From 93d71f6125fdf569c692d63a7ac7897c676dbb7b Mon Sep 17 00:00:00 2001 From: walker Date: Tue, 23 Jan 2024 09:37:31 +0800 Subject: [PATCH 1/4] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=AC=AC=E4=B8=89?= =?UTF-8?q?=E6=96=B9=E6=9C=8D=E5=8A=A1=E7=8A=B6=E6=80=81=E5=8F=91=E9=80=81?= =?UTF-8?q?=20=E4=BF=AE=E6=94=B9=E4=BB=BF=E7=9C=9F=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=8F=91=E9=80=81=E4=B8=BA=E5=AE=9A=E6=97=B6=E5=8F=91=E9=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bj-rtss-message | 2 +- dto/state_proto/device_state.pb.go | 1217 +++++++++-------- main.go | 2 + message_server/sfp_ms.go | 15 +- message_server/simulation.go | 38 +- message_server/simulation_state_ms.go | 68 +- message_server/simulation_tpapiservice_ms.go | 19 + mqtt/client.go | 32 +- mqtt/topic.go | 18 +- rtss_simulation | 2 +- third_party/dynamics/dynamics.go | 25 +- .../semi_physical_train.go | 25 +- third_party/third_party.go | 56 +- third_party/tpapi/service.go | 36 +- .../wayside/memory/wayside_simulation.go | 35 +- ts/test_simulation_manage.go | 8 +- 16 files changed, 883 insertions(+), 715 deletions(-) create mode 100644 message_server/simulation_tpapiservice_ms.go diff --git a/bj-rtss-message b/bj-rtss-message index bdd66d8..bc70ae8 160000 --- a/bj-rtss-message +++ b/bj-rtss-message @@ -1 +1 @@ -Subproject commit bdd66d8625e76afb23f501de306224d35a8958d1 +Subproject commit bc70ae80a0ed73ec417884710e02996103841bf9 diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go index 14ec183..f7bd3ba 100644 --- a/dto/state_proto/device_state.pb.go +++ b/dto/state_proto/device_state.pb.go @@ -151,25 +151,28 @@ func (Signal_Aspect) EnumDescriptor() ([]byte, []int) { type SimulationStatus_SimulationState int32 const ( - SimulationStatus_PAUSE SimulationStatus_SimulationState = 0 - SimulationStatus_START SimulationStatus_SimulationState = 1 - SimulationStatus_ERROR SimulationStatus_SimulationState = 2 - SimulationStatus_DESTROY SimulationStatus_SimulationState = 3 + SimulationStatus_Init SimulationStatus_SimulationState = 0 + SimulationStatus_Running SimulationStatus_SimulationState = 1 + SimulationStatus_Pause SimulationStatus_SimulationState = 2 + SimulationStatus_Error SimulationStatus_SimulationState = 3 + SimulationStatus_Destroy SimulationStatus_SimulationState = 4 ) // Enum value maps for SimulationStatus_SimulationState. var ( SimulationStatus_SimulationState_name = map[int32]string{ - 0: "PAUSE", - 1: "START", - 2: "ERROR", - 3: "DESTROY", + 0: "Init", + 1: "Running", + 2: "Pause", + 3: "Error", + 4: "Destroy", } SimulationStatus_SimulationState_value = map[string]int32{ - "PAUSE": 0, - "START": 1, - "ERROR": 2, - "DESTROY": 3, + "Init": 0, + "Running": 1, + "Pause": 2, + "Error": 3, + "Destroy": 4, } ) @@ -372,6 +375,10 @@ type SectionState struct { Occupied bool `protobuf:"varint,3,opt,name=occupied,proto3" json:"occupied,omitempty"` // 计轴故障 AxleFault bool `protobuf:"varint,4,opt,name=axleFault,proto3" json:"axleFault,omitempty"` + // 计轴复位 + AxleDrst bool `protobuf:"varint,5,opt,name=axleDrst,proto3" json:"axleDrst,omitempty"` + // 计轴预复位 + AxlePdrst bool `protobuf:"varint,6,opt,name=axlePdrst,proto3" json:"axlePdrst,omitempty"` } func (x *SectionState) Reset() { @@ -427,6 +434,20 @@ func (x *SectionState) GetAxleFault() bool { return false } +func (x *SectionState) GetAxleDrst() bool { + if x != nil { + return x.AxleDrst + } + return false +} + +func (x *SectionState) GetAxlePdrst() bool { + if x != nil { + return x.AxlePdrst + } + return false +} + // 道岔状态 type SwitchState struct { state protoimpl.MessageState @@ -3289,8 +3310,7 @@ type SimulationStatus struct { unknownFields protoimpl.UnknownFields SimulationId string `protobuf:"bytes,1,opt,name=simulationId,proto3" json:"simulationId,omitempty"` - State SimulationStatus_SimulationState `protobuf:"varint,2,opt,name=state,proto3,enum=state.SimulationStatus_SimulationState" json:"state,omitempty"` - Description string `protobuf:"bytes,3,opt,name=description,proto3" json:"description,omitempty"` + State SimulationStatus_SimulationState `protobuf:"varint,2,opt,name=state,proto3,enum=state.SimulationStatus_SimulationState" json:"state,omitempty"` // string description = 3; } func (x *SimulationStatus) Reset() { @@ -3336,14 +3356,7 @@ func (x *SimulationStatus) GetState() SimulationStatus_SimulationState { if x != nil { return x.State } - return SimulationStatus_PAUSE -} - -func (x *SimulationStatus) GetDescription() string { - if x != nil { - return x.Description - } - return "" + return SimulationStatus_Init } // 仿真在用的第三方接口状态列表 @@ -3465,593 +3478,595 @@ var file_device_state_proto_rawDesc = []byte{ 0x6e, 0x6b, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x02, 0x69, 0x64, 0x12, 0x18, 0x0a, 0x07, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x49, 0x64, 0x18, 0x02, 0x20, 0x03, 0x28, 0x09, 0x52, 0x07, 0x74, 0x72, 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config.Config.Messaging.Mqtt.Username, config.Config.Messaging.Mqtt.Password)) + third_party.Init() authMiddleware := middleware.InitGinJwtMiddleware() router := engine.Group("/api") api.InitUserRouter(router, authMiddleware) diff --git a/message_server/sfp_ms.go b/message_server/sfp_ms.go index 6999206..c08858e 100644 --- a/message_server/sfp_ms.go +++ b/message_server/sfp_ms.go @@ -2,11 +2,12 @@ package message_server import ( "fmt" - "joylink.club/bj-rtsts-server/dto/common_proto" "reflect" "strings" "time" + "joylink.club/bj-rtsts-server/dto/common_proto" + "joylink.club/bj-rtsts-server/dto/request_proto" "joylink.club/bj-rtsts-server/dto/state_proto" "joylink.club/rtsssimulation/repository/model/proto" @@ -161,6 +162,18 @@ func handlerSectionState(w ecs.World, uid string) *state_proto.SectionState { axleState := component.PhysicalSectionStateType.Get(entry) sectionState.Occupied = axleState.Occ sectionState.AxleFault = entry.HasComponent(component.AxleSectionFaultTag) + + wd := entity.GetWorldData(w) + sectionModel := wd.Repo.FindPhysicalSection(uid) + faDcAxleDeviceEntry := entity.FindAxleManageDevice(wd, sectionModel.CentralizedStation()) + if faDcAxleDeviceEntry != nil { + faDcAxleDevice := component.AxleManageDeviceType.Get(faDcAxleDeviceEntry) + axleRuntime := faDcAxleDevice.FindAdr(uid) + if axleRuntime != nil { + sectionState.AxleDrst = axleRuntime.Drst + sectionState.AxlePdrst = axleRuntime.Pdrst + } + } return sectionState } return nil diff --git a/message_server/simulation.go b/message_server/simulation.go index ae2a614..b9ff1a5 100644 --- a/message_server/simulation.go +++ b/message_server/simulation.go @@ -1,26 +1,56 @@ package message_server import ( + "log/slog" + "sync" + "joylink.club/bj-rtsts-server/dto/data_proto" - "joylink.club/bj-rtsts-server/mqtt" + "joylink.club/bj-rtsts-server/message_server/ms_api" "joylink.club/bj-rtsts-server/ts/simulation/wayside/memory" ) +var _default = &publishTaskManage{tasks: make(map[string][]ms_api.MsgTask)} + +// 仿真消息任务管理 +type publishTaskManage struct { + mu sync.Mutex + tasks map[string][]ms_api.MsgTask +} + +func (m *publishTaskManage) AddTasks(simulationId string, tasks ...ms_api.MsgTask) { + m.mu.Lock() + defer m.mu.Unlock() + m.tasks[simulationId] = append(m.tasks[simulationId], tasks...) +} + +func (m *publishTaskManage) RemoveTasks(simulationId string) { + m.mu.Lock() + defer m.mu.Unlock() + slog.Info("停止并移除仿真消息服务", "simulationId", simulationId, "tasks", m.tasks[simulationId]) + for _, task := range m.tasks[simulationId] { + task.Stop() + } + delete(m.tasks, simulationId) +} + // 启动仿真所需的消息服务 func Start(vs *memory.VerifySimulation) { + // 添加仿真状态消息服务 + _default.AddTasks(vs.SimulationId, NewStateMs(vs)) + _default.AddTasks(vs.SimulationId, NewTpapiServiceMs(vs)) for _, mapId := range vs.MapIds { t := memory.QueryGiType(mapId) switch t { case data_proto.PictureType_StationLayout: // 平面布置图 // 添加车站关联的平面布置图、IBP、PSL信息 - mqtt.GetMsgClient().PublishTask(vs.SimulationId, NewSfpMs(vs, mapId), NewIBPMs(vs, mapId), NewPSLMs(vs, mapId)) + _default.AddTasks(vs.SimulationId, NewSfpMs(vs, mapId), NewIBPMs(vs, mapId), NewPSLMs(vs, mapId)) case data_proto.PictureType_RelayCabinetLayout: // 继电器柜 - mqtt.GetMsgClient().PublishTask(vs.SimulationId, NewRccMs(vs, mapId)) + _default.AddTasks(vs.SimulationId, NewRccMs(vs, mapId)) } } } // 关闭仿真消息服务 func Close(vs *memory.VerifySimulation) { - mqtt.GetMsgClient().CloseTask(vs.SimulationId) + _default.RemoveTasks(vs.SimulationId) } diff --git a/message_server/simulation_state_ms.go b/message_server/simulation_state_ms.go index a44a678..412a4b4 100644 --- a/message_server/simulation_state_ms.go +++ b/message_server/simulation_state_ms.go @@ -2,6 +2,8 @@ package message_server import ( "fmt" + "time" + "joylink.club/bj-rtsts-server/dto/state_proto" "joylink.club/bj-rtsts-server/message_server/ms_api" @@ -11,20 +13,54 @@ import ( ) func NewStateMs(vs *memory.VerifySimulation) ms_api.MsgTask { - return ms_api.NewMonitorTask(fmt.Sprintf("仿真[%s]状态", vs.SimulationId), func() { - ecs.WorldStateChangeEvent.Subscribe(vs.World, func(_ ecs.World, e ecs.WorldStateChange) { - s := &state_proto.SimulationStatus{SimulationId: vs.SimulationId} - switch e.NewState { - case ecs.WorldClosed: - s.State = state_proto.SimulationStatus_DESTROY - case ecs.WorldError: - s.State = state_proto.SimulationStatus_ERROR - case ecs.WorldPause: - s.State = state_proto.SimulationStatus_PAUSE - default: - return - } - mqtt.GetMsgClient().PubSimulationState(vs.SimulationId, s) - }) - }) + return ms_api.NewScheduleTask(fmt.Sprintf("仿真[%s]状态", vs.SimulationId), func() error { + s := &state_proto.SimulationStatus{ + SimulationId: vs.SimulationId, + State: convertWorldState(vs.World.State()), + } + mqtt.GetMsgClient().PubSimulationState(vs.SimulationId, s) + return nil + }, 1000*time.Millisecond) + // return ms_api.NewMonitorTask(fmt.Sprintf("仿真[%s]状态", vs.SimulationId), func() { + // ecs.WorldStateChangeEvent.Subscribe(vs.World, func(_ ecs.World, e ecs.WorldStateChange) { + // s := &state_proto.SimulationStatus{SimulationId: vs.SimulationId} + // switch e.NewState { + // case ecs.WorldClosed: + // s.State = state_proto.SimulationStatus_DESTROY + // case ecs.WorldError: + // s.State = state_proto.SimulationStatus_ERROR + // case ecs.WorldPause: + // s.State = state_proto.SimulationStatus_PAUSE + // default: + // return + // } + // mqtt.GetMsgClient().PubSimulationState(vs.SimulationId, s) + // }) + // }) +} + +func convertWorldState(state ecs.WorldState) state_proto.SimulationStatus_SimulationState { + switch state { + case ecs.WorldInit: + return state_proto.SimulationStatus_Init + case ecs.WorldRunning: + return state_proto.SimulationStatus_Running + case ecs.WorldPause: + return state_proto.SimulationStatus_Pause + case ecs.WorldError: + return state_proto.SimulationStatus_Error + case ecs.WorldClosed: + return state_proto.SimulationStatus_Destroy + default: + panic("unknown world state") + } +} + +// 发布仿真销毁消息 +func PubSimulationDestroyMsg(simulationId string) { + s := &state_proto.SimulationStatus{ + SimulationId: simulationId, + State: state_proto.SimulationStatus_Destroy, + } + mqtt.GetMsgClient().PubSimulationState(simulationId, s) } diff --git a/message_server/simulation_tpapiservice_ms.go b/message_server/simulation_tpapiservice_ms.go new file mode 100644 index 0000000..7a46a74 --- /dev/null +++ b/message_server/simulation_tpapiservice_ms.go @@ -0,0 +1,19 @@ +package message_server + +import ( + "fmt" + "time" + + "joylink.club/bj-rtsts-server/message_server/ms_api" + "joylink.club/bj-rtsts-server/mqtt" + "joylink.club/bj-rtsts-server/third_party" + "joylink.club/bj-rtsts-server/ts/simulation/wayside/memory" +) + +func NewTpapiServiceMs(vs *memory.VerifySimulation) ms_api.MsgTask { + return ms_api.NewScheduleTask(fmt.Sprintf("仿真第三方API服务[%s]状态", vs.SimulationId), func() error { + rss := third_party.GetRunningServiceStates() + mqtt.GetMsgClient().PubTpapiServiceState(vs.SimulationId, rss) + return nil + }, 1000*time.Millisecond) +} diff --git a/mqtt/client.go b/mqtt/client.go index 10cc0a3..69b109d 100644 --- a/mqtt/client.go +++ b/mqtt/client.go @@ -10,16 +10,14 @@ import ( "google.golang.org/protobuf/proto" "google.golang.org/protobuf/reflect/protoreflect" "joylink.club/bj-rtsts-server/dto/state_proto" - "joylink.club/bj-rtsts-server/message_server/ms_api" ) var mqttClient *MqttClient // 客户端 type MqttClient struct { - cc *autopaho.ClientConfig - cm *autopaho.ConnectionManager - tasks map[string][]ms_api.MsgTask + cc *autopaho.ClientConfig + cm *autopaho.ConnectionManager } // 初始化并启动MQTT客户端服务 @@ -35,7 +33,7 @@ func Startup(cmc *MqttOptions) error { if err != nil { return err } - mqttClient = &MqttClient{cc: cc, cm: cm, tasks: make(map[string][]ms_api.MsgTask)} + mqttClient = &MqttClient{cc: cc, cm: cm} return nil } @@ -81,6 +79,9 @@ func (client *MqttClient) pub(topic string, data protoreflect.ProtoMessage) erro slog.Error("未知发布主题", "topic", topic, "data", data) return fmt.Errorf("未知发布主题: topic=%s", topic) } + // else { + // slog.Debug("发布主题", "topic", topic, "data", data) + // } _, err = client.cm.Publish(context.Background(), &paho.Publish{ Topic: topic, QoS: 0, @@ -89,28 +90,15 @@ func (client *MqttClient) pub(topic string, data protoreflect.ProtoMessage) erro return err } -// 发布任务 -func (client *MqttClient) PublishTask(simulationId string, tasks ...ms_api.MsgTask) { - client.tasks[simulationId] = append(client.tasks[simulationId], tasks...) -} - -// 停止任务 -func (client *MqttClient) CloseTask(simulationId string) { - tasks, ok := client.tasks[simulationId] - if !ok { - return - } - for _, task := range tasks { - task.Stop() - } - client.tasks[simulationId] = nil -} - // 发送仿真状态数据 func (client *MqttClient) PubSimulationState(simulationId string, msg *state_proto.SimulationStatus) error { return client.pub(GetStateTopic(simulationId), msg) } +func (c *MqttClient) PubTpapiServiceState(simulationId string, msg *state_proto.SimulationThirdPartyApiService) error { + return c.pub(GetTpapiServiceTopic(simulationId), msg) +} + // 发送IBP状态数据 func (client *MqttClient) PubIBPState(simulationId string, mapId int32, stationId uint32, msg *state_proto.PushedDevicesStatus) error { return client.pub(GetIbpTopic(simulationId, mapId, stationId), msg) diff --git a/mqtt/topic.go b/mqtt/topic.go index b684d78..b01db48 100644 --- a/mqtt/topic.go +++ b/mqtt/topic.go @@ -8,16 +8,18 @@ import ( ) const ( - topicPrefix = "/" + config.SystemName + "/simulation/%s/" // 公共部分 仿真ID - stateTopic = topicPrefix + "state" // 仿真状态topic - sfpTopic = topicPrefix + "sfp/%d" // 平面布置图设备状态topic 地图ID - rccTopic = topicPrefix + "rcc/%d" // 继电器柜继电器状态topic 地图ID - pslTopic = topicPrefix + "psl/%d/%d" // psl状态topic 地图ID/门控箱ID - ibpTopic = topicPrefix + "ibp/%d/%d" // ibp盘状态topic 地图ID/车站ID + topicPrefix = "/" + config.SystemName + "/simulation/%s/" // 公共部分 仿真ID + stateTopic = topicPrefix + "state" // 仿真状态topic + tpapiServiceTopic = topicPrefix + "tpis" // 第三方API服务状态topic + sfpTopic = topicPrefix + "sfp/%d" // 平面布置图设备状态topic 地图ID + rccTopic = topicPrefix + "rcc/%d" // 继电器柜继电器状态topic 地图ID + pslTopic = topicPrefix + "psl/%d/%d" // psl状态topic 地图ID/门控箱ID + ibpTopic = topicPrefix + "ibp/%d/%d" // ibp盘状态topic 地图ID/车站ID ) var topicMap = map[string]string{ "state": stateTopic, + "tpis": tpapiServiceTopic, "sfp": sfpTopic, "rcc": rccTopic, "psl": pslTopic, @@ -54,6 +56,10 @@ func GetStateTopic(simulationId string) string { return fmt.Sprintf(stateTopic, simulationId) } +func GetTpapiServiceTopic(simulation string) string { + return fmt.Sprintf(tpapiServiceTopic, simulation) +} + // 信号布置图设备状态消息topic func GetSfpTopic(simulationId string, mapId int32) string { return fmt.Sprintf(sfpTopic, simulationId, mapId) diff --git a/rtss_simulation b/rtss_simulation index d94a833..fa7211d 160000 --- a/rtss_simulation +++ b/rtss_simulation @@ -1 +1 @@ -Subproject commit d94a8335dcffbb44d7d865d8b7200da335e2241f +Subproject commit fa7211d7bdf68be1df571f222a047ddd6cd764b0 diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go index 42f3f32..83f80ec 100644 --- a/third_party/dynamics/dynamics.go +++ b/third_party/dynamics/dynamics.go @@ -43,9 +43,10 @@ type Dynamics interface { SendTrainControlMessage(b []byte) } -var _default Dynamics +var _default *dynamics var initMutex sync.Mutex +const Name = "动力学" const Interval = 