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12号线列车控制基本调试

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This commit is contained in:
tiger_zhou 2024-07-11 14:58:34 +08:00
parent aa04a9fbf4
commit 037cf2f1be
11 changed files with 1021 additions and 818 deletions
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1287
dto/state_proto/device_state.pb.go
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File diff suppressed because it is too large Load Diff

2
rts-sim-testing-message

@ -1 +1 @@
Subproject commit 6cdf88a92d573fdb6502047d10abd1af7d0e40a2
Subproject commit 1e7e693004e7f0e5b0f4d7de58408984a7d52f2c

12
third_party/message/can_btm_data.go vendored
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@ -66,6 +66,12 @@ type BtmDataMessageTimeAFrame struct {
IsTrainPcSim bool
}
func NewBtmDataMessageTimeAFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
return &BtmDataMessageTimeAFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func NewBtmDataMessageTimeAFrame(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
return &BtmDataMessageTimeAFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
@ -276,6 +282,12 @@ type BtmDataMessageEndFrame struct {
IsTrainPcSim bool
}
func NewBtmDataMessageEndFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
return &BtmDataMessageEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func NewBtmDataMessageEndFrame(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
return &BtmDataMessageEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),

95
third_party/message/can_btm_rsp.go vendored
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@ -2,6 +2,101 @@ package message
import "log/slog"
func CreateBtmRspFramesData2(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
/* if len(msg) > 104 { //数据帧最多存储13*8个字节
return nil, false
}*/
//最近一次ATP查询请求序列号
sn := statusRsp.FId.ID4
//13个BtmDataMessageFrame [0x00,0x0c]
//数据
dms := make([]*BtmDataMessageFrame, 13)
for mr := 0x00; mr <= 0x0c; mr++ {
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
mi := mr * 8
if mi < len(msg) { //数据帧中有<=8个字节数据
if mi+7 < len(msg) {
dms[mr].Message = msg[mi : mi+8]
} else {
for i, d := range msg[mi:] {
dms[mr].Message[i] = d
}
}
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
for c := 0; c < 8; c++ {
dms[mr].Message[c] = 0xff
}
}
}
//
dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
dtA.TimeA = msgTimeA
if !msgPackError {
var crc32AData []byte
crc32AData = append(crc32AData, msg...)
crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtA.Crc32A = 0xff_ff_ff_ff
}
//
dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
dtB.TimeB = msgTimeB
if !msgPackError {
var crc32BData []byte
crc32BData = append(crc32BData, msg...)
crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtB.Crc32B = 0xff_ff_ff_ff
}
//
end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
end.TkB = tkTimeB
//
statusCf := statusRsp.Encode()
dmsCfs := make([]*CanetFrame, 0, 13)
for _, dm := range dms {
dmsCfs = append(dmsCfs, dm.Encode())
}
dtACf := dtA.Encode()
dtBCf := dtB.Encode()
//
crc32cData := make([]byte, 0, 132)
crc32cData = append(crc32cData, statusCf.CanData...)
for _, dmCf := range dmsCfs {
crc32cData = append(crc32cData, dmCf.CanData...)
}
crc32cData = append(crc32cData, dtACf.CanData...)
crc32cData = append(crc32cData, dtBCf.CanData...)
crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
//
end.Crc32C = Can_Crc32(crc32cData)
//
endCf := end.Encode()
//
rt := make([]byte, 0, 221) //17*13
rt = append(rt, statusCf.Encode2()...)
for _, dmCf := range dmsCfs {
rt = append(rt, dmCf.Encode2()...)
}
rt = append(rt, dtACf.Encode2()...)
rt = append(rt, dtBCf.Encode2()...)
rt = append(rt, endCf.Encode2()...)
if isTrainPcSim && len(rt) != 221 {
} else if len(rt) != 221 {
slog.Warn("len(rt)!=221")
return nil, false
}
return rt, true
}
// CreateBtmRspFramesData BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
//
// 数据帧与状态应答帧同时发送给ATP

