rts-sim-testing-service/ts/simulation/wayside/memory/wayside_memory_train.go

package memory

import (
	"fmt"
	"joylink.club/bj-rtsts-server/dto/common_proto"
	"joylink.club/bj-rtsts-server/service"
	"joylink.club/bj-rtsts-server/third_party/can_btm"
	"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
	"log/slog"
	"reflect"
	"strconv"
	"time"

	"joylink.club/bj-rtsts-server/dto"
	"joylink.club/bj-rtsts-server/sys_error"
	"joylink.club/bj-rtsts-server/third_party/dynamics"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/rtsssimulation/fi"

	"joylink.club/bj-rtsts-server/dto/data_proto"
	"joylink.club/bj-rtsts-server/dto/state_proto"
)

const (
	//列车总质量(吨)
	DEFULAT_TRAIN_LOAD = 160
	//通号最大制动力是-1.21
	//DEFAULT_BRAKE_FORCE = 1.21
	//通号最大加速度是0.97
	//DEFAULT_TRAIN_TRACTION_ACC = 0.97 //加速度

	//DEFAULT_TRAIN_STARTED_SPEED float64 = 80 / 3.6 //列车起步速度单位 米/秒

)

func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig {
	return &message.TrainOperationConfig{TrainIndex: trainId, Length: int(trainLen),
		DavisParamA: configTrainData.DavisParamA, DavisParamB: configTrainData.DavisParamB,
		DavisParamC: configTrainData.DavisParamC, CurveResistanceParamR1: configTrainData.CurveResistanceParamR1,
		CurveResistanceParamR2: configTrainData.CurveResistanceParamR2, CurveResistanceParamR3: configTrainData.CurveResistanceParamR3,
		CurveResistanceParamR4: configTrainData.CurveResistanceParamR4, RevolvingMassParam: configTrainData.RevolvingMassParam,
		Jump: configTrainData.Jump, Slide: configTrainData.Slide,
		SlipA: configTrainData.SlipA, SlipR: configTrainData.SlipR, SlipD: int(configTrainData.SlipD),
		IdlingA: configTrainData.IdlingA, IdlingR: configTrainData.IdlingR, IdlingD: int(configTrainData.IdlingD),
		StopSign: int(configTrainData.StopSign)}
}

// 增加列车状态
func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
	trainEndsB dto.ConfigTrainEnds, mapId int32) *sys_error.BusinessError {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	value, ok := allTrainMap.Load(status.Id)
	if ok {
		trainState := value.(*state_proto.TrainState)
		if trainState.Show {
			return sys_error.New(fmt.Sprintf("列车【%s】已存在", status.Id))
		}
	}
	//向动力学发送初始化请求
	trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
	// 映射link、偏移量、运行方向
	var uid string
	if status.DevicePort == "" {
		uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Section{})
	} else {
		uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{})
	}

	// 车头所在link、link上的偏移
	linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset)
	// link上的运行方向、设备上的运行方向
	up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp)

	// 车头所在公里标
	kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.TrainRunUp, status.HeadOffset)
	// 车尾相对车头link的偏移量
	calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
	// 车尾位置
	tailLink, tailDeviceId, tailDevicePort, tailLOffset, tailDeviceOffset, _, e1 := CalcInitializeLink(vs, linkId, calctailOffset, up)

	if e1 != nil {
		panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1))
	}
	status.Up = up
	status.DriftTo = pointTo
	status.TrainKilometer = kilometer.Value

	status.DynamicState = &state_proto.TrainDynamicState{
		HeadLinkId:     linkId,
		HeadLinkOffset: loffset,
		TailLinkId:     tailLink,
		TailLinkOffset: tailLOffset,
		RunningUp:      status.Up,
		//RunningUp: status.TrainRunUp,
	}
	status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
	status.TailOffset = tailDeviceOffset
	status.TailDevicePort = tailDevicePort
	status.BtmBaliseCacheA = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
	status.BtmBaliseCacheB = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}

