Merge remote-tracking branch 'origin/master'

# Conflicts:
#	bj-rtss-message
#	dto/state_proto/device_state.pb.go

bj-rtss-message

@@ -1 +1 @@
-Subproject commit 8edda8b7497511eda94720f1eb686a6a7f8531c6
+Subproject commit 15c8b523c29de1ced3ec98bdfbd615325f1e4e42

docs/docs.go

@@ -5222,8 +5222,16 @@ const docTemplate = `{
                     "description": "基本阻力参数C",
                     "type": "number"
                 },
-                "idling": {
+                "idlingA": {
-                    "description": "空转",
+                    "description": "空转加速度(m/s) 默认0",
+                    "type": "number"
+                },
+                "idlingD": {
+                    "description": "空转持续时间s 默认0",
+                    "type": "integer"
+                },
+                "idlingR": {
+                    "description": "空转冲击率(m/s) 默认0",
                     "type": "number"
                 },
                 "jump": {
@@ -5235,11 +5243,19 @@ const docTemplate = `{
                     "type": "number"
                 },
                 "slide": {
-                    "description": "前溜/后溜（mm）（正数前溜，负数后溜）",
+                    "description": "前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0",
+                    "type": "number"
+                },
+                "slipA": {
+                    "description": "打滑加速度(m/s) 默认0",
+                    "type": "number"
+                },
+                "slipD": {
+                    "description": "打滑持续时间ms 默认0",
                     "type": "integer"
                 },
-                "slip": {
+                "slipR": {
-                    "description": "打滑（%）",
+                    "description": "打滑冲击率(m/s) 默认0",
                     "type": "number"
                 },
                 "stopSign": {

docs/swagger.json

@@ -5216,8 +5216,16 @@
                     "description": "基本阻力参数C",
                     "type": "number"
                 },
-                "idling": {
+                "idlingA": {
-                    "description": "空转",
+                    "description": "空转加速度(m/s) 默认0",
+                    "type": "number"
+                },
+                "idlingD": {
+                    "description": "空转持续时间s 默认0",
+                    "type": "integer"
+                },
+                "idlingR": {
+                    "description": "空转冲击率(m/s) 默认0",
                     "type": "number"
                 },
                 "jump": {
@@ -5229,11 +5237,19 @@
                     "type": "number"
                 },
                 "slide": {
-                    "description": "前溜/后溜（mm）（正数前溜，负数后溜）",
+                    "description": "前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0",
+                    "type": "number"
+                },
+                "slipA": {
+                    "description": "打滑加速度(m/s) 默认0",
+                    "type": "number"
+                },
+                "slipD": {
+                    "description": "打滑持续时间ms 默认0",
                     "type": "integer"
                 },
-                "slip": {
+                "slipR": {
-                    "description": "打滑（%）",
+                    "description": "打滑冲击率(m/s) 默认0",
                     "type": "number"
                 },
                 "stopSign": {

docs/swagger.yaml

@@ -222,8 +222,14 @@ definitions:
       davisParamC:
         description: 基本阻力参数C
         type: number
-      idling:
+      idlingA:
-        description: 空转
+        description: 空转加速度(m/s) 默认0
+        type: number
+      idlingD:
+        description: 空转持续时间s 默认0
+        type: integer
+      idlingR:
+        description: 空转冲击率(m/s) 默认0
         type: number
       jump:
         description: 是否跳跃
@@ -232,10 +238,16 @@ definitions:
         description: 旋转质量参数
         type: number
       slide:
-        description: 前溜/后溜（mm）（正数前溜，负数后溜）
+        description: 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0
+        type: number
+      slipA:
+        description: 打滑加速度(m/s) 默认0
+        type: number
+      slipD:
+        description: 打滑持续时间ms 默认0
         type: integer
-      slip:
+      slipR:
-        description: 打滑（%）
+        description: 打滑冲击率(m/s) 默认0
         type: number
       stopSign:
         description: 过标/欠标（mm）（正数过标，负数欠标）

