405 lines
17 KiB
Go
405 lines
17 KiB
Go
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package memory
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import (
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"bytes"
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"encoding/binary"
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"encoding/hex"
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"fmt"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/const/balise_const"
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"joylink.club/bj-rtsts-server/dto/request_proto"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"joylink.club/bj-rtsts-server/sys_error"
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"joylink.club/bj-rtsts-server/third_party/can_btm"
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"joylink.club/bj-rtsts-server/third_party/message"
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train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
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"log/slog"
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"strings"
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"time"
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)
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func (s *VerifySimulation) GetTrainPcSimConfig() config.VehiclePCSimConfig {
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return s.runConfig.PcSimConfig
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}
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// 列车控制
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func (s *VerifySimulation) ControlTrainUpdate(ct *request_proto.TrainControl) {
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allTrainMap := &s.Memory.Status.TrainStateMap
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data, ok := allTrainMap.Load(ct.TrainId)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.TrainId)))
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}
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sta := data.(*state_proto.TrainState)
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var tce []train_pc_sim.TrainControlEvent = nil
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if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
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trainControlEB(sta, ct.Button, ct.DeviceId)
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} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
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tce = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId)
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train_pc_sim.Default().SendDriverActive(sta.ConnState, sta.VobcState)
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} else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH {
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trainControlDirKey(sta, ct.DirKey, ct.DeviceId)
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} else if ct.ControlType == request_proto.TrainControl_HANDLER {
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oldTraction := sta.VobcState.TractionForce
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oldBrakeForce := sta.VobcState.BrakeForce
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tce = trainControlHandle(sta, ct.Handler, ct.DeviceId)
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train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, sta.ConnState, sta.VobcState)
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}
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if !sta.ConnState.Conn && sta.ConnState.ConnType != state_proto.TrainConnState_PC_SIM {
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slog.Error("当前列车未连接车载pc仿真,", sta.Id)
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return
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}
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train_pc_sim.Default().PublishTrainControlEvent(s.World, tce)
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}
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func trainControlEB(trainState *state_proto.TrainState, request *request_proto.TrainControl_EmergentButton, deviceId uint32) {
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trainState.VobcState.EmergencyBrakingStatus = request.Active
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if trainState.Tcc.Ebutton == nil {
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trainState.Tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId, Passed: request.Active}
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} else {
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trainState.Tcc.Ebutton.Passed = request.Active
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}
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}
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// 列车方向
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func trainControlDirKey(trainState *state_proto.TrainState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32) {
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trainState.VobcState.DirectionForward = false
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trainState.VobcState.DirectionBackward = false
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if request.Val == 1 {
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trainState.VobcState.DirectionForward = true
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} else if request.Val == 0 {
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trainState.VobcState.DirectionBackward = false
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}
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if trainState.Tcc.DirKey == nil {
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trainState.Tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId, Val: request.Val}
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} else {
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trainState.Tcc.DirKey.Val = request.Val
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}
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}
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// 列车驾驶端激活
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func trainControlDriverKey(trainState *state_proto.TrainState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32) []train_pc_sim.TrainControlEvent {
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if request.Dt == request_proto.DriverType_ONE_END {
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trainState.VobcState.Tc1Active = request.Val
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} else if request.Dt == request_proto.DriverType_TWO_END {
