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"
	"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"
)

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))
		}
	}
	// 显示状态
	status.Show = true
	//向动力学发送初始化请求
	trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
	slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
	// 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.RunDirection)
	// 车头所在公里标
	kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, 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.PointTo = pointTo
	status.TrainKilometer = kilometer.Value
	status.DynamicState = &state_proto.TrainDynamicState{
		HeadLinkId:     linkId,
		HeadLinkOffset: loffset,
		TailLinkId:     tailLink,
		TailLinkOffset: tailLOffset,
		RunningUp:      up,
	}
	status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
	status.TailOffset = tailDeviceOffset
	status.TailDevicePort = tailDevicePort
	//初始化列车参数状态
	createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
	status.VobcState = &state_proto.TrainVobcState{}
	slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
	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,
		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
}

// 增加列车状态
/*func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId int32) *state_proto.TrainState {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	_, ok := allTrainMap.Load(status.Id)
	if ok {
		panic(fmt.Sprintf("列车【%s】已存在", status.Id))
	}
	// 显示状态
	status.Show = true
	//向动力学发送初始化请求
	trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
	slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
	// 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.RunDirection)
	// 车头所在公里标
	kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset)
	// 车尾相对车头link的偏移量
	calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
	// 车尾位置
	tailLink, _, _, tailLOffset, _, _, 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.PointTo = pointTo
	status.TrainKilometer = kilometer.Value
	status.DynamicState = &state_proto.TrainDynamicState{
		HeadLinkId:     linkId,
		HeadLinkOffset: loffset,
		TailLinkId:     tailLink,
		TailLinkOffset: tailLOffset,
		RunningUp:      up,
	}
	status.VobcState = &state_proto.TrainVobcState{}
	slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
	linkIdInt, _ := strconv.Atoi(linkId)
	err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
		TrainIndex:  uint16(trainIndex),
		LinkIndex:   uint16(linkIdInt),
		LinkOffset:  uint32(loffset),
		Speed:       uint16(math.Round(float64(status.Speed * 10))),
		Up:          status.Up,
		TrainLength: uint32(status.TrainLength),
	})
	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 status
}*/

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.RadarEnable = configData.RadarEnable
	endsVal.RadarCheckSpeedDiff = configData.RadarCheckSpeedDiff
	endsVal.RadarCheckTime = configData.RadarCheckTime
	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)
}

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)
	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)
	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, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up)
	//slog.Debug("处理动力学转换后的消息", "number", info.Number, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo)
	// 车尾相对车头link的偏移量
	calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
	tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, info.Up)
	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)
	// 更新BTM中列车位置信息
	can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
		TrainId:      trainId,
		Up:           info.Up,
		Link:         outLinkId,
		LinkOffset:   outLinkOffset,
		Speed:        info.Speed,
		Acceleration: info.Acceleration,
	})
	state := can_btm.Default().GetState()
	sta.BtmState = &state
	// 修改world中的列车位置
	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
		TrainId:        trainId,
		Up:             info.Up,
		Len:            info.Len,
		HeadLink:       outLinkId,
		HeadLinkOffset: uint32(outLinkOffset),
		TailLink:       tailLinkId,
		TailLinkOffset: uint32(tailLinkOffset),
	})
	sta.HeadDeviceId = vs.GetComIdByUid(id)
	sta.DevicePort = port
	sta.HeadOffset = offset
	sta.PointTo = pointTo
	sta.TrainKilometer = kilometer.Value
	sta.RunDirection = runDirection
	//判定车头方向
	sta.HeadDirection = runDirection
	if sta.VobcState != nil {
		if sta.VobcState.DirectionForward {
			sta.HeadDirection = runDirection
		} else if sta.VobcState.DirectionBackward {
			sta.HeadDirection = !runDirection
		}
	}
	if info.Speed < 0 {
		sta.RunDirection = !sta.RunDirection
	}
	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 = int32(info.Displacement)
	return sta
}
func RemoveAllTrain(vs *VerifySimulation) {
	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)
		//train := t.(*state_proto.TrainState)
		//err := removeTrain(vs, train.Id, train)
		//if err != nil {
		//	slog.Error("列车id:", train.Id, "移除失败,原因:", err.Error())
		//}
		//allTrainMap.Store(train.Id, t)
		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 {
		return err
	}
	train.Show = false
	return fi.RemoveTrainFromWorld(vs.World, trainId)
}

// 删除列车状态
/*func RemoveTrainState(vs *VerifySimulation, id string) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	d, ok := allTrainMap.Load(id)
	if ok {
		t := d.(*state_proto.TrainState)
		trainIndex, _ := strconv.ParseUint(id, 10, 16)
		err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
			TrainIndex: uint16(trainIndex),
		})
		if err != nil {
			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
		}
		// 从仿真内存中移除列车
		t.Show = false
		// 移除车
		fi.RemoveTrainFromWorld(vs.World, id)
		allTrainMap.Store(id, t)
	} else {
		panic(fmt.Sprintf("列车【%s】不存在", id))
	}
}*/
func RemoveTrainState(vs *VerifySimulation, id string) {
	allTrainMap := &vs.Memory.Status.TrainStateMap
	d, ok := allTrainMap.Load(id)
	if ok {
		t := d.(*state_proto.TrainState)
		err := removeTrain(vs, id, t)
		if err != nil {
			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
		}
		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
}