12号线列车控制基本调试

rts-sim-testing-message

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

third_party/message/can_btm_data.go

@@ -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),

third_party/message/can_btm_rsp.go

@@ -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

third_party/message/train_pc_sim_message.go

@@ -255,4 +255,6 @@ const (
 	DOOR_MODE_AM
 	//MM人开人关
 	DOOR_MODE_MM
+	_
+	NOT_BREAK
 )

third_party/train_pc_sim/train_pc_receive_handler.go

@@ -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:
+		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
-		//	rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(connType, baseMsg.Data)
+			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:

third_party/train_pc_sim/train_pc_sim.go

@@ -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 {
+	trains := d.trainPcSimManage.GetConnTrain2()
-		if rd != nil {
+	for _, train := range trains {
-			rd.tcpClient.Close()
+		d.CreateOrRemoveTrain(train, false)
-			rd.tcpClient = nil
-		}
 	}
+
 }
 
 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()
+		initTrainErr := d.initTrain(rd, train, isCreate, msg)
-		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)
 		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)
+		sendMsg = append(sendMsg, 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, 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
+				d.TrainPluseCountReset(train)
-				train.PluseCount.PulseCount2 = 0
 				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"}
+	msgs := make([]byte, 0)
-	//{,"msg":"发送驾驶激活列车","1":"数据","!BADKEY":"eb0004002437"}
+	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
+			} else if newBrake < newOldBrakeForce {
-			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]
-
+	msgs := make([]byte, 0)
-	//client := d.pcSimClientMap[clientKey]
 	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"))
 	}
 }

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -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 {
+			switch b.Code {
-				btn.Passed = false
+			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 {
+				/*		if b.Code == SKQYS1 && runDir {
-					val = true
+							val = true
-				} else if b.Code == SKQYS2 && !runDir {
+						} else if b.Code == SKQYS2 && !runDir {
-					val = true
+							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))}

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -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 {
+	train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
-		//p1 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed1)
-		//p2 := formatSpeedTime2(sta.DynamicState.HeadSensorSpeed2)
 
-		//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

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -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
-
+		brakeState = 1
-		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})
 	} 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
+	d1 := data[4]
-	trainPcSimDigitalOutInfoHandleCode39_32(data[4], vobc)
+	//d2 := data[3]
-	trainPcSimDigitalOutInfoHandleCode31_24(connType, data[3], vobc)
+
-	trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
+	for i, d := range data {
-	trainPcSimDigitalOutInfoHandleCode15_8(data[1], vobc)
+		slog.Info(fmt.Sprintf("index:%v ,d :%2b", i, d))
-	trainPcSimDigitalOutInfoHandleCode7_0(data[0], vobc)
+	}
+	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 := make([]byte, 0)
-				queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
+								queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
-				queryData = append(queryData, timeSyncF.Encode().Encode2()...)
+								queryData = append(queryData, timeSyncF.Encode().Encode2()...)
-				queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
+								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
+	} else*/if dir == request_proto.TrainControl_FORWARD {
-		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
+		//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.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.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
+	if vs.RightDoorCloseCommand {
-	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_LEFT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})      //关左门按钮
+		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{message.NOT_BREAK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})            //非制动
-	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{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{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{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{}, 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
 }

ts/test_simulation_manage.go

@@ -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 {