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/const/balise_const"
	"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"
	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
	"log/slog"
	"strings"
	"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

	var baseMsg []message.TrainPcSimBaseMessage = nil
	if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
		baseMsg = trainControlButton(vobc, tcc.Buttons, 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.DirKey, 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 "))
		}
		oldTraction := sta.VobcState.TractionForce
		oldBrakeForce := sta.VobcState.BrakeForce
		isTraction := ct.Handler.Val > 0 //是否制动
		baseMsg = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
		train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
	}
	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().SendTrainControlMsg(sta, baseMsg)
	}
}

func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*state_proto.TrainControlState_ControlButton, deviceId uint32, active bool, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {

	if graphicBtn, ok := findTrainTccGraphicDataButton(tccGraphic, deviceId); ok {
		btn := buttonMap[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
		}

		switch graphicBtn.Code {
		case JJZD: // 紧急制动
			return controlEBBtn(vobc, active, btn)
		case ATPQCKG: //atp切除
			return controlAtpBtn(vobc, active, btn)
			/*	case "WBJJZDFK": //外部紧急制动反馈
				return controlOutEbReportBtn(vobc, active, btn)*/
		case KZM: //开左门按钮
			return controlLeftDoorBtn(vobc, active, btn)
		case GZM: //关左门按钮
			return controlLeftDoorCloseBtn(vobc, active, btn)
		case KYM: //开右门按钮
			return controlRightDoorBtn(vobc, active, btn)
		case GYM: //关右门按钮
			return controlRightDoorCloseBtn(vobc, active, btn)
		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)
		default:
			return nil
		}
	} else {
		return nil
	}
}

// 应急摁钮
func controlEBBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	if !active {
		return nil
	}
	tccBtn.Passed = active
	vobc.EmergencyBrakingStatus = true
	vobc.TractionForce = 0
	vobc.BrakeForce = DEFAULT_BRAKE_FORCE
	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}}}
}

// 开左门按钮
func controlLeftDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	vobc.LeftDoorOpenCommand = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_OPEN_DOOR, status}}}

}

// 关左门按钮
func controlLeftDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	vobc.LeftDoorCloseCommand = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_LEFT_DOOR, status}}}

}

// 开右门
func controlRightDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	vobc.RightDoorOpenCommand = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OPEN_RIGHT_DOOR, status}}}

}

// 关右门按钮
func controlRightDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
	var status byte = 0
	if active {
		status = 1
	}
	vobc.RightDoorCloseCommand = active
	tccBtn.Passed = active
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_RIGHT_DOOR, status}}}
}

// 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}}}
}

// 列车方向
func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
	_, 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"))
	}
	if tcc.DirKey == nil {
		tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId}
	}
	direction := request_proto.TrainControl_Direction(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_FORWARD {
		vobc.DirectionForward = true
	} else if direction == request_proto.TrainControl_BACKWARD {
		vobc.DirectionBackward = true
	}
	tcc.DirKey.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
	} else if obj.Code == SKQYS2 {
		vobc.Tc2Active = request.Val
	}
	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"))
	}
	var addNew = true
	for _, k := range tcc.DriverKey {
		if k.Id == deviceId {
			k.Id = deviceId
			k.Val = request.Val
			addNew = false
			break
		}
	}
	if addNew {
		tcc.DriverKey = append(tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val})
	}
	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.KEY_STATE, message.IsTrue(request.Val)}}}

}

// 列车牵引控制
func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, 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
	}

	jjzdBtn := tcc.Buttons[JJZD]
	vobc.TractionStatus = false
	vobc.TractionForce = 0
	vobc.BrakingStatus = false
	vobc.BrakeForce = 0
	vobc.MaintainBrakeStatus = false

	var zeroState byte = 0
	var brakeState byte = 0

	if request.Val > 0 {
		vobc.TractionStatus = true
		vobc.TractionForce = int64(request.Val * 180)

	} else if request.Val < 0 {
		vobc.BrakingStatus = true
		vobc.BrakeForce = int64(-request.Val * 180)
		vobc.EmergencyBrakingStatus = false
		jjzdBtn.Passed = false
		brakeState = 1
	} else {
		zeroState = 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}}}
}