dto/common_proto/common_data.pb.go

@@ -48,13 +48,22 @@ type TrainDynamicConfig struct {
 	RevolvingMassParam float32 `protobuf:"fixed32,8,opt,name=revolvingMassParam,proto3" json:"revolvingMassParam,omitempty"`
 	// 是否跳跃
 	Jump bool `protobuf:"varint,9,opt,name=jump,proto3" json:"jump,omitempty"`
-	// 打滑（%）
+	// 打滑加速度(m/s) 默认0
-	Slip float32 `protobuf:"fixed32,10,opt,name=slip,proto3" json:"slip,omitempty"`
+	SlipA float32 `protobuf:"fixed32,10,opt,name=slipA,proto3" json:"slipA,omitempty"`
-	// 前溜/后溜（m/s）（正数前溜，负数后溜）
+	// 打滑冲击率(m/s) 默认0
-	Slide int32 `protobuf:"varint,11,opt,name=slide,proto3" json:"slide,omitempty"`
+	SlipR float32 `protobuf:"fixed32,11,opt,name=slipR,proto3" json:"slipR,omitempty"`
+	// 打滑持续时间ms 默认0
+	SlipD int32 `protobuf:"varint,12,opt,name=slipD,proto3" json:"slipD,omitempty"`
+	// 空转加速度（m/s2），默认值：0
+	IdlingA float32 `protobuf:"fixed32,14,opt,name=idlingA,proto3" json:"idlingA,omitempty"`
+	// 空转冲击率（m/s3），默认值：0
+	IdlingR float32 `protobuf:"fixed32,15,opt,name=idlingR,proto3" json:"idlingR,omitempty"`
+	// 空转持续时间（ms），默认值：0
+	IdlingD int32 `protobuf:"varint,16,opt,name=idlingD,proto3" json:"idlingD,omitempty"`
 	// 过标/欠标（mm）（正数过标，负数欠标）
-	StopSign int32   `protobuf:"varint,12,opt,name=stopSign,proto3" json:"stopSign,omitempty"`
+	StopSign int32 `protobuf:"varint,17,opt,name=stopSign,proto3" json:"stopSign,omitempty"`
-	Idling   float32 `protobuf:"fixed32,13,opt,name=idling,proto3" json:"idling,omitempty"` //空转
+	// 前溜/后溜（m/s）默认0
+	Slide float32 `protobuf:"fixed32,18,opt,name=slide,proto3" json:"slide,omitempty"`
 }
 
 func (x *TrainDynamicConfig) Reset() {
@@ -152,16 +161,44 @@ func (x *TrainDynamicConfig) GetJump() bool {
 	return false
 }
 
-func (x *TrainDynamicConfig) GetSlip() float32 {
+func (x *TrainDynamicConfig) GetSlipA() float32 {
 	if x != nil {
-		return x.Slip
+		return x.SlipA
 	}
 	return 0
 }
 
-func (x *TrainDynamicConfig) GetSlide() int32 {
+func (x *TrainDynamicConfig) GetSlipR() float32 {
 	if x != nil {
-		return x.Slide
+		return x.SlipR
+	}
+	return 0
+}
+
+func (x *TrainDynamicConfig) GetSlipD() int32 {
+	if x != nil {
+		return x.SlipD
+	}
+	return 0
+}
+
+func (x *TrainDynamicConfig) GetIdlingA() float32 {
+	if x != nil {
+		return x.IdlingA
+	}
+	return 0
+}
+
+func (x *TrainDynamicConfig) GetIdlingR() float32 {
+	if x != nil {
+		return x.IdlingR
+	}
+	return 0
+}
+
+func (x *TrainDynamicConfig) GetIdlingD() int32 {
+	if x != nil {
+		return x.IdlingD
 	}
 	return 0
 }
@@ -173,9 +210,9 @@ func (x *TrainDynamicConfig) GetStopSign() int32 {
 	return 0
 }
 
-func (x *TrainDynamicConfig) GetIdling() float32 {
+func (x *TrainDynamicConfig) GetSlide() float32 {
 	if x != nil {
-		return x.Idling
+		return x.Slide
 	}
 	return 0
 }
@@ -295,7 +332,7 @@ var File_common_data_proto protoreflect.FileDescriptor
 