2
third_party/message/train_pc_sim_message.go vendored
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@ -255,4 +255,6 @@ const (
DOOR_MODE_AM
//MM人开人关
DOOR_MODE_MM
_
NOT_BREAK
)

19
third_party/train_pc_sim/train_pc_receive_handler.go vendored
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@ -1,22 +1,30 @@
package train_pc_sim
import (
"encoding/hex"
"fmt"
"joylink.club/bj-rtsts-server/dto/state_proto"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/tcp"
"log/slog"
"time"
)
type trainPcReciverData struct {
clientKey string
tcpClient *tcp.TcpClient
pcSimManage TrainPcSimManage
isSleep bool
}
func (rd *trainPcReciverData) receiverDataHandle(n int, data []byte) {
if !rd.isSleep {
time.Sleep(time.Second * 5)
rd.isSleep = true
}
receiveData := data[:n]
//hexSourceData := hex.EncodeToString(receiveData)
hexSourceData := hex.EncodeToString(receiveData)
//slog.Info(fmt.Sprintf("接受列车激活端:%v pc仿真接收数据：%v", rd.clientKey, hexSourceData))
trainPcMsgs := message.TrainPcSimDecode(receiveData)
connType := state_proto.TrainConnState_PC_SIM_A
@ -24,12 +32,13 @@ func (rd *trainPcReciverData) receiverDataHandle(n int, data []byte) {
connType = state_proto.TrainConnState_PC_SIM_B
}
for _, baseMsg := range trainPcMsgs {
//slog.Info(fmt.Sprintf("pc仿真接收数据：%v,类型:%X", hexSourceData, baseMsg.Type))
slog.Info(fmt.Sprintf("pc仿真接收数据：%v,类型:%X", hexSourceData, baseMsg.Type))
switch baseMsg.Type {
//case RECIVE_TRAIN_CREATE_REMOVE:
// pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
//case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
// rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(connType, baseMsg.Data)
case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(connType, baseMsg.Data)
case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
rd.pcSimManage.TrainPcSimDigitalReportHandle(connType, baseMsg.Data)
case message.RECIVE_TRAIN_QUERY_STATUS:

