计轴rssp 集成
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@ -4,16 +4,19 @@ import "joylink.club/ecs"
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// TrainPositionInfo 列车当前位置信息
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type TrainPositionInfo struct {
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//列车所占的物理区段
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SectionIds []string
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//列车长度 mm
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Len uint32
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//列车所在轨道link
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Link uint8
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//列车所在link偏移量（mm）
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LinkOffset uint32
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//列车当前运行方向（偏移量增大/减小方向）
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//列车头当前运行方向（true偏移量增大/false减小方向）
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//link 由a->b偏移量增大
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Up bool
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//列车长度 mm
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Len int64
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//列车所在轨道link
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HeadLink string
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//列车所在link偏移量（mm）
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HeadLinkOffset int64
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//列车所在轨道link
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TailLink string
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//列车所在link偏移量（mm）
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TailLinkOffset int64
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}
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var (
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33
fi/train.go
33
fi/train.go
@ -2,7 +2,6 @@ package fi
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import (
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"fmt"
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"joylink.club/ecs"
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"joylink.club/rtsssimulation/component"
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"joylink.club/rtsssimulation/entity"
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@ -35,26 +34,24 @@ func RemoveTrainFromWorld(w ecs.World, trainId string) error {
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return result.Err
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}
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// UpdateTrainFromDynamics 更新列车所在的物理区段
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func UpdateTrainFromDynamics(w ecs.World, trainId string, sectionIds []string) error {
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result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
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wd := entity.GetWorldData(w)
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te, find := wd.EntityMap[trainId]
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if find {
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tp := component.TrainPositionInfoType.Get(te)
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tp.SectionIds = sectionIds
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return ecs.NewOkEmptyResult()
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} else {
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return ecs.NewErrResult(fmt.Errorf("列车[%s]实体不存在", trainId))
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}
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})
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return result.Err
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}
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// UpdateTrainPositionFromDynamics 更新列车所在的物理区段
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func UpdateTrainPositionFromDynamics(w ecs.World, tpi TrainPositionInfo) error {
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result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
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return ecs.NewOkEmptyResult()
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wd := entity.GetWorldData(w)
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te, find := wd.EntityMap[tpi.TrainId]
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if find {
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train := component.TrainPositionInfoType.Get(te)
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train.Up = tpi.Up
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train.Len = int64(tpi.Len)
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train.HeadLink = tpi.HeadLink
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train.HeadLinkOffset = int64(tpi.TailLinkOffset)
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train.TailLink = tpi.TailLink
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train.TailLinkOffset = int64(tpi.HeadLinkOffset)
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return ecs.NewOkEmptyResult()
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} else {
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return ecs.NewErrResult(fmt.Errorf("列车[%s]实体不存在", tpi.TrainId))
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}
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})
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return result.Err
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}
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@ -140,6 +140,9 @@ func (l *LinkPort) Port() proto.Port {
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func (l *LinkPort) Device() PortedDevice {
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return l.link
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}
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func (l *LinkPort) IsPortA() bool {
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return l.port == proto.Port_A
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}
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type LinkRange struct {
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link *Link
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@ -176,6 +176,9 @@ func (s *PhysicalSection) findBoundaryKmByPort(port proto.Port) *proto.Kilometer
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}
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return nil
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}
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func (s *PhysicalSection) LinkRanges() []*LinkRange {
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return s.linkRanges
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}
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type PhysicalSectionPort struct {
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section *PhysicalSection
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@ -244,7 +244,17 @@ func (t *Turnout) FindLinkPositionByPort(port proto.Port) *LinkPosition {
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}
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return nil
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}
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func (t *Turnout) FindLinkByPort(port proto.Port) *LinkPort {
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switch port {
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case proto.Port_A:
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return t.aLinkPort
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case proto.Port_B:
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return t.bLinkPort
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case proto.Port_C:
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return t.cLinkPort
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}
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return nil
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}
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func (t *Turnout) SwitchMachineType() proto.Turnout_SwitchMachineType {
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return t.switchMachineType
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}
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@ -1,10 +1,15 @@
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package device_sys
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import (
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"fmt"
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"github.com/yohamta/donburi"
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"joylink.club/ecs"
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"joylink.club/ecs/filter"
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"joylink.club/rtsssimulation/component"
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"joylink.club/rtsssimulation/entity"
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"joylink.club/rtsssimulation/repository"
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"joylink.club/rtsssimulation/repository/model/proto"
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"log/slog"
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)
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// SectionDetectSystem 区段检测系统
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@ -23,7 +28,8 @@ func (s *SectionDetectSystem) Update(w ecs.World) {
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//所有列车
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s.trainQuery.Each(w, func(entry *donburi.Entry) {
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tp := component.TrainPositionInfoType.Get(entry)
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for _, sectionId := range tp.SectionIds { //车所在区段
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trainSectionIds := s.doSearchTrainOccupiedSections(w, tp)
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for _, sectionId := range trainSectionIds { //车所在区段
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tc, find := sectionTrainMap[sectionId]
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if !find {
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tc = newTrainCount()
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@ -55,3 +61,185 @@ func newTrainCount() *trainCount {
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func (c *trainCount) add() {
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c.count++
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}
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func (s *SectionDetectSystem) doSearchTrainOccupiedSections(w ecs.World, tp *component.TrainPositionInfo) []string {
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wd := entity.GetWorldData(w)
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curLink := wd.Repo.FindLink(tp.HeadLink)
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stp := &stpContext{w: w, trainLen: tp.Len, curLink: curLink, curOffset: tp.HeadLinkOffset, searchDirection: !tp.Up, acLen: 0}
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c := 0
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for stp.needAccumulate() {
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c++
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if c > 50 {
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slog.Warn("======>>>>搜索列车所占物理区段，迭代次数过多!!!!")
