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

package memory

import (
	"encoding/binary"
	"encoding/hex"
	"fmt"
	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/dto/data_proto"
	"joylink.club/bj-rtsts-server/dto/request_proto"
	"joylink.club/bj-rtsts-server/dto/state_proto"
	"joylink.club/bj-rtsts-server/sys_error"
	"joylink.club/bj-rtsts-server/third_party/can_btm"
	"joylink.club/bj-rtsts-server/third_party/electrical_machinery"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/tcp"
	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
	"log/slog"
	"math"
	"time"
)

func (s *VerifySimulation) GetTrainPcSimConfig() []config.VehiclePCSimConfig {
	return s.runConfig.PcSimConfigs
}

// 列车控制
func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
	allTrainMap := &s.Memory.Status.TrainStateMap
	data, ok := allTrainMap.Load(ct.TrainId)
	if !ok {
		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.TrainId)))
	}
	tccGraphicData := findTrainTccGraphicData(s)
	if tccGraphicData == nil {
		slog.Error("列车控制未找到TCC图形数据")
		panic(sys_error.New("未找到TCC图形数据"))
	}
	sta := data.(*state_proto.TrainState)
	vobc := sta.VobcState
	tcc := sta.Tcc
	if ct.ControlType != request_proto.TrainControl_DRIVER_KEY_SWITCH && sta.TrainPort == state_proto.TrainState_PORT_NONE {
		panic(sys_error.New("请先上驾驶端钥匙"))
	}

	var baseMsg []message.TrainPcSimBaseMessage = nil
	if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
		baseMsg = trainControlButton(sta, ct.DeviceId, ct.ControlButton.Active, tccGraphicData)
	} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
		baseMsg = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
		//train_pc_sim.Default().SendDriverActive(sta)
	} else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH {
		baseMsg = trainControlDirKey(sta.DynamicState.Speed, vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData)
		//此处先注释，根据现场调试情况 2024-4-16
		train_pc_sim.Default().SendTrainDirection(sta, sta.VobcState.DirectionForward, sta.VobcState.DirectionBackward)
	} else if ct.ControlType == request_proto.TrainControl_HANDLER {
		if !vobc.Tc1Active && !vobc.Tc2Active {
			panic(sys_error.New("TC1和TC2都未激活不能搬动牵引制动手柄 "))
		}
		if vobc.TractionSafetyCircuit {
			panic(sys_error.New("牵引切除，不能进行列车控制"))
		}
		//oldTraction := sta.VobcState.TractionForce
		//oldBrakeForce := sta.VobcState.BrakeForce
		//isTraction := ct.Handler.Val > 0 //是否制动
		baseMsg = trainControlHandle(sta, ct.Handler, ct.DeviceId, tccGraphicData)
		//train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
	} else if ct.ControlType == request_proto.TrainControl_TRAIN_DOOR_MODE_CHANGE {
		baseMsg = trainDoorModeChangeHandle(vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData)
	}
	if vobc.DirectionForward && vobc.TractionForce == 0 {
		baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DIR_ZERO_FORWARD, 1}})
	} else {
		baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DIR_ZERO_FORWARD, 0}})
	}
	if !vobc.DirectionForward && !vobc.DirectionBackward {
		vobc.TractionStatus = false
		vobc.TractionForce = 0
	}
	if vobc.EmergencyBrakingStatus {
		vobc.TractionForce = 0
	}
	if sta.ConnState.Conn && (sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM) && baseMsg != nil {
		train_pc_sim.Default().SendTrainControlMsg2(sta, baseMsg, sta.TrainPort)
		if vobc.Tc1Active == false && vobc.Tc2Active == false {
			sta.TrainPort = state_proto.TrainState_PORT_NONE
		}
	}
}

func trainControlButton(train *state_proto.TrainState, deviceId uint32, active bool, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {

	if graphicBtn, ok := findTrainTccGraphicDataButton(tccGraphic, deviceId); ok {
		btn := train.Tcc.Buttons[graphicBtn.Code]
		if btn == nil {
			slog.Error("未找到对应的车载摁钮code:", graphicBtn.Code, "设备id:", deviceId)
			return nil
		}
		vobc := train.VobcState
		switch graphicBtn.Code {
		case JJZD: // 紧急制动
			return controlEBBtn(train, active, btn)
		case ATPQCKG: //atp切除
			return controlAtpBtn(vobc, active, btn)
		case KZM, KYM: //开左门按钮
			return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM, true)
		case GZM, GYM: //关左门按钮
			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM, true)
		case ZF: //折返按钮
			return controlReverseBtn(vobc, active, btn)
		case QZMYX: //强制门允许
			return controlDoorAllowBtn(vobc, active, btn)
		case MSJJ: //模式降级按钮
			return controlModeDownBtn(vobc, active, btn)
		case MSSJ: //模式升级按钮
			return controlModeUpBtn(vobc, active, btn)
		case MSQR: //模式确认按钮
			return controlModeConfirmBtn(vobc, active, btn)
		case ZAWTGJC: //障碍物/脱轨检测
			return controlObstacleDetectionBtn(vobc, active, btn)
		case ZDZGZ: //制动重故障
			return controlBrakeHeavyBtn(vobc, active, btn)
		case ATPSD: //ATP上电按钮
			return controlAtpPowerBtn(vobc, active, btn)
		case HX: //唤醒按钮
			return controlWakeUpBtn(vobc, active, btn)
		case JX: //检修按钮
			return controlOverhaulBtn(vobc, active, btn)
		case XM: //休眠按钮
			return controlSleepBtn(vobc, active, btn)
		case ATOQD:
			return controlAtoSenderBtn(vobc, active, btn)
		default:
			return nil
		}
	} else {
		return nil
	}
}

