rts-sim-testing-service/example/mock_train_service/main.go

package main

import (
	"encoding/binary"
	"fmt"
	"net"
	"time"
)

var ti = &ReceiveTrainInfo{
	LifeSignal:            1,
	Tc1Active:             true,
	Tc2Active:             false,
	DirectionForward:      true,
	TurnbackStatus:        true,
	TractionSafetyCircuit: true,
	MaintainBrakeStatus:   true,
	BrakeForce:            9040,
	TrainLoad:             16000,
}

var trainRun bool

// var IP = net.IPv4(192, 168, 3, 7)
// var SendIP = net.IPv4(192, 168, 3, 7)
var IP = net.IPv4(127, 0, 0, 1)
var SendIP = net.IPv4(127, 0, 0, 1)

func main() {
	listen, err := net.ListenUDP("udp", &net.UDPAddr{
		IP:   IP,
		Port: 5000,
	})
	if err != nil {
		fmt.Printf("Listen udp err: %v", err)
		return
	}
	go func() {
		tick := time.Tick(20 * time.Millisecond)
		remoteAddr := &net.UDPAddr{IP: SendIP, Port: 10000}
		// 循环推送信息
		for {
			<-tick
			ti.LifeSignal = ti.LifeSignal + 1
			data := decoderVobcTrainInfo(ti)
			_, err := listen.WriteToUDP(data, remoteAddr)
			if err != nil {
				fmt.Printf("write failed, err: %v\n", err)
			}
		}
	}()
	go func() {
		var model int
		for {
			fmt.Println("请输入：")
			fmt.Scan(&model)
			switchTrainModel(model, ti)
		}
	}()
	for {
		var data [1024]byte
		_, addr, err := listen.ReadFromUDP(data[:])
		if err != nil {
			fmt.Printf("Read failed from addr: %v, err: %v\n", addr, err)
			break
		}
		m := &TrainSpeedMsg{}
		m.Decode(data[:])
		if trainRun {
			if m.Speed > 800 {
				changeTractionForce1(ti)
			} else {
				changeTractionForce2(ti)
			}
		}

	}
}

func switchTrainModel(m int, ti *ReceiveTrainInfo) {
	switch m {
	case 1:
		trainRun = true
		tractionTrain(ti)
	case 2:
		trainRun = false
		stopTrain(ti)
	case 3:
		changeHeader(ti)
	}
}

func changeHeader(ti *ReceiveTrainInfo) {
	ti.Tc1Active = !ti.Tc1Active
	ti.Tc2Active = !ti.Tc2Active
}

func stopTrain(ti *ReceiveTrainInfo) {
	ti.TractionForce = 0
	ti.BrakeForce = 19040
}

func tractionTrain(ti *ReceiveTrainInfo) {
	ti.TractionForce = 18000
	ti.BrakeForce = 9040
}

func changeTractionForce1(ti *ReceiveTrainInfo) {
	ti.TractionForce = 9040
}

func changeTractionForce2(ti *ReceiveTrainInfo) {
	ti.TractionForce = 18000
}

// 解析VOBC列车信息
func decoderVobcTrainInfo(r *ReceiveTrainInfo) []byte {
	var data []byte
	data = binary.BigEndian.AppendUint16(data, r.LifeSignal)
	data = append(data, boolsToByte([8]bool{
		r.Tc1Active, r.Tc2Active, r.DirectionForward, r.DirectionBackward,
		r.TractionStatus, r.BrakingStatus, r.EmergencyBrakingStatus, r.TurnbackStatus,
	}))
	data = append(data, boolsToByte([8]bool{
		r.JumpStatus, r.ATO, r.FAM, r.CAM,
		r.TractionSafetyCircuit, r.ParkingBrakeStatus, r.MaintainBrakeStatus, false,
	}))
	data = binary.BigEndian.AppendUint16(data, r.TractionForce)
	data = binary.BigEndian.AppendUint16(data, r.BrakeForce)
	data = binary.BigEndian.AppendUint16(data, r.TrainLoad)
	// 预留
	data = binary.BigEndian.AppendUint16(data, 0)
	data = binary.BigEndian.AppendUint16(data, 0)
	// 预留
	data = append(data, uint8(0))
	data = append(data, boolsToByte([8]bool{
		r.LeftDoorOpenCommand, r.RightDoorOpenCommand, r.LeftDoorCloseCommand, r.RightDoorCloseCommand,
		r.AllDoorClose, false, false, false,
	}))
	// 预留
	data = binary.BigEndian.AppendUint16(data, 0)
	data = append(data, uint8(0))
	data = append(data, uint8(0))
	return data
}

