const SB_LEN = 16
-
 func NewTrainBtm() *TrainBtm {
-	return &TrainBtm{scannedBalises: make(chan *TrainBaliseTelegram, SB_LEN)}
+	return &TrainBtm{scannedBalises: &telegramQueue{}}
 }
 
 // 应答器计数器加1，[0,255]
@@ -80,12 +79,11 @@ func (t *TrainBtm) baliseMessageCounterAdd1() {
 	}
 }
 
-func (t *TrainBtm) FindScannedBalises() <-chan *TrainBaliseTelegram {
-	if len(t.scannedBalises) > 0 {
-		return t.scannedBalises
-	} else {
-		return nil
+func (t *TrainBtm) FindScannedBalises() *TrainBaliseTelegram {
+	return t.scannedBalises.removeHead()
 }
+func (t *TrainBtm) ClearScannedBalises() {
+	t.scannedBalises.clear()
 }
 
 // Scanning BTM通过车载应答器天线接收到应答器报文
@@ -94,12 +92,7 @@ func (t *TrainBtm) Scanning(aboveBalise bool, telegram *TrainBaliseTelegram) {
 	isNewTbt := telegram != nil && (t.lastTelegram == nil || t.lastTelegram.Up != telegram.Up || t.lastTelegram.BaliseId != telegram.BaliseId)
 	if isNewTbt {
 		t.lastTelegram = telegram
-	}
-	//
-	if isNewTbt {
-		if len(t.scannedBalises) < SB_LEN {
-			t.scannedBalises <- telegram
-		}
+		t.scannedBalises.addTail(telegram)
 		t.baliseMessageCounterAdd1()
 	}
 	//
@@ -111,6 +104,36 @@ func (t *TrainBtm) Scanning(aboveBalise bool, telegram *TrainBaliseTelegram) {
 	}
 }
 
+type telegramQueue struct {
+	queue [3]*TrainBaliseTelegram
+}
+
+func (q *telegramQueue) moveHead() {
+	q.queue[0], q.queue[1], q.queue[2] = q.queue[1], q.queue[2], nil
+}
+func (q *telegramQueue) addTail(t *TrainBaliseTelegram) {
+	if q.queue[len(q.queue)-1] == nil {
+		q.queue[len(q.queue)-1] = t
+	} else {
+		q.moveHead()
+		q.queue[len(q.queue)-1] = t
+	}
+}
+func (q *telegramQueue) removeHead() *TrainBaliseTelegram {
+	for i, rt := range q.queue {
+		if rt != nil {
+			q.queue[i] = nil
+			return rt
+		}
+	}
+	return nil
+}
+func (q *telegramQueue) clear() {
+	for i, _ := range q.queue {
+		q.queue[i] = nil
+	}
+}
+
 var (
 	TrainPositionInfoType = ecs.NewComponentType[TrainPositionInfo]()
 	TrainBtmType          = ecs.NewComponentType[TrainBtm]()

fi/train.go

@@ -108,12 +108,12 @@ func TrainBalisePowerAmplifierSwitch(w ecs.World, turnOn bool) error {
 }
 
 // GetScannedBaliseTelegram 获取扫描到的应答器报文
-func GetScannedBaliseTelegram(w ecs.World) (<-chan *component.TrainBaliseTelegram, error) {
-	result := <-ecs.Request[<-chan *component.TrainBaliseTelegram](w, func() ecs.Result[<-chan *component.TrainBaliseTelegram] {
+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[<-chan *component.TrainBaliseTelegram](nil, fmt.Errorf("系统中当前不存在与CANET设备关联的列车实体"))
+			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)
@@ -121,7 +121,7 @@ func GetScannedBaliseTelegram(w ecs.World) (<-chan *component.TrainBaliseTelegra
 		if tbt != nil {
 			return ecs.NewOkResult(tbt)
 		} else {
-			return ecs.NewResult[<-chan *component.TrainBaliseTelegram](nil, fmt.Errorf("此刻没有要发送的应答器报文"))
+			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

sys/device_sys/balise_detection.go

@@ -51,6 +51,8 @@ func (s *BaliseDetectSystem) DetectBalise(w ecs.World, trainEntry *ecs.Entry, la
 				btm.Scanning(true, tbt)
 			}
 		}
+	} else {
+		btm.ClearScannedBalises()
 	}
 }