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trainState.VobcState.Tc2Active = request.Val
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}
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var addNew = true
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for _, k := range trainState.Tcc.DriverKey {
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if k.Id == deviceId {
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k.Id = deviceId
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k.Val = request.Val
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addNew = false
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break
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}
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}
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if addNew {
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trainState.Tcc.DriverKey = append(trainState.Tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val})
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}
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return []train_pc_sim.TrainControlEvent{{Command: train_pc_sim.KEY_STATE, Status: train_pc_sim.IsTrue(request.Val)}}
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}
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// 列车牵引控制
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func trainControlHandle(trainState *state_proto.TrainState, request *request_proto.TrainControl_PushHandler, deviceId uint32) []train_pc_sim.TrainControlEvent {
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trainState.VobcState.TractionStatus = false
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trainState.VobcState.TractionForce = 0
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trainState.VobcState.BrakingStatus = false
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trainState.VobcState.BrakeForce = 0
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tce := make([]train_pc_sim.TrainControlEvent, 0)
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_FORWORD, Status: 0})
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_BACKWORD, Status: 0})
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_TO_ZERO, Status: 0})
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if request.Val > 0 {
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trainState.VobcState.TractionStatus = true
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trainState.VobcState.TractionForce = int64(request.Val)
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_FORWORD, Status: 1})
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} else if request.Val < 0 {
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trainState.VobcState.BrakingStatus = true
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trainState.VobcState.BrakeForce = int64(request.Val)
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_BACKWORD, Status: 1})
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} else {
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tce = append(tce, train_pc_sim.TrainControlEvent{Command: train_pc_sim.HANDLE_TO_ZERO, Status: 1})
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}
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if trainState.Tcc.PushHandler == nil {
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trainState.Tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId, Val: request.Val}
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} else {
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trainState.Tcc.PushHandler.Val = request.Val
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}
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return tce
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}
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func (s *VerifySimulation) findConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState {
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var findTrain *state_proto.TrainState
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s.Memory.Status.TrainStateMap.Range(func(k, v any) bool {
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train := v.(*state_proto.TrainState)
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connState := train.ConnState
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if connState.ConnType == ct {
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findTrain = train
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return false
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}
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return true
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})
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return findTrain
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}
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// 4.4.1. 车载输出数字量信息报文内容
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func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(data []byte) {
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train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
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if train == nil {
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slog.Error("车载输出数字量，未找到连接车载pc仿真的列车")
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return
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}
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if !train.ConnState.Conn {
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slog.Error("车载输出数字量，,列车未连接车载pc仿真")
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return
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}
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buf := bytes.NewBuffer(data)
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vobc := train.VobcState
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cutTraction, _ := buf.ReadByte() //切牵引
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trainDoorOutLed, _ := buf.ReadByte() //车门外指示灯
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stopBrakeAppend, _ := buf.ReadByte() //停放制动施加
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emergentBrake, _ := buf.ReadByte() //紧急制动
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leftOpenDoor, _ := buf.ReadByte() //开左门允许
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rightOpenDoor, _ := buf.ReadByte() //开右门允许
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closeRightDoor, _ := buf.ReadByte() //关右门
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doorAlwaysClosed, _ := buf.ReadByte() //车门保持关闭
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localAtpControl, _ := buf.ReadByte() //本端ATP控车
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atoMode, _ := buf.ReadByte() //ATO模式
