rts-sim-testing-service/ats/verify/simulation/wayside/memory/wayside_simulation.go

package memory

import (
	"fmt"
	"joylink.club/rtsssimulation/component"
	"joylink.club/rtsssimulation/entity"
	"log/slog"
	"math"
	"sort"
	"strconv"
	"strings"
	"sync"
	"time"

	rtss_simulation "joylink.club/rtsssimulation"

	"joylink.club/bj-rtsts-server/ats/verify/protos/graphicData"
	"joylink.club/bj-rtsts-server/ats/verify/protos/state"
	"joylink.club/bj-rtsts-server/dto"
	"joylink.club/bj-rtsts-server/third_party/dynamics"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/semi_physical_train"
	"joylink.club/ecs"
	"joylink.club/rtsssimulation/repository"
	"joylink.club/rtsssimulation/repository/model/proto"
)

// 轨旁仿真定义
type VerifySimulation struct {
	//地图id
	MapIds []int32
	// 项目ID
	ProjectId int32
	//仿真id
	SimulationId string
	//仿真内存数据
	Memory *WaysideMemory
	//模型仓库
	Repo *repository.Repository
	//Rtss仿真世界的id
	WorldId ecs.WorldId
	World   ecs.World
	//设备UID映射
	uidMap map[string]*elementIdStructure
}

// 轨旁仿真内存模型
type WaysideMemory struct {
	//可变状态数据：轨旁仿真模型状态（全量数据）
	Status *VerifyStatus
	// 要变更的状态：用户操作过的状态记录在这里，增量推送次数据
	ChangeStatus *ChangeVerifyStatus
	//状态保护锁
	rwLock *sync.RWMutex
}

// 轨旁仿真模型状态
type VerifyStatus struct {
	//道岔状态，key为道岔id即索引 state.SwitchState
	SwitchStateMap sync.Map
	//轨道状态，key为轨道id即索引 state.LinkState
	LinkStateMap sync.Map
	//列车状态，key为列车id即索引 state.TrainState
	TrainStateMap sync.Map
	//计轴区段状态，key为计轴区段的id即索引 state.SectionState
	AxleSectionStateMap sync.Map
	//物理区段状态，key为物理区段id即索引 state.SectionState
	PhysicalSectionStateMap sync.Map
	//逻辑区段状态，key为逻辑区段id即索引 state.SectionState
	LogicSectionStateMap sync.Map
	//信号机状态，key为信号机id,即索引 state.SignalState
	SignalStateMap sync.Map
}

// 轨旁仿真模型状态（变更）
type ChangeVerifyStatus struct {
	VerifyStatus
	//删除的列车ID列表
	RemoveTrainId []string
}

func NewWaysideMemory() *WaysideMemory {
	return &WaysideMemory{
		Status:       &VerifyStatus{},
		ChangeStatus: &ChangeVerifyStatus{},
		rwLock:       &sync.RWMutex{},
	}
}

// 创建仿真对象
func CreateSimulation(projectId int32, mapIds []int32) (*VerifySimulation, error) {
	//构建Repository
	sort.Slice(mapIds, func(i, j int) bool {
		return mapIds[i] < mapIds[j]
	})
	var mapIdStrSlice []string
	for _, id := range mapIds {
		mapIdStrSlice = append(mapIdStrSlice, strconv.Itoa(int(id)))
	}
	repoId := strings.Join(mapIdStrSlice, "|")
	repoVersion := "0.1"
	repo := repository.FindRepository(repoId, repoVersion)
	if repo == nil {
		protoRepo, err := buildProtoRepository(mapIds)
		if err != nil {
			return nil, err
		}
		protoRepo.Id, protoRepo.Version = repoId, repoVersion
		newRepo, err := repository.BuildRepository(protoRepo)
		if err != nil {
			return nil, err
		}
		repo = newRepo
	}
	// 目前用本地构建状态
	worldMemory := NewWaysideMemory()
	initWorldDeviceState(worldMemory.Status, repo)
	// 构建所有UID映射关系，
	allUidMap := buildRepositoryAllUidsMap(mapIds, repo)
	//创建仿真
	// worldId := world.CreateSimulation(repo)
	w := rtss_simulation.NewSimulation(repo)
	w.StartUp()
	verifySimulation := &VerifySimulation{
		MapIds:    mapIds,
		ProjectId: projectId,
		Memory:    worldMemory,
		Repo:      repo,
		World:     w,
		WorldId:   w.Id(),
		uidMap:    allUidMap,
	}
	return verifySimulation, nil
}

// 获取全量状态
func (s *VerifySimulation) GetAllState(mapId int32) *state.PushedDevicesStatus {
	giType := QueryGiType(mapId)
	switch giType {
	case graphicData.PictureType_StationLayout:
		return &state.PushedDevicesStatus{
			All: true,
			AllStatus: &state.AllDevicesStatus{
				SwitchState: GetMapAllTurnoutState(s, mapId),
				TrainState:  GetAllTrainState(s),
				SignalState: GetMapAllSignalState(s, mapId),
				ButtonState: GetMapAllStationButtonState(s, mapId),
				PsdState:    GetMapAllPsdState(s, mapId),
			},
		}
	case graphicData.PictureType_RelayCabinetLayout:
		return &state.PushedDevicesStatus{
			All: true,
			AllStatus: &state.AllDevicesStatus{
				ReplyState: GetMapAllRelayState(s, mapId),
			},
		}
	}
	return &state.PushedDevicesStatus{}
}

