应答器修改

api/simulation.go

@@ -48,13 +48,13 @@ func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddle
 	authed.GET("/:id/getMapKilometerRange", getMapKilometerRange)
 	authed.POST("/psl/operation", pslBtnOperation) //1
 	authed.POST("/psd/operation", psdOperation)
-	authed.PUT("/balisecodec/position/modify", balisePositionModify)
+	authed.PUT("/balise/position/modify", balisePositionModify)
-	authed.PUT("/balisecodec/position/reset", balisePositionReset)
+	authed.PUT("/balise/position/reset", balisePositionReset)
-	authed.PUT("/balisecodec/telegram/modify", baliseTelegramModify)
+	authed.PUT("/balise/telegram/modify", baliseTelegramModify)
-	authed.PUT("/balisecodec/telegram/reset", baliseTelegramReset)
+	authed.PUT("/balise/telegram/reset", baliseTelegramReset)
-	authed.PUT("/balisecodec/telegram/stop", baliseTelegramStop)
+	authed.PUT("/balise/telegram/stop", baliseTelegramStop)
-	authed.PUT("/balisecodec/telegram/send", baliseTelegramSend)
+	authed.PUT("/balise/telegram/send", baliseTelegramSend)
-	authed.PUT("/balisecodec/reset", baliseReset)
+	authed.PUT("/balise/reset", baliseReset)
 	authed.PUT("/ckm/operation", ckmOperation)
 	authed.PUT("/xcj/operation", xcjOperation)
 	//authed.POST("/bypass/operation", bypassBtnOrKeyOperation)

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 74bea4e9955524f7254876c90af08d963f666585
+Subproject commit 61b489dcf80d992891e3266d0224fbe05fd49d0f

third_party/can_btm/balise_btm.go

@@ -127,7 +127,9 @@ type BtmCanetClient interface {
 	Stop()
 	//HandleTrainHeadPositionInfo 处理收到列车位置信息
 	HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo)
-	//获取BTM显示状态 + btm最新的状态
+	// GetState  获取BTM显示状态 + btm最新的状态
+	//
+	// Deprecated 请从列车的btmBaliseCache中获取
 	GetState() state_proto.BTMState
 	//GetAllData()
 	FindNotSendState() (state_proto.BTMState, bool)

third_party/can_btm/balise_detection.go

@@ -8,6 +8,7 @@ import (
 	"joylink.club/rtsssimulation/fi"
 	"joylink.club/rtsssimulation/repository"
 	"joylink.club/rtsssimulation/repository/model/proto"
+	"log/slog"
 	"math"
 	"sort"
 	"sync"
@@ -85,17 +86,9 @@ func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repos
 	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
 	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
 	var startBalises []*repository.Transponder
-	var endBalises []*repository.Transponder
+
 	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, th2.LinkOffset, th.LinkOffset)
-	startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
+	startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th2.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
-	//endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
-	/*	if th.Up {
-			startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
-			endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
-		} else {
-			startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
-			endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
-		}*/
 
 	balises := make([]*repository.Transponder, 0)
 	for _, balise := range startBalises {
@@ -108,31 +101,15 @@ func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repos
 		}
 		if !find {
 			balises = append(balises, balise)
-			//slog.Info(fmt.Sprintf("start baliseId:%v,Distance:%v,up:%v", balisecodec.Id(), balisecodec.LinkPosition(), curAntennaRi.Up))
-		}
-	}
-	for _, balise := range endBalises {
-		find := false
-		for _, transponder := range balises {
-			if transponder.Id() == balise.Id() {
-				find = true
-				break
-			}
-		}
-		if !find {
-			//slog.Info(fmt.Sprintf("end baliseId:%v,Distance:%v,up:%v", balisecodec.Id(), balisecodec.LinkPosition(), curAntennaRi.Up))
-			balises = append(balises, balise)
 		}
 	}
 	if len(balises) > 0 {
 		balise := balises[0]
 		baliseInfo := &BtmAntennaScanningBaliseInfo{BaliseId: balise.Id(), BaliseType: balise.BaliseType()}
-		/*uuid := uuid2.NewString()
+		//uuid := uuid2.NewString()
-		for _, transponder := range balises {
+		//slog.Info(fmt.Sprintf("uid :%v,baliseId:%v,Distance:%v,up:%v", uuid, balise.Id(), baliseInfo.Distance, curAntennaRi.Up))
-			slog.Info(fmt.Sprintf("uid :%v,baliseId:%v,Distance:%v,up:%v", uuid, transponder.Id(), baliseInfo.Distance, curAntennaRi.Up))
-		}*/
 