149
third_party/train_pc_sim/train_pc_sim.go vendored
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@ -10,6 +10,7 @@ import (
"joylink.club/bj-rtsts-server/third_party/tcp"
"joylink.club/bj-rtsts-server/third_party/tpapi"
"log/slog"
"math"
"sync"
"time"
)
@ -42,6 +43,9 @@ type TrainPcSim interface {
CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
// CreateOrRemoveTrain 创建或删除列车
CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
//TestSendData(train *state_proto.TrainState, data []byte)
TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
}
type TrainPcSimManage interface {
@ -96,6 +100,39 @@ func Default() TrainPcSim {
}
return singleObj
}
func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
s1 := speedMeter * 1000
pluseCountData := s1 * 200 / math.Pi / float32(wheelDiameter)
fmt.Println(fmt.Sprintf("----------------------%v", pluseCountData))
return uint32(pluseCountData)
}
func (s *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
defer initLock.Unlock()
initLock.Lock()
if sta.TrainRunUp {
if sta.TrainEndsA.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
}
if sta.TrainEndsA.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
}
} else {
if sta.TrainEndsB.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
}
if sta.TrainEndsB.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
}
}
}
func (s *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
defer initLock.Unlock()
initLock.Lock()
sta.PluseCount.PulseCount1 = 0
sta.PluseCount.PulseCount2 = 0
}
type trainPcSimService struct {
state tpapi.ThirdPartyApiServiceState
@ -112,12 +149,11 @@ func (d *trainPcSimService) readError(err error) {
d.updateState(tpapi.ThirdPartyState_Broken)
}
func (d *trainPcSimService) newCloseAllConn() {
for _, rd := range d.newPcSimclientMap {
if rd != nil {
rd.tcpClient.Close()
rd.tcpClient = nil
}
trains := d.trainPcSimManage.GetConnTrain2()
for _, train := range trains {
d.CreateOrRemoveTrain(train, false)
}
}
func (d *trainPcSimService) newCloseConn(clientKey string) {
@ -203,12 +239,10 @@ func (d *trainPcSimService) initConn(clientKey string) {
func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
configs := pcSimManage.GetTrainPcSimConfig()
d.newPcSimclientMap = make(map[string]*trainPcReciverData)
if len(configs) <= 0 {
slog.Info("车载pc仿真配置未开启")
return
}
closedCount := 0
for _, c := range configs {
if !c.Open {
@ -230,12 +264,13 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
}
func (d *trainPcSimService) Stop() {
d.updateState(tpapi.ThirdPartyState_Closed)
if d.cancleContext != nil {
d.cancleContext()
d.cancleContext = nil
}
//d.closeAllConn()
d.newCloseAllConn()
}
func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
@ -250,22 +285,14 @@ func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainSta
func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
clientKey := FindTrainPcSimClientKey(train)
d.initConn(clientKey)
log := "删除列车"
data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
if isCreate {
log = "创建列车"
data[0] = message.FLAG_CAMMAND_CREATE_TRAIN
}
msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
rd := d.newPcSimclientMap[clientKey]
if rd != nil {
sd := msg.Encode()
slog.Info(fmt.Sprintf("%v-列车号:%v,发送数据:%v", log, train.Id, hex.EncodeToString(sd)))
err := rd.tcpClient.Send(sd)
if err != nil {
return err
}
initTrainErr := d.initTrain(rd, train, isCreate)
initTrainErr := d.initTrain(rd, train, isCreate, msg)
if !isCreate {
d.newCloseConn(clientKey)
}
@ -276,25 +303,32 @@ func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, i
}
return nil
}
func (d *trainPcSimService) initTrain(rd *trainPcReciverData, train *state_proto.TrainState, isCreate bool) error {
func (d *trainPcSimService) initTrain(rd *trainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
msgs := make([]message.TrainPcSimBaseMessage, 0)
sendMsg := make([]byte, 0)
if isCreate {
tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
msgs = append(msgs, tmpMsgs...)
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE}) //驾驶室激活
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活反馈按钮
} else {
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_NOT_ACTIVE}) //驾驶室激活
train.VobcState.Tc1Active = false
train.VobcState.Tc2Active = false
tcc := train.Tcc
for _, key := range tcc.DriverKey {
key.Val = false
}
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_BRAKE_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_NOT_ACTIVE}) //驾驶室激活
}
for _, msg := range msgs {
data := msg.Encode()
hexData := hex.EncodeToString(data)
err := rd.tcpClient.Send(data)
if err != nil {
slog.Error(fmt.Sprintf("列车设置激活%v 失败:%v", isCreate, hexData))
return fmt.Errorf(fmt.Sprintf("列车设置激活%v 失败:%v", isCreate, hex.EncodeToString(data)), err)
}
sendMsg = append(sendMsg, data...)
}
sendMsg = append(sendMsg, trains.Encode()...)
hexData := hex.EncodeToString(sendMsg)
slog.Info(fmt.Sprintf("发送列车初始化消息:%v", hexData))
rd.tcpClient.Send(sendMsg)
return nil
}
@ -316,8 +350,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
d.speedPlace.ParsePulseCount1(s1, s2)
data := d.speedPlace.Encode(train.TrainRunUp, s1, s2)
bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
train.PluseCount.PulseCount1 = 0
train.PluseCount.PulseCount2 = 0
d.TrainPluseCountReset(train)
dataCode := bm.Encode()
slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, d.speedPlace.PulseCount1, d.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
err := rd.tcpClient.Send(dataCode)
@ -335,9 +368,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
// SendDriverActive Deprecated 发送驾驶激活
func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
vobc := train.VobcState
clientKey := FindTrainPcSimClientKey(train)
//client := d.pcSimClientMap[clientKey]
rd := d.newPcSimclientMap[clientKey]
defulatBuf := make([]byte, 0)
msg := &message.TrainPcSimBaseMessage{Data: defulatBuf}
@ -354,15 +385,21 @@ func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
}
}
//:"创建列车-列车号:1,发送数据:eb0050010156e4"}
//{,"msg":"发送驾驶激活列车","1":"数据","!BADKEY":"eb0004002437"}
msgs := make([]byte, 0)
if msg.Type == message.SENDER_TRAIN_TC_ACTIVE {
dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}
msgs = append(msgs, dd3.Encode()...)
} else {
dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}
msgs = append(msgs, dd3.Encode()...)
}
msgs = append(msgs, msg.Encode()...)
hexData := hex.EncodeToString(msgs)
slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
err := rd.tcpClient.Send(msgs)
da := msg.Encode()
slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hex.EncodeToString(da)))
err := rd.tcpClient.Send(da)
//err := client.Send(da)
if err != nil {
slog.Error(fmt.Sprintf("发送驾驶激活失败列车id:%v,数据:%v,err:%v", train.Id, hex.EncodeToString(da), err.Error()))
slog.Error(fmt.Sprintf("发送驾驶激活失败列车id:%v,数据:%v,err:%v", train.Id, hexData, err.Error()))
}
}
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
@ -372,18 +409,12 @@ func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, t
clientKey := FindTrainPcSimClientKey(train)
rd := d.newPcSimclientMap[clientKey]
//client := d.pcSimClientMap[clientKey]
msg := &message.TrainPcSimBaseMessage{}
newTraction := vobc.TractionForce
//newBrake := -vobc.BrakeForce
//newOldBrakeForce := -oldBrakeForce
if tractionState {
if newTraction <= oldTraction && newTraction == 0 {
if newTraction <= oldTraction && newTraction <= 0 {
//手柄取消前进
msg.Type = message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
} else if newTraction > oldTraction {
//手柄前进
msg.Type = message.SENDER_TRAIN_HAND_KEY_FORWARD
} else {
//手柄前进
msg.Type = message.SENDER_TRAIN_HAND_KEY_FORWARD
@ -393,8 +424,7 @@ func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, t
/*if newBrake >= newOldBrakeForce && newBrake == 0 {
//手柄取消后退
msg.Type = message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
} else
if newBrake < newOldBrakeForce {
} else if newBrake < newOldBrakeForce {
//手柄后退
msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
} else {
@ -436,6 +466,7 @@ func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, tr
}
}
}
func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgType byte, data []string) {
for _, hexData := range data {
dd, _ := hex.DecodeString(hexData)
@ -443,8 +474,7 @@ func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgTy
clientKey := FindTrainPcSimClientKey(train)
rd := d.newPcSimclientMap[clientKey]
da := msg.Encode()
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
err := rd.tcpClient.Send(da)
if err != nil {
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
@ -458,10 +488,8 @@ func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgTyp
msg.Data = data
clientKey := FindTrainPcSimClientKey(train)
rd := d.newPcSimclientMap[clientKey]
da := msg.Encode()
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,无应答器:%v,数据:%v", msgType == message.RECIVE_TRAIN_BTM_NOT_DATA, hex.EncodeToString(da)))
//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,无应答器:%v,数据:%v", msgType == message.RECIVE_TRAIN_BTM_NOT_DATA, hex.EncodeToString(da)))
err := rd.tcpClient.Send(da)
if err != nil {
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
@ -475,22 +503,25 @@ func (d *trainPcSimService) PublishTrainControlEvent(train *state_proto.TrainSta
}
clientKey := FindTrainPcSimClientKey(train)
rd := d.newPcSimclientMap[clientKey]
//client := d.pcSimClientMap[clientKey]
msgs := make([]byte, 0)
for _, event := range events {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = message.SENDER_TRAIN_OUTR_INFO
data := []byte{event.Command, event.Status}
msg.Data = data
code := msg.Encode()
hexCode := hex.EncodeToString(code)
msgs = append(msgs, code...)
/*hexCode := hex.EncodeToString(code)
slog.Info(fmt.Sprintf("输出列车控制输出量,命令码位:%v 对应状态:%v,发送数据:%v", event.Command, event.Status, hexCode))
err := rd.tcpClient.Send(code)
if err != nil {
slog.Error(fmt.Sprintf("输出列车控制输出量发送失败,命令码位:%v 对应状态:%v,发送数据:%v", event.Command, event.Status, hexCode))
}
//client.Send(msg.Encode())
//FireTrainControlEventType.Publish(world, &event)
}*/
}
hexCode := hex.EncodeToString(msgs)
slog.Info(fmt.Sprintf("列车初始化发送数字量:%v", hexCode))
err := rd.tcpClient.Send(msgs)
if err != nil {
slog.Error(fmt.Sprintf("1111111111111111111"))
}
}