// 获取门控箱状态
func (s *VerifySimulation) GetAllPSLState(mapId int32, boxId string) *state.PushedDevicesStatus {
	world := s.GetSimulationWorld()
	uidStructure := queryUidStructure[*stationUidStructure](mapId)
	boxUid := uidStructure.GateBoxIds[boxId].Uid
	mkxEntry, ok := entity.GetEntityByUid(world, boxUid)
	var buttonStateArr []*state.ButtonState
	if ok {
		mkxCircuit := component.MkxCircuitType.Get(mkxEntry)
		var boxArr []*ecs.Entry
		boxArr = append(boxArr, mkxCircuit.PcbList...)
		boxArr = append(boxArr, mkxCircuit.PobList...)
		boxArr = append(boxArr, mkxCircuit.PabList...)
		for _, mkxBoxEntry := range boxArr {
			mkxBox := component.MkxBoxType.Get(mkxBoxEntry)
			uid := component.UidType.Get(mkxBox.Btn).Id
			down := component.BitStateType.Get(mkxBox.Btn).Val
			buttonStateArr = append(buttonStateArr, &state.ButtonState{
				Id:   uid,
				Down: down,
			})
		}
	}
	return &state.PushedDevicesStatus{
		All: true,
		AllStatus: &state.AllDevicesStatus{
			ButtonState: buttonStateArr,
		},
	}
}

// 获取车站IBP状态
func (s *VerifySimulation) GetAllIBPState(mapId int32, stationCode string) *state.PushedDevicesStatus {
	return &state.PushedDevicesStatus{
		All:       true,
		AllStatus: GetMapAllIBPState(s, mapId, stationCode),
	}
}

// 获取仿真世界信息
func (s *VerifySimulation) GetSimulationWorld() ecs.World {
	return s.World
}

// 获取仿真世界信息
func (s *VerifySimulation) GetComIdByUid(uid string) string {
	es := s.uidMap
	if es == nil {
		panic(&dto.ErrorDto{Code: dto.DataNotExist, Message: "无映射信息"})
	}
	if es[uid] == nil {
		panic(&dto.ErrorDto{Code: dto.DataNotExist, Message: "无【uid】映射信息"})
	}
	return es[uid].CommonId
}

func (sim *VerifySimulation) BuildLineBaseInfo() *message.LineBaseInfo {
	info := &message.LineBaseInfo{}
	for _, model := range sim.Repo.LinkList() {
		id, _ := strconv.Atoi(model.Id())
		link := &message.Link{
			ID:  int32(id),
			Len: int32(model.Length()),
		}
		info.LinkList = append(info.LinkList, link)
		if model.ARelation() != nil {
			turnoutId, _ := strconv.Atoi(sim.GetComIdByUid(model.ARelation().Device().Id()))
			link.ARelTurnoutId = int32(turnoutId)
			switch model.ARelation().Port() {
			case proto.Port_A:
				link.ARelTurnoutPoint = "A"
			case proto.Port_B:
				link.ARelTurnoutPoint = "B"
			case proto.Port_C:
				link.ARelTurnoutPoint = "C"
			}
		}
		if model.BRelation() != nil {
			turnoutId, _ := strconv.Atoi(sim.GetComIdByUid(model.BRelation().Device().Id()))
			link.BRelTurnoutId = int32(turnoutId)
			switch model.BRelation().Port() {
			case proto.Port_A:
				link.BRelTurnoutPoint = "A"
			case proto.Port_B:
				link.BRelTurnoutPoint = "B"
			case proto.Port_C:
				link.BRelTurnoutPoint = "C"
			}
		}
	}
	for _, model := range sim.Repo.SlopeList() {
		id, _ := strconv.Atoi(sim.GetComIdByUid(model.Id()))
		slope := &message.Slope{
			ID:              int32(id),
			StartLinkOffset: int32(model.StartLinkPosition().Offset()),
			EndLinkOffset:   int32(model.EndLinkPosition().Offset()),
			DegreeTrig:      model.Degree(),
		}
		info.SlopeList = append(info.SlopeList, slope)
		startLinkId, _ := strconv.Atoi(model.StartLinkPosition().Link().Id())
		slope.StartLinkId = int32(startLinkId)
		endLinkId, _ := strconv.Atoi(model.EndLinkPosition().Link().Id())
		slope.EndLinkId = int32(endLinkId)
	}
	for _, model := range sim.Repo.SectionalCurvatureList() {
		id, _ := strconv.Atoi(sim.GetComIdByUid(model.Id()))
		curve := &message.Curve{
			ID:              int32(id),
			StartLinkOffset: int32(model.StartLinkPosition().Offset()),
			EndLinkOffset:   int32(model.EndLinkPosition().Offset()),
			Curvature:       model.Radius(),
		}
		info.CurveList = append(info.CurveList, curve)
		startLinkId, _ := strconv.Atoi(model.StartLinkPosition().Link().Id())
		curve.StartLinkId = int32(startLinkId)
		endLinkId, _ := strconv.Atoi(model.EndLinkPosition().Link().Id())
		curve.EndLinkId = int32(endLinkId)
	}
	return info
}