	//初始化列车参数状态
	createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
	tl := status.TrainLoad * 100
	if tl <= 0 {
		tl = DEFULAT_TRAIN_LOAD * 100
	}

	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp, status.TrainMaxBrake)
	status.VobcState = vobc

	status.Tcc = initTrainTcc(vs)
	//status.VobcBtm = &state_proto.VobcBtmState{TelegramState: make([]*state_proto.VobcBtmState_TelegramState, 3), History: make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)}
	linkIdInt, _ := strconv.Atoi(linkId)
	err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
		TrainIndex:           uint16(trainIndex),
		LinkIndex:            uint16(linkIdInt),
		LinkOffset:           uint32(loffset),
		Speed:                status.Speed / 3.6,
		Up:                   status.Up,
		TrainCoachNum:        status.TrainCoachNum,
		TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData),
	})
	if err != nil {
		panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
	}
	// world中加车
	fi.AddTrainToWorld(vs.World, status.Id)
	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
		TrainId:        status.Id,
		Up:             status.Up,
		Len:            uint32(status.TrainLength),
		HeadLink:       linkId,
		HeadLinkOffset: uint32(loffset),
		TailLink:       tailLink,
		TailLinkOffset: uint32(tailLOffset),
	})
	// 将信息合并到当前设备状态中
	allTrainMap.Store(status.Id, status)
	return nil
}

// 列车连接类型更新
func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	data, ok := allTrainMap.Load(ct.Id)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.Id)))
	}
	train := data.(*state_proto.TrainState)
	if train.DynamicState.Speed != 0 {
		panic(sys_error.New(fmt.Sprintf("列车[%s]需要停稳才能连接半实物", train.Id)))
	}
	if ct.ConnType != state_proto.TrainConnState_NONE {
		//列车连接 半实物或车载pc仿真
		allTrainMap.Range(func(k, v any) bool {
			tmpTrain := v.(*state_proto.TrainState)
			connState := tmpTrain.ConnState

			if connState.Conn && connState.TypeName == ct.TypeName {
				connTypeName := "半实物"
				if connState.ConnType == state_proto.TrainConnState_PC_SIM {
					connTypeName = fmt.Sprintf("车载pc仿真-%v", ct.TypeName)
				}
				panic(sys_error.New(fmt.Sprintf("列车[%s]已经连接 [%v],此列车无法连接", k, connTypeName)))
				return false
			}
			return true
		})
	}
	train.ConnState.Conn = true
	train.ConnState.ConnType = ct.ConnType
	train.ConnState.TypeName = ct.TypeName
	if ct.ConnType == state_proto.TrainConnState_PC_SIM {
		//train.Tcc.LineInitTimeStamp12 = 0
		//train.Tcc.LineInitTimeStamp12PortA = 0
		//train.Tcc.LineInitTimeStamp12PortB = 0

		err := TrainPcSimConnOrRemoveHandle(train, true)
		if err != nil {
			train.ConnState.Conn = false
			train.ConnState.ConnType = state_proto.TrainConnState_NONE
			panic(sys_error.New(err.Error()))
		}
		//train_pc_sim.Default().SendDriverActive(train)
	}

}

// 列车断开三方连接
func TrainUnConn(vs *VerifySimulation, trainId string) {

	allTrainMap := &vs.Memory.Status.TrainStateMap
	data, ok := allTrainMap.Load(trainId)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", trainId)))
	}
	train := data.(*state_proto.TrainState)
	err := TrainPcSimConnOrRemoveHandle(train, false)
	if err != nil {
		panic(sys_error.New("未连接车载PC仿真，无法断开连接"))
	}
	defer func() {
		train.ConnState.Conn = false
		train.ConnState.ConnType = state_proto.TrainConnState_NONE
		train.ConnState.TypeName = ""
	}()
}
func createOrUpdateStateDynamicConfig(trainState *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
	trainEndsB dto.ConfigTrainEnds) {
	trainState.TrainDynamicConfig = service.TrainConfigToProtoConvert(&configTrainData)
	if trainState.TrainDynamicConfig != nil {
		copyTrainEnds(trainState, "TrainEndsA", trainEndsA)
		copyTrainEnds(trainState, "TrainEndsB", trainEndsB)
	}
}