36
ts/simulation/wayside/memory/train_tcc_graphic.go
View File

@ -12,6 +12,15 @@ const (
JJZD = "JJZD" //紧急停车
QHFXKZ = "QHFXKZ" //驾驶方向
QYSB = "QYSB" //牵引制动手柄
ATPQCKG = "ATPQCKG" //ATP切除开关
KZM = "KZM" //开左门按钮
GZM = "GZM" //关左门按钮
GYM = "GYM" //关右门按钮
ZAWTGJC = "ZAWTGJC" //障碍物/脱轨检测
ZDZGZ = "ZDZGZ" //制动重故障
ATPSD = "ATPSD" //ATP上电按钮
MSQR = "MSQR" //模式确认
)
// 获取列车控制图形数据
@ -68,14 +77,17 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3
}
func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) {
vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true}
vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: 100, DirectionForward: true,
AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true,
ConfirmBtn: true, AtpPowerOnBtn: true,
}
var trainActDir uint32 = 0
if trainIsUp {
vobc.Tc1Active = true
//vobc.Tc1Active = true
trainActDir = 1
} else {
//vobc.Tc1Active = true
vobc.Tc2Active = true
//vobc.Tc2Active = true
trainActDir = 2
}
return vobc, trainActDir
@ -101,12 +113,12 @@ func initTrainTcc(vs *VerifySimulation, runDir bool, breaking int32) *state_prot
btns := make([]*state_proto.TrainControlState_ControlButton, 0)
for _, b := range tccGI.TccButtons {
btn := &state_proto.TrainControlState_ControlButton{Id: b.Common.Id, Passed: false}
if b.Code == JJZD {
btn.Passed = false
switch b.Code {
case ATPQCKG, GZM, GYM, ZAWTGJC, ZDZGZ, ATPSD, MSQR:
btn.Passed = true
}
btns = append(btns, btn)
}
tcc.Buttons = btns
for _, b := range tccGI.TccHandles {
if b.Code == QYSB {
@ -117,11 +129,11 @@ func initTrainTcc(vs *VerifySimulation, runDir bool, breaking int32) *state_prot
for _, b := range tccGI.TccKeys {
if b.GetType() == data_proto.TccKey_driverControllerActivationClint {
val := false
if b.Code == SKQYS1 && runDir {
val = true
} else if b.Code == SKQYS2 && !runDir {
val = true
}
/* if b.Code == SKQYS1 && runDir {
val = true
} else if b.Code == SKQYS2 && !runDir {
val = true
}*/
ds = append(ds, &state_proto.TrainControlState_DriverKeySwitch{Id: b.Common.Id, Val: val})
} else if b.GetType() == data_proto.TccKey_frontAndRearDirectionalControl {
tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: b.Common.Id, Val: uint32(message.IsTrue(true))}

46
ts/simulation/wayside/memory/wayside_memory_train.go
View File

@ -5,8 +5,8 @@ import (
"joylink.club/bj-rtsts-server/dto/common_proto"
"joylink.club/bj-rtsts-server/service"
"joylink.club/bj-rtsts-server/third_party/can_btm"
"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
"log/slog"
"math"
"reflect"
"strconv"
"time"
@ -143,7 +143,9 @@ func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.Id)))
}
train := data.(*state_proto.TrainState)
if train.DynamicState.Speed != 0 {
panic(sys_error.New(fmt.Sprintf("列车[%s]需要停稳才能连接半实物", train.Id)))
}
if ct.ConnType != state_proto.TrainConnState_NONE {
//列车连接 半实物或车载pc仿真
allTrainMap.Range(func(k, v any) bool {
@ -407,50 +409,12 @@ func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.Dynamics
})
}
// 接受动力学时间15毫米
const RECEIVE_DYNAMIC_DATA_RATE = 15
func formatSpeedTime(s int32) int32 {
//d3, _ := strconv.ParseFloat(fmt.Sprintf("%.2f", s), 64)
return int32(math.Abs(math.Round(float64(s))))
}
func formatSpeedTime2(s int32) uint32 {
return uint32(math.Abs(float64(float32(s) / 3.6 / 100 * 1000)))
}
const (
aa = 0x79
)
func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
if sta.PluseCount == nil {
return
}
if sta.TrainRunUp {
//p1 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed1)
//p2 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed2)
train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
//p1 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
//p2 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
if sta.TrainEndsA.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + uint32(h1*1000*0.08)
}
if sta.TrainEndsA.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + uint32(h2*1000*0.08)
}
} else {
//t1 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
//t2 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
//t1 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed1)
//t2 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed2)
if sta.TrainEndsB.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + uint32(t1*1000*0.08)
}
if sta.TrainEndsB.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + uint32(t2*1000*0.08)
}
}
}
func RemoveAllTrain(vs *VerifySimulation) {
allTrainMap := &vs.Memory.Status.TrainStateMap