// 应急摁钮
func controlEBBtn(train *state_proto.TrainState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	if !active {
		return nil
	}
	tccBtn.Passed = active
	vobc := train.VobcState
	vobc.TractionStatus = false
	vobc.EmergencyBrakingStatus = true
	vobc.TractionForce = 0

	vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainEmergencyBrake) / 1000 * 100
	vobc.BrakingStatus = true
	return []message.TrainPcSimBaseMessage{
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}},
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, 1}}}

}

// atp 切除
func controlAtpBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	vobc.AtpCutSwitch = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATP_CUT, status}}}
}
func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool, onbtn bool) []message.TrainPcSimBaseMessage {
	status := message.IsTrue(active)
	if onbtn {
		tccBtn.Passed = active

	}
	var doorAct byte = message.CLOSE_LEFT_DOOR
	var doorState byte = message.LEFT_DOOR_STATE
	msg := make([]message.TrainPcSimBaseMessage, 0)
	if isLeft {
		vobc.LeftDoorCloseCommand = active
	} else {
		vobc.RightDoorCloseCommand = active
		doorAct = message.CLOSE_RIGHT_DOOR
		doorState = message.RIGHT_DOOR_STATE
	}
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}})
	if vobc.LeftDoorCloseCommand && vobc.RightDoorCloseCommand {
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 1}})
	}
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, 0}})
	//msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, 0}})
	return msg
}

// 开车门
func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool, onbtn bool) []message.TrainPcSimBaseMessage {
	status := message.IsTrue(active)
	msg := make([]message.TrainPcSimBaseMessage, 0)
	if onbtn {
		tccBtn.Passed = active

	}
	var doorAct byte = message.LEFT_OPEN_DOOR
	var doorState byte = message.LEFT_DOOR_STATE
	if isLeft {
		vobc.LeftDoorOpenCommand = active
		//vobc.LeftDoorCloseCommand = false
	} else {
		vobc.RightDoorOpenCommand = active
		//vobc.RightDoorCloseCommand = false
		doorAct = message.OPEN_RIGHT_DOOR
		doorState = message.RIGHT_DOOR_STATE
	}
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}})
	if active {
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 0}})
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, status}})
	}
	return msg
}

// 折返
func controlReverseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	//vobc.RightDoorCloseCommand = active
	vobc.TurnbackStatus = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TURN_BACK, status}}}

}

// 强制门允许
func controlDoorAllowBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.ForceDoorAllow = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.FORCE_DOOR_ALLOW, status}}}

}

// 模式降级按钮
func controlModeDownBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.ModeLevelDownBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_MODE_DOWN, status}}}

}

// 模式升级按钮
func controlModeUpBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.ModeLevelUpBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_MODE_UP, status}}}

}

// 模式确认按钮
func controlModeConfirmBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.ConfirmBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CONFIRM, status}}}

}

// 障碍物/脱轨检测
func controlObstacleDetectionBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.ObstacleCheckBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OBSTACLE_CHECK, status}}}
}

// 制动重故障
func controlBrakeHeavyBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.BrakeHeavyFault = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.BRAKE_HEAVY_FAULT, status}}}
}

// ATP上电按钮
func controlAtpPowerBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.AtpPowerOnBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATP_POWER_ON, status}}}
}

// 唤醒按钮
func controlWakeUpBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.WakeUpBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.WAKE_UP, status}}}
}

// 检修按钮
func controlOverhaulBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.OverhaulBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OVERHAUL, status}}}
}

// 休眠按钮
func controlSleepBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.SleepBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.SLEEP, status}}}
}
func controlAtoSenderBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	tccBtn.Passed = active
	vobc.AtoSendTrainBtn = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATO_SEND_TRAIN, status}}}
}