func copyTrainEnds(trainState *state_proto.TrainState, fieldName string, configData dto.ConfigTrainEnds) {
	fieldVal := reflect.ValueOf(trainState).Elem().FieldByName(fieldName)
	endsVal := fieldVal.Interface().(*common_proto.TrainEndsState)
	if endsVal == nil {
		endsVal = &common_proto.TrainEndsState{}
		fieldVal.Set(reflect.ValueOf(endsVal))
	}
	endsVal.SpeedSensorEnableA = configData.SpeedSensorEnableA
	endsVal.SpeedSensorEnableB = configData.SpeedSensorEnableB
	endsVal.AccOutSpeed = configData.AccOutSpeed

	endsVal.RadarEnable = configData.RadarEnable
	endsVal.RadarCheckTime = configData.RadarCheckTime

	endsVal.RadarCheckSpeedDiff = configData.RadarCheckSpeedDiff
	endsVal.RadarOutSpeed = configData.RadarOutSpeed

	endsVal.AccEnable = configData.AccEnable
	endsVal.AccCheckSpeedDiff = configData.AccCheckSpeedDiff
	endsVal.AccCheckTime = configData.AccCheckTime

}
func UpdateConfigTrain(vs *VerifySimulation, ct *dto.ConfigTrainReqDto) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	data, ok := allTrainMap.Load(strconv.Itoa(ct.TrainId))
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.TrainId)))
	}
	trainState, ok := data.(*state_proto.TrainState)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车参数修改断言:列车【%s】不存在", ct.TrainId)))
	}
	createOrUpdateStateDynamicConfig(trainState, ct.ConfigData, ct.TrainEndsA, ct.TrainEndsB)
	trainState.TrainLength = ct.Length
	trainState.WheelDiameter = ct.WheelDiameter
	requestDynamicConfig(ct)
	trainState.TrainEndsA.RadarCheckTimeOverAt = 0
	trainState.TrainEndsB.RadarCheckTimeOverAt = 0
	trainState.TrainEndsA.AccCheckTimeOverAt = 0
	trainState.TrainEndsB.AccCheckTimeOverAt = 0
	if ct.TrainEndsA.RadarCheckTime > 0 {
		timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsA.RadarCheckTime)).Unix()
		trainState.TrainEndsA.RadarCheckTimeOverAt = timeAt
	}
	if ct.TrainEndsB.RadarCheckTime > 0 {
		timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsB.RadarCheckTime)).Unix()
		trainState.TrainEndsB.RadarCheckTimeOverAt = timeAt
	}
	if ct.TrainEndsA.AccCheckTime > 0 {
		timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsA.AccCheckTime)).Unix()
		trainState.TrainEndsA.AccCheckTimeOverAt = timeAt
	}
	if ct.TrainEndsB.AccCheckTime > 0 {
		timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsB.AccCheckTime)).Unix()
		trainState.TrainEndsB.AccCheckTimeOverAt = timeAt
	}
}

func requestDynamicConfig(ct *dto.ConfigTrainReqDto) {
	msg := CreateMsgTrainConfig(ct.TrainId, ct.Length, ct.ConfigData)
	err2 := dynamics.Default().TrainOperationConfig(msg)
	err := err2
	if err != nil {
		slog.Error("列车参数变更请求动力学失败", err)
		panic(sys_error.New(fmt.Sprintf("列车参数变更请求动力学失败")))
	}
}

// 修改列车信息
func UpdateTrainInfo(vs *VerifySimulation, status *state_proto.TrainState) *state_proto.TrainState {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	data, ok := allTrainMap.Load(status.Id)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", status.Id)))
	}
	sta := data.(*state_proto.TrainState)
	sta.TrainLength = status.TrainLength
	sta.WheelDiameter = status.WheelDiameter
	return sta
}

