rts-sim-testing-service/third_party/message/train_control.go

package message

import "encoding/binary"

// 接收到的列车控制信息
type TrainControlMsg 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
}

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

// 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 uint16
}