// 采集动力学道岔状态
func (s *VerifySimulation) CollectDynamicsTurnoutInfo() []*message.DynamicsTurnoutInfo {
	stateSlice := GetAllTurnoutState(s)
	var turnoutStates []*message.DynamicsTurnoutInfo
	for _, sta := range stateSlice {
		code64, err := strconv.ParseUint(sta.Id, 10, 16)
		if err != nil {
			slog.Error("id转uint16报错", err)
		}
		info := message.DynamicsTurnoutInfo{
			Code:      uint16(code64),
			NPosition: sta.Dw,
			RPosition: sta.Fw,
		}
		turnoutStates = append(turnoutStates, &info)
	}
	return turnoutStates
}

// 处理动力学列车速度消息
func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) {
	sta, ok := s.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))
	if !ok {
		return
	}
	// 给半实物仿真发送速度
	semi_physical_train.Default().SendTrainControlMessage(info)
	// 更新列车状态
	UpdateTrainState(s, convert(info, sta.(*state.TrainState), s))
}

func convert(info *message.DynamicsTrainInfo, sta *state.TrainState, simulation *VerifySimulation) *state.TrainState {
	delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
	sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
	slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
	id, port, offset, runDirection, pointTo, kilometer := QueryDeviceByCalcLink(simulation.Repo, strconv.Itoa(int(info.Link)), int64(info.LinkOffset), info.Up)
	slog.Debug("处理动力学转换后的消息", "number", info.Number, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo)
	sta.HeadDeviceId = simulation.GetComIdByUid(id)
	sta.DevicePort = port
	sta.HeadOffset = offset
	sta.PointTo = pointTo
	sta.TrainKilometer = kilometer
	sta.RunDirection = runDirection
	//判定车头方向
	sta.HeadDirection = runDirection
	if sta.VobcState != nil {
		if sta.VobcState.DirectionForward {
			sta.HeadDirection = runDirection
		} else if sta.VobcState.DirectionBackward {
			sta.HeadDirection = !runDirection
		}
	}
	if info.Speed < 0 {
		sta.RunDirection = !sta.RunDirection
	}
	// 赋值动力学信息
	sta.DynamicState.Heartbeat = int32(info.LifeSignal)
	sta.DynamicState.HeadLinkId = strconv.Itoa(int(info.Link))
	sta.DynamicState.HeadLinkOffset = int64(info.LinkOffset)
	sta.DynamicState.Slope = int32(info.Slope)
	sta.DynamicState.Upslope = info.UpSlope
	sta.DynamicState.RunningUp = info.Up
	sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
	sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
	sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
	sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
	sta.DynamicState.Speed = speedParse(info.Speed)
	sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
	sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
	sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
	sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
	sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
	sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
	sta.DynamicState.Acceleration = info.Acceleration
	return sta
}

// 发送给前端的速度格式化
func speedParse(speed float32) int32 {
	return int32(math.Abs(float64(speed * 3.6 * 100)))
}

// 处理半实物仿真列车控制消息
func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
	s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
		train := value.(*state.TrainState)
		if !train.Show { // 下线列车
			return false
		}
		trainId, err := strconv.Atoi(train.Id)
		if err != nil {
			panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
		}
		d := append(b, uint8(trainId))
		// 发送给动力学
		dynamics.Default().SendTrainControlMessage(d)
		// 存放至列车中
		controlMessage := &message.TrainControlMsg{}
		controlMessage.Decode(b)
		train.VobcState = controlMessage.ControlInfo
		return true
	})
}

func buildProtoRepository(mapIds []int32) (*proto.Repository, error) {
	repo := &proto.Repository{}
	var exceptStationGiMapIds []int32
	//创建设备
	for _, mapId := range mapIds {
		giType := QueryGiType(mapId)
		if giType == graphicData.PictureType_StationLayout {
			stationGi := QueryGiData[*graphicData.RtssGraphicStorage](mapId)
			fillProtoRepository(repo, stationGi, mapId)
		} else {
			exceptStationGiMapIds = append(exceptStationGiMapIds, mapId)
		}
	}
	//构建并关联电子元件
	for _, mapId := range exceptStationGiMapIds {
		giType := QueryGiType(mapId)
		if giType == graphicData.PictureType_RelayCabinetLayout {
			relayGi := QueryGiData[*graphicData.RelayCabinetGraphicStorage](mapId)
			buildAndRelateElectronicComponent(repo, relayGi, mapId)
		}
	}
	return repo, nil
}