// 根据动力学发来的信息修改列车状态
func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *message.DynamicsTrainInfo) *state_proto.TrainState {
	data, ok := vs.Memory.Status.TrainStateMap.Load(trainId)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("动力学传输数据:列车【%s】不存在", trainId)))
	}
	sta := data.(*state_proto.TrainState)
	if !sta.Show {
		return sta
	}
	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)
	//slog.Info("收到动力学原始速度信息", "速度:", info.Speed, "加速度:", info.Acceleration, "位移:", info.Displacement)
	inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)

	outLinkId, id, port, outLinkOffset, offset, kilometer, e1 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up)
	if e1 != nil {
		panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1))
	}
	//runDirection 指定的是link方向
	//pointTO 指的是是否ab，或是否到岔心
	_, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up)

	slog.Info("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "link位置", info.LinkOffset, "outlink位置", outLinkOffset, "车头位置", id, "偏移", offset, "是否上行", true, "是否ab", pointTo, "t1Dir:", info.TrainActToMax, "t2Dir:", info.TrainActToMin)
	trainHeadActUp := true
	if info.TrainActToMax || info.TrainActToMin {
		if info.TrainActToMin {
			trainHeadActUp = false
		}
	}
	// 车尾相对车头link的偏移量
	//calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
	calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), trainHeadActUp)
	tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)

	tailUp, _ := QueryUpAndABByDevice(vs.Repo, tailDeviceId, tailDevicePort, sta.TrainRunUp)
	if e2 != nil {
		panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2))
	}
	//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
	// 修改world中的列车位置

	//slog.Debug("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "车头位置", id, "偏移", offset, "车尾位置：", tailDeviceId, "车尾偏移：", tailOffset, "车头linkOffset：", outLinkOffset, "车位linkOffset：", tailLinkOffset)
	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
	//修改列车激活方向
	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
	if sta.OldLinkOffset == 0 {
		sta.OldLinkOffset = outLinkOffset
		sta.OldLink = outLinkId
	}
	if sta.OldTailLinkOffset == 0 {
		sta.OldTailLinkOffset = tailLinkOffset
		sta.OldTailLink = tailLinkId
	}

	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset, tailUp, tailLinkId, tailLinkOffset)
	//slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v,位移距离:%v", info.Speed, info.Acceleration, info.Displacement))
	if sta.OldLink != outLinkId {
		sta.OldLink = outLinkId
	}
	if sta.OldLinkOffset != outLinkOffset {
		sta.OldLinkOffset = outLinkOffset
	}
	if sta.OldTailLink != tailLinkId {
		sta.OldTailLink = tailLinkId
	}
	if sta.OldTailLinkOffset != tailLinkOffset {
		sta.OldTailLinkOffset = tailLinkOffset
	}

	sta.HeadDeviceId = vs.GetComIdByUid(id)
	sta.DevicePort = port
	sta.HeadOffset = offset
	sta.DriftTo = pointTo
	sta.TrainKilometer = kilometer.Value

	sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
	sta.TailOffset = tailOffset
	sta.TailDevicePort = tailDevicePort
	// 赋值动力学信息
	sta.DynamicState.Heartbeat = int32(info.LifeSignal)
	sta.DynamicState.HeadLinkId = outLinkId
	sta.DynamicState.HeadLinkOffset = outLinkOffset
	sta.DynamicState.TailLinkId = tailLinkId
	sta.DynamicState.TailLinkOffset = tailLinkOffset
	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

	sta.DynamicState.Displacement = info.Displacement
	//slog.Info(fmt.Sprintf("动力学返回速度:%v,位移:%v,加速度:%v，time:%v", info.Speed, info.Displacement, info.Acceleration, time.Now().UnixMilli()))
	pluseCount(sta, info.HeadSpeed1, info.HeadSpeed2, info.TailSpeed1, info.TailSpeed2)
	return sta
}

