rts-sim-testing-service/third_party/train_pc_sim/train_pc_sim.go

package train_pc_sim

import (
	"context"
	"encoding/hex"
	"fmt"
	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/dto/state_proto"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/tcp"
	"joylink.club/bj-rtsts-server/third_party/tpapi"
	"log/slog"
	"sync"
	"time"
)

type TrainControlEvent struct {
	Command byte
	Status  byte
}

//var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()

type TrainPcSim interface {
	tpapi.ThirdPartyApiService
	Start(pcSimManage TrainPcSimManage)
	Stop()

	// SendDriverActive Deprecated 发送驾驶端激活
	SendDriverActive(train *state_proto.TrainState)
	// SendHandleSwitch 发送牵引制动手柄
	SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState)
	// SendTrainDirection 列车运行方向
	//因文档说明不清楚，在调用的时候目前是注释状态，现场调试可能会用到
	SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool)
	//发送应答器信息数据
	SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte)
	SendBaliseData2(train *state_proto.TrainState, msgType byte, data []string)
	//发布列车控制的相关事件
	PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)
	// CreateOrRemoveSpeedPLace 创建或删除速度位置信息
	CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
	// CreateOrRemoveTrain 创建或删除列车
	CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
}

type TrainPcSimManage interface {
	GetTrainPcSimConfig() []config.VehiclePCSimConfig
	//GetConnTrain() *state_proto.TrainState
	GetConnTrain2() []*state_proto.TrainState
	//获取列车模拟量数据
	ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage
	// TrainPcSimDigitalOutInfoHandle 4.4.1.	车载输出数字量信息报文内容
	TrainPcSimDigitalOutInfoHandle(connType state_proto.TrainConnState_TrainConnType, data []byte)
	// TrainPcSimDigitalReportHandle 4.4.2.	车载输出数字反馈量信息报文内容
	TrainPcSimDigitalReportHandle(connType state_proto.TrainConnState_TrainConnType, data []byte)
	FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState
	// TrainPcSimMockInfo 门模式
	//TrainDoorModeHandle(state byte)
	//处理列车pc仿真模拟量数据
	TrainPcSimMockInfo(connType state_proto.TrainConnState_TrainConnType, data []byte)
	// TrainBtmQuery 处理列车btm查询
	TrainBtmQuery(connType state_proto.TrainConnState_TrainConnType, data []byte)
}

const Name = "车载pc仿真"

func FindTrainPcSimClientKey(t *state_proto.TrainState) string {
	if t.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_A {
		return "A"
	} else if t.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_B {
		return "B"
	}
	return ""
}
func (d *trainPcSimService) Name() string {
	return Name
}
func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
	return d.state
}
func (d *trainPcSimService) updateState(state tpapi.ThirdPartyApiServiceState) {
	d.state = state
}

var (
	initLock  = &sync.Mutex{}
	singleObj *trainPcSimService
)

func Default() TrainPcSim {
	defer initLock.Unlock()
	initLock.Lock()
	if singleObj == nil {
		singleObj = &trainPcSimService{}
	}
	return singleObj
}

type trainPcSimService struct {
	state             tpapi.ThirdPartyApiServiceState
	newPcSimclientMap map[string]*trainPcReciverData
	cancleContext     context.CancelFunc
	trainPcSimManage  TrainPcSimManage
	speedPlace        *message.TrainSpeedPlaceReportMsg
	configs           []config.VehiclePCSimConfig
}

// 接受来自pc仿真的消息
func (d *trainPcSimService) readError(err error) {
	slog.Error("连接车载pc仿真tcp服务断开", err)
	d.updateState(tpapi.ThirdPartyState_Broken)
}
func (d *trainPcSimService) newCloseAllConn() {
	for _, rd := range d.newPcSimclientMap {
		if rd != nil {
			rd.tcpClient.Close()
			rd.tcpClient = nil
		}
	}
}

func (d *trainPcSimService) newCloseConn(clientKey string) {
	rd := d.newPcSimclientMap[clientKey]
	if rd != nil {
		rd.tcpClient.Close()
		rd.tcpClient = nil
	}
}

func (d *trainPcSimService) findConfig(tcChar string) (*config.VehiclePCSimConfig, error) {
	configFlag := false
	if tcChar == "A" {
		configFlag = true
	} else if tcChar == "B" {
		configFlag = false
	} else {
		return nil, fmt.Errorf(fmt.Sprintf("未知车载pc连接标识:%v", tcChar))
	}
	for _, cfg := range d.configs {
		if cfg.Open && cfg.TrainEnds == configFlag {
			return &cfg, nil
		}

