joylink/rts-sim-testing-service
6
0
Fork 0
Code Issues 8 Pull Requests Actions Packages Projects Releases Wiki Activity

列车激活方向调整

Browse Source
This commit is contained in:
tiger_zhou 2024-05-20 15:21:22 +08:00
parent 37799cd2c9
commit 11a14b2ef6
10 changed files with 954 additions and 877 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
api/simulation.go
View File

@ -239,15 +239,20 @@ func addTrain(c *gin.Context) {
if req.TrainId < 0 || req.TrainId >= 255 {
panic(sys_error.New("列车编号不能小于0，大于255"))
}
if req.TrainSpeed < 0 || req.TrainSpeed > 90 {
panic(sys_error.New("列车编号不能小于0，大于255"))
}
rsp := &state_proto.TrainState{
Id: fmt.Sprintf("%v", req.TrainId),
HeadDeviceId: req.Id,
HeadOffset: req.HeadOffset,
DevicePort: req.DevicePort,
RunDirection: req.RunDirection,
Id: fmt.Sprintf("%v", req.TrainId),
HeadDeviceId: req.Id,
HeadOffset: req.HeadOffset,
DevicePort: req.DevicePort,
TrainRunUp: req.RunDirection,
//RunDirection: req.RunDirection,
TrainLength: req.TrainLength,
WheelDiameter: req.WheelDiameter,
Speed: req.TrainSpeed,
Show: true,
ConnState: &state_proto.TrainConnState{TrainControlMapId: req.TrainControlMapId, Conn: false, ConnType: state_proto.TrainConnState_NONE},
}
var err *sys_error.BusinessError = memory.AddTrainStateNew(simulation,

1591
dto/state_proto/device_state.pb.go
View File

File diff suppressed because it is too large Load Diff

28
message_server/sfp_ms.go
View File

@ -443,20 +443,20 @@ func collectTrainStates(vs *memory.VerifySimulation) ([]*state_proto.TrainMapSta
func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
t := &state_proto.TrainMapState{
Id: v.Id,
Up: v.Up,
InitialSpeed: v.Speed,
TrainLength: v.TrainLength,
Show: v.Show,
HeadDeviceId: v.HeadDeviceId,
HeadOffset: v.HeadOffset,
DevicePort: v.DevicePort,
PointTo: v.PointTo,
RunDirection: v.RunDirection,
HeadDirection: v.HeadDirection,
TrainKilometer: v.TrainKilometer,
ControlDelayTime: v.ControlDelayTime,
WheelDiameter: v.WheelDiameter,
Id: v.Id,
Up: v.Up,
InitialSpeed: v.Speed,
TrainLength: v.TrainLength,
Show: v.Show,
HeadDeviceId: v.HeadDeviceId,
HeadOffset: v.HeadOffset,
DevicePort: v.DevicePort,
DriftTo: v.DriftTo,
TrainRunUp: v.TrainRunUp,
TrainActiveDirection: v.TrainActiveDirection,
TrainKilometer: v.TrainKilometer,
ControlDelayTime: v.ControlDelayTime,
WheelDiameter: v.WheelDiameter,
// 动力学
DynamicHeartbeat: v.DynamicState.Heartbeat,
HeadLinkId: v.DynamicState.HeadLinkId,

2
rts-sim-testing-message

@ -1 +1 @@
Subproject commit 6d3ff5644ebaad3ed1e7e6c03fcfb0f9a3427af0
Subproject commit aac1484a6f64cc43146cabd89784b92c933a0298

2
third_party/dynamics/dynamics.go vendored
View File

@ -133,6 +133,7 @@ func (d *dynamics) requestStartSimulation(base *message.LineBaseInfo) error {
}
url := d.buildUrl("/api/start/")
data, _ := json.Marshal(base)
fmt.Println(string(data))
resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
if err != nil {
return sys_error.New("动力学开始仿真请求发送错误", err)
@ -171,6 +172,7 @@ func (d *dynamics) RequestAddTrain(info *message.InitTrainInfo) error {
}
url := d.buildUrl("/api/aerodynamics/init/train/")
data, _ := json.Marshal(info)
fmt.Println(string(data))
resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
if err != nil {
return fmt.Errorf("动力学添加列车请求异常: %v", err)