// 列车方向
func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_SwitchKeyChange, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
	dirKey, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
	if !find {
		slog.Error("未找到对应的列车方向键deviceId:", deviceId)
		panic(sys_error.New("未找到对应的列车方向键"))
	}

	direction := request_proto.TrainControl_KeyLocation(request.Val)
	if trainSpeed > 0 {
		panic(sys_error.New("列车未停稳时，不能变更方向"))
	}
	vobc.DirectionBackward = false
	vobc.DirectionForward = false
	if direction == request_proto.TrainControl_KL_FONT {
		vobc.DirectionForward = true
	} else if direction == request_proto.TrainControl_KL_END {
		vobc.DirectionBackward = true
	}
	tcc.SwitchKeyMap[dirKey.Code].Val = request.Val
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.HANDLE_BACKWORD, message.IsTrue(vobc.DirectionBackward)}},
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.HANDLE_FORWORD, message.IsTrue(vobc.DirectionForward)}}}
}

// 列车驾驶端激活
func trainControlDriverKey(train *state_proto.TrainState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
	obj, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
	if !find {
		slog.Error("未找到对应的驾驶端激活设备deviceId:", deviceId)
		return nil
	}
	if train.DynamicState.Speed != 0 {
		panic(sys_error.New("因列车未停稳，不支持此操作"))
	}
	vobc := train.VobcState
	tcc := train.Tcc
	if obj.Code == SKQYS1 {
		vobc.Tc1Active = request.Val
		train.TrainPort = state_proto.TrainState_PORT_A
		train.BtmBaliseCacheA = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
	} else if obj.Code == SKQYS2 {
		vobc.Tc2Active = request.Val
		train.TrainPort = state_proto.TrainState_PORT_B
		train.BtmBaliseCacheB = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
	}

	if vobc.Tc1Active && vobc.Tc2Active {
		if obj.Code == SKQYS1 {
			vobc.Tc1Active = false
		} else if obj.Code == SKQYS2 {
			vobc.Tc2Active = false
		}
		panic(sys_error.New("驾驶端不能同时激活"))
	}

	for _, k := range tcc.DriverKey {
		if k.Id == deviceId {
			k.Id = deviceId
			k.Val = request.Val
			break
		}
	}

	tce := make([]message.TrainPcSimBaseMessage, 0)
	tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.KEY_STATE, message.IsTrue(request.Val)}})
	train.OldLink = ""
	train.OldLinkOffset = 0
	train.OldTailLink = ""
	train.OldTailLinkOffset = 0
	if request.Val {
		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_TC_ACTIVE})
	} else {
		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_TC_NOT_ACTIVE})
	}

	return tce

}
func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_SwitchKeyChange, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
	sk, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
	if !find {
		slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
		return nil
	}
	msg := make([]message.TrainPcSimBaseMessage, 0)
	kl := request_proto.TrainControl_KeyLocation(request.Val)
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AA, 0}})
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AM, 0}})
	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_MM, 0}})
	switch kl {
	case request_proto.TrainControl_KL_END:
		vobc.DoorModeMM = true
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_MM, 1}})
	case request_proto.TrainControl_KL_CENTER:
		vobc.DoorModeAM = true
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AM, 1}})
	case request_proto.TrainControl_KL_FONT:
		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AA, 1}})
		vobc.DoorModeAA = true
	}
	tcc.SwitchKeyMap[sk.Code].Val = request.Val
	return msg
}

func trainBraking(trainLoad int32, handleVal int32, brakePower float32) int64 {
	tl := trainLoad * 1000 //列车初始化已经 * 100，再*10 就是对应的kg
	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
	totalPower := float64(tl) * float64(brakePower)
	n := int64(math.Abs(float64(handleVal)) / 100 * totalPower)
	return n
}

func trainTractionPower(trainLoad int32, handleVal int32, speedKM int32, trainMaxAcc, trainMaxSpeed float32) int64 {
	//f(牛) = m(质量) * (加速度* 牵引杆%* (1 - 速度（米/秒）/(最大速度（米/秒） * 牵引杆%)))
	//
	m := trainLoad * 1000
	speedM := float64(speedKM) / 3.6 / 100
	acc := math.Abs(float64(handleVal)) / 100 * float64(trainMaxAcc)
	sp := math.Abs(float64(handleVal)) / 100 * float64(trainMaxSpeed/3.6)
	if speedM > sp {
		return 0
	}
	f := float64(m) * (acc * (1 - speedM/sp))
	return int64(f)
}
func trainBrakeAtoStepLevel(trainLoad int32, stepLevel int32, brakePower float32) int64 {
	tl := trainLoad * 1000 //列车初始化已经 * 100，再*10 就是对应的kg
	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
	totalPower := float64(tl) * float64(brakePower)
	n := totalPower / 7 * float64(stepLevel)
	return int64(n)
}
func trainTractionPowerAtoStepLevel(trainLoad int32, speedKM int32, stepLevel int32, trainMaxAcc, trainMaxSpeed float32) int64 {
	//f(牛) = m(质量) * (加速度* 牵引杆%* (1 - 速度（米/秒）/(最大速度（米/秒） * 牵引杆%)))
	//
	m := trainLoad * 1000
	sl := float64(stepLevel)
	speedM := float64(speedKM) / 3.6 / 100
	acc := float64(trainMaxAcc) / 7 * sl
	sp := float64(trainMaxSpeed/3.6) / 7 * sl
	if speedM > sp {
		return 0
	}
	f := float64(m) * (acc * (1 - speedM/sp))
	return int64(f)
}
func trainAtoControlTractionAndBrake(train *state_proto.TrainState) {
	vs := train.VobcState
	vs.TractionStatus = false
	vs.TractionForce = 0
	vs.BrakingStatus = false
	vs.BrakeForce = 0
	vs.MaintainBrakeStatus = false
	var brakeState byte = 0
	var notBreak byte = 0
	if vs.AtoTractionCommandOut && vs.AtoBrakeCommand {
		f := trainBrakeAtoStepLevel(train.TrainLoad, int32(vs.AtoStepLevel.Number()), train.TrainMaxBrake)
		vs.BrakeForce = f / 1000 * 100
		vs.BrakingStatus = true
		brakeState = 1
	} else if vs.AtoTractionCommandOut {
		f := trainTractionPowerAtoStepLevel(train.TrainLoad, train.DynamicState.Speed, int32(vs.AtoStepLevel.Number()), train.TrainMaxAcc, train.TrainMaxSpeed)
		vs.TractionForce = f / 1000 * 100
		vs.TractionStatus = true
		notBreak = 1
	} else if vs.AtoBrakeCommand {
		f := trainBrakeAtoStepLevel(train.TrainLoad, int32(vs.AtoStepLevel.Number()), train.TrainMaxBrake)
		vs.BrakeForce = f / 1000 * 100
		vs.BrakingStatus = true
		brakeState = 1
	}
	msg := []message.TrainPcSimBaseMessage{
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, brakeState}},