// 解析VOBC列车信息
func decoderVobcTrainState(buf []byte) *TrainVobcState {
	t := &TrainVobcState{}
	t.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
	b2 := buf[2]
	t.Tc1Active = (b2 & 1) != 0
	t.Tc2Active = (b2 & (1 << 1)) != 0
	t.DirectionForward = (b2 & (1 << 2)) != 0
	t.DirectionBackward = (b2 & (1 << 3)) != 0
	t.TractionStatus = (b2 & (1 << 4)) != 0
	t.BrakingStatus = (b2 & (1 << 5)) != 0
	t.EmergencyBrakingStatus = (b2 & (1 << 6)) != 0
	t.TurnbackStatus = (b2 & 7) != 0
	b3 := buf[3]
	t.JumpStatus = (b3 & 1) != 0
	t.Ato = (b3 & (1 << 1)) != 0
	t.Fam = (b3 & (1 << 2)) != 0
	t.Cam = (b3 & (1 << 3)) != 0
	t.TractionSafetyCircuit = (b3 & (1 << 4)) != 0
	t.ParkingBrakeStatus = (b3 & (1 << 5)) != 0
	t.MaintainBrakeStatus = (b3 & (1 << 6)) != 0
	t.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]))
	t.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]))
	t.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]))
	b4 := buf[15]
	t.LeftDoorOpenCommand = (b4 & 1) != 0
	t.RightDoorOpenCommand = (b4 & (1 << 1)) != 0
	t.LeftDoorCloseCommand = (b4 & (1 << 2)) != 0
	t.RightDoorCloseCommand = (b4 & (1 << 3)) != 0
	t.AllDoorClose = (b4 & (1 << 4)) != 0
	return t
}

func boolsToByte(flags [8]bool) byte {
	var result uint8
	for index, b := range flags {
		if b {
			result = result + (1 << index)
		}
	}
	return result
}

// 接收到的列车信息
type ReceiveTrainInfo struct {
	//【0 1】两个字节
	// 生命信号	每个周期+1
	LifeSignal uint16
	//【2】 一个字节
	// TC1激活状态	1=激活
	Tc1Active bool
	// TC2激活状态	1=激活
	Tc2Active bool
	// 列车方向向前	1=方向向前
	DirectionForward bool
	// 列车方向向后	1=方向向后
	DirectionBackward bool
	// 列车牵引状态	1=牵引
	TractionStatus bool
	// 列车制动状态	1=制动
	BrakingStatus bool
	// 列车紧急制动状态	1=紧急制动
	EmergencyBrakingStatus bool
	// 列车折返状态（AR）	1=折返
	TurnbackStatus bool
	//【3】 一个字节
	// 跳跃状态	1=跳跃
	JumpStatus bool
	// ATO模式	1=ATO模式
	ATO bool
	// FAM模式	1=FAM模式
	FAM bool
	// CAM模式	1=CAM模式
	CAM bool
	// 牵引安全回路	1=牵引安全切除
	TractionSafetyCircuit bool
	// 停放制动状态	1=停放施加
	ParkingBrakeStatus bool
	// 保持制动状态	1=保持制动施加
	MaintainBrakeStatus bool
	//【4 5】 两个字节  列车牵引力	100=1KN
	TractionForce uint16
	//【6 7】 列车制动力	100=1KN
	BrakeForce uint16
	//【8 9】 列车载荷	100=1ton
	TrainLoad uint16
	// 【15】 一个字节
	// 列车开左门指令	1=开门
	LeftDoorOpenCommand bool
	// 列车开右门指令	1=开门
	RightDoorOpenCommand bool
	// 列车关左门指令	1=关门
	LeftDoorCloseCommand bool
	// 列车关右门指令	1=关门
	RightDoorCloseCommand bool
	// 整列车门关好	1=门关好
	AllDoorClose bool
}