186
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -40,11 +40,10 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
tcc := sta.Tcc
var tce []train_pc_sim.TrainControlEvent = nil
if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
//tce = trainControlEB(vobc, tcc, ct.Button, ct.DeviceId, tccGraphicData)
tce = trainControlButton(vobc, tcc.Buttons, ct.DeviceId, ct.ControlButton.Active, tccGraphicData)
} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
tce = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
//train_pc_sim.Default().SendDriverActive(sta)
train_pc_sim.Default().SendDriverActive(sta)
} else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH {
tce = 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
@ -56,7 +55,11 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
tce = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
}
if vobc.DirectionForward && vobc.TractionForce == 0 {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.DIR_ZERO_FORWARD, Status: 1})
} else {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.DIR_ZERO_FORWARD, Status: 0})
}
if !vobc.DirectionForward && !vobc.DirectionBackward {
vobc.TractionStatus = false
vobc.TractionForce = 0
@ -338,28 +341,25 @@ func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc
if tcc.DirKey == nil {
tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId}
}
tce := make([]train_pc_sim.TrainControlEvent, 0)
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
//var zeroState byte = 0
if direction == request_proto.TrainControl_FORWARD {
vobc.DirectionForward = true
} else if direction == request_proto.TrainControl_BACKWARD {
vobc.DirectionBackward = true
}
tcc.DirKey.Val = request.Val
tce := make([]train_pc_sim.TrainControlEvent, 0)
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: zeroState})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(vobc.DirectionBackward)})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(vobc.DirectionForward)})
if vobc.DirectionForward {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.DIR_ZERO_FORWARD, Status: 1})
} else {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.DIR_ZERO_FORWARD, Status: 0})
}
return tce
}
@ -427,23 +427,23 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train
vobc.BrakeForce = 0
vobc.MaintainBrakeStatus = false
tce := make([]train_pc_sim.TrainControlEvent, 0)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 0})
var zeroState byte = 0
var brakeState byte = 0
if request.Val > 0 {
vobc.TractionStatus = true
vobc.TractionForce = int64(request.Val * 180)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 0})
} else if request.Val < 0 {
vobc.BrakingStatus = true
vobc.BrakeForce = int64(-request.Val * 180)
vobc.EmergencyBrakingStatus = false
jjzdBtn.Passed = false
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.OUTER_EMERGENCY_BRAKE, Status: 0})
brakeState = 1
} else {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 1})
zeroState = 1
}
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: zeroState})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: brakeState})
if tcc.PushHandler == nil {
tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId}
}
@ -451,10 +451,6 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train
return tce
}
/*func (s *VerifySimulation) GetConnTrain() *state_proto.TrainState {
return s.findConnTrain(state_proto.TrainConnState_PC_SIM)
}*/
func (s *VerifySimulation) GetConnTrain2() []*state_proto.TrainState {
return s.findConnTrain2(state_proto.TrainConnState_PC_SIM_A, state_proto.TrainConnState_PC_SIM_B)
}
@ -487,6 +483,9 @@ func (s *VerifySimulation) FindConnTrain(ct state_proto.TrainConnState_TrainConn
return findTrain
}
var tmpFlag bool = false
var testIndex uint32 = 0
// 4.4.1. 车载输出数字量信息报文内容
func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(connType state_proto.TrainConnState_TrainConnType, data []byte) {
slog.Info(fmt.Sprintf("处理车载输出数字量信息报文内容:%v", hex.EncodeToString(data)))
@ -499,12 +498,53 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(connType state_proto.T
slog.Error("车载输出数字量，,列车未连接车载pc仿真")
return
}
vobc := train.VobcState
trainPcSimDigitalOutInfoHandleCode39_32(data[4], vobc)
trainPcSimDigitalOutInfoHandleCode31_24(connType, data[3], vobc)
trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
trainPcSimDigitalOutInfoHandleCode15_8(data[1], vobc)
trainPcSimDigitalOutInfoHandleCode7_0(data[0], vobc)
d1 := data[4]
//d2 := data[3]
for i, d := range data {
slog.Info(fmt.Sprintf("index:%v ,d :%2b", i, d))
}
tce := make([]train_pc_sim.TrainControlEvent, 0)
if message.GetBit(d1, 3) == 0 {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.OUTER_EMERGENCY_BRAKE, Status: 0})
slog.Info("111111111111111111111111111111111")
} else {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.OUTER_EMERGENCY_BRAKE, Status: 1})
slog.Info("22222222222222222222222222222222222222")
}
if message.GetBit(d1, 2) == 0 {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1})
}
/*if message.GetBit(d1, 0) == 0 {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_TRACTION_CUTED, Status: 1})
}*/
/*if message.GetBit(d2, 3) == 0 {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.DRIVER_ACTIVE_REPORT, Status: 1})
}*/
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.LEFT_DOOR_STATE, Status: 0})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.RIGHT_DOOR_STATE, Status: 0})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_INTEGRITY, Status: 1})
train_pc_sim.Default().PublishTrainControlEvent(train, tce)
/*if train.VobcState.Tc1Active || train.VobcState.Tc2Active {
aas := make([]byte, 0)
d11 := message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD}