		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}},
	}
	slog.Info(fmt.Sprintf("列车 id:%v,ato:%v,AtoLevle:%v,牵引:%v,制动:%v,牵引力:%v,制动力%v", train.Id, vs.Ato, vs.AtoStepLevel, vs.AtoTractionCommandOut, vs.AtoBrakeCommand, vs.TractionForce, vs.BrakeForce))
	train_pc_sim.Default().SendTrainControlMsg2(train, msg, train.TrainPort)
}

// 列车牵引控制
func trainControlHandle(train *state_proto.TrainState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
	_, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
	if !find {
		slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
		return nil
	}
	tcc := train.Tcc
	vobc := train.VobcState
	jjzdBtn := tcc.Buttons[JJZD]
	vobc.TractionStatus = false
	vobc.TractionForce = 0
	vobc.BrakingStatus = false
	vobc.BrakeForce = 0
	vobc.MaintainBrakeStatus = false
	var notBreak byte = 0
	var zeroState byte = 0
	var brakeState byte = 0
	//var traction byte = 0

	if request.Val > 0 {
		vobc.TractionStatus = true
		vobc.TractionForce = trainTractionPower(train.TrainLoad, request.Val, train.DynamicState.Speed, train.TrainMaxAcc, train.TrainMaxSpeed) / 1000 * 100
		notBreak = 1
		//traction = 1
	} else if request.Val < 0 {
		vobc.BrakingStatus = true
		vobc.BrakeForce = trainBraking(train.TrainLoad, request.Val, train.TrainMaxBrake) / 1000 * 100
		vobc.EmergencyBrakingStatus = false
		jjzdBtn.Passed = false
		brakeState = 1

	} else {
		zeroState = 1
		brakeState = 1
	}
	if tcc.PushHandler == nil {
		tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId}
	}
	tcc.PushHandler.Val = request.Val

	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.HANDLE_TO_ZERO, zeroState}},
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, brakeState}},
		/*{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 1}},*/
		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}},
		/*{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{38, traction}}*/}
}

func (s *VerifySimulation) GetConnTrain2() []*state_proto.TrainState {
	return s.findConnTrain2(state_proto.TrainConnState_PC_SIM)
}

func (s *VerifySimulation) findConnTrain2(ct1 ...state_proto.TrainConnState_TrainConnType) []*state_proto.TrainState {
	var trains = make([]*state_proto.TrainState, 0)
	s.Memory.Status.TrainStateMap.Range(func(k, v any) bool {
		train := v.(*state_proto.TrainState)
		if train.Show {
			connState := train.ConnState
			finded := index(ct1, connState.ConnType)
			if finded >= 0 {
				trains = append(trains, train)
			}
		}
		return true
	})
	return trains
}

func index(arr []state_proto.TrainConnState_TrainConnType, search state_proto.TrainConnState_TrainConnType) int {
	for i, v := range arr {
		if v == search {
			return i
		}
	}
	return -1
}

func (s *VerifySimulation) FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState {
	var findTrain *state_proto.TrainState
	s.Memory.Status.TrainStateMap.Range(func(k, v any) bool {
		train := v.(*state_proto.TrainState)
		connState := train.ConnState
		if connState.ConnType == ct {
			findTrain = train
			return false
		}
		return true
	})
	return findTrain
}