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atoTractionCommandOut, _ := buf.ReadByte() //ATO牵引命令输出
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atoTractionCommand1, _ := buf.ReadByte() //ATO牵引指令1
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atoTractionCommand2, _ := buf.ReadByte() //ATO牵引指令2
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atoTractionCommand3, _ := buf.ReadByte() //ATO牵引指令3
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atoBrakeCommand, _ := buf.ReadByte() //ATO制动命令输出
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skipCommand, _ := buf.ReadByte() //跳跃指令
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direction1, _ := buf.ReadByte() //列车方向1
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direction2, _ := buf.ReadByte() //列车方向2
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atoLazyCommandOut, _ := buf.ReadByte() //ATO惰行命令输出
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sleepCommand, _ := buf.ReadByte() //休眠指令
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wakeUpCommand, _ := buf.ReadByte() //唤醒指令
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toPullTrainLed, _ := buf.ReadByte() //ATO发车指示灯
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arLightCommand, _ := buf.ReadByte() //AR灯命令
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atoAlwaysBrake, _ := buf.ReadByte() //ATO保持制动
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atoOpenLeftDoor, _ := buf.ReadByte() //ATO开左门
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atoOpenRightDoor, _ := buf.ReadByte() //ATO开右门
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atoCloseLeftDoor, _ := buf.ReadByte() //ATO关左门
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ariverActive, _ := buf.ReadByte() //驾驶室激活
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noSpeedSigle, _ := buf.ReadByte() //零速信号
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famMode, _ := buf.ReadByte() //FAM模式
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camMode, _ := buf.ReadByte() //CAM模式
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trainStartedLed, _ := buf.ReadByte() //列车启动指示灯
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mostUseBrake, _ := buf.ReadByte() //常用制动
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splittingOut, _ := buf.ReadByte() //过分相输出
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modeRelay, _ := buf.ReadByte() //模式继电器
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tractionEffective, _ := buf.ReadByte() //牵引有效
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brakeEffective, _ := buf.ReadByte() //制动有效
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lifeDoorUsed, _ := buf.ReadByte() //逃生门使能
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brakeQuarantine, _ := buf.ReadByte() //制动隔离
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stopNotAllBrake, _ := buf.ReadByte() //停放制动缓解
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vobc.TractionSafetyCircuit = train_pc_sim.IsTrueForByte(cutTraction)
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vobc.TrainDoorOutLed = train_pc_sim.IsTrueForByte(trainDoorOutLed) //? 说明暂无此属性
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vobc.ParkingBrakeStatus = train_pc_sim.IsTrueForByte(stopBrakeAppend)
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vobc.EmergencyBrakingStatus = train_pc_sim.IsTrueForByte(emergentBrake)
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vobc.LeftDoorOpenCommand = train_pc_sim.IsTrueForByte(leftOpenDoor)
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vobc.RightDoorOpenCommand = train_pc_sim.IsTrueForByte(rightOpenDoor)
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vobc.RightDoorCloseCommand = train_pc_sim.IsTrueForByte(closeRightDoor)
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vobc.AllDoorClose = train_pc_sim.IsTrueForByte(doorAlwaysClosed)
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vobc.LocalAtpControl = train_pc_sim.IsTrueForByte(localAtpControl) //?
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vobc.Ato = train_pc_sim.IsTrueForByte(atoMode)
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vobc.AtoTractionCommandOut = train_pc_sim.IsTrueForByte(atoTractionCommandOut) //?
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vobc.AtoTractionCommand1 = train_pc_sim.IsTrueForByte(atoTractionCommand1) //?
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vobc.AtoTractionCommand2 = train_pc_sim.IsTrueForByte(atoTractionCommand2) //?
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vobc.AtoTractionCommand3 = train_pc_sim.IsTrueForByte(atoTractionCommand3) //?
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vobc.AtoBrakeCommand = train_pc_sim.IsTrueForByte(atoBrakeCommand) //?
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vobc.JumpStatus = train_pc_sim.IsTrueForByte(skipCommand)
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vobc.DirectionForward = train_pc_sim.IsTrueForByte(direction1)
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vobc.DirectionBackward = train_pc_sim.IsTrueForByte(direction2)
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vobc.AtoLazyCommandOut = train_pc_sim.IsTrueForByte(atoLazyCommandOut) //?
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vobc.SleepBtn = train_pc_sim.IsTrueForByte(sleepCommand)
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vobc.WakeUpBtn = train_pc_sim.IsTrueForByte(wakeUpCommand)
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vobc.AtoSendTrainBtn = train_pc_sim.IsTrueForByte(toPullTrainLed)
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vobc.TurnbackStatus = train_pc_sim.IsTrueForByte(arLightCommand) //?
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vobc.AtoAlwaysBrake = train_pc_sim.IsTrueForByte(atoAlwaysBrake) //?
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vobc.AtoOpenLeftDoor = train_pc_sim.IsTrueForByte(atoOpenLeftDoor) //?
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vobc.AtoOpenRightDoor = train_pc_sim.IsTrueForByte(atoOpenRightDoor) //?
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vobc.AtoCloseLeftDoor = train_pc_sim.IsTrueForByte(atoCloseLeftDoor) //?
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vobc.Tc1Active = train_pc_sim.IsTrueForByte(ariverActive)
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vobc.NoSpeedSigle = train_pc_sim.IsTrueForByte(noSpeedSigle) //?
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vobc.Fam = train_pc_sim.IsTrueForByte(famMode)
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vobc.Cam = train_pc_sim.IsTrueForByte(camMode)
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vobc.TrainStartedLed = train_pc_sim.IsTrueForByte(trainStartedLed) //?
