Merge remote-tracking branch 'origin/master'

main.go

@@ -10,6 +10,7 @@ import (
 	"joylink.club/bj-rtsts-server/docs"
 	"joylink.club/bj-rtsts-server/middleware"
 	"joylink.club/bj-rtsts-server/mqtt"
+	"joylink.club/bj-rtsts-server/third_party"
 )
 
 //	@title			CBTC测试系统API
@@ -26,6 +27,7 @@ import (
 func main() {
 	engine := InitServer()
 	mqtt.Startup(mqtt.NewMqttOptions(config.Config.Messaging.Mqtt.Address, config.Config.Messaging.Mqtt.Username, config.Config.Messaging.Mqtt.Password))
+	third_party.Init()
 	authMiddleware := middleware.InitGinJwtMiddleware()
 	router := engine.Group("/api")
 	api.InitUserRouter(router, authMiddleware)

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

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)
 }

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() {
+	return ms_api.NewScheduleTask(fmt.Sprintf("仿真[%s]状态", vs.SimulationId), func() error {
-		ecs.WorldStateChangeEvent.Subscribe(vs.World, func(_ ecs.World, e ecs.WorldStateChange) {
+		s := &state_proto.SimulationStatus{
-			s := &state_proto.SimulationStatus{SimulationId: vs.SimulationId}
+			SimulationId: vs.SimulationId,
-			switch e.NewState {
+			State:        convertWorldState(vs.World.State()),
-			case ecs.WorldClosed:
+		}
-				s.State = state_proto.SimulationStatus_DESTROY
+		mqtt.GetMsgClient().PubSimulationState(vs.SimulationId, s)
-			case ecs.WorldError:
+		return nil
-				s.State = state_proto.SimulationStatus_ERROR
+	}, 1000*time.Millisecond)
-			case ecs.WorldPause:
+	// return ms_api.NewMonitorTask(fmt.Sprintf("仿真[%s]状态", vs.SimulationId), func() {
-				s.State = state_proto.SimulationStatus_PAUSE
+	// 	ecs.WorldStateChangeEvent.Subscribe(vs.World, func(_ ecs.World, e ecs.WorldStateChange) {
-			default:
+	// 		s := &state_proto.SimulationStatus{SimulationId: vs.SimulationId}
-				return
+	// 		switch e.NewState {
-			}
+	// 		case ecs.WorldClosed:
-			mqtt.GetMsgClient().PubSimulationState(vs.SimulationId, s)
+	// 			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)
 }

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)
+}

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
+	cc *autopaho.ClientConfig
-	cm    *autopaho.ConnectionManager
+	cm *autopaho.ConnectionManager
-	tasks map[string][]ms_api.MsgTask
 }
 
 // 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)

mqtt/topic.go

@@ -8,16 +8,18 @@ import (
 )
 
 const (
-	topicPrefix = "/" + config.SystemName + "/simulation/%s/" // 公共部分 				  仿真ID
+	topicPrefix       = "/" + config.SystemName + "/simulation/%s/" // 公共部分 				  仿真ID
-	stateTopic  = topicPrefix + "state"                       // 仿真状态topic
+	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
+	tpapiServiceTopic = topicPrefix + "tpis"                        // 第三方API服务状态topic
-	rccTopic    = topicPrefix + "rcc/%d"                      // 继电器柜继电器状态topic   地图ID
+	sfpTopic          = topicPrefix + "sfp/%d"                      // 平面布置图设备状态topic   地图ID
-	pslTopic    = topicPrefix + "psl/%d/%d"                   // psl状态topic             地图ID/门控箱ID
+	rccTopic          = topicPrefix + "rcc/%d"                      // 继电器柜继电器状态topic   地图ID
-	ibpTopic    = topicPrefix + "ibp/%d/%d"                   // ibp盘状态topic           地图ID/车站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)

rtss_simulation

@@ -1 +1 @@
-Subproject commit d94a8335dcffbb44d7d865d8b7200da335e2241f
+Subproject commit fa7211d7bdf68be1df571f222a047ddd6cd764b0

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 (

third_party/message/radar.go

@@ -24,15 +24,16 @@ type Radar struct {
 	Tail           byte
 }
 type RadarData struct {
-	SourceData byte
+	SourceData byte   //接收源数据
-	valRange   byte
+	data       uint16 //移位后的数据
+	valRange   byte   //数据取值范围
 }
 type RadarState struct {
-	SourceState      byte
+	SourceState      byte   //原数据
-	Model            string
+	Model            string // 天线模式
-	SyntheticalState string
+	SyntheticalState string //综合状态
-	DirState         string
+	DirState         string //方向状态
-	Dir              string
+	Dir              string //方向
 }
 
 func (r *Radar) Decode(data []byte) error {
@@ -70,7 +71,7 @@ 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 +79,7 @@ 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 +99,24 @@ func (s *RadarState) parseState() {
 	s.Dir = bitStateStr(arr[0:1])
 }
 
-func (s *RadarState) getBitsStateArr() []byte {
+func (s *RadarState) getBitsStateArr() [8]byte {
-	bits := make([]byte, 8)
+	//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 {
+	for i := len(data) - 1; i >= 0; i-- {
-		build.WriteString(fmt.Sprintf("%v", d))
+		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 {
@@ -143,7 +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) {

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)
+}

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)
 				}
 			}),
 		}

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() {
+	for _, tpas := range tpapiService {
-	case tpapi.ThirdPartyState_Normal:
+		t := convertServiceName(tpas.Name())
-		ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
+		if t == state_proto.SimulationThirdPartyApiService_Undefined {
-			Type:  state_proto.SimulationThirdPartyApiService_Dynamics,
+			slog.Error("未知的第三方接口服务类型", "name", tpas.Name())
-			State: state_proto.SimulationThirdPartyApiService_Normal,
+		}
-		})
+		switch tpas.State() {
-	case tpapi.ThirdPartyState_Broken:
+		case tpapi.ThirdPartyState_Normal:
-		ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
+			ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
-			Type:  state_proto.SimulationThirdPartyApiService_Dynamics,
+				Type:  t,
-			State: state_proto.SimulationThirdPartyApiService_Error,
+				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
 }

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 {
+// func NewThirdPartyApiService() ThirdPartyApiService {
-	return &thirdPartyApiService{
+// 	return &thirdPartyApiService{
-		state: ThirdPartyState_Closed,
+// 		state: ThirdPartyState_Closed,
-	}
+// 	}
-}
+// }
 
-type thirdPartyApiService struct {
+// type thirdPartyApiService struct {
-	state ThirdPartyApiServiceState
+// 	state ThirdPartyApiServiceState
-}
+// }
 
-func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) {
+// func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) {
-	s.state = state
+// 	s.state = state
-}
+// }
 
-func (s *thirdPartyApiService) State() ThirdPartyApiServiceState {
+// func (s *thirdPartyApiService) State() ThirdPartyApiServiceState {
-	return s.state
+// 	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

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
+// // 启动
-func (s *VerifySimulation) Start() {
+// func (s *VerifySimulation) Start() {
-	s.runState = state_proto.SimulationStatus_START
+// 	s.runState = state_proto.SimulationStatus_START
-}
+// }
 
-// 销毁
+// // 销毁
-func (s *VerifySimulation) Destroy() {
+// func (s *VerifySimulation) Destroy() {
-	s.runState = state_proto.SimulationStatus_DESTROY
+// 	s.runState = state_proto.SimulationStatus_DESTROY
-}
+// }
 
-// 暂停
+// // 暂停
-func (s *VerifySimulation) Pause() {
+// func (s *VerifySimulation) Pause() {
-	s.runState = state_proto.SimulationStatus_PAUSE
+// 	s.runState = state_proto.SimulationStatus_PAUSE
-}
+// }
 
-// 获取状态
+// // 获取状态
-func (s *VerifySimulation) GetRunState() state_proto.SimulationStatus_SimulationState {
+// func (s *VerifySimulation) GetRunState() state_proto.SimulationStatus_SimulationState {
-	return s.runState
+// 	return s.runState
-}
+// }
 
 // 获取仿真世界信息
 func (s *VerifySimulation) GetComIdByUid(uid string) uint32 {

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()
+	message_server.Close(simulationInfo)
+	// 发布销毁消息
+	message_server.PubSimulationDestroyMsg(simulationId)
 	// 停止第三方
 	stopThirdParty(simulationInfo)
-	message_server.Close(simulationInfo)
 }
 
 // 创建world