// 反馈atp输出数字量数据
func (s *VerifySimulation) reportTrainMockInitMsg2(driverActive, initConn bool, initTimeStamp int64, trainClientPort state_proto.TrainState_TrainPort, train *state_proto.TrainState, data1, data3 byte) (int64, bool, bool, []message.TrainPcSimBaseMessage) {

	tcc := train.Tcc
	tce := make([]message.TrainPcSimBaseMessage, 0)
	connErr := false
	state := message.GetBit(data1, 3)

	if message.GetBit(data3, 3) == 0 {
		actt := byte(0)
		if driverActive {
			actt = 1
		}
		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DRIVER_ACTIVE_REPORT, actt}})
	}
	tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})

	if driverActive == false {
		return initTimeStamp, initConn, false, tce
	}
	if initConn {
		if data1 == 0 {
			connErr = true
		}
		if state == 0 {
			jjzdBtn := tcc.Buttons[JJZD]
			ebTce := controlEBBtn(train, true, jjzdBtn)
			tce = append(tce, ebTce...)
		} else if message.GetBit(data1, 0) == 0 {
			jjzdBtn := tcc.Buttons[JJZD]
			ebTce := controlEBBtn(train, true, jjzdBtn)
			tce = append(tce, ebTce...)
			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
		}

	} else {
		initConn = true
		if initTimeStamp <= 0 {
			initTimeStamp = time.Now().Add(time.Second * 6).Unix()
		}
		if initTimeStamp > time.Now().Unix() {
			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
			initData := s.ObtainTrainDigitalMockDataForStatus(train)
			tce = append(tce, initData...)
			initConn = false
		}
	}

	return initTimeStamp, initConn, connErr, tce
}
func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
	switch {
	case at3 == false && at2 == false && at1 == true:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_1
	case at3 == false && at2 == true && at1 == true:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_2
	case at3 == false && at2 == true && at1 == false:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_3
	case at3 == true && at2 == true && at1 == false:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_4
	case at3 == true && at2 == false && at1 == false:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_5
	case at3 == true && at2 == false && at1 == true:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_6
	case at3 == true && at2 == true && at1 == true:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_7
	default:
		return state_proto.TrainVobcState_ATO_STEP_LEVEL_NONE
	}
}
func (s *VerifySimulation) shuziliang(client *tcp.TcpClient, baseMessage []message.TrainPcSimBaseMessage) {
	for _, msg := range baseMessage {
		dd := msg.Encode()
		//slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
		client.Send(dd)

	}
}

// 4.4.1.	车载输出数字量信息报文内容
func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(pc *train_pc_sim.TrainPcReciverData, train *state_proto.TrainState, data []byte) bool {

	//slog.Info("开始接受atp输出模拟量==============%v", aport)
	/*	for i, d := range data {
		dd := &strings.Builder{}
			for j := 0; j < 8; j++ {
				dd.WriteString(fmt.Sprintf(" bit%v  val:%v , ", j, message.GetBit(d, uint(j))))
			}
			slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
		}*/

	//slog.Info(fmt.Sprintf("%v", dd.String()), aport)
	//slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee", aport)

	//s.reportTrainMockInitMsg(aport, client, train, data[4], data[1])
	vobc := train.VobcState
	act := vobc.Tc1Active
	if pc.RealTrainPort == state_proto.TrainState_PORT_B {
		act = vobc.Tc2Active
	}
	ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(act, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
	pc.TrainConnInitComplate = initConn
	pc.LineInitTimeStamp = ts
	pc.ConnErr = connErr

	train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
	if act {
		trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
		trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
		trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
		trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
		trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
		if vobc.Ato {
			vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
		}
	}

	/*
		if pc.RealTrainPort == state_proto.TrainState_PORT_A {
			ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(vobc.Tc1Active, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
			pc.TrainConnInitComplate = initConn
			pc.LineInitTimeStamp = ts
			pc.ConnErr = connErr

			train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
			if train.VobcState.Tc1Active {
				trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
				trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
				trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
				trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
				trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
				if vobc.Ato {
					vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
				}
			}
		} else if pc.RealTrainPort == state_proto.TrainState_PORT_B {
			ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(vobc.Tc2Active, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
			pc.TrainConnInitComplate = initConn
			pc.LineInitTimeStamp = ts
			pc.ConnErr = connErr

			train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
			if train.VobcState.Tc2Active {
				trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
				trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
				trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
				trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
				trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
				if vobc.Ato {
					vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
				}
			}
		}*/

	return true

}
func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobcState) {
	vobc.MostUseBrake = message.IsTrueForByte(message.GetBit(d, 0))      //?                 常用制动
	vobc.SplittingOut = message.IsTrueForByte(message.GetBit(d, 1))      //?               过分相输出
	vobc.ModeRelay = message.IsTrueForByte(message.GetBit(d, 2))         //?                    模式继电器
	vobc.TractionEffective = message.IsTrueForByte(message.GetBit(d, 3)) //?      牵引有效
	vobc.BrakeEffective = message.IsTrueForByte(message.GetBit(d, 4))    //?            制动有效
	vobc.LifeDoorState = message.IsTrueForByte(message.GetBit(d, 5))     //?逃生门使能
	vobc.BrakeQuarantine = message.IsTrueForByte(message.GetBit(d, 6))   //?         制动隔离
	vobc.StopNotAllBrake = message.IsTrueForByte(message.GetBit(d, 7))   //?          停放制动缓解