-		telegram, utel := t.rcvTelegram2(wd, balise.Id())
+		telegram, utel := t.rcvTelegram(wd, balise.Id())
 		if utel != nil && t.addExpectedBalise(baliseInfo) {
 			t.baliseCounterAdd1() //应答器计数器
 			if len(telegram) > 0 {
@@ -222,41 +199,28 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
 }
 
 // BTM天线接收应答器报文(线程不安全)
-func (t *BaliseDetector) rcvTelegram2(wd *component.WorldData, baliseId string) ([]byte, []byte) {
+func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) ([]byte, []byte) {
 
 	if entry, ok := wd.EntityMap[baliseId]; ok {
 		workedState := component.BaliseWorkStateType.Get(entry)
-		if !workedState.Work {
+		fixBalise := component.BaliseFixedTelegramType.Get(entry)
-			return nil, nil
-		}
-
-		//hasVar := entry.HasComponent(component.BaliseVariableTelegramType)
-		//hexFix := entry.HasComponent(component.BaliseFixedTelegramType)
-
 		if entry.HasComponent(component.BaliseVariableTelegramType) {
 			baliseVar := component.BaliseVariableTelegramType.Get(entry)
-			//slog.Info(fmt.Sprintf("find_baliseId:%v ,work:%v,var:%v,fix:%v,tel:%v,usertel:%v", baliseId, workedState.Work, hasVar, hexFix, hex.EncodeToString(baliseVar.Telegram), hex.EncodeToString(baliseVar.UserTelegram)))
+			if !workedState.Work {
-			return baliseVar.Telegram, baliseVar.UserTelegram
-		} else if entry.HasComponent(component.BaliseFixedTelegramType) {
-			fixBalise := component.BaliseFixedTelegramType.Get(entry)
-			//slog.Info(fmt.Sprintf("find_baliseId:%v ,work:%v,var:%v,fix:%v,tel:%v,usertel:%v", baliseId, workedState.Work, hasVar, hexFix, hex.EncodeToString(tel), hex.EncodeToString(utel)))
 				return fixBalise.Telegram, fixBalise.UserTelegram
+			} else if baliseVar.UserTelegram == nil || len(baliseVar.UserTelegram) == 0 {
+				slog.Warn(fmt.Sprintf("BTM天线未接受到应答器可变报文，即将使用对应的固定报文, baliseId: %v", baliseId))
+				return fixBalise.Telegram, fixBalise.UserTelegram
+			} else {
+				return baliseVar.Telegram, baliseVar.UserTelegram
 			}
+		} else if workedState.Work {
+			return fixBalise.Telegram, fixBalise.UserTelegram
+		} else {
+			slog.Warn(fmt.Sprintf("BTM天线未接受到应答器报文，应答器未工作 baliseId: %v", baliseId))
 		}
-
+	} else {
-	return nil, nil
+		slog.Warn(fmt.Sprintf("BTM天线接收应答器报文，未找到 baliseId: %v", baliseId))
-}
-
-// BTM天线接收应答器报文(线程不安全)
-func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) ([]byte, []byte) {
-	entry, ok := wd.EntityMap[baliseId]
-	if ok {
-		if component.BaliseWorkStateType.Get(entry).Work {
-			tel := component.BaliseFixedTelegramType.Get(entry).Telegram
-			utel := component.BaliseFixedTelegramType.Get(entry).UserTelegram
-			return tel, utel
-			//return component.BaliseFixedTelegramType.Get(entry).Telegram
-		}
 	}
 	return nil, nil
 }
@@ -351,6 +315,57 @@ func (t *BaliseDetector) calculateBtmAntennaScanNextBaliseTime(curTime time.Time
 	return curTime, false
 }
 
