rts-sim-testing-service/third_party/semi_physical_train/btm_vobc.go

package semi_physical_train

import (
	"context"
	"encoding/hex"
	"fmt"
	"github.com/google/uuid"
	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/const/balise_const"
	"joylink.club/bj-rtsts-server/dto/state_proto"
	"joylink.club/bj-rtsts-server/third_party/can_btm"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/udp"
	"log/slog"
	"math"
	"time"

	"strings"
	"sync"
)

type BtmVobcManage interface {
	GetBtmVobcConfig() config.BtmVobcConfig

	GetAllTrain() []*state_proto.TrainState
	GetConnVobcTrain() *state_proto.TrainState
}
type BtmVobcService interface {
	Start(btmVobcManage BtmVobcManage)
	Stop()
	SendData(data []byte)
}
type BtmVobcClient struct {
	calFun context.CancelFunc
	client udp.UdpClient
	server udp.UdpServer
	manage BtmVobcManage
}

var (
	btmVobcLocker       sync.Mutex
	btmVobcClient       *BtmVobcClient
	btmVobcBaliseLocker sync.Mutex
	//最新接受数据时间
	reviceTimeStamp int64
)

func BtmDefault() BtmVobcService {
	defer btmVobcLocker.Unlock()
	btmVobcLocker.Lock()
	if btmVobcClient == nil {
		btmVobcClient = &BtmVobcClient{}
	}
	return btmVobcClient
}

func (b *BtmVobcClient) Start(btmVobcManage BtmVobcManage) {
	cfg := btmVobcManage.GetBtmVobcConfig()
	if !cfg.Open {
		slog.Info("11号线 btm vobc配置未开启...")
		return
	}
	udpServer := udp.NewServer(fmt.Sprintf("%v:%d", cfg.LocalUdpIp, cfg.LocalUdpPort), b.handleBtmVobcFrames)
	err := udpServer.Listen()
	if err != nil {
		slog.Error("11号线 btm VOBC 服务启动失败...")
		return
	}
	//
	udpClient := udp.NewClient(fmt.Sprintf("%s:%d", cfg.RemoteIp, cfg.RemoteUdpPort))
	b.manage = btmVobcManage
	b.server = udpServer
	b.client = udpClient
	reviceTimeStamp = time.Now().UnixMilli()
	_, calFun := context.WithCancel(context.Background())
	b.calFun = calFun
}

func (b *BtmVobcClient) vobcBtmQueryHandle(data []byte) {
	train := b.manage.GetConnVobcTrain()
	if train == nil {
		slog.Error("vobc btm 未找到VOBC连接的列车...")
		return
	}
	requestId := uuid.New().String()
	frameType, dataText, err := message.BtmVobcDecode(data)
	if err != nil {
		slog.Error(fmt.Sprintf("%v,请求id:%v", err, requestId))
		return
	}
	receiveDataTime := time.Now().UnixMilli()
	if frameType == message.COMMAND_TYPE {
		idCommand := &message.BtmVobcIdCommand{}
		idCommand.Decode(dataText)
		slog.Info(fmt.Sprintf("成功接受btm vobc的id命令帧,requestId:%v,接受时间:%v", requestId, receiveDataTime))
		if train.VobcState.VobcBtmInfo == nil {
			train.VobcState.VobcBtmInfo = &state_proto.TrainVobcState_VobcBtmInfo{BtmId: uint32(idCommand.BtmId), VobcId: uint32(idCommand.VobcId), VobcLifeId: idCommand.VobcLifeNum}
		}
	} else if train.VobcState.VobcBtmInfo != nil && frameType == message.REQUEST_TYPE {
		slog.Info(fmt.Sprintf("成功接受btm vobc的请求帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
		req := &message.BtmVobcReq{}
		req.Decode(dataText)
		b.requestFramePackets(requestId, req, train, receiveDataTime)

	} else {
		//slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v,requestId:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs), requestId))
		return
	}
}

func (b *BtmVobcClient) handleBtmVobcFrames(cfs []byte) {
	/*	reviceTimeStamp = time.Now().UnixMilli()
		train := b.manage.GetConnVobcTrain()
		if train == nil {
			//slog.Error("vobc btm 未找到VOBC连接的列车...")
			return
		}
		requestId := uuid.New().String()
		slog.Info(fmt.Sprintf("获取到vobc btm原始数据:%v, requestId:%v", hex.EncodeToString(cfs), requestId))
		frameType, dataText, err := message.BtmVobcDecode(cfs)
		if err != nil {
			slog.Error(fmt.Sprintf("%v,请求id:%v", err, requestId))
			return
		}
		receiveDataTime := time.Now().UnixMicro()
		decodePayMicoTime := (receiveDataTime - receiveDataTime) / 100
		if frameType == message.COMMAND_TYPE {
			idCommand := &message.BtmVobcIdCommand{}
			idCommand.Decode(dataText)
			slog.Info(fmt.Sprintf("成功接受btm vobc的id命令帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
			b.packets(requestId, idCommand.VobcLifeNum, idCommand.AutoIdFrame, receiveDataTime, decodePayMicoTime, train.VobcBtm)
		} else if frameType == message.REQUEST_TYPE {
			slog.Info(fmt.Sprintf("成功接受btm vobc的请求帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
			req := &message.BtmVobcReq{}
			req.Decode(dataText)
			b.RequestFramePackets(req.VobcLifeNum, req.AutoIdFrame, requestId, receiveDataTime, decodePayMicoTime, req, train.VobcBtm)
		} else {
			slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v,requestId:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs), requestId))
			return
		}*/
}
func createFreeBalisePacketString() string {
	return strings.Repeat("00", balise_const.UserTelegramByteLen)
}
func createFreeBalisePackets() []byte {
	str := createFreeBalisePacketString()
	d, _ := hex.DecodeString(str)
	return d
}