}
func trainPcSimDigitalOutInfoHandleCode31_24(d byte, vobc *state_proto.TrainVobcState) {

	vobc.AtoOpenLeftDoor = message.IsTrueForByte(message.GetBit(d, 0))  //?//ATO开左门
	vobc.AtoOpenRightDoor = message.IsTrueForByte(message.GetBit(d, 1)) //?//ATO开右门
	vobc.AtoCloseLeftDoor = message.IsTrueForByte(message.GetBit(d, 2)) //?//ATO关左门
	/*	if connType == state_proto.TrainConnState_PC_SIM_A {
			vobc.Tc1Active = message.IsTrueForByte(message.GetBit(d, 3))
		} else {
			vobc.Tc2Active = message.IsTrueForByte(message.GetBit(d, 3))
		}*/

	vobc.LightDriverActive = message.IsTrueForByte(message.GetBit(d, 3)) //驾驶室激活
	vobc.NoSpeedSigle = message.IsTrueForByte(message.GetBit(d, 4))      //?//零速信号
	vobc.Fam = message.IsTrueForByte(message.GetBit(d, 5))               //FAM模式
	vobc.Cam = message.IsTrueForByte(message.GetBit(d, 6))               //CAM模式
	vobc.TrainStartedLed = message.IsTrueForByte(message.GetBit(d, 7))   //?//列车启动指示灯
}

func trainPcSimDigitalOutInfoHandleCode23_16(d byte, vobc *state_proto.TrainVobcState) {
	vobc.LightDir1 = message.IsTrueForByte(message.GetBit(d, 0)) //列车方向1
	vobc.LightDir2 = message.IsTrueForByte(message.GetBit(d, 1)) //列车方向1
	//vobc.DirectionForward = message.IsTrueForByte(message.GetBit(d, 0))  //列车方向1
	//vobc.DirectionBackward = message.IsTrueForByte(message.GetBit(d, 1)) //列车方向2
	vobc.AtoLazyCommandOut = message.IsTrueForByte(message.GetBit(d, 2)) //?ATO惰行命令输出
	vobc.SleepBtn = message.IsTrueForByte(message.GetBit(d, 3))          //?休眠指令
	vobc.WakeUpBtn = message.IsTrueForByte(message.GetBit(d, 4))         //?唤醒指令
	vobc.LightAtoSend = message.IsTrueForByte(message.GetBit(d, 5))      //?ATO发车指示灯
	vobc.TurnbackStatus = message.IsTrueForByte(message.GetBit(d, 6))    //?AR灯命令
	vobc.AtoAlwaysBrake = message.IsTrueForByte(message.GetBit(d, 7))    //? ATO保持制动

}
func trainPcSimDigitalOutInfoHandleCode15_8(d byte, vobc *state_proto.TrainVobcState) {

	vobc.LocalAtpControl = message.IsTrueForByte(message.GetBit(d, 0))       //?本端ATP控车
	vobc.Ato = message.IsTrueForByte(message.GetBit(d, 1))                   //ATO模式
	vobc.AtoTractionCommandOut = message.IsTrueForByte(message.GetBit(d, 2)) //?ATO牵引命令输出
	vobc.AtoTractionCommand1 = message.IsTrueForByte(message.GetBit(d, 3))   //?ATO牵引指令1
	vobc.AtoTractionCommand2 = message.IsTrueForByte(message.GetBit(d, 4))   //?ATO牵引指令2
	vobc.AtoTractionCommand3 = message.IsTrueForByte(message.GetBit(d, 5))   //?ATO牵引指令3
	vobc.AtoBrakeCommand = message.AtpLowPowerByte(message.GetBit(d, 6))     //?ATO制动命令输出
	vobc.JumpStatus = message.IsTrueForByte(message.GetBit(d, 7))            //跳跃指令

}
func trainPcSimDigitalOutInfoHandleCode7_0(d byte, vobc *state_proto.TrainVobcState) {
	vobc.TractionSafetyCircuit = message.AtpLowPowerByte(message.GetBit(d, 0))  //切牵引
	vobc.TrainDoorOutLed = message.IsTrueForByte(message.GetBit(d, 1))          //? 车门外指示灯
	vobc.ParkingBrakeStatus = message.IsTrueForByte(message.GetBit(d, 2))       //停放制动施加
	vobc.EmergencyBrakingStatus = message.AtpLowPowerByte(message.GetBit(d, 3)) //紧急制动
	vobc.LeftDoorState = message.IsTrueForByte(message.GetBit(d, 4))            //开左门允许
	vobc.RightDoorState = message.IsTrueForByte(message.GetBit(d, 5))           //开右门允许
	vobc.AtoCloseRightDoor = message.IsTrueForByte(message.GetBit(d, 6))        //ATO关右门
	vobc.AllDoorClose = message.IsTrueForByte(message.GetBit(d, 7))             //车门保持关闭
	vobc.LightTractionSafetyCircuit = vobc.TractionSafetyCircuit                //切牵引
	vobc.LightEmergencyBrakingStatus = vobc.EmergencyBrakingStatus              //紧急制动
}