 var file_common_data_proto_rawDesc = []byte{
 	0x0a, 0x11, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x5f, 0x64, 0x61, 0x74, 0x61, 0x2e, 0x70, 0x72,
-	0x6f, 0x74, 0x6f, 0x12, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x22, 0xfc, 0x03, 0x0a, 0x12,
+	0x6f, 0x74, 0x6f, 0x12, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x22, 0xe0, 0x04, 0x0a, 0x12,
 	0x54, 0x72, 0x61, 0x69, 0x6e, 0x44, 0x79, 0x6e, 0x61, 0x6d, 0x69, 0x63, 0x43, 0x6f, 0x6e, 0x66,
 	0x69, 0x67, 0x12, 0x20, 0x0a, 0x0b, 0x64, 0x61, 0x76, 0x69, 0x73, 0x50, 0x61, 0x72, 0x61, 0x6d,
 	0x41, 0x18, 0x01, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0b, 0x64, 0x61, 0x76, 0x69, 0x73, 0x50, 0x61,
@@ -321,39 +358,45 @@ var file_common_data_proto_rawDesc = []byte{
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+	0x63, 0x63, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x53, 0x70, 0x65, 0x65, 0x64, 0x44, 0x69, 0x66, 0x66,
-	0x6d, 0x6d, 0x6f, 0x6e, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74,
+	0x18, 0x07, 0x20, 0x01, 0x28, 0x02, 0x52, 0x11, 0x61, 0x63, 0x63, 0x43, 0x68, 0x65, 0x63, 0x6b,
-	0x6f, 0x33,
+	0x53, 0x70, 0x65, 0x65, 0x64, 0x44, 0x69, 0x66, 0x66, 0x12, 0x22, 0x0a, 0x0c, 0x61, 0x63, 0x63,
+	0x43, 0x68, 0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x18, 0x08, 0x20, 0x01, 0x28, 0x05, 0x52,
+	0x0c, 0x61, 0x63, 0x63, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x42, 0x2f, 0x5a,
+	0x2d, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a,
+	0x2d, 0x72, 0x74, 0x73, 0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74,
+	0x6f, 0x2f, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06,
+	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (

dto/simulation.go

@@ -113,10 +113,15 @@ type ConfigTrainData struct {
 	CurveResistanceParamR4 float32 `json:"curveResistanceParamR4"` // 曲线阻力参数R4
 	RevolvingMassParam     float32 `json:"revolvingMassParam"`     // 旋转质量参数
 	Jump                   bool    `json:"jump"`                   // 是否跳跃
-	Slip                   float32 `json:"slip"`                   // 打滑（%）
+	SlipA                  float32 `json:"slipA"`                  // 打滑加速度(m/s) 默认0
-	Slide                  int32   `json:"slide"`                  // 前溜/后溜（mm）（正数前溜，负数后溜）
+	SlipR                  float32 `json:"slipR"`                  // 打滑冲击率(m/s) 默认0
-	StopSign               int32   `json:"stopSign"`               // 过标/欠标（mm）（正数过标，负数欠标）
+	SlipD                  int32   `json:"slipD"`                  // 打滑持续时间ms 默认0
-	Idling                 float32 `json:"idling"`                 // 空转
+
+	Slide    float32 `json:"slide"`    // 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0
+	StopSign int32   `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标）
+	IdlingA  float32 `json:"idlingA"`  // 空转加速度(m/s) 默认0
+	IdlingR  float32 `json:"idlingR"`  // 空转冲击率(m/s) 默认0
+	IdlingD  int32   `json:"idlingD"`  // 空转持续时间s 默认0
 	//TrainEndsA             ConfigTrainEnds `json:"TrainEndsA"`             // 车辆A端
 	//TrainEndsB             ConfigTrainEnds `json:"TrainEndsB"`             // 车辆B端
 }

dto/trainManage.go

@@ -42,7 +42,7 @@ func TrainConfigToDtoConvert(dc *common_proto.TrainDynamicConfig) *ConfigTrainDa
 			DavisParamA: dc.DavisParamA, DavisParamB: dc.DavisParamB, DavisParamC: dc.DavisParamC,
 			CurveResistanceParamR1: dc.CurveResistanceParamR1, CurveResistanceParamR2: dc.CurveResistanceParamR2, CurveResistanceParamR3: dc.CurveResistanceParamR3,
 			CurveResistanceParamR4: dc.CurveResistanceParamR4, RevolvingMassParam: dc.RevolvingMassParam,
-			Jump: dc.Jump, Slip: dc.Slip, Slide: dc.Slide, Idling: dc.Idling, StopSign: dc.StopSign,
+			Jump: dc.Jump, SlipA: dc.SlipA, SlipR: dc.SlipR, SlipD: dc.SlipD, Slide: dc.Slide, IdlingA: dc.IdlingA, IdlingR: dc.IdlingR, IdlingD: dc.IdlingD, StopSign: dc.StopSign,
 		}
 	}
 	return nil

service/trainManage.go

@@ -71,7 +71,7 @@ func TrainConfigToProtoConvert(t *dto.ConfigTrainData) *common_proto.TrainDynami
 	return &common_proto.TrainDynamicConfig{
 		DavisParamA: t.DavisParamA, DavisParamB: t.DavisParamB, DavisParamC: t.DavisParamC,
 		CurveResistanceParamR1: t.CurveResistanceParamR1, CurveResistanceParamR2: t.CurveResistanceParamR2, CurveResistanceParamR3: t.CurveResistanceParamR3, CurveResistanceParamR4: t.CurveResistanceParamR4,
-		RevolvingMassParam: t.RevolvingMassParam, Jump: t.Jump, Slip: t.Slip, Idling: t.Idling,
+		RevolvingMassParam: t.RevolvingMassParam, Jump: t.Jump, SlipA: t.SlipA, SlipR: t.SlipR, SlipD: t.SlipD, IdlingA: t.IdlingA, IdlingR: t.IdlingR, IdlingD: t.IdlingD,
 		Slide: t.Slide, StopSign: t.StopSign,
 	}
 }