func buildAndRelateElectronicComponent(repo *proto.Repository, relayGi *graphicData.RelayCabinetGraphicStorage, mapId int32) {
	uidsMap := queryUidStructure[*relayUidStructure](mapId)
	city := relayGi.UniqueIdPrefix.City
	lineId := relayGi.UniqueIdPrefix.LineId
	station := relayGi.UniqueIdPrefix.BelongsConcentrationStation
	relayMap := make(map[string]*proto.Relay)
	for _, relay := range relayGi.Relays {
		repoRelay := &proto.Relay{
			Id:    uidsMap.RelayIds[relay.Common.Id].Uid,
			Code:  relay.Code,
			Model: convertRelayModel(relay.NewModel),
		}
		repo.Relays = append(repo.Relays, repoRelay)
		relayMap[repoRelay.Id] = repoRelay
	}
	for _, pfp := range relayGi.PhaseFailureProtectors {
		repo.PhaseFailureProtectors = append(repo.PhaseFailureProtectors, &proto.PhaseFailureProtector{
			Id:   uidsMap.RelayIds[pfp.Common.Id].Uid,
			Code: pfp.Code,
		})
	}
	turnoutMap := make(map[string]*proto.Turnout)
	for _, turnout := range repo.Turnouts {
		turnoutMap[turnout.Id] = turnout
	}
	signalMap := make(map[string]*proto.Signal)
	for _, signal := range repo.Signals {
		signalMap[signal.Id] = signal
	}
	stationMap := make(map[string]*proto.Station)
	for _, station := range repo.Stations {
		stationMap[station.Id] = station
	}
	psdMap := make(map[string]*proto.Psd)
	for _, psd := range repo.Psds {
		psdMap[psd.Id] = psd
	}
	platformMap := make(map[string]*proto.Platform)
	for _, platform := range repo.Platforms {
		platformMap[platform.Id] = platform
	}
	for _, relationship := range relayGi.DeviceRelateRelayList {
		switch relationship.DeviceType {
		case graphicData.RelatedRef_Turnout:
			turnout := turnoutMap[GenerateElementUid(city, lineId, []string{station}, relationship.Code)]
			if turnout == nil {
				continue
			}
			for _, group := range relationship.Combinationtypes {
				var componentIds []string
				for _, relayId := range group.RefRelays {
					if uidsMap.RelayIds[relayId] == nil {
						continue
					}
					componentIds = append(componentIds, uidsMap.RelayIds[relayId].Uid)
				}
				turnout.ElectronicComponentGroups = append(turnout.ElectronicComponentGroups,
					&proto.ElectronicComponentGroup{
						Code:         group.Code,
						ComponentIds: componentIds,
					})
			}
		case graphicData.RelatedRef_signal:
			signal := signalMap[GenerateElementUid(city, lineId, []string{station}, relationship.Code)]
			if signal == nil {
				continue
			}
			//信号机只有一个组合类型
			if len(relationship.Combinationtypes) != 1 {
				panic(fmt.Sprintf("信号机[%s]须有一个组合类型", signal.Id))
			}
			group := relationship.Combinationtypes[0]
			var componentIds []string
			for _, relayId := range group.RefRelays {
				if uidsMap.RelayIds[relayId] == nil {
					continue
				}
				componentIds = append(componentIds, uidsMap.RelayIds[relayId].Uid)
			}
			signal.Code = group.Code
			signal.ElectronicComponentGroups = append(signal.ElectronicComponentGroups,
				&proto.ElectronicComponentGroup{
					Code:         group.Code,
					ComponentIds: componentIds,
				})
		case graphicData.RelatedRef_station:
			station := stationMap[GenerateElementUid(city, lineId, nil, relationship.Code)]
			if station == nil {
				continue
			}
			for _, group := range relationship.Combinationtypes {
				d := &proto.ElectronicGroup{Code: group.Code}
				for _, relayId := range group.RefRelays {
					if uidsMap.RelayIds[relayId] == nil {
						continue
					}
					d.Components = append(d.Components, &proto.ElectronicComponent{
						Id:         uidsMap.RelayIds[relayId].Uid,
						DeviceType: proto.DeviceType_DeviceType_Relay,
					})
				}
				station.ElectronicGroup = append(station.ElectronicGroup, d)
			}
		case graphicData.RelatedRef_ScreenDoor:
			psd, ok := psdMap[GenerateElementUid(city, lineId, nil, relationship.Code)]
			if !ok {
				continue
			}
			for _, group := range relationship.Combinationtypes {
				var componentIds []string
				for _, relayId := range group.RefRelays {
					if uidsMap.RelayIds[relayId] == nil {
						continue
					}
					componentIds = append(componentIds, uidsMap.RelayIds[relayId].Uid)
				}
				psd.ElectronicComponentGroups = append(psd.ElectronicComponentGroups,
					&proto.ElectronicComponentGroup{
						Code:         group.Code,
						ComponentIds: componentIds,
					})
			}
		}
	}
	//门控箱
	for _, mkx := range repo.Mkxs {
		platform := platformMap[psdMap[mkx.PsdId].GetPlatformId()]
		station := stationMap[platform.GetStationId()]
		var s string
		if strings.Contains(platform.GetCode(), "上行") {
			s = "S"
		} else if strings.Contains(platform.GetCode(), "下行") {
			s = "X"
		} else {
			continue
		}
		for _, group := range station.ElectronicGroup {
			if group.Code == "MKX" {
				var componentIds []string
				for _, component := range group.Components {
					relay := relayMap[component.Id]
					if strings.Contains(relay.GetCode(), s) {
						componentIds = append(componentIds, relay.Id)
					}
				}
				mkx.ElectronicComponentGroups = append(mkx.ElectronicComponentGroups, &proto.ElectronicComponentGroup{
					Code:         group.Code,
					ComponentIds: componentIds,
				})
			}
		}
	}
}