// 4.4.2.	车载输出数字反馈量信息报文内容
func (s *VerifySimulation) TrainPcSimDigitalReportHandle(train *state_proto.TrainState, data []byte) {
	slog.Info(fmt.Sprintf("车载输出数字量反馈信息", hex.EncodeToString(data)))

	vobc := train.VobcState

	//buf := bytes.NewBuffer(data)
	//localEndAct, _ := buf.ReadByte()
	//direction1, _ := buf.ReadByte()
	//direction2, _ := buf.ReadByte()
	//vobc.Tc1Active = message.IsTrueForByte(localEndAct)        //本端驾驶室激活（钥匙）
	//vobc.DirectionForward = message.IsTrueForByte(direction1)  //方向手柄进位
	//vobc.DirectionBackward = message.IsTrueForByte(direction2) //方向手柄退位
	buf := data[0]
	vobc.Tc1Active = message.IsTrueForByte(message.GetBit(buf, 0))         //本端驾驶室激活（钥匙）
	vobc.DirectionForward = message.IsTrueForByte(message.GetBit(buf, 1))  //方向手柄进位
	vobc.DirectionBackward = message.IsTrueForByte(message.GetBit(buf, 2)) //方向手柄退位
}

// 创建/删除列车
func TrainPcSimConnOrRemoveHandle(train *state_proto.TrainState, create bool) error {
	connState := train.ConnState
	if connState.ConnType == state_proto.TrainConnState_PC_SIM {
		crErr := train_pc_sim.Default().CreateOrRemoveTrain(train, create)
		//train_pc_sim.Default().CreateOrRemoveSpeedPLace(train)
		if crErr != nil {
			return crErr
		}

	} else if connState.ConnType == state_proto.TrainConnState_VOBC {
		electrical_machinery.Default().ClearOrRemoveTrain(train)
	}
	return nil
}

// 门模式
/*func TrainDoorModeHandle(train *state_proto.TrainState) {
	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(train *state_proto.TrainState, data []byte) {
	/*train := s.FindConnTrain(connType)
	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) TrainBtmQuery2(train *state_proto.TrainState, data []byte, trainClientPort state_proto.TrainState_TrainPort) {

	ts := time.Now().UnixMilli()
	if len(data) < 12 {
		slog.Error("列车btm查询报文长度错误:", len(data))
		return
	}

	trainAtm := message.NewBtmHeadFrame(data)
	atpReq := &message.AtpRequestFrame{}
	if !atpReq.Decode2(trainAtm) {
		slog.Warn("列车pc驾驶模拟-CanetFrame解码成AtpRequestFrame失败", "CanetFrame", trainAtm.String())
		return
	}
	var balise *state_proto.BTMState
	var dsn, bc, mc byte
	btmCache := train.BtmBaliseCacheA
	if train.TrainPort != trainClientPort {
		btmCache = train.BtmBaliseCacheB
	}

	if atpReq.IsResend() {
		balise, dsn, bc, mc = can_btm.FindBaliseResend(btmCache, true)
	} else {
		balise, dsn, bc, mc = can_btm.FindBaliseByNotSend(btmCache, true)
	}
	cl := clock(atpReq)
	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, balise, atpReq, cl, dsn, bc, mc)
	timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
	timeSyncF.T2 = cl.BtmTk
	timeSyncF.T3 = cl.TkNow()
	if balise == nil {
		queryData := createLine12EmptyBaliseData(btmRepFrame, timeSyncF)
		sendLine12EmptyBaliseData(train, trainClientPort, queryData)
		//slog.Info(fmt.Sprintf("接受应答器查询：%x发送无应答器数据,id:%v,数据:%X", data, trainAtm.CanId.ID4, queryData))
	} else {
		logstr := ""
		if atpReq.IsResend() {
			logstr = fmt.Sprintf("准备重新发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X clientPoret:%v trainPort:%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data, trainClientPort.String(), train.TrainPort.String())