third_party/acc/acc_server_test.go

@@ -10,7 +10,7 @@ import (
 
 func TestAccUdp(t *testing.T) {
 
-	fmt.Println("准备启动服务...")
+	fmt.Println("准备启动ACC服务...")
 	addr := fmt.Sprintf("%v:%v", "127.0.0.1", "8899")
 	server := udp.NewServer(addr, handle)
 	server.Listen()
@@ -19,7 +19,7 @@ func TestAccUdp(t *testing.T) {
 }
 
 func handle(d []byte) {
-	ri := message.RadarInfo{}
+	ri := message.Accelerometer{}
 	err := ri.Decode(d)
 	if err == nil {
 

third_party/acc/acc_vobc.go

@@ -69,7 +69,6 @@ func (acc *accVobcService) sendTask(ctx context.Context) {
 		if trainStatus != nil {
 			speedAcc := trainStatus.DynamicState.Acceleration
 			t := speedAcc / accSpeedUnit
-
 			acc.vobcClient.SendMsg(&message.Accelerometer{Acc: math.Float32bits(t)})
 		}
 		time.Sleep(time.Millisecond * accInterval)

third_party/message/accelerometer.go

@@ -19,6 +19,7 @@ func (acc *Accelerometer) Encode() []byte {
 	data := make([]byte, 0)
 	data = append(data, accHeader)
 	data = append(data, uaidDefault)
+	acc.Acc = acc.Acc | 0x0000FF
 	data = binary.LittleEndian.AppendUint32(data, acc.Acc)
 	cs := checkSum(data)
 	data = append(data, ^cs+1)

third_party/message/dynamics_http.go

@@ -64,9 +64,13 @@ type TrainOperationConfig struct {
 	CurveResistanceParamR4 float32 `json:"curveResistanceParamR4"` // 曲线阻力参数R4
 	RevolvingMassParam     float32 `json:"revolvingMassParam"`     // 旋转质量参数
 	Jump                   bool    `json:"jump"`                   // 是否跳跃
-	Slip                   float32 `json:"slip"`                   // 打滑（%）
+	SlipA                  float32 `json:"slipA"`                  // 打滑加速度(m/s) 默认0
-	Idling                 float32 `json:"idling"`                 //  空转（%），默认值：0
+	SlipR                  float32 `json:"slipR"`                  // 打滑冲击率(m/s) 默认0
-	Slide                  int     `json:"slide"`                  // 前溜/后溜（mm）（正数前溜，负数后溜）
+	SlipD                  int     `json:"slipD"`                  // 打滑持续时间ms 默认0
+	IdlingA                float32 `json:"idlingA"`                // 空转加速度(m/s) 默认0
+	IdlingR                float32 `json:"idlingR"`                // 空转冲击率(m/s) 默认0
+	IdlingD                int     `json:"idlingD"`                // 空转持续时间ms 默认0
+	Slide                  float32 `json:"slide"`                  // FLOAT，前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0
 	StopSign               int     `json:"stopSign"`               // 过标/欠标（mm）（正数过标，负数欠标）
 	//WheelDiameter          int     `json:"轮径（mm）"`
 	//RadarSpeed           float32   `json:"雷达速度差值（m/s）"`

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -27,7 +27,9 @@ func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.Confi
 		DavisParamC: configTrainData.DavisParamC, CurveResistanceParamR1: configTrainData.CurveResistanceParamR1,
 		CurveResistanceParamR2: configTrainData.CurveResistanceParamR2, CurveResistanceParamR3: configTrainData.CurveResistanceParamR3,
 		CurveResistanceParamR4: configTrainData.CurveResistanceParamR4, RevolvingMassParam: configTrainData.RevolvingMassParam,
-		Jump: configTrainData.Jump, Slip: configTrainData.Slip, Slide: int(configTrainData.Slide), Idling: configTrainData.Idling,
+		Jump: configTrainData.Jump, Slide: configTrainData.Slide,
+		SlipA: configTrainData.SlipA, SlipR: configTrainData.SlipR, SlipD: int(configTrainData.SlipD),
+		IdlingA: configTrainData.IdlingA, IdlingR: configTrainData.IdlingR, IdlingD: int(configTrainData.IdlingD),
 		StopSign: int(configTrainData.StopSign)}
 }