func convertRelayModel(modelType graphicData.Relay_ModelType) proto.Relay_Model {
	switch modelType {
	case graphicData.Relay_Unknown:
		return proto.Relay_Unknown
	case graphicData.Relay_JPXC_1000:
		return proto.Relay_JPXC_1000
	case graphicData.Relay_JPXC_1700:
		return proto.Relay_JPXC_1700
	case graphicData.Relay_JWJXC_480:
		return proto.Relay_JWJXC_480
	case graphicData.Relay_JWJXC_H125_80:
		return proto.Relay_JWJXC_H125_80
	case graphicData.Relay_JWXC_1700:
		return proto.Relay_JWXC_1700
	case graphicData.Relay_JWXC_H340:
		return proto.Relay_JWXC_H340
	case graphicData.Relay_JYJXC_160_260:
		return proto.Relay_JYJXC_160_260
	case graphicData.Relay_JZXC_H18:
		return proto.Relay_JZXC_H18
	default:
		panic(fmt.Sprintf("意料之外的继电器型号：%s", modelType))
	}
}

func fillProtoRepository(repo *proto.Repository, storage *graphicData.RtssGraphicStorage, mapId int32) {
	axleCountingMap := make(map[string]*graphicData.AxleCounting)
	uidsMap := queryUidStructure[*stationUidStructure](mapId)
	for _, data := range storage.AxleCountings {
		axleCountingMap[data.Common.Id] = data
		cpType := proto.CheckPointType_AxleCounter
		if data.Type == graphicData.AxleCounting_SectionBoundary {
			cpType = proto.CheckPointType_Boundary
		}
		cp := &proto.CheckPoint{
			Id:          data.Common.Id,
			Km:          convertKm(data.KilometerSystem),
			Type:        cpType,
			DevicePorts: convertDevicePorts(data.AxleCountingRef),
		}
		repo.CheckPoints = append(repo.CheckPoints, converCheckPointUid(cp, uidsMap))
	}
	for _, data := range storage.Section {
		var turnoutIds []string
		if data.SectionType == graphicData.Section_TurnoutPhysical {
			turnoutIds = findTurnoutIds(axleCountingMap, data.AxleCountings)
		}
		physicalSection := &proto.PhysicalSection{
			Id:          data.Common.Id,
			ADevicePort: convertDevicePort(data.PaRef),
			BDevicePort: convertDevicePort(data.PbRef),
			TurnoutIds:  turnoutIds,
		}
		repo.PhysicalSections = append(repo.PhysicalSections, converSectionUid(physicalSection, uidsMap))
	}
	for _, data := range storage.Turnouts {
		var km *proto.Kilometer
		for _, ks := range data.KilometerSystem {
			if ks.Kilometer != 0 {
				km = convertKm(ks)
				break
			}
		}
		var switchMachineType proto.Turnout_SwitchMachineType
		switch data.SwitchMachineType {
		case graphicData.Turnout_ZDJ9_Single:
			switchMachineType = proto.Turnout_ZDJ9_Single
		case graphicData.Turnout_ZDJ9_Double:
			switchMachineType = proto.Turnout_ZDJ9_Double
		}
		turnout := &proto.Turnout{
			Id:                data.Common.Id,
			Km:                km,
			ADevicePort:       convertDevicePort(data.PaRef),
			BDevicePort:       convertDevicePort(data.PbRef),
			CDevicePort:       convertDevicePort(data.PcRef),
			SwitchMachineType: switchMachineType,
		}
		repo.Turnouts = append(repo.Turnouts, converTurnoutUid(turnout, uidsMap))
	}
	for _, data := range storage.Signals {
		var sectionId string
		var turnoutPort *proto.DevicePort
		switch data.RefDev.DeviceType {
		case graphicData.RelatedRef_Section:
			sectionId = data.RefDev.Id
		case graphicData.RelatedRef_Turnout:
			turnoutPort = convertDevicePort(data.RefDev)
		}
		signal := &proto.Signal{
			Id:          data.Common.Id,
			Km:          convertKm(data.KilometerSystem),
			SectionId:   sectionId,
			TurnoutPort: turnoutPort,
		}
		repo.Signals = append(repo.Signals, converSignalUid(signal, uidsMap))
	}
	for _, data := range storage.Transponders {
		var sectionId string
		var turnoutPort *proto.DevicePort
		switch data.TransponderRef.DeviceType {
		case graphicData.RelatedRef_Section:
			sectionId = data.TransponderRef.Id
		case graphicData.RelatedRef_Turnout:
			turnoutPort = convertDevicePort(data.TransponderRef)
		}
		responder := &proto.Transponder{
			Id:          data.Common.Id,
			Km:          convertKm(data.KilometerSystem),
			SectionId:   sectionId,
			TurnoutPort: turnoutPort,
		}
		repo.Transponders = append(repo.Transponders, converTransponderUid(responder, uidsMap))
	}
	slopeKsMap := make(map[string]*graphicData.SlopeKiloMarker)
	for _, data := range storage.SlopeKiloMarker {