	}
	return nil, fmt.Errorf("未找到对应的车载pc连接配置")
}
func (d *trainPcSimService) connTrainPcSim(ctx context.Context) {

	go func() {
		for {
			select {
			case <-ctx.Done():
				d.newCloseAllConn()
				return
			default:
			}
			trains := d.trainPcSimManage.GetConnTrain2()
			if len(trains) > 0 {
				for _, t := range trains {
					clientKey := FindTrainPcSimClientKey(t)
					if clientKey == "" {
						slog.Error("未找到对应的pc仿真连接,trainId:", t.Id, "删除对应客户端")
						d.newCloseConn(clientKey)
						continue
					}

					rd := d.newPcSimclientMap[clientKey]
					if rd == nil {
						d.newPcSimclientMap[clientKey] = &trainPcReciverData{pcSimManage: d.trainPcSimManage, clientKey: clientKey, tcpClient: &tcp.TcpClient{}}
					}
					if !rd.tcpClient.IsConning() {
						d.newCloseConn(clientKey)
						d.initConn(clientKey)
					}
				}
			}
			time.Sleep(time.Second)
		}
	}()
}

func (d *trainPcSimService) initConn(clientKey string) {

	rd := d.newPcSimclientMap[clientKey]
	if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
		return
	}
	rd = &trainPcReciverData{pcSimManage: d.trainPcSimManage, clientKey: clientKey, tcpClient: &tcp.TcpClient{}}
	d.newPcSimclientMap[clientKey] = rd
	cfg, _ := d.findConfig(clientKey)
	addr := fmt.Sprintf("%v:%v", cfg.PcSimIp, cfg.PcSimPort)

	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, d.readError)
	if err != nil {
		slog.Error(fmt.Sprintf("车载pc连接失败 clientKey:%v,error:%v", clientKey, err.Error()))
		d.updateState(tpapi.ThirdPartyState_Broken)
	} else {
		rd.tcpClient = client2
	}

}
func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
	configs := pcSimManage.GetTrainPcSimConfig()
	d.newPcSimclientMap = make(map[string]*trainPcReciverData)

	if len(configs) <= 0 {
		slog.Info("车载pc仿真配置未开启")
		return
	}

	closedCount := 0
	for _, c := range configs {
		if !c.Open {
			closedCount++
		}
	}

	if closedCount == len(configs) {
		slog.Error("车载pc仿真配置未开启")
		return
	}
	d.configs = configs
	ctx, ctxFun := context.WithCancel(context.Background())
	d.cancleContext = ctxFun
	d.trainPcSimManage = pcSimManage
	d.connTrainPcSim(ctx)
	d.updateState(tpapi.ThirdPartyState_Normal)
	go d.sendTrainLocationAndSpeedTask(ctx)
}

func (d *trainPcSimService) Stop() {
	d.updateState(tpapi.ThirdPartyState_Closed)
	if d.cancleContext != nil {
		d.cancleContext()
		d.cancleContext = nil
	}
	//d.closeAllConn()
	d.newCloseAllConn()
}
func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
	if train.ConnState.Conn && (train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_A || train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_B) {
		train.PluseCount = &state_proto.SensorSpeedPulseCount{}
		d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
	} else {
		train.PluseCount = nil
		d.speedPlace = nil
	}
}
func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
	clientKey := FindTrainPcSimClientKey(train)
	d.initConn(clientKey)
	log := "删除列车"
	data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
	if isCreate {
		log = "创建列车"
		data[0] = message.FLAG_CAMMAND_CREATE_TRAIN
	}
	msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
	rd := d.newPcSimclientMap[clientKey]
	if rd != nil {
		sd := msg.Encode()
		slog.Info(fmt.Sprintf("%v-列车号:%v,发送数据:%v", log, train.Id, hex.EncodeToString(sd)))
		err := rd.tcpClient.Send(sd)
		if err != nil {
			return err
		}
		initTrainErr := d.initTrain(rd, train, isCreate)
		if !isCreate {
			d.newCloseConn(clientKey)
		}
		if initTrainErr != nil {
			return initTrainErr
		}

	}
	return nil
}
func (d *trainPcSimService) initTrain(rd *trainPcReciverData, train *state_proto.TrainState, isCreate bool) error {
	msgs := make([]message.TrainPcSimBaseMessage, 0)
	if isCreate {
		tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
		msgs = append(msgs, tmpMsgs...)
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE})                                //驾驶室激活
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活反馈按钮
	} else {
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_NOT_ACTIVE}) //驾驶室激活
	}
	for _, msg := range msgs {
		data := msg.Encode()
		hexData := hex.EncodeToString(data)
		err := rd.tcpClient.Send(data)
		if err != nil {
			slog.Error(fmt.Sprintf("列车设置激活%v 失败:%v", isCreate, hexData))
			return fmt.Errorf(fmt.Sprintf("列车设置激活%v 失败:%v", isCreate, hex.EncodeToString(data)), err)
		}
	}
	return nil
}

// 依据文档80ms发送列车速度位置
func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
	for {
		select {
		case <-ctx.Done():
			return
		default:
		}
		trains := d.trainPcSimManage.GetConnTrain2()
		for _, train := range trains {
			if train.ConnState.Conn && train.PluseCount != nil {
				clientKey := FindTrainPcSimClientKey(train)
				rd := d.newPcSimclientMap[clientKey]

				s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
				d.speedPlace.ParsePulseCount1(s1, s2)
				data := d.speedPlace.Encode(train.TrainRunUp, s1, s2)
				bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
				train.PluseCount.PulseCount1 = 0
				train.PluseCount.PulseCount2 = 0
				dataCode := bm.Encode()
				slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, d.speedPlace.PulseCount1, d.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
				err := rd.tcpClient.Send(dataCode)
				if err != nil {
					slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
				}
			}

		}

		time.Sleep(time.Millisecond * 80)
	}
}

// SendDriverActive Deprecated 发送驾驶激活
func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
	vobc := train.VobcState

	clientKey := FindTrainPcSimClientKey(train)
	//client := d.pcSimClientMap[clientKey]
	rd := d.newPcSimclientMap[clientKey]
	defulatBuf := make([]byte, 0)
	msg := &message.TrainPcSimBaseMessage{Data: defulatBuf}
	if train.TrainRunUp {
		if vobc.Tc1Active {
			msg.Type = message.SENDER_TRAIN_TC_ACTIVE
		} else if vobc.Tc1Active == false {
			msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
		}
	} else if !train.TrainRunUp {
		if vobc.Tc2Active {
			msg.Type = message.SENDER_TRAIN_TC_ACTIVE
		} else if vobc.Tc2Active == false {
			msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
		}
	}
	//:"创建列车-列车号:1,发送数据:eb0050010156e4"}
	//{,"msg":"发送驾驶激活列车","1":"数据","!BADKEY":"eb0004002437"}

	da := msg.Encode()
	slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hex.EncodeToString(da)))
	err := rd.tcpClient.Send(da)
	//err := client.Send(da)
	if err != nil {
		slog.Error(fmt.Sprintf("发送驾驶激活失败列车id:%v,数据:%v,err:%v", train.Id, hex.EncodeToString(da), err.Error()))
	}
}
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
	tc := train.ConnState
	if tc.Conn {
		vobc := train.VobcState
		clientKey := FindTrainPcSimClientKey(train)
		rd := d.newPcSimclientMap[clientKey]

		//client := d.pcSimClientMap[clientKey]
		msg := &message.TrainPcSimBaseMessage{}
		newTraction := vobc.TractionForce
		//newBrake := -vobc.BrakeForce
		//newOldBrakeForce := -oldBrakeForce
		if tractionState {
			if newTraction <= oldTraction && newTraction == 0 {
				//手柄取消前进
				msg.Type = message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
			} else if newTraction > oldTraction {
				//手柄前进
				msg.Type = message.SENDER_TRAIN_HAND_KEY_FORWARD
			} else {
				//手柄前进
				msg.Type = message.SENDER_TRAIN_HAND_KEY_FORWARD
			}

		} else {
			/*if newBrake >= newOldBrakeForce && newBrake == 0 {
				//手柄取消后退
				msg.Type = message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
			} else
			if newBrake < newOldBrakeForce {
				//手柄后退
				msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
			} else {
				//手柄后退
				msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
			}*/
			msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
		}
		da := msg.Encode()
		slog.Info("发送列车手柄消息", "clientKey", clientKey, "msg", hex.EncodeToString(da))
		err := rd.tcpClient.Send(da)
		//err := client.Send(da)
		if err != nil {
			slog.Error("发送列车手柄消息失败", "clientKey", clientKey, "msg", hex.EncodeToString(da))
		}
	}
}
func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool) {

	baseMsgs := make([]*message.TrainPcSimBaseMessage, 0)
	if !trainForward && !trainBackward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD})
	} else if trainForward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_HAND_KEY_FORWARD})
	} else if trainBackward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_BACKWARD})
	}
	clientKey := FindTrainPcSimClientKey(train)
	rd := d.newPcSimclientMap[clientKey]
	//client := d.pcSimClientMap[clientKey]
	for _, msg := range baseMsgs {
		da := msg.Encode()
		slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
		err := rd.tcpClient.Send(da)
		//err := client.Send(da)
		if err != nil {
			slog.Error(fmt.Sprintf("发送列车方向失败列车:%v ,数据:%v,err:%v", train.Id, hex.EncodeToString(da), err.Error()))
		}
	}
}
func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgType byte, data []string) {
	for _, hexData := range data {
		dd, _ := hex.DecodeString(hexData)
		msg := &message.TrainPcSimBaseMessage{Type: msgType, Data: dd}
		clientKey := FindTrainPcSimClientKey(train)
		rd := d.newPcSimclientMap[clientKey]
		da := msg.Encode()
		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))

		err := rd.tcpClient.Send(da)
		if err != nil {
			slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
		}
	}
}

func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte) {
	msg := &message.TrainPcSimBaseMessage{}
	msg.Type = msgType
	msg.Data = data
	clientKey := FindTrainPcSimClientKey(train)
	rd := d.newPcSimclientMap[clientKey]

	da := msg.Encode()
	slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,无应答器:%v,数据:%v", msgType == message.RECIVE_TRAIN_BTM_NOT_DATA, hex.EncodeToString(da)))

	err := rd.tcpClient.Send(da)
	if err != nil {
		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
	}
}

func (d *trainPcSimService) PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent) {
	if len(events) <= 0 {
		slog.Warn("发布事件数量为空")
		return
	}
	clientKey := FindTrainPcSimClientKey(train)
	rd := d.newPcSimclientMap[clientKey]

	//client := d.pcSimClientMap[clientKey]
	for _, event := range events {
		msg := &message.TrainPcSimBaseMessage{}
		msg.Type = message.SENDER_TRAIN_OUTR_INFO
		data := []byte{event.Command, event.Status}
		msg.Data = data
		code := msg.Encode()
		hexCode := hex.EncodeToString(code)
		slog.Info(fmt.Sprintf("输出列车控制输出量,命令码位:%v 对应状态:%v,发送数据:%v", event.Command, event.Status, hexCode))
		err := rd.tcpClient.Send(code)
		if err != nil {
			slog.Error(fmt.Sprintf("输出列车控制输出量发送失败,命令码位:%v 对应状态:%v,发送数据:%v", event.Command, event.Status, hexCode))
		}
		//client.Send(msg.Encode())
		//FireTrainControlEventType.Publish(world, &event)

	}
}