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vobc.MostUseBrake = train_pc_sim.IsTrueForByte(mostUseBrake) //? //常用制动
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vobc.SplittingOut = train_pc_sim.IsTrueForByte(splittingOut) //? //过分相输出
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vobc.ModeRelay = train_pc_sim.IsTrueForByte(modeRelay) //? //模式继电器
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vobc.TractionEffective = train_pc_sim.IsTrueForByte(tractionEffective) //? //牵引有效
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vobc.BrakeEffective = train_pc_sim.IsTrueForByte(brakeEffective) //? //制动有效
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vobc.LifeDoorState = train_pc_sim.IsTrueForByte(lifeDoorUsed) //逃生门使能
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vobc.BrakeQuarantine = train_pc_sim.IsTrueForByte(brakeQuarantine) //? //制动隔离
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vobc.StopNotAllBrake = train_pc_sim.IsTrueForByte(stopNotAllBrake) //? //停放制动缓解
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}
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// 4.4.2. 车载输出数字反馈量信息报文内容
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func (s *VerifySimulation) TrainPcSimDigitalReportHandle(data []byte) {
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train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
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if train == nil {
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slog.Error("车载输出数字反馈量信息,未找到连接车载pc仿真的列车")
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return
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}
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if !train.ConnState.Conn {
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slog.Error("车载输出数字反馈量信息,列车未连接车载pc仿真")
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return
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}
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vobc := train.VobcState
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buf := bytes.NewBuffer(data)
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localEndAct, _ := buf.ReadByte()
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direction1, _ := buf.ReadByte()
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direction2, _ := buf.ReadByte()
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vobc.Tc1Active = train_pc_sim.IsTrueForByte(localEndAct) //本端驾驶室激活（钥匙）
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vobc.DirectionForward = train_pc_sim.IsTrueForByte(direction1) //方向手柄进位
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|
|
vobc.DirectionBackward = train_pc_sim.IsTrueForByte(direction2) //方向手柄退位
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 创建/删除列车
|
|||
|
|
func (s *VerifySimulation) TrainPcSimConnOrRemoveHandle(state byte) {
|
|||
|
|
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
|||
|
|
if train == nil {
|
|||
|
|
slog.Error("创建删除列车，未找到连接车载pc仿真的列车")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
connState := train.ConnState
|
|||
|
|
if state == 0x01 {
|
|||
|
|
connState.Conn = true
|
|||
|
|
} else {
|
|||
|
|
connState.Conn = false
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 门模式
|
|||
|
|
func (s *VerifySimulation) TrainDoorModeHandle(state byte) {
|
|||
|
|
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
|||
|
|
if train == nil {
|
|||
|
|
slog.Error("车载pc仿真门模式，未找到连接车载pc仿真的列车")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
if !train.ConnState.Conn {
|
|||
|
|
slog.Error("车载pc仿真门模式,列车未连接车载pc仿真")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
switch state {
|
|||
|
|
case 0x00:
|
|||
|
|
//0x00表示自开自关（AA）
|
|||
|
|
train.VobcState.DoorModeAA = true
|
|||
|
|
case 0x01:
|
|||
|
|
//0x01表示自开人关（AM）
|
|||
|
|
train.VobcState.DoorModeAM = true
|
|||
|
|
case 0x02:
|
|||
|
|
//0x02表示人开人关（MM）
|
|||
|
|
train.VobcState.DoorModeMM = true
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 4.4.3. 车载输出模拟量信息报文内容(0x03)