// 请求帧
func (b *BtmVobcClient) requestFramePackets(requestId string, req *message.BtmVobcReq, train *state_proto.TrainState, receiveTime int64) {

	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
		//vobc 上电，清空应答器
		can_btm.ClearBalise(train)
	} else {
		var (
			btmState *state_proto.BTMState
			dsn      byte
			matcher  bool
		)
		ms := req.MessageSerial

		if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
			//抢答器错误，重新发送
			btmState, dsn, _, _ = can_btm.FindBaliseResend(train.BtmBaliseCacheA, false)
		} else {
			//判断 报文序列号与之前发送的 是否一致,不一致
			//如果一致返回新的应答器，如果不一致返回之前发送的应答器,如果不一致并且没有找到之前发送的应答器，则返回新应答器
			btmState, dsn, matcher = can_btm.FindBaliseByMessageSerial(train.BtmBaliseCacheA, false, req.MessageSerial)
			if matcher {
				if btmState != nil {
					//正常应答
					btmState.IsSend = true
					ms = req.MessageSerial + 1
					if ms > 255 {
						ms = 1
					}
				}
			} else {
				//vobc 未收到应答器，重新发送
			}
		}
		b.packets(requestId, btmState, ms, dsn, req.VobcLifeNum, receiveTime)
	}
}

// 有应答器报文
func (b *BtmVobcClient) balisePackets(telegram, requestId string, messageSerial, dsn byte, vobcLifeNum uint32, receiveTime int64) {

	data, e := hex.DecodeString(telegram)
	if e != nil {
		slog.Error(fmt.Sprintf("解析应答器报文失败应答器报文长度:%v", telegram), e)
		return
	}
	//前沿时间
	var fttl uint16 = 0
	tmpFttl := int64(math.Abs(float64(time.Now().UnixMilli() - receiveTime)))
	if tmpFttl >= 0xffff {
		fttl = 0xffff
	} else {
		fttl = uint16(tmpFttl)
	}

	var bttl uint16 = 0
	tmpBttl := int64(math.Abs(float64(time.Now().UnixMilli() - receiveTime)))
	if tmpBttl >= 0xffff {
		bttl = 0xffff
	} else {
		bttl = uint16(tmpBttl)
	}
	repTimeMicro := (time.Now().UnixMilli() - receiveTime) / 10
	baliseMsg := &message.BtmVobcMessage{FontTtl: fttl, BtmStatus: message.BTM_STSTUS_NORMAL, DecodeTime: uint16(repTimeMicro),
		BackTtl: bttl, ResponseTime: byte(repTimeMicro), MsgSerial: messageSerial, BtmMsg: data,
		VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: dsn}}
	baliseData := baliseMsg.Encode()
	slog.Info(fmt.Sprintf("发送btm vobc 报文数据 报文序列id:%v 报文内容:%X 长度:%v ,requestId:%v", messageSerial, baliseData, len(baliseData), requestId))
	err := b.client.Send(baliseData)
	if err != nil {
		slog.Error(fmt.Sprintf("发送btm vobc 报文数据 报文序列id:%v 报文内容:%X 长度:%v ,requestId:%v", messageSerial, baliseData, len(baliseData), requestId), err)
		return
	}
	return
}

// 无应答器报文
func (b *BtmVobcClient) balisePacketsFree(requestId string, receiveTime int64, vobcLifeNum uint32, autoCommandId, messageSerial byte) {
	repTimeMicro := (time.Now().UnixMicro() - receiveTime) / 10
	freeMsg := &message.BtmVobcMsgFree{BtmStatus: message.BTM_STSTUS_NORMAL, Fun1: 0xffff, Fun2: 0x00CF, Fun3: uint16(0), Fun4: uint16(0),
		FreeMsg: createFreeBalisePackets(), RespTime: byte(repTimeMicro), MsgSerial: messageSerial, VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoCommandId}}
	freeData := freeMsg.Encode()
	logStr := fmt.Sprintf("发送btm vobc 报文序列id:%v 空闲帧报文:%X 长度:%v ,requestId:%v", messageSerial, freeData, len(freeData), requestId)
	slog.Info(logStr)
	err := b.client.Send(freeData)
	if err != nil {
		slog.Error(logStr, err)
		return
	}
}

// 应答器报文或空报文
func (b *BtmVobcClient) packets(requestId string, btmState *state_proto.BTMState, messageSerial, dsn byte, vobcLifeNum uint32, receiveTime int64) {
	if btmState == nil {
		b.balisePacketsFree(requestId, receiveTime, vobcLifeNum, dsn, messageSerial)
	} else {
		b.balisePackets(btmState.Telegram, requestId, messageSerial, dsn, vobcLifeNum, receiveTime)
	}
}

func (b *BtmVobcClient) SendData(data []byte) {
	if b.client != nil {
		slog.Info(fmt.Sprintf("发送btm vobc 报文:%v 长度:%v", hex.EncodeToString(data), len(data)))
		err := b.client.Send(data)
		if err != nil {
			slog.Error("发送btm vobc 报文失败:", err)
			return
		}
	}

}
func (b *BtmVobcClient) Stop() {
	if b.server != nil {
		b.calFun()
		b.server.Close()
	}
	if b.client != nil {
		b.client.Close()
	}
}