+// 获取车载BTM天线中心点运行方向最近的1个应答器
+func (t *BaliseDetector) findBaliseWillScanByBtmAntenna2(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
+	//BTM天线中心点所在轨道
+	baLink := repo.FindLink(ba.LinkId)
+	rs1 := t.searchBalisesFromLinkPosition(repo, ba.LinkId, ba.Up, ba.LinkOffset)
+	if ba.Up {
+		if len(rs1) > 0 {
+			rs := rs1[0]
+			return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: rs.LinkPosition().Offset() - ba.LinkOffset, BaliseType: rs.BaliseType()}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						rs := rs2[0]
+
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						rs := rs2[0]
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
+					}
+				}
+			}
+		}
+	} else {
+		if len(rs1) > 0 {
+			return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: ba.LinkOffset - rs1[0].LinkPosition().Offset()}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + rs2[0].LinkPosition().Offset()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
+					}
+				}
+			}
+		}
+	}
+	return nil
+}
+
 // 获取车载BTM天线中心点运行方向最近的1个应答器
 func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
 	//BTM天线中心点所在轨道
@@ -421,7 +436,7 @@ func (t *BaliseDetector) searchBalisesFromBetweenLinkPosition(repo *repository.R
 			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
 		})
 		for _, r := range rs {
-
+			//slog.Info(fmt.Sprintf("down  id:%v,offset:%v,from:%v,to:%v", r.Id(), r.LinkPosition().Offset(), fromOffset, toOffset))
 			if r.LinkPosition().Offset() <= toOffset {
 				cha := int64(math.Abs(float64(toOffset - fromOffset)))
 				cha2 := int64(math.Abs(float64(toOffset - r.LinkPosition().Offset())))
@@ -453,7 +468,6 @@ func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Reposito
 			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
 		})
 		for i, r := range rs {
-			//slog.Info(fmt.Sprintf("id:%v,offset:%v,from:%v", r.Id(), r.LinkPosition().Offset(), fromOffset))
 			if r.LinkPosition().Offset() <= fromOffset {
 				return rs[i:]
 			}

third_party/train_pc_sim/train_pc_sim.go

@@ -218,6 +218,7 @@ func (d *trainPcSimService) newCloseConn(clientKey string) {
 		rd.train = nil
 		rd.speedPlace = nil
 		rd.trainInit = false
+		//d.cancleContextFun()
 	}
 }
 
@@ -379,6 +380,10 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 					slog.Error(fmt.Sprintf("pc仿真速度位置未找到对应的列车 id:%v", train.Id))
 					continue
 				}
+				if trainClient.speedPlace == nil {
+					slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
+					continue
+				}
 
 				connState := tpapi.ThirdPartyState_Normal
 				if train.Tcc.Line12ConnErr {

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -343,6 +343,9 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 		sta.OldLinkOffset = outLinkOffset
 		sta.OldLink = outLinkId
 	}
+	if sta.BtmBaliseCache == nil {
+		sta.BtmBaliseCache = make([]*state_proto.BTMState, 0)
+	}
 	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
 	//slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v,位移距离:%v", info.Speed, info.Acceleration, info.Displacement))
 	if sta.OldLink != outLinkId {
@@ -466,20 +469,15 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
 		TrainIndex: uint16(trainIndex),
 	})
 	if err != nil {
-		return err
+		slog.Warn("列车移除失败,动力学请求失败", err)
 	}
 	thirdConn := train.ConnState
 	if thirdConn.Conn {
 		thirdConn.Conn = false
 		err = TrainPcSimConnOrRemoveHandle(train, false)
-		if err != nil {
-			train.ConnState.Conn = true
-			return err
-		} else {
 		thirdConn.ConnType = state_proto.TrainConnState_NONE
 		thirdConn.TypeName = ""
 	}
-	}
 	if train.VobcState != nil {
 		vobc := train.VobcState
 		vobc.TractionStatus = false