rts-sim-testing-service/third_party/acc/acc_vobc.go

package acc

import (
	"context"
	"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/udp"
	"math"
	"sync"
	"time"
)

type AccVobc interface {
	Start(accManager AccVobcManager)
	Stop()
}

type AccVobcManager interface {
	GetRunAccConfig() config.AccConfig
	FindAccTrain() *state_proto.TrainState
}

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

const (
	accInterval  = 15
	accSpeedUnit = 9.8
)

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

type accVobcService struct {
	controlContext   context.CancelFunc
	vobcClient       udp.UdpClient
	radarVobcManager AccVobcManager
}

func (acc *accVobcService) Start(accManager AccVobcManager) {
	config := accManager.GetRunAccConfig()
	if config.RemoteIp == "" || config.RemotePort <= 0 || !config.Open {
	}
	acc.vobcClient = udp.NewClient(fmt.Sprintf("%v:%v", config.RemoteIp, config.RemotePort))
	ctx, cancleFunc := context.WithCancel(context.Background())
	acc.controlContext = cancleFunc
	acc.radarVobcManager = accManager
	go acc.sendTask(ctx)
}

func (acc *accVobcService) sendTask(ctx context.Context) {
	for {
		select {
		case <-ctx.Done():
			return
		default:
		}
		trainStatus := acc.radarVobcManager.FindAccTrain()
		if trainStatus != nil {
			speedAcc := trainStatus.DynamicState.Acceleration
			t := speedAcc / accSpeedUnit
			acc.vobcClient.SendMsg(&message.Accelerometer{Acc: math.Float32bits(t)})
		}
		time.Sleep(time.Millisecond * accInterval)
	}
}

func (acc *accVobcService) Stop() {
	if acc.controlContext != nil {
		acc.controlContext()
		acc.controlContext = nil
	}
	if acc.vobcClient != nil {
		acc.vobcClient.Close()
		acc.vobcClient = nil
	}
}