		slopeKsMap[data.Common.Id] = data
	}
	curveKsMap := make(map[string]*graphicData.CurvatureKiloMarker)
	for _, data := range storage.CurvatureKiloMarker {
		curveKsMap[data.Common.Id] = data
	}
	for _, data := range storage.Slopes {
		var kms []*proto.Kilometer
		for _, id := range data.RefDeviceId {
			kms = append(kms, convertKm(slopeKsMap[id].KilometerSystem[0]))
		}
		slope := &proto.Slope{
			Id:     data.Common.Id,
			Kms:    kms,
			Degree: data.SlopeNumber,
		}
		repo.Slopes = append(repo.Slopes, converSlopeUid(slope, uidsMap))
	}
	for _, data := range storage.Curvatures {
		var kms []*proto.Kilometer
		for _, id := range data.RefDeviceId {
			kms = append(kms, convertKm(curveKsMap[id].KilometerSystem[0]))
		}
		slope := &proto.SectionalCurvature{
			Id:     data.Common.Id,
			Kms:    kms,
			Radius: data.CurvatureNumber,
		}
		repo.SectionalCurvatures = append(repo.SectionalCurvatures, converCurvatureUid(slope, uidsMap))
	}
	for _, data := range storage.KilometerConvertList {
		repo.KilometerConverts = append(repo.KilometerConverts, &proto.KilometerConvert{
			KmA:       convertKm(data.KmA),
			KmB:       convertKm(data.KmB),
			SameTrend: data.SameTrend,
		})
	}
	// 初始化站场图按钮
	for _, data := range storage.EsbButtons {
		repo.Buttons = append(repo.Buttons, &proto.Button{
			Id:         uidsMap.ButtonIds[data.Common.Id].Uid,
			Code:       data.Code,
			ButtonType: proto.Button_Reset_Press,
		})
	}
	// 车站关联关系
	relateMap := make(map[string]*graphicData.StationRelateDevice)
	for _, data := range storage.StationRelateDeviceList {
		relateMap[data.Code] = data
	}
	// 处理车站信息
	for _, data := range storage.Stations {
		station := &proto.Station{
			Id:   uidsMap.StationIds[data.Common.Id].Uid,
			Code: data.Code,
		}
		// 关联车站的设备
		refs, ok := relateMap[data.Code]
		if ok {
			for _, c := range refs.Combinationtypes {
				group := &proto.ElectronicGroup{Code: c.Code}
				for _, d := range c.RefDevices {
					var comp *proto.ElectronicComponent
					if uidsMap.ButtonIds[d] != nil { // 目前只处理按钮
						comp = &proto.ElectronicComponent{
							Id:         uidsMap.ButtonIds[d].Uid,
							DeviceType: proto.DeviceType_DeviceType_Button,
						}
					} else {
						continue
					}
					group.Components = append(group.Components, comp)
				}
				station.ElectronicGroup = append(station.ElectronicGroup, group)
			}
		}
		// 处理车站关联IBP的设备
		handlerIBPDeviceToStation(uidsMap, station, repo, data.RefIbpMapCode)
		repo.Stations = append(repo.Stations, station)
	}
	//门控箱
	for _, data := range storage.GateBoxs {
		mkx := &proto.Mkx{
			Id:    uidsMap.GateBoxIds[data.Common.Id].Uid,
			PsdId: uidsMap.PsdIds[data.RefScreenDoor].Uid,
		}
		repo.Mkxs = append(repo.Mkxs, mkx)
		pslMapId := QueryGiId(data.RefGatedBoxMapCode)
		pslStorage := QueryGiData[*graphicData.PslGraphicStorage](pslMapId)
		for _, button := range pslStorage.PslButtons {
			repoButton := &proto.Button{
				Id:         mkx.Id + "_" + button.Code,
				Code:       button.Code,
				ButtonType: proto.Button_Reset_Press,
				HasLight:   true,
			}
			repo.Buttons = append(repo.Buttons, repoButton)
			switch button.Code {
			case "PCB":
				mkx.PcbButtonIds = append(mkx.PcbButtonIds, repoButton.Id)
			case "POB":
				mkx.PobButtonIds = append(mkx.PobButtonIds, repoButton.Id)
			case "PAB":
				mkx.PabButtonIds = append(mkx.PabButtonIds, repoButton.Id)
			}
		}
	}
	//站台
	platformMap := make(map[string]*graphicData.Platform)
	for _, data := range storage.Platforms {
		platformMap[data.Common.Id] = data
		platform := &proto.Platform{
			Id:   uidsMap.PlatformIds[data.Common.Id].Uid,
			Code: data.Code,
		}
		repo.Platforms = append(repo.Platforms, platform)
		platform.StationId = uidsMap.StationIds[data.RefStationId].Uid
		platform.PhysicalSectionId = uidsMap.PhysicalSectionIds[data.RefSectionId].Uid
	}
	//屏蔽门
	for _, data := range storage.ScreenDoors {
		psd := &proto.Psd{
			Id:         uidsMap.PsdIds[data.Common.Id].Uid,
			PlatformId: uidsMap.PlatformIds[data.RefPlatformId].Uid,
		}
		repo.Psds = append(repo.Psds, psd)
	}
}