d21 := message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD}
if !tmpFlag {
aas = append(aas, d11.Encode()...)
aas = append(aas, d21.Encode()...)
train_pc_sim.Default().TestSendData(train, aas)
tmpFlag = true
}
}*/
//vobc := train.VobcState
//trainPcSimDigitalOutInfoHandleCode39_32(data[4], vobc)
//trainPcSimDigitalOutInfoHandleCode31_24(connType, data[3], vobc)
//trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
//trainPcSimDigitalOutInfoHandleCode15_8(data[1], vobc)
//trainPcSimDigitalOutInfoHandleCode7_0(data[0], vobc)
}
func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobcState) {
vobc.MostUseBrake = message.IsTrueForByte(message.GetBit(d, 0)) //? 常用制动
@ -599,10 +639,11 @@ func TrainPcSimConnOrRemoveHandle(train *state_proto.TrainState, create bool) er
connState := train.ConnState
if connState.ConnType == state_proto.TrainConnState_PC_SIM_A || connState.ConnType == state_proto.TrainConnState_PC_SIM_B {
crErr := train_pc_sim.Default().CreateOrRemoveTrain(train, create)
train_pc_sim.Default().CreateOrRemoveSpeedPLace(train)
if crErr != nil {
return crErr
}
train_pc_sim.Default().CreateOrRemoveSpeedPLace(train)
} else if connState.ConnType == state_proto.TrainConnState_VOBC {
electrical_machinery.Default().ClearOrRemoveTrain(train)
}
@ -645,7 +686,7 @@ func (s *VerifySimulation) TrainPcSimMockInfo(connType state_proto.TrainConnStat
// 4.4.4. 车载输出BTM查询同步帧报文内容（0x04）
func (s *VerifySimulation) TrainBtmQuery(connType state_proto.TrainConnState_TrainConnType, data []byte) {
slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
//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
@ -693,14 +734,21 @@ func (s *VerifySimulation) TrainBtmQuery(connType state_proto.TrainConnState_Tra
} else {
//有数据
aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(btmRepFrame, aliseData, false, cl.TkNow(), cl.TkNow(), cl.TkNow(), true)
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData2(btmRepFrame, aliseData, false, cl.TkNow(), cl.TkNow(), cl.TkNow(), true)
if statusDataCfOk {
queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
queryData = append(queryData, timeSyncF.Encode().Encode2()...)
queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
/* queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
queryData = append(queryData, timeSyncF.Encode().Encode2()...)
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)*/
queryDataStr := make([]string, 0)
queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(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)
train_pc_sim.Default().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryDataStr)
} else {
slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
}
@ -733,6 +781,7 @@ func clock(atpReq *message.AtpRequestFrame) can_btm.BtmClock {
now := time.Now()
return can_btm.BtmClock{BtmTk: atpReq.Time, SysTk: now}
}
func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage {
msgArr := make([]message.TrainPcSimBaseMessage, 0)
vs := train.VobcState
@ -741,37 +790,66 @@ func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainSt
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
}
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, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急制动
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 dir == request_proto.TrainControl_FORWARD {
/*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
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_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.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.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_BACKWORD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制
//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
}
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_RIGHT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关右门按钮
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.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
}
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.ATO_SEND_TRAIN, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TURN_BACK, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.LEFT_DOOR_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
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.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.OBSTACLE_CHECK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //障碍物检测按钮
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.BRAKE_HEAVY_FAULT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //制动重故障
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.LIFE_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //逃生门状态
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.ATP_CUT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //atp切除
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{39, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //非制动
//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
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
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
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE}) //清空应答器
train.BtmState = nil
return msgArr
}

5
ts/test_simulation_manage.go
View File

@ -153,8 +153,7 @@ func runThirdParty(s *memory.VerifySimulation) error {
// 停止仿真
func stopThirdParty(s *memory.VerifySimulation) {
// 停止动力学接口功能
dynamics.Default().Stop()
// 停止半实物
semi_physical_train.Default().Stop()
// 联锁启动
@ -183,6 +182,8 @@ func stopThirdParty(s *memory.VerifySimulation) {
train_pc_sim.Default().Stop()
btm_vobc.Default().Stop()
// 停止动力学接口功能
dynamics.Default().Stop()
}
func createSimulationId(projectId int32) string {