		} else if !balise.IsSend {
			balise.IsSend = true
			logstr = fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X clientPoret:%v trainPort:%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data, trainClientPort.String(), train.TrainPort.String())
		} /*else {
			queryData := createLine12EmptyBaliseData(btmRepFrame, timeSyncF)
			sendLine12EmptyBaliseData(train, trainClientPort, queryData)
			return
		}*/
		slog.Info(logstr, trainClientPort.String())
		aliseData, _ := hex.DecodeString(balise.Telegram)
		stateRepFrame := btmRepFrame.EncodeBtmAtp()
		statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, balise.HasData, cl.BtmTk, cl.BtmTk, cl.BtmTk)
		if statusDataCfOk {
			timeSyncF.T2 = cl.BtmTk
			timeSyncF.T3 = cl.TkNow()
			queryData := make([]byte, 0)
			queryData = append(queryData, stateRepFrame.Encode()...)
			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
			queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
			balise.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
			train_pc_sim.Default().SendBaliseData2(train, trainClientPort, message.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 sendLine12EmptyBaliseData(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, emptyBaliseData []byte) {
	train_pc_sim.Default().SendBaliseData2(train, trainClientPort, message.RECIVE_TRAIN_BTM_NOT_DATA, emptyBaliseData)
}

func createLine12EmptyBaliseData(btmRepFrame *message.BtmStatusRspFrame, timeSyncFrame *message.BtmTimeSyncCheckFrame) []byte {
	queryData := make([]byte, 0)
	queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
	queryData = append(queryData, timeSyncFrame.EncodeBtmAtp().Encode()...)
	return queryData
}

func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn, baliseCount, messageCount byte) *message.BtmStatusRspFrame {
	statusF := message.NewBtmStatusRspFrame(canIdSn)
	statusF.PowerAmplifierOn = true
	statusF.PowerAmplifierFailure = false
	statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
	statusF.AntennaFault = false
	statusF.BaliseCounter = baliseCount
	statusF.MessageCounter = messageCount
	//statusF.TkTimeA = cl.TkNow()
	statusF.TkTimeA = cl.BtmTk
	statusF.DetailedCode = 0
	if btmState != nil && btmState.AboveBalise {
		statusF.DetailedCode = 0x07
	}
	statusF.Dsn = dsn
	return statusF
}

func clock(atpReq *message.AtpRequestFrame) can_btm.BtmClock {
	now := time.Now()
	return can_btm.BtmClock{BtmTk: atpReq.Time, SysTk: now}
}
func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_proto.TrainState) []message.TrainPcSimBaseMessage {
	msgArr := make([]message.TrainPcSimBaseMessage, 0)
	vs := train.VobcState

	if vs.Tc1Active || vs.Tc2Active {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //钥匙激活
		//msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
	} /* else {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
	}*/
	if vs.BrakeForce == 0 {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_TO_ZERO, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车制动状态
	}
	if vs.BrakingStatus {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_BRAKE_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车制动状态
	}

	if vs.EmergencyBrakingStatus {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急制动
	}

	if vs.DirectionForward {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_FORWORD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})  //方向手柄向前控制
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_BACKWORD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制
	} else if vs.DirectionForward {

		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_FORWORD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})  //方向手柄向前控制
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_BACKWORD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制
	}
	/*	if vs.RightDoorCloseCommand {
			msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_RIGHT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关右门按钮
		}
		if vs.LeftDoorCloseCommand {
			msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_LEFT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关左门按钮
		}
		if vs.AllDoorClose {

		}*/
	if vs.ObstacleCheckBtn {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.OBSTACLE_CHECK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //障碍物检测按钮
	}
	if vs.BrakeHeavyFault {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.BRAKE_HEAVY_FAULT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //制动重故障
	}
	if vs.AtpCutSwitch {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.ATP_CUT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //atp切除
	}
	if vs.AtpPowerOnBtn {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.ATP_POWER_ON, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //atp上电
	}
	if vs.TurnbackStatus {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TURN_BACK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //atp上电
	}
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.LIFE_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})            //逃生门状态
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.EMERGENT_HANDLE_DOWN, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_TRACTION_CUTED, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下

	return msgArr
}
func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage {
	msgArr := make([]message.TrainPcSimBaseMessage, 0)
	vs := train.VobcState
	stateArr := s.ObtainTrainDigitalMockDataForStatus(train)
	msgArr = append(msgArr, stateArr...)

	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.ATO_SEND_TRAIN, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})   //ATO发车按钮
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.LEFT_DOOR_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})  //左门状态按钮
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.RIGHT_DOOR_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CONFIRM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})          //列车完整性
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_INTEGRITY, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})  //列车完整性

	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.NOT_BREAK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})       //非制动
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{38, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //只牵引
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{40, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //本端机械钩
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{41, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //对端机械钩
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态
	var modeAA, modeAM, modeMM byte = 0, 0, 0
	if vs.DoorModeAA {
		modeAA = 1
	}
	if vs.DoorModeAM {
		modeAM = 1
	}
	if vs.DoorModeMM {
		modeMM = 1
	}
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AA, modeAA}, Type: message.SENDER_TRAIN_OUTR_INFO})
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AM, modeAM}, Type: message.SENDER_TRAIN_OUTR_INFO})
	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_MM, modeMM}, Type: message.SENDER_TRAIN_OUTR_INFO})

	return msgArr
}