|
|||
|
|
func (s *VerifySimulation) TrainPcSimMockInfo(data []byte) {
|
|||
|
|
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
|||
|
|
if train == nil {
|
|||
|
|
slog.Error("车载输出模拟量,未找到连接车载pc仿真的列车")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
if !train.ConnState.Conn {
|
|||
|
|
slog.Error("车载输出模拟量,列车未连接车载pc仿真")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
mockData := binary.BigEndian.Uint16(data)
|
|||
|
|
train.VobcState.MockInfo = uint32(mockData)
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 4.4.4. 车载输出BTM查询同步帧报文内容（0x04）
|
|||
|
|
func (s *VerifySimulation) TrainBtmQuery(data []byte) {
|
|||
|
|
if len(data) < 12 {
|
|||
|
|
slog.Error("列车btm查询报文长度错误:", len(data))
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
|||
|
|
if train == nil {
|
|||
|
|
slog.Error("车载输出btm查询,未找到连接车载pc仿真的列车")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
if !train.ConnState.Conn {
|
|||
|
|
slog.Error("车载输出btm查询,列车未连接车载pc仿真")
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
trainAtm := message.NewCanetFrame(data, true)
|
|||
|
|
atpReq := &message.AtpRequestFrame{}
|
|||
|
|
if !atpReq.Decode(trainAtm) {
|
|||
|
|
slog.Warn("列车pc驾驶模拟-CanetFrame解码成AtpRequestFrame失败", "CanetFrame", trainAtm.String())
|
|||
|
|
return
|
|||
|
|
}
|
|||
|
|
cl := clock(atpReq)
|
|||
|
|
btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl)
|
|||
|
|
if atpReq.ResendRequest == 2 {
|
|||
|
|
//重新发送
|
|||
|
|
if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
|
|||
|
|
dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
|
|||
|
|
train_pc_sim.Default().SendBaliseData(train_pc_sim.RECIVE_TRAIN_BTM_HAS_DATA, dd)
|
|||
|
|
}
|
|||
|
|
} else {
|
|||
|
|
timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4, true)
|
|||
|
|
timeSyncF.T2 = cl.BtmTk
|
|||
|
|
timeSyncF.T3 = cl.TkNow()
|
|||
|
|
telCount := strings.Count(train.BtmState.Telegram, "00")
|
|||
|
|
if telCount >= balise_const.UserTelegramByteLen {
|
|||
|
|
//无数据
|
|||
|
|
queryData := make([]byte, 0)
|
|||
|
|
queryData = append(queryData, btmRepFrame.Encode().Encode()...)
|
|||
|
|
queryData = append(queryData, timeSyncF.Encode().Encode()...)
|
|||
|
|
train_pc_sim.Default().SendBaliseData(train_pc_sim.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
|
|||
|
|
} else {
|
|||
|
|
//有数据
|
|||
|
|
aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
|
|||
|
|
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(btmRepFrame, aliseData, false, cl.TkNow(), cl.TkNow(), cl.TkNow(), true)
|
|||
|
|
if statusDataCfOk {
|
|||
|
|
queryData := make([]byte, 0)
|
|||
|
|
queryData = append(queryData, btmRepFrame.Encode().Encode()...)
|
|||
|
|
queryData = append(queryData, timeSyncF.Encode().Encode()...)
|
|||
|
|
queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
|
|||
|
|
train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
|
|||
|
|
train_pc_sim.Default().SendBaliseData(train_pc_sim.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
|
|||
|
|
} else {
|
|||
|
|
slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock) *message.BtmStatusRspFrame {
|
|||
|
|
statusF := message.NewBtmStatusRspFrame(canIdSn, true)
|
|||
|
|
//btmStatus := aa(train, atpReq)
|
|||
|
|
|
|||
|
|
statusF.PowerAmplifierOn = true
|
|||
|
|
statusF.PowerAmplifierFailure = false
|
|||
|
|
statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
|
|||
|
|
statusF.AntennaFault = false
|
|||
|
|
statusF.BaliseCounter = byte(btmState.BaliseCount)
|
|||
|
|
statusF.MessageCounter = byte(btmState.MessageCounter)
|
|||
|
|
statusF.TkTimeA = cl.TkNow()
|
|||
|
|
statusF.DetailedCode = 0
|
|||
|
|
if btmState.AboveBalise {
|
|||
|
|
statusF.DetailedCode = 0x07
|
|||
|
|
}
|
|||
|
|
statusF.Dsn = byte(btmState.DataSerialNumber)
|
|||
|
|
return statusF
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
func clock(atpReq *message.AtpRequestFrame) can_btm.BtmClock {
|
|||
|
|
now := time.Now()
|
|||
|
|
return can_btm.BtmClock{BtmTk: atpReq.Time, SysTk: now}
|
|||
|
|
}
|