type TrainVobcState struct {
	// 生命信号	每个周期+1
	LifeSignal int32 `protobuf:"varint,1,opt,name=lifeSignal,proto3" json:"lifeSignal,omitempty"`
	// TC1激活状态	1=激活
	Tc1Active bool `protobuf:"varint,2,opt,name=tc1Active,proto3" json:"tc1Active,omitempty"`
	// TC2激活状态	1=激活
	Tc2Active bool `protobuf:"varint,3,opt,name=tc2Active,proto3" json:"tc2Active,omitempty"`
	// 列车方向向前	1=方向向前
	DirectionForward bool `protobuf:"varint,4,opt,name=directionForward,proto3" json:"directionForward,omitempty"`
	// 列车方向向后	1=方向向后
	DirectionBackward bool `protobuf:"varint,5,opt,name=directionBackward,proto3" json:"directionBackward,omitempty"`
	// 列车牵引状态	1=牵引
	TractionStatus bool `protobuf:"varint,6,opt,name=tractionStatus,proto3" json:"tractionStatus,omitempty"`
	// 列车制动状态	1=制动
	BrakingStatus bool `protobuf:"varint,7,opt,name=brakingStatus,proto3" json:"brakingStatus,omitempty"`
	// 列车紧急制动状态	1=紧急制动
	EmergencyBrakingStatus bool `protobuf:"varint,8,opt,name=emergencyBrakingStatus,proto3" json:"emergencyBrakingStatus,omitempty"`
	// 列车折返状态（AR）	1=折返
	TurnbackStatus bool `protobuf:"varint,9,opt,name=turnbackStatus,proto3" json:"turnbackStatus,omitempty"`
	// 跳跃状态	1=跳跃
	JumpStatus bool `protobuf:"varint,10,opt,name=jumpStatus,proto3" json:"jumpStatus,omitempty"`
	// ATO模式	1=ATO模式
	Ato bool `protobuf:"varint,11,opt,name=ato,proto3" json:"ato,omitempty"`
	// FAM模式	1=FAM模式
	Fam bool `protobuf:"varint,12,opt,name=fam,proto3" json:"fam,omitempty"`
	// CAM模式	1=CAM模式
	Cam bool `protobuf:"varint,13,opt,name=cam,proto3" json:"cam,omitempty"`
	// 牵引安全回路	1=牵引安全切除
	TractionSafetyCircuit bool `protobuf:"varint,14,opt,name=tractionSafetyCircuit,proto3" json:"tractionSafetyCircuit,omitempty"`
	// 停放制动状态	1=停放施加
	ParkingBrakeStatus bool `protobuf:"varint,15,opt,name=parkingBrakeStatus,proto3" json:"parkingBrakeStatus,omitempty"`
	// 保持制动状态	1=保持制动施加
	MaintainBrakeStatus bool `protobuf:"varint,16,opt,name=maintainBrakeStatus,proto3" json:"maintainBrakeStatus,omitempty"`
	// 列车牵引力	100=1KN
	TractionForce int64 `protobuf:"varint,17,opt,name=tractionForce,proto3" json:"tractionForce,omitempty"`
	// 列车制动力	100=1KN
	BrakeForce int64 `protobuf:"varint,18,opt,name=brakeForce,proto3" json:"brakeForce,omitempty"`
	// 【列车载荷	100=1ton
	TrainLoad int64 `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"`
	// 列车开左门指令	1=开门
	LeftDoorOpenCommand bool `protobuf:"varint,20,opt,name=leftDoorOpenCommand,proto3" json:"leftDoorOpenCommand,omitempty"`
	// 列车开右门指令	1=开门
	RightDoorOpenCommand bool `protobuf:"varint,21,opt,name=rightDoorOpenCommand,proto3" json:"rightDoorOpenCommand,omitempty"`
	// 列车关左门指令	1=关门
	LeftDoorCloseCommand bool `protobuf:"varint,22,opt,name=leftDoorCloseCommand,proto3" json:"leftDoorCloseCommand,omitempty"`
	// 列车关右门指令	1=关门
	RightDoorCloseCommand bool `protobuf:"varint,23,opt,name=rightDoorCloseCommand,proto3" json:"rightDoorCloseCommand,omitempty"`
	// 整列车门关好	1=门关好
	AllDoorClose bool `protobuf:"varint,24,opt,name=allDoorClose,proto3" json:"allDoorClose,omitempty"`
}

// 发送列车信息
type TrainSpeedMsg struct {
	// 生命信号	每个周期+1
	LifeSignal uint16
	// 列车速度	10=1km/h
	Speed int16
	// 上坡
	Upslope bool
	// 坡度值 1= 1‰
	Slope int16
	// 加速度 100 = 1 m/s*s
	Acceleration int8
	// 减速度 100 = 1 m/s*s
	Deceleration int8
	// 实际运行阻力 100 = 1KN
	TotalResistance int32
	// 空气阻力 100 = 1KN
	AirResistance int32
	// 坡道阻力 100 = 1KN
	SlopeResistance int32
	// 曲线阻力 100 = 1KN
	CurveResistance int32
}

func (t *TrainSpeedMsg) Decode(buf []byte) {
	t.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
	t.Speed = int16(binary.BigEndian.Uint16(buf[2:4]))
	t.Upslope = buf[4] == 1
	t.Acceleration = int8(buf[6])
	t.Deceleration = int8(buf[7])
	t.TotalResistance = int32(binary.BigEndian.Uint32(buf[8:12]))
	t.AirResistance = int32(binary.BigEndian.Uint32(buf[12:16]))
	t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[16:20]))
	t.CurveResistance = int32(binary.BigEndian.Uint32(buf[20:24]))
	t.Slope = int16(binary.BigEndian.Uint16(buf[24:26]))
}