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) reportTrainMockInitMsg(train *state_proto.TrainState, data1, data3 byte, trainInit bool) bool {
	vobc := train.VobcState
	tcc := train.Tcc
	tce := make([]message.TrainPcSimBaseMessage, 0)
	tcc.Line12ConnErr = false
	initResult := trainInit
	if vobc.Tc1Active || vobc.Tc2Active {
		state := message.GetBit(data1, 3)
		if trainInit {
			if data1 == 0 {
				tcc.Line12ConnErr = true
				slog.Warn("接受atp模拟量数据，data[4]=0，模拟断开")
			}
			if state == 0 {
				train_pc_sim.Default().ResetPluseCount(train)
				jjzdBtn := tcc.Buttons[JJZD]
				ebTce := controlEBBtn(vobc, true, jjzdBtn)
				tce = append(tce, ebTce...)
			}
		} else {
			initResult = true
			if tcc.LineInitTimeStamp12 <= 0 {
				tcc.LineInitTimeStamp12 = time.Now().Add(time.Second * 6).Unix()
			}
			if tcc.LineInitTimeStamp12 > 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...)
				initResult = false
			}
		}

		//驾驶室激活反馈
		if message.GetBit(data3, 3) == 0 {
			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}})
		}
		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})
	}
	train_pc_sim.Default().SendTrainControlMsg(train, tce)
	return initResult
}

// 4.4.1.	车载输出数字量信息报文内容
func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, trainInit bool, data []byte) bool {
	/*for i, d := range data {
		slog.Info(fmt.Sprintf("atp模拟量分析index:%v ,bin:%2b,trainInit:%v", i, d, trainInit))
	}*/

	initResult := s.reportTrainMockInitMsg(train, data[4], data[1], trainInit)
	vobc := train.VobcState
	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)
	return initResult

}
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.AtoSendTrainBtn = 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.IsTrueForByte(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.RightDoorCloseCommand = message.IsTrueForByte(message.GetBit(d, 6))    //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) TrainBtmQuery(train *state_proto.TrainState, data []byte) {
	//time.Sleep(time.Millisecond * 50)
	slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
	if len(data) < 12 {
		slog.Error("列车btm查询报文长度错误:", len(data))
		return
	}

	if train.BtmState == nil {
		slog.Warn(fmt.Sprintf("列车暂时未获取到应答器信息,无法进行btm查询列车id:%v", train.Id))
		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
	}

	cl := clock(atpReq)
	dsn := train_pc_sim.Default().DsnAddAndReturn()
	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
	//slog.Info(fmt.Sprintf("id1:%x,id2:%x,id3:%x,id4:%x,resendRequest:%v,reqTime:%v,dsn:%v", trainAtm.CanId.ID1, trainAtm.CanId.ID2, trainAtm.CanId.ID3, trainAtm.CanId.ID4, atpReq.ResendRequest, atpReq.Time, dsn))
	if atpReq.ResendRequest == 2 {
		//重新发送
		if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
			dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
		} else {
			timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
			timeSyncF.T2 = cl.BtmTk
			timeSyncF.T3 = cl.TkNow()
			queryData := make([]byte, 0)
			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
			queryData = append(queryData, timeSyncF.Encode().Encode()...)
			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
		}
	} else {
		timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
		timeSyncF.T2 = cl.BtmTk
		timeSyncF.T3 = cl.TkNow()
		telCount := strings.Count(train.BtmState.Telegram, "00")
		if telCount >= balise_const.UserTelegramByteLen {
			queryData := make([]byte, 0)
			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
		} else {
			//有数据
			aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
			stateRepFrame := btmRepFrame.EncodeBtmAtp()
			statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, 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
				train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
				train_pc_sim.Default().SendBaliseData(train, 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 createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn byte) *message.BtmStatusRspFrame {
	statusF := message.NewBtmStatusRspFrame(canIdSn)
	statusF.PowerAmplifierOn = true
	statusF.PowerAmplifierFailure = false
	statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
	statusF.AntennaFault = false
	statusF.BaliseCounter = byte(btmState.BaliseCount)
	statusF.MessageCounter = byte(btmState.MessageCounter)
	//statusF.TkTimeA = cl.TkNow()
	statusF.TkTimeA = cl.BtmTk
	statusF.DetailedCode = 0
	if btmState.AboveBalise {
		statusF.DetailedCode = 0x07
	}

	btmState.DataSerialNumber = uint32(dsn)
	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
	tcc := train.Tcc

	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
	}

	dir := request_proto.TrainControl_Direction(tcc.DirKey.Val)
	/*if vs.DirectionForward && vs.TractionForce == 0 {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DIR_ZERO_FORWARD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //手柄零位方向向前
	} else*/if dir == request_proto.TrainControl_FORWARD {
		//msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DIR_ZERO_FORWARD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //手柄零位方向向前
		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 dir == request_proto.TrainControl_BACKWARD {
		//msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DIR_ZERO_FORWARD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //手柄零位方向向前
		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 {
		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态
	}
	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)

	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

	train.BtmState = nil
	return msgArr
}