19
third_party/message/dynamics.go vendored
View File

@ -77,7 +77,9 @@ type DynamicsTrainInfo struct {
//此次计算所使用的半实物消息的生命信号
VobcLifeSignal uint16
//位移（mm）
Displacement uint16
Displacement uint16
TrainActToMax bool
TrainActToMin bool
}
// 解析动力学的列车信息
@ -89,8 +91,19 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error {
t.LinkOffset = binary.BigEndian.Uint32(buf[8:12])
t.Slope = binary.BigEndian.Uint16(buf[12:14])
b := buf[14]
t.UpSlope = (b & (1 << 7)) != 0
t.Up = (b & (1 << 6)) != 0
t.UpSlope = IsTrueForByte(GetBit(b, 7))
t.Up = IsTrueForByte(GetBit(b, 6))
t.TrainActToMax = IsTrueForByte(GetBit(b, 4))
t.TrainActToMin = IsTrueForByte(GetBit(b, 5))
//t.UpSlope = (b & (1 << 7)) != 0
//t.Up = (b & (1 << 6)) != 0
//t.TrainActToMax = (b & (1 << 5)) != 0
//t.TrainActToMin = (b & (1 << 4)) != 0
//t.TrainActToMax = (b & (1 << 4)) != 0
//t.TrainActToMin = (b & (1 << 5)) != 0
t.TotalResistance = int32(binary.BigEndian.Uint32(buf[16:20]))
t.AirResistance = int32(binary.BigEndian.Uint32(buf[20:24]))
t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[24:28]))

2
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -186,7 +186,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
d.speedPlace.ParsePulseCount1(s1, s2)
data := d.speedPlace.Encode(train.RunDirection, s1, s2)
data := d.speedPlace.Encode(train.TrainRunUp, s1, s2)
bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data}
train.PluseCount.PulseCount1 = 0
train.PluseCount.PulseCount2 = 0

14
ts/simulation/wayside/memory/train_tcc_graphic.go
View File

@ -59,6 +59,20 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3
return nil, false
}
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}
var trainActDir uint32 = 0
if trainIsUp {
vobc.Tc1Active = true
trainActDir = 1
} else {
//vobc.Tc1Active = true
vobc.Tc2Active = true
trainActDir = 2
}
return vobc, trainActDir
}
// 初始化列车控制数据
func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlState {
var tccGI *data_proto.TccGraphicStorage

142
ts/simulation/wayside/memory/wayside_memory_train.go
View File

@ -50,11 +50,6 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
return sys_error.New(fmt.Sprintf("列车【%s】已存在", status.Id))
}
}
//tcc := createTrainControl(vs)
//status.Tcc = tcc
// 显示状态
status.Show = true
//向动力学发送初始化请求
trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
@ -65,12 +60,16 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
} else {
uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{})
}
// 车头所在link、link上的偏移
linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset)
// link上的运行方向、设备上的运行方向
up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.RunDirection)
up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp)
//up, pointTo, _ = QueryDirectionAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp)
//fmt.Println(up2, pointTo2)
// 车头所在公里标
kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset)
kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.TrainRunUp, status.HeadOffset)
// 车尾相对车头link的偏移量
calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
// 车尾位置
@ -79,7 +78,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1))
}
status.Up = up
status.PointTo = pointTo
status.DriftTo = pointTo
status.TrainKilometer = kilometer.Value
status.DynamicState = &state_proto.TrainDynamicState{
@ -87,7 +86,8 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
HeadLinkOffset: loffset,
TailLinkId: tailLink,
TailLinkOffset: tailLOffset,
RunningUp: up,
RunningUp: status.Up,
//RunningUp: status.TrainRunUp,
}
status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
status.TailOffset = tailDeviceOffset
@ -98,24 +98,23 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
if tl <= 0 {
tl = DEFULAT_TRAIN_LOAD
}
status.VobcState = &state_proto.TrainVobcState{TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true}
//status.VobcState.HistoryDir = request_proto.TrainControl_FORWARD
if status.RunDirection {
status.VobcState.Tc1Active = true
} else {
status.VobcState.Tc2Active = true
}
status.Tcc = initTrainTcc(vs, status.RunDirection)
vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
status.VobcState = vobc
//status.TrainActiveDirection = trainActDir
status.Tcc = initTrainTcc(vs, status.TrainRