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/sys_error"
	"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"
	"math"
	"sync"
	"time"
)

type TrainControlEvent struct {
	Type byte
	Data []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)

	//发布列车控制的相关事件
	//PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)

	SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage)
	// 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
	// TrainPluseCount 计算列车脉冲
	TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
}

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(train *state_proto.TrainState, data []byte)
	// TrainPcSimDigitalReportHandle 4.4.2.	车载输出数字反馈量信息报文内容
	TrainPcSimDigitalReportHandle(train *state_proto.TrainState, 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(train *state_proto.TrainState, data []byte)
	// TrainBtmQuery 处理列车btm查询

	TrainBtmQuery2(train *state_proto.TrainState, data []byte)
}
type trainPcSimService struct {
	state             tpapi.ThirdPartyApiServiceState
	newPcSimclientMap map[string]*TrainPcReciverData
	cancleContextFun  context.CancelFunc
	context           context.Context
	trainPcSimManage  TrainPcSimManage
	configs           []config.VehiclePCSimConfig
}

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

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

const Name = "车载pc仿真"

func (d *trainPcSimService) Name() string {
	return ""
}
func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
	return tpapi.ThirdPartyState_Closed
}
func (d *trainPcSimService) FindAppendApiService() []tpapi.ThirdPartyApiService {
	return d.findAllThirdPartState()
}
func (d *trainPcSimService) TrueService() bool {
	return false
}
func (d *trainPcSimService) ServiceDesc() string {
	return Name
}

func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
	return t.ConnState.TypeName
}
func (d *trainPcSimService) findTrainConn(sta *state_proto.TrainState) (*TrainPcReciverData, error) {
	trainPcReciver := d.newPcSimclientMap[sta.ConnState.TypeName]
	if trainPcReciver == nil {
		return nil, fmt.Errorf("")
	}
	return trainPcReciver, nil
}
func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService {
	services := make([]tpapi.ThirdPartyApiService, 0)
	for _, data := range d.newPcSimclientMap {
		services = append(services, data)
	}
	return services
}

// 速度(单位mm/s)对应的脉冲数：速度*200/pi/840；
// 里程（单位mm）对应的脉冲：总里程*200/pi/840
func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {

	pluseCountData := speedMeter * 200 / math.Pi / float32(wheelDiameter)
	return uint32(pluseCountData)
}

func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, float32) {
	defer initLock.Unlock()
	initLock.Lock()
	var sum float32 = 0
	pcLen := len(sta.PluseCount.PulseCount3)
	if pcLen == 0 {
		return 0, 0
	}
	for _, f := range sta.PluseCount.PulseCount3 {
		sum += f
	}
	d.TrainPluseCountReset(sta)
	speed := sum / float32(pcLen)
	return pluseCountSpeed(sta.WheelDiameter, speed*1000), speed

}
func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
	defer initLock.Unlock()
	initLock.Lock()

	select {
	case <-d.context.Done():
		return
	default:
	}
	if sd, err := d.findTrainConn(sta); err == nil {
		sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
		//sd.speedPlace.PulseCount1 += float32(uint32(h1 * 10))
		sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1
	}
	if sta.TrainRunUp {
		if sta.TrainEndsA.SpeedSensorEnableA {
			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
		}
		if sta.TrainEndsA.SpeedSensorEnableB {
			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
		}
	} else {
		if sta.TrainEndsB.SpeedSensorEnableA {
			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
		}
		if sta.TrainEndsB.SpeedSensorEnableB {
			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
		}
	}
}

func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
	sta.PluseCount.PulseCount1 = 0
	sta.PluseCount.PulseCount2 = 0
	sta.PluseCount.PulseCount3 = make([]float32, 0)
	sta.PluseCount.PulseCount4 = make([]float32, 0)
}

func (d *trainPcSimService) newCloseAllConn() {
	trains := d.trainPcSimManage.GetConnTrain2()
	for _, train := range trains {
		d.CreateOrRemoveTrain(train, false)
	}
}

func (d *trainPcSimService) newCloseConn(clientKey string) {
	rd := d.newPcSimclientMap[clientKey]
	if rd != nil {
		rd.tcpClient.Close()
		rd.tcpClient = nil
		rd.train = nil
		rd.speedPlace = nil
		//rd.trainInit = false
		//d.cancleContextFun()
	}
}

func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {

	for _, cfg := range d.configs {
		if cfg.Open && cfg.ConfigName == configName {
			return &cfg, nil
		}
	}
	return nil, fmt.Errorf("未找到对应的车载pc连接配置")
}

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

	rd := d.newPcSimclientMap[clientKey]
	if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
		return nil
	} else {
		//rd.trainInit = false
		rd.tcpClient = nil
	}
	cfg, cfgErr := d.findConfig(clientKey)
	if cfgErr != nil {
		errMsg := fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey)
		//slog.Error(errMsg, cfgErr.Error())
		rd.updateState(tpapi.ThirdPartyState_Broken)
		return sys_error.New(errMsg, cfgErr)
	}
	addr := fmt.Sprintf("%v:%v", cfg.PcSimIp, cfg.PcSimPort)
	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
	if err != nil {
		connErrMsg := fmt.Sprintf("车载pc连接失败 clientKey:%v", clientKey)
		//slog.Error(connErrMsg, err.Error())
		rd.updateState(tpapi.ThirdPartyState_Broken)
		return sys_error.New(connErrMsg, err)
	} else {
		rd.tcpClient = client2
	}
	return nil
}

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++
		} else {
			ck := c.ConfigName
			pcReciver := &TrainPcReciverData{clientKey: ck, pcSimManage: pcSimManage}
			pcReciver.updateState(tpapi.ThirdPartyState_Closed)
			d.newPcSimclientMap[ck] = pcReciver
		}
	}
	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.cancleContextFun = ctxFun
	d.context = ctx
	d.trainPcSimManage = pcSimManage
	go d.sendTrainLocationAndSpeedTask(ctx)
}

func (d *trainPcSimService) Stop() {
	for _, data := range d.newPcSimclientMap {
		data.updateState(tpapi.ThirdPartyState_Closed)
	}
	if d.cancleContextFun != nil {
		d.cancleContextFun()
		d.cancleContextFun = nil
	}
	d.newCloseAllConn()
}

func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
	clientKey := FindTrainPcSimClientKey2(train)
	err := d.initConn(clientKey)
	if err != nil {
		d.newCloseConn(clientKey)
		return err
	}
	data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
	if isCreate {
		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 {
		initTrainErr := d.initTrain(rd, train, isCreate, msg)
		if !isCreate {
			d.newCloseConn(clientKey)
		}
		if initTrainErr != nil {
			return initTrainErr
		}
	}
	return nil
}
func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
	msgs := make([]message.TrainPcSimBaseMessage, 0)
	sendMsg := make([]byte, 0)
	rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
	train.PluseCount = &state_proto.SensorSpeedPulseCount{}
	rd.train = train
	tcc := train.Tcc
	tcc.LineInitTimeStamp12 = 0
	tcc.Line12ConnErr = false
	if isCreate {
		tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
		msgs = append(msgs, tmpMsgs...)
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE})          //门模式
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
	} else {
		train.VobcState.Tc1Active = false
		train.VobcState.Tc2Active = false

		for _, key := range tcc.DriverKey {
			key.Val = false
		}
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_BRAKE_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})         //驾驶室激活
		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()
		sendMsg = append(sendMsg, data...)
	}
	sendMsg = append(sendMsg, trains.Encode()...)
	hexData := hex.EncodeToString(sendMsg)
	slog.Info(fmt.Sprintf("发送列车初始化消息:%v", hexData))
	rd.tcpClient.Send(sendMsg)
	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 {
				trainClient, trainDataErr := d.findTrainConn(train)
				if trainDataErr != nil {
					slog.Error(fmt.Sprintf("pc仿真速度位置未找到对应的列车 id:%v", train.Id))
					continue
				}
				if trainClient.speedPlace == nil {
					slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
					continue
				}

				connState := tpapi.ThirdPartyState_Normal
				if train.Tcc.Line12ConnErr {
					connState = tpapi.ThirdPartyState_Broken
				}
				trainClient.updateState(connState)
				s1, _ := d.pluseSpeed(train)
				runDir := uint16(2)
				if train.Tcc.DirKey.Val == 1 {
					runDir = 1
				}
				disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
				data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
				bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
				dataCode := bm.Encode()
				//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
				err := trainClient.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) {
	trainClient, trainDataErr := d.findTrainConn(train)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送驾驶激活，未找到对应的列车连接，列车id：%v", train.Id))
		return
	}

	vobc := train.VobcState

	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
		}
	}
	msgs := make([]byte, 0)
	if msg.Type == message.SENDER_TRAIN_TC_ACTIVE {
		dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}
		msgs = append(msgs, dd3.Encode()...)
	} else {
		dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}
		msgs = append(msgs, dd3.Encode()...)
	}
	msgs = append(msgs, msg.Encode()...)
	hexData := hex.EncodeToString(msgs)
	//slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
	err := trainClient.tcpClient.Send(msgs)

	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, hexData, err.Error()))
	}
}
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
	trainClient, trainDataErr := d.findTrainConn(train)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车牵引失败，未找到对应的列车id:%v", train.Id))
		return
	}
	tc := train.ConnState
	if tc.Conn {
		vobc := train.VobcState
		msg := &message.TrainPcSimBaseMessage{}
		newTraction := vobc.TractionForce
		if tractionState {
			if newTraction <= oldTraction && newTraction <= 0 {
				//手柄取消前进
				msg.Type = message.RECIVE_TRAIN_HAND_KEY_CANCLE_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", "msg", hex.EncodeToString(da))
		err := trainClient.tcpClient.Send(da)
		//err := client.Send(da)
		if err != nil {
			slog.Error("发送列车手柄消息失败", "msg", hex.EncodeToString(da))
		}
	}
}
func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool) {
	trainClient, trainDataErr := d.findTrainConn(train)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车方向失败，未找到列车连接，trainId：%s", train.Id))
		return
	}
	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})
	}

	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 := trainClient.tcpClient.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) SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte) {
	trainClient, trainDataErr := d.findTrainConn(train)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车PC仿真应答器信息失败，未找到列车连接，trainId：%v", train.Id))
		return
	}
	msg := &message.TrainPcSimBaseMessage{}
	msg.Type = msgType
	msg.Data = data

	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，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
	err := trainClient.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) SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage) {
	if len(baseMessage) <= 0 {
		return
	}
	trainClient, trainDataErr := d.findTrainConn(train)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车控制信息失败,无连接,列车Id:%v", train.Id))
		return
	}

	for _, msg := range baseMessage {
		d.sendData(trainClient.tcpClient, msg.Encode())
	}
}
func (d *trainPcSimService) sendData(client *tcp.TcpClient, data []byte) {
	err := client.Send(data)
	if err != nil {
		slog.Error(fmt.Sprintf("列车数字量信息发送失败,数据:%v", err.Error()))
	}
}