15 func Default() Dynamics { @@ -53,12 +54,11 @@ func Default() Dynamics { defer initMutex.Unlock() if _default == nil { _default = &dynamics{ - ThirdPartyApiService: tpapi.NewThirdPartyApiService(), udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) { if err != nil { - _default.UpdateState(tpapi.ThirdPartyState_Broken) + _default.updateState(tpapi.ThirdPartyState_Broken) } else { - _default.UpdateState(tpapi.ThirdPartyState_Normal) + _default.updateState(tpapi.ThirdPartyState_Normal) } }), } @@ -72,6 +72,7 @@ type dynamics struct { turnoutStateUdpClient udp.UdpClient trainControlUdpClient udp.UdpClient + state tpapi.ThirdPartyApiServiceState udpDelayRecorder *tpapi.UdpDelayRecorder baseUrl string @@ -81,6 +82,18 @@ type dynamics struct { runConfig *config.DynamicsConfig } +func (d *dynamics) updateState(state tpapi.ThirdPartyApiServiceState) { + d.state = state +} + +func (d *dynamics) State() tpapi.ThirdPartyApiServiceState { + return d.state +} + +func (d *dynamics) Name() string { + return Name +} + // 解码列车信息并处理 func (d *dynamics) handleDynamicsTrainInfo(b []byte) { d.udpDelayRecorder.RecordInterval() @@ -227,7 +240,7 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error { ctx, cancle := context.WithCancel(context.Background()) go d.sendTurnoutStateTask(ctx) d.turnoutTaskCancel = cancle - d.UpdateState(tpapi.ThirdPartyState_Normal) + d.updateState(tpapi.ThirdPartyState_Normal) d.udpDelayRecorder.Start() return nil } @@ -274,7 +287,7 @@ func (d *dynamics) Stop() { d.turnoutTaskCancel() } d.manager = nil - d.UpdateState(tpapi.ThirdPartyState_Closed) + d.updateState(tpapi.ThirdPartyState_Closed) } const ( diff --git a/third_party/semi_physical_train/semi_physical_train.go b/third_party/semi_physical_train/semi_physical_train.go index 246e74b..91d47bd 100644 --- a/third_party/semi_physical_train/semi_physical_train.go +++ b/third_party/semi_physical_train/semi_physical_train.go @@ -34,12 +34,25 @@ type semiPhysicalTrainImpl struct { trainControlUdpServer udp.UdpServer trainSpeedInfoUdpClient udp.UdpClient + state tpapi.ThirdPartyApiServiceState udpDelayRecorder *tpapi.UdpDelayRecorder manager SemiPhysicalMessageManager runConfig *config.VobcConfig } +func (s *semiPhysicalTrainImpl) updateState(state tpapi.ThirdPartyApiServiceState) { + s.state = state +} + +func (s *semiPhysicalTrainImpl) State() tpapi.ThirdPartyApiServiceState { + return s.state +} + +func (s *semiPhysicalTrainImpl) Name() string { + return Name +} + func (s *semiPhysicalTrainImpl) handleTrainControlMsg(b []byte) { s.udpDelayRecorder.RecordInterval() slog.Debug(fmt.Sprintf("半实物列车控制消息近期消息间隔: %v", s.udpDelayRecorder.GetIntervals())) @@ -63,7 +76,7 @@ func (s *semiPhysicalTrainImpl) Start(manager SemiPhysicalMessageManager) { // 初始化客户端、服务端 s.initSemiPhysical() s.manager = manager - s.UpdateState(tpapi.ThirdPartyState_Normal) + s.updateState(tpapi.ThirdPartyState_Normal) s.udpDelayRecorder.Start() } @@ -78,7 +91,7 @@ func (s *semiPhysicalTrainImpl) Stop() { s.trainSpeedInfoUdpClient.Close() } s.manager = nil - s.UpdateState(tpapi.ThirdPartyState_Closed) + s.updateState(tpapi.ThirdPartyState_Closed) } func (s *semiPhysicalTrainImpl) SendTrainControlMessage(info *message.DynamicsTrainInfo) { @@ -93,9 +106,10 @@ func (s *semiPhysicalTrainImpl) initSemiPhysical() { s.trainControlUdpServer.Listen() } -var _default SemiPhysicalTrain +var _default *semiPhysicalTrainImpl var initMutex sync.Mutex +const Name = "半实物仿真列车" const Interval int = 20 func Default() SemiPhysicalTrain { @@ -103,12 +117,11 @@ func Default() SemiPhysicalTrain { defer initMutex.Unlock() if _default == nil { _default = &semiPhysicalTrainImpl{ - ThirdPartyApiService: tpapi.NewThirdPartyApiService(), udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) { if err != nil { - _default.UpdateState(tpapi.ThirdPartyState_Broken) + _default.updateState(tpapi.ThirdPartyState_Broken) } else { - _default.UpdateState(tpapi.ThirdPartyState_Normal) + _default.updateState(tpapi.ThirdPartyState_Normal) } }), } diff --git a/third_party/third_party.go b/third_party/third_party.go index 292c93c..5b7a334 100644 --- a/third_party/third_party.go +++ b/third_party/third_party.go @@ -1,24 +1,56 @@ package third_party import ( + "log/slog" + "joylink.club/bj-rtsts-server/dto/state_proto" "joylink.club/bj-rtsts-server/third_party/dynamics" + "joylink.club/bj-rtsts-server/third_party/semi_physical_train" "joylink.club/bj-rtsts-server/third_party/tpapi" ) -func GetRunningServiceStates(t state_proto.SimulationThirdPartyApiService_Type) *state_proto.SimulationThirdPartyApiService { +var tpapiService []tpapi.ThirdPartyApiService + +func Init() { + tpapiService = append( + tpapiService, dynamics.Default(), + semi_physical_train.Default(), + ) +} + +func GetAllServices() []tpapi.ThirdPartyApiService { + return tpapiService +} + +func convertServiceName(name string) state_proto.SimulationThirdPartyApiService_Type { + switch name { + case dynamics.Name: + return state_proto.SimulationThirdPartyApiService_Dynamics + case semi_physical_train.Name: + return state_proto.SimulationThirdPartyApiService_SemiPhysicalTrain + } + return state_proto.SimulationThirdPartyApiService_Undefined +} + +func GetRunningServiceStates() *state_proto.SimulationThirdPartyApiService { ss := &state_proto.SimulationThirdPartyApiService{} - switch dynamics.Default().State() { - case tpapi.ThirdPartyState_Normal: - ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{ - Type: state_proto.SimulationThirdPartyApiService_Dynamics, - State: state_proto.SimulationThirdPartyApiService_Normal, - }) - case tpapi.ThirdPartyState_Broken: - ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{ - Type: state_proto.SimulationThirdPartyApiService_Dynamics, - State: state_proto.SimulationThirdPartyApiService_Error, - }) + for _, tpas := range tpapiService { + t := convertServiceName(tpas.Name()) + if t == state_proto.SimulationThirdPartyApiService_Undefined { + slog.Error("未知的第三方接口服务类型", "name", tpas.Name()) + } + switch tpas.State() { + case tpapi.ThirdPartyState_Normal: + ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{ + Type: t, + State: state_proto.SimulationThirdPartyApiService_Normal, + }) + case tpapi.ThirdPartyState_Broken: + ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{ + Type: t, + State: state_proto.SimulationThirdPartyApiService_Error, + }) + } } return ss } diff --git a/third_party/tpapi/service.go b/third_party/tpapi/service.go index b4abce9..689fd45 100644 --- a/third_party/tpapi/service.go +++ b/third_party/tpapi/service.go @@ -20,29 +20,28 @@ const ( // 第三方对接接口服务 type ThirdPartyApiService interface { + Name() string // 服务状态 State() ThirdPartyApiServiceState - // 更新状态 - UpdateState(state ThirdPartyApiServiceState) } -func NewThirdPartyApiService() ThirdPartyApiService { - return &thirdPartyApiService{ - state: ThirdPartyState_Closed, - } -} +// func NewThirdPartyApiService() ThirdPartyApiService { +// return &thirdPartyApiService{ +// state: ThirdPartyState_Closed, +// } +// } -type thirdPartyApiService struct { - state ThirdPartyApiServiceState -} +// type thirdPartyApiService struct { +// state ThirdPartyApiServiceState +// } -func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) { - s.state = state -} +// func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) { +// s.state = state +// } -func (s *thirdPartyApiService) State() ThirdPartyApiServiceState { - return s.state -} +// func (s *thirdPartyApiService) State() ThirdPartyApiServiceState { +// return s.state +// } // UDP通信延时记录 type UdpDelayRecorder struct { @@ -59,7 +58,7 @@ type UdpDelayRecorder struct { // 长时间未收到消息或恢复处理回调 handler func(err error) - cancelFunc func() + cancelFunc context.CancelFunc done chan struct{} // 服务协程退出信号 } @@ -110,6 +109,9 @@ func (r *UdpDelayRecorder) checkTimeout(ctx context.Context) { func (r *UdpDelayRecorder) Stop() { r.mu.Lock() defer r.mu.Unlock() + if r.cancelFunc == nil { + return + } r.cancelFunc() <-r.done r.lastReceiedTime = 0 diff --git a/ts/simulation/wayside/memory/wayside_simulation.go b/ts/simulation/wayside/memory/wayside_simulation.go index 9e95558..2a8be95 100644 --- a/ts/simulation/wayside/memory/wayside_simulation.go +++ b/ts/simulation/wayside/memory/wayside_simulation.go @@ -46,8 +46,6 @@ type VerifySimulation struct { uidMap map[string]*elementIdStructure // 运行环境配置 runConfig *config.ThridPartyConfig - // 运行状态 - runState state_proto.SimulationStatus_SimulationState } // 轨旁仿真内存模型 @@ -102,7 +100,6 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun verifySimulation := &VerifySimulation{ ProjectId: projectId, MapIds: mapIds, - runState: state_proto.SimulationStatus_PAUSE, } // 设置运行环境 err := verifySimulation.initRunConfig(runConfig) @@ -117,25 +114,25 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun return verifySimulation, nil } -// 启动 -func (s *VerifySimulation) Start() { - s.runState = state_proto.SimulationStatus_START -} +// // 启动 +// func (s *VerifySimulation) Start() { +// s.runState = state_proto.SimulationStatus_START +// } -// 销毁 -func (s *VerifySimulation) Destroy() { - s.runState = state_proto.SimulationStatus_DESTROY -} +// // 销毁 +// func (s *VerifySimulation) Destroy() { +// s.runState = state_proto.SimulationStatus_DESTROY +// } -// 暂停 -func (s *VerifySimulation) Pause() { - s.runState = state_proto.SimulationStatus_PAUSE -} +// // 暂停 +// func (s *VerifySimulation) Pause() { +// s.runState = state_proto.SimulationStatus_PAUSE +// } -// 获取状态 -func (s *VerifySimulation) GetRunState() state_proto.SimulationStatus_SimulationState { - return s.runState -} +// // 获取状态 +// func (s *VerifySimulation) GetRunState() state_proto.SimulationStatus_SimulationState { +// return s.runState +// } // 获取仿真世界信息 func (s *VerifySimulation) GetComIdByUid(uid string) uint32 { diff --git a/ts/test_simulation_manage.go b/ts/test_simulation_manage.go index 7ad42fb..b9380aa 100644 --- a/ts/test_simulation_manage.go +++ b/ts/test_simulation_manage.go @@ -63,7 +63,7 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun return "", err } simulationMap.Store(simulationId, verifySimulation) - verifySimulation.Start() + // verifySimulation.Start() // 全部成功，启动仿真 verifySimulation.World.StartUp() // 启动仿真消息服务 @@ -80,12 +80,14 @@ func DestroySimulation(simulationId string) { } simulationMap.Delete(simulationId) simulationInfo := s.(*memory.VerifySimulation) - simulationInfo.Destroy() + // simulationInfo.Destroy() // 停止ecs world simulationInfo.World.Close() + defer message_server.Close(simulationInfo) + // 发布销毁消息 + defer message_server.PubSimulationDestroyMsg(simulationId) // 停止第三方 stopThirdParty(simulationInfo) - message_server.Close(simulationInfo) } // 创建world From 7816c447fafa2ebe676c6def5bb9b800914795b2 Mon Sep 17 00:00:00 2001 From: walker Date: Tue, 23 Jan 2024 09:41:54 +0800 Subject: [PATCH 2/4] =?UTF-8?q?=E5=88=A0=E9=99=A4defer?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ts/test_simulation_manage.go | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ts/test_simulation_manage.go b/ts/test_simulation_manage.go index b9380aa..f079fa7 100644 --- a/ts/test_simulation_manage.go +++ b/ts/test_simulation_manage.go @@ -83,9 +83,9 @@ func DestroySimulation(simulationId string) { // simulationInfo.Destroy() // 停止ecs world simulationInfo.World.Close() - defer message_server.Close(simulationInfo) + message_server.Close(simulationInfo) // 发布销毁消息 - defer message_server.PubSimulationDestroyMsg(simulationId) + message_server.PubSimulationDestroyMsg(simulationId) // 停止第三方 stopThirdParty(simulationInfo) } From 5379bc11f3121e77a0344a158eb768c384e7aea4 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Tue, 23 Jan 2024 09:58:17 +0800 Subject: [PATCH 3/4] =?UTF-8?q?=E9=9B=B7=E8=BE=BE=E4=B8=8EVOBC=E5=8D=8F?= =?UTF-8?q?=E8=AE=AE=E8=A7=A3=E7=A0=81,=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- third_party/message/radar.go | 20 +++++++------ third_party/message/radar_test.go | 47 +++++++++++++++++++++++++++++++ 2 files changed, 59 insertions(+), 8 deletions(-) create mode 100644 third_party/message/radar_test.go diff --git a/third_party/message/radar.go b/third_party/message/radar.go index 3add9a6..933f642 100644 --- a/third_party/message/radar.go +++ b/third_party/message/radar.go @@ -70,7 +70,7 @@ func (rd *RadarData) getSumVal() byte { return rd.SourceData + rd.valRange } func (s *RadarState) parseState() { - //第6位 == SW_Mode0, 第7位 == SW_Mode1 + //第7位 == SW_Mode0, 第6位 == SW_Mode1 // 11:两个天线和双通道都OK // 10：DRS05_Single-Mode 40度,50度的天线或通道故障 // 01：DRS05_Single-Mode 50度,40度的天线或通道故障 @@ -78,7 +78,7 @@ func (s *RadarState) parseState() { // 模式的工作差别：工作在11.