// 根据动力学列车激活端方向，返回前端列车激活端
// 道岔  1是端口到岔心  2是岔心到端口
// 区段 1是a-b  2是b-a
func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, id, port string, trainHeadActUp bool) {
	sta.TrainActiveDirection = 0
	if info.TrainActToMax || info.TrainActToMin {
		_, pointTo2 := QueryDirectionAndABByDevice(vs.Repo, id, port, trainHeadActUp)
		pt := pointTo2
		if pt {
			sta.TrainActiveDirection = 1
		} else {
			sta.TrainActiveDirection = 2
		}
	}
}

// 根据列车位置修改列车应答器
func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64, tailUp bool, tailLinkId string, tailLinkOffset int64) {
	// 更新BTM中列车位置信息
	//isup := sta.TrainActiveDirection == 1
	can_btm.Default().HandleTrainHeadPositionInfoForTrain(vs.World, sta, &fi.TrainHeadPositionInfo{
		TrainId:           sta.Id,
		Up:                info.Up,
		Link:              outLinkId,
		LinkOffset:        outLinkOffset,
		Speed:             info.Speed,
		Acceleration:      info.Acceleration,
		OldLinkOffset:     sta.OldLinkOffset,
		OldLink:           sta.OldLink,
		TailUp:            tailUp,
		TailLink:          tailLinkId,
		TailLinkOffset:    tailLinkOffset,
		OldTailLink:       sta.OldTailLink,
		OldTailLinkOffset: sta.OldTailLinkOffset,
		IsLine12:          can_btm.IsLine12(sta),
	})

}

// 根据动力学修改列车位置
func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64, tailLinkId string, tailLinkOffset int64) {
	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
		TrainId:        sta.Id,
		Up:             info.Up,
		Len:            info.Len,
		HeadLink:       outLinkId,
		HeadLinkOffset: uint32(outLinkOffset),
		TailLink:       tailLinkId,
		TailLinkOffset: uint32(tailLinkOffset),
	})
}

func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
	if sta.PulseCountMap == nil {
		return
	}
	train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)

}
func RemoveAllTrain(vs *VerifySimulation, realRemove bool) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	if allTrainMap == nil {
		slog.Info("当前没有列车不能执行")
		return
	}
	allTrainMap.Range(func(k any, t any) bool {
		id := k.(string)
		RemoveTrainState(vs, id, realRemove)
		return true
	})
}

func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainState) error {
	trainIndex, _ := strconv.ParseUint(trainId, 10, 16)
	err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
		TrainIndex: uint16(trainIndex),
	})
	if err != nil {
		slog.Warn("列车移除失败,动力学请求失败", err)
	}
	thirdConn := train.ConnState
	if thirdConn.Conn {
		thirdConn.Conn = false
		err = TrainPcSimConnOrRemoveHandle(train, false)
		thirdConn.ConnType = state_proto.TrainConnState_NONE
		thirdConn.TypeName = ""
	}
	if train.VobcState != nil {
		vobc := train.VobcState
		vobc.TractionStatus = false
		vobc.BrakingStatus = true
		vobc.TractionForce = 0
		vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainMaxBrake) / 1000 * 100
	}
	train.Show = false

	return fi.RemoveTrainFromWorld(vs.World, trainId)
}

func RemoveTrainState(vs *VerifySimulation, id string, realRemove bool) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	d, ok := allTrainMap.Load(id)
	if ok {
		t := d.(*state_proto.TrainState)
		err := removeTrain(vs, id, t)
		t.VobcState.VobcBtmInfo = nil
		if err != nil {
			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
		}
		if realRemove {
			allTrainMap.Delete(id)
		} else {
			allTrainMap.Store(id, t)

		}
	} else {
		panic(fmt.Sprintf("列车【%s】不存在", id))
	}
}

func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset int64) {
	if up {
		calctailOffset = headerOffset - length
	} else {
		calctailOffset = headerOffset + length
	}
	return
}