// 将IBP的设备关联到车站中
func handlerIBPDeviceToStation(uidsMap *stationUidStructure, station *proto.Station, repo *proto.Repository, ibpMap string) {
	storage := getStorageIBPMapData(ibpMap)
	if storage == nil {
		return
	}
	ibpIdMap := uidsMap.IBPIds[station.Code]     // 车站对应的UID集合
	typeMap := make(map[string]proto.DeviceType) // 对应的设备类型
	for _, data := range storage.IbpButtons {    // 处理按钮
		buttonType := proto.Button_NO_Reset_Press
		if data.IsSelfReset {
			buttonType = proto.Button_Reset_Press
		}
		b := &proto.Button{
			Id:         ibpIdMap[data.Common.Id].Uid,
			Code:       data.Code,
			ButtonType: buttonType,
			HasLight:   data.HasLight,
		}
		typeMap[data.Common.Id] = proto.DeviceType_DeviceType_Button
		repo.Buttons = append(repo.Buttons, b)
	}
	for _, data := range storage.IbpKeys { // 钥匙
		b := &proto.Button{
			Id:         ibpIdMap[data.Common.Id].Uid,
			Code:       data.Code,
			ButtonType: proto.Button_Key_Knob,
		}
		typeMap[data.Common.Id] = proto.DeviceType_DeviceType_Button
		repo.Buttons = append(repo.Buttons, b)
	}
	for _, data := range storage.IbpAlarms { // 报警器
		b := &proto.Alarm{
			Id:   ibpIdMap[data.Common.Id].Uid,
			Code: data.Code,
		}
		typeMap[data.Common.Id] = proto.DeviceType_DeviceType_Alarm
		repo.Alarms = append(repo.Alarms, b)
	}
	for _, data := range storage.IbpLights { // 指示灯
		b := &proto.Light{
			Id:     ibpIdMap[data.Common.Id].Uid,
			Code:   data.Code,
			Aspect: converIbpLightAspect(data.Color),
		}
		typeMap[data.Common.Id] = proto.DeviceType_DeviceType_Light
		repo.Lights = append(repo.Lights, b)
	}
	// 组信息
	for _, data := range storage.IbpRelatedDevices {
		for _, c := range data.Combinationtypes {
			group := &proto.ElectronicGroup{Code: c.Code}
			for _, d := range c.RefDevices {
				deviceType, ok := typeMap[d]
				if !ok {
					slog.Debug("IBP组合类型类型不确定id:%s", d)
					continue
				}
				group.Components = append(group.Components, &proto.ElectronicComponent{
					Id:         ibpIdMap[d].Uid,
					DeviceType: deviceType,
				})
			}
			station.ElectronicGroup = append(station.ElectronicGroup, group)
		}
	}
}

// 将IBP的灯颜色转换成repo灯颜色
func converIbpLightAspect(color graphicData.IbpLight_IbpLightColor) proto.Light_LightAspect {
	switch color {
	case graphicData.IbpLight_white:
		return proto.Light_B
	case graphicData.IbpLight_red:
		return proto.Light_H
	case graphicData.IbpLight_green:
		return proto.Light_L
	case graphicData.IbpLight_blue:
		return proto.Light_A
	default:
		panic(&dto.ErrorDto{Code: dto.ArgumentParseError, Message: "未知的灯颜色类型" + color.String()})
	}
}

func converCheckPointUid(data *proto.CheckPoint, uidsMap *stationUidStructure) *proto.CheckPoint {
	data.Id = uidsMap.AxlePointIds[data.Id].Uid
	for _, c := range data.DevicePorts {
		c.DeviceId = converRefUid(c.DeviceId, c.DeviceType, uidsMap)
	}
	return data
}

func converSectionUid(data *proto.PhysicalSection, uidsMap *stationUidStructure) *proto.PhysicalSection {
	data.Id = uidsMap.PhysicalSectionIds[data.Id].Uid
	if data.ADevicePort != nil {
		data.ADevicePort.DeviceId = converRefUid(data.ADevicePort.DeviceId, data.ADevicePort.DeviceType, uidsMap)
	}
	if data.BDevicePort != nil {
		data.BDevicePort.DeviceId = converRefUid(data.BDevicePort.DeviceId, data.BDevicePort.DeviceType, uidsMap)
	}
	tids := make([]string, len(data.TurnoutIds))
	for i, tid := range data.TurnoutIds {
		tids[i] = converRefUid(tid, proto.DeviceType_DeviceType_Turnout, uidsMap)
	}
	data.TurnoutIds = tids
	return data
}

func converTurnoutUid(data *proto.Turnout, uidsMap *stationUidStructure) *proto.Turnout {
	data.Id = uidsMap.TurnoutIds[data.Id].Uid
	if data.ADevicePort != nil {
		data.ADevicePort.DeviceId = converRefUid(data.ADevicePort.DeviceId, data.ADevicePort.DeviceType, uidsMap)
	}
	if data.BDevicePort != nil {
		data.BDevicePort.DeviceId = converRefUid(data.BDevicePort.DeviceId, data.BDevicePort.DeviceType, uidsMap)
	}
	if data.CDevicePort != nil {
		data.CDevicePort.DeviceId = converRefUid(data.CDevicePort.DeviceId, data.CDevicePort.DeviceType, uidsMap)
	}
	return data
}

func converSignalUid(data *proto.Signal, uidsMap *stationUidStructure) *proto.Signal {
	data.Id = uidsMap.SignalIds[data.Id].Uid
	if data.SectionId != "" {
		data.SectionId = converRefUid(data.SectionId, proto.DeviceType_DeviceType_PhysicalSection, uidsMap)
	}
	if data.TurnoutPort != nil {
		data.TurnoutPort.DeviceId = converRefUid(data.TurnoutPort.DeviceId, data.TurnoutPort.DeviceType, uidsMap)
	}
	return data
}

func converTransponderUid(data *proto.Transponder, uidsMap *stationUidStructure) *proto.Transponder {
	data.Id = uidsMap.TransponderIds[data.Id].Uid
	if data.SectionId != "" {
		data.SectionId = converRefUid(data.SectionId, proto.DeviceType_DeviceType_PhysicalSection, uidsMap)
	}
	if data.TurnoutPort != nil {
		data.TurnoutPort.DeviceId = converRefUid(data.TurnoutPort.DeviceId, data.TurnoutPort.DeviceType, uidsMap)
	}
	return data
}

func converSlopeUid(data *proto.Slope, uidsMap *stationUidStructure) *proto.Slope {
	data.Id = uidsMap.SlopeIds[data.Id].Uid
	return data
}

func converCurvatureUid(data *proto.SectionalCurvature, uidsMap *stationUidStructure) *proto.SectionalCurvature {
	data.Id = uidsMap.CurvatureIds[data.Id].Uid
	return data
}

func converRefUid(id string, d proto.DeviceType, uidsMap *stationUidStructure) string {
	var elementId *elementIdStructure
	switch d {
	case proto.DeviceType_DeviceType_CheckPoint:
		elementId = uidsMap.AxlePointIds[id]
	case proto.DeviceType_DeviceType_PhysicalSection:
		elementId = uidsMap.PhysicalSectionIds[id]
	case proto.DeviceType_DeviceType_SectionalCurvature:
		elementId = uidsMap.CurvatureIds[id]
	case proto.DeviceType_DeviceType_Signal:
		elementId = uidsMap.SignalIds[id]
	case proto.DeviceType_DeviceType_Slope:
		elementId = uidsMap.SlopeIds[id]
	case proto.DeviceType_DeviceType_Transponder:
		elementId = uidsMap.TransponderIds[id]
	case proto.DeviceType_DeviceType_Turnout:
		elementId = uidsMap.TurnoutIds[id]
	default:
		panic(&dto.ErrorDto{Code: dto.ArgumentParseError, Message: "异常的设备类型-" + d.String()})
	}
	return elementId.Uid
}

func convertKm(ks *graphicData.KilometerSystem) *proto.Kilometer {
	var dir proto.Direction
	switch ks.Direction {
	case graphicData.Direction_LEFT:
		dir = proto.Direction_LEFT
	case graphicData.Direction_RIGHT:
		dir = proto.Direction_RIGHT
	}
	return &proto.Kilometer{
		Value:            ks.Kilometer,
		CoordinateSystem: ks.CoordinateSystem,
		Direction:        dir,
	}
}

func convertDevicePort(ref *graphicData.RelatedRef) *proto.DevicePort {
	if ref == nil {
		return nil
	}
	var deviceType proto.DeviceType
	var port proto.Port
	switch ref.DevicePort {
	case graphicData.RelatedRef_A:
		port = proto.Port_A
	case graphicData.RelatedRef_B:
		port = proto.Port_B
	case graphicData.RelatedRef_C:
		port = proto.Port_C
	}
	switch ref.DeviceType {
	case graphicData.RelatedRef_Section:
		deviceType = proto.DeviceType_DeviceType_PhysicalSection
	case graphicData.RelatedRef_Turnout:
		deviceType = proto.DeviceType_DeviceType_Turnout
	default:
		panic(fmt.Sprintf("异常的设备类型-%s", ref.DeviceType))
	}
	return &proto.DevicePort{
		DeviceId:   ref.Id,
		DeviceType: deviceType,
		Port:       port,
	}
}

func convertDevicePorts(refList []*graphicData.RelatedRef) []*proto.DevicePort {
	var dps []*proto.DevicePort
	for _, ref := range refList {
		dps = append(dps, convertDevicePort(ref))
	}
	return dps
}

func findTurnoutIds(axleCountingMap map[string]*graphicData.AxleCounting, axleIds []string) []string {
	if len(axleIds) <= 2 {
		return nil
	}
	turnoutMap := make(map[string]bool)
	for _, axleId := range axleIds {
		axle := axleCountingMap[axleId]
		relTurnoutCount := 0
		var turnoutId string
		for _, ref := range axle.AxleCountingRef {
			if ref.DeviceType == graphicData.RelatedRef_Turnout {
				relTurnoutCount++
				turnoutId = ref.Id
			}
		}
		if relTurnoutCount == 1 {
			turnoutMap[turnoutId] = true
		}
	}
	var turnoutIds []string
	for id := range turnoutMap {
		turnoutIds = append(turnoutIds, id)
	}
	return turnoutIds
}

func initWorldDeviceState(status *VerifyStatus, repo *repository.Repository) {
	initWorldTurnoutState(status, repo)
	initWorldPhysicalSectionState(status, repo)
}

// 初始化道岔状态
func initWorldTurnoutState(status *VerifyStatus, repo *repository.Repository) {
	for _, turnout := range repo.TurnoutList() {
		id := turnout.Identity.Id()
		status.SwitchStateMap.Store(id, &state.SwitchState{Id: id, Normal: true, Reverse: false})
	}
}

// 初始化物理区段状态
func initWorldPhysicalSectionState(status *VerifyStatus, repo *repository.Repository) {
	for _, section := range repo.PhysicalSectionList() {
		id := section.Identity.Id()
		status.PhysicalSectionStateMap.Store(id, &state.SectionState{Id: id, Occupied: false, Type: state.SectionType_Physic})
	}
}