模式时效果最好。单模式10或01时可信度下降。 arr := s.getBitsStateArr() s.Model = bitStateStr(arr[6:]) - // 第3位=计算状态位,第4位=信号质量标志位,第5位=Black5out标志位 + // 第5位=计算状态位,第4位=信号质量标志位,第3位=Black5out标志位 // 110：计算状态，高质量 // 地面信号反射良好，高精度的信号计算 // 100： 计算状态，低质量 @@ -98,20 +98,24 @@ func (s *RadarState) parseState() { s.Dir = bitStateStr(arr[0:1]) } -func (s *RadarState) getBitsStateArr() []byte { - bits := make([]byte, 8) +func (s *RadarState) getBitsStateArr() [8]byte { + //bits := make([]byte, 8) + var bits2 [8]byte = [8]byte{} for i := 0; i < 8; i++ { bit := s.SourceState >> uint(i) & 1 - bits[i] = bit + bits2[i] = bit } - return bits + return bits2 } func bitStateStr(data []byte) string { var build = strings.Builder{} - for _, d := range data { - build.WriteString(fmt.Sprintf("%v", d)) + for i := len(data) - 1; i >= 0; i-- { + build.WriteString(fmt.Sprintf("%v", data[i])) } + /*for _, d := range data { + build.WriteString(fmt.Sprintf("%v", d)) + }*/ return build.String() } func (r *Radar) checkTail() bool { diff --git a/third_party/message/radar_test.go b/third_party/message/radar_test.go new file mode 100644 index 0000000..519db6c --- /dev/null +++ b/third_party/message/radar_test.go @@ -0,0 +1,47 @@ +package message + +import ( + "fmt" + "testing" +) + +func TestRadar(t *testing.T) { + data := make([]byte, 0) + data = append(data, radar_head1) //0 + data = append(data, radar_head2) //1 + data = append(data, 1) //自增 + data = append(data, 1) //速度3 + data = append(data, 0) //4 + data = append(data, 1) //s1 5 + data = append(data, 0) //6 + data = append(data, 1) //s2 7 + data = append(data, 0) //8 + data = append(data, 0) //内部使用 9 + data = append(data, 0) //内部使用 9 + data = append(data, createState()) + var sum int + for _, s := range data { + sum += int(s) + } + data = append(data, byte(^sum+1)) + radar := &Radar{} + radar.Decode(data) + fmt.Println(radar) +} + +func createState() byte { + var b byte = 0 + b1 := b | (byte(1) << 7) | (byte(1) << 6) | (byte(1) << 5) | (byte(1) << 4) | (byte(1) << 1) | (byte(1) << 1) + return b1 +} +func TestR1(t *testing.T) { + var b byte = 0 + fmt.Printf("%08b\n", b) + //6,7位 11 + //3,4,5位 011 + // 1位 1 + //0位 1 + b1 := b | (byte(1) << 7) | (byte(1) << 6) | (byte(1) << 5) | (byte(1) << 4) | (byte(1) << 1) | (byte(1) << 0) + fmt.Printf("%08b\n", b1) + fmt.Println(b1) +} From 6b16afc7b388fadaffc154fb0a854852589119a2 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Tue, 23 Jan 2024 10:19:41 +0800 Subject: [PATCH 4/4] =?UTF-8?q?=E9=9B=B7=E8=BE=BE=E4=B8=8EVOBC=E5=8D=8F?= =?UTF-8?q?=E8=AE=AE=E8=A7=A3=E7=A0=81,=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- third_party/message/radar.go | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/third_party/message/radar.go b/third_party/message/radar.go index 933f642..ee970cc 100644 --- a/third_party/message/radar.go +++ b/third_party/message/radar.go @@ -24,15 +24,16 @@ type Radar struct { Tail byte } type RadarData struct { - SourceData byte - valRange byte + SourceData byte //接收源数据 + data uint16 //移位后的数据 + valRange byte //数据取值范围 } type RadarState struct { - SourceState byte - Model string - SyntheticalState string - DirState string - Dir string + SourceState byte //原数据 + Model string // 天线模式 + SyntheticalState string //综合状态 + DirState string //方向状态 + Dir string //方向 } func (r *Radar) Decode(data []byte) error { @@ -147,7 +148,7 @@ func readSpeedOrCounter(buf *bytes.Buffer) *RadarData { }*/ ss, _ := buf.ReadByte() limit, _ := buf.ReadByte() - return &RadarData{SourceData: ss, valRange: limit} + return &RadarData{SourceData: ss, valRange: limit, data: uint16(ss) << 8} } func readRadarInnerData(buf *bytes.Buffer) (byte, byte) {