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break
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}
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stp.accumulateLen()
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if stp.needAccumulate() {
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stp.nextLink()
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} else {
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break
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}
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}
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//
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return stp.trainSections()
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}
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/////////////////////////////////////////////////////////////////////
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type stpContext struct {
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w ecs.World
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trainLen int64 //列车长度
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curLink *repository.Link //当前迭代的link
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curOffset int64 //当前迭代的link,长度累加起点
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searchDirection bool //在curLink上长度累加的方向，true:a->b,false:b->a,a->b偏移量变大
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acLen int64 //当前累加长度
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acRanges []*stpLinkRange //轨道range列表
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}
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// 获取列车所占的物理区段
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func (s *stpContext) trainSections() []string {
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secs := make(map[string]string)
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for _, acR := range s.acRanges {
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ids := acR.sectionIds()
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for _, id := range ids {
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secs[id] = id
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}
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}
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var sectionIds []string
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for _, id := range secs {
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sectionIds = append(sectionIds, id)
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}
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return sectionIds
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}
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func (s *stpContext) needAccumulate() bool {
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return s.curLink != nil && s.acLen < s.trainLen
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}
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func (s *stpContext) nextLink() {
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var nextLinkPort *repository.LinkPort
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if s.searchDirection {
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bDc := s.curLink.BRelation()
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bDcDw := s.turnoutPosition(bDc.Turnout().Id())
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switch bDc.Port() {
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case proto.Port_A: //link-b连接turnout-A
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if bDcDw {
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_B)
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} else {
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_C)
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}
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case proto.Port_B: //link-b连接turnout-B
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fallthrough
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case proto.Port_C: //link-b连接turnout-C
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_A)
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}
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} else {
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aDc := s.curLink.ARelation()
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aDcDw := s.turnoutPosition(aDc.Turnout().Id())
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switch aDc.Port() {
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case proto.Port_A: //link-a连接turnout-A
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if aDcDw {
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_B)
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} else {
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_C)
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}
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case proto.Port_B: //link-a连接turnout-B
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fallthrough
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case proto.Port_C: //link-a连接turnout-C
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_A)
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}
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}
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//
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if nextLinkPort != nil {
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s.curLink = nextLinkPort.Device().(*repository.Link)
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fromA := nextLinkPort.IsPortA()
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s.searchDirection = fromA
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if fromA {
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s.curOffset = 0
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} else {
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s.curOffset = s.curLink.Length()
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}
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} else {
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slog.Warn("区段检测时，获取列车下的link失败")
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}
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}
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// 获取道岔实际位置
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func (s *stpContext) turnoutPosition(id string) bool {
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wd := entity.GetWorldData(s.w)
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entry, ok := wd.EntityMap[id]
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if ok {
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return component.TurnoutPositionType.Get(entry).Dw
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} else {
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panic(fmt.Sprintf("道岔[%s]的实体不存在", id))
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}
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}
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// 累加
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func (s *stpContext) accumulateLen() {
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if s.searchDirection {
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dl := s.curLink.Length() - s.curOffset
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if s.acLen+dl < s.trainLen {
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s.addLinkRange(&stpLinkRange{link: s.curLink, start: s.curOffset, end: s.curLink.Length()})
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s.acLen += dl
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} else {
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tl := s.trainLen - s.acLen
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s.addLinkRange(&stpLinkRange{link: s.curLink, start: s.curOffset, end: s.curOffset + tl})
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s.acLen += tl
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}
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} else {
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dl := s.curOffset
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if s.acLen+dl < s.trainLen {
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s.addLinkRange(&stpLinkRange{link: s.curLink, start: 0, end: s.curOffset})
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s.acLen += dl
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} else {
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tl := s.trainLen - s.acLen
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s.addLinkRange(&stpLinkRange{link: s.curLink, start: s.curOffset - tl, end: s.curOffset})
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s.acLen += tl
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}
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}
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}
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func (s *stpContext) addLinkRange(r *stpLinkRange) {
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s.acRanges = append(s.acRanges, r)
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}
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///////////////////////////////////////////////////////////////
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type stpLinkRange struct {
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link *repository.Link
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start int64
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end int64
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}
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// 获取link range 上的物理区段的id
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func (s *stpLinkRange) sectionIds() []string {
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var ids []string
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ps := s.link.PhysicalSections()
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for _, p := range ps {
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for _, pr := range p.LinkRanges() {
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if isRangeOverlap(s.start, s.end, pr.Start(), pr.End()) {
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ids = append(ids, p.Id())
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}
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}
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}
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return ids
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}
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func isRangeOverlap(r1Start int64, r1End int64, r2Start int64, r2End int64) bool {
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r1Start, r1End = formatRange(r1Start, r1End)
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r2Start, r2End = formatRange(r2Start, r2End)
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if r2Start > r1Start && r2Start < r1End {
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return true
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}
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if r2End > r1Start && r2End < r1End {
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return true
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}
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if r1Start == r2Start && r1End == r2End {
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return true
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}
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return false
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}
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func formatRange(start int64, end int64) (int64, int64) {
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if start < end {
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return start, end
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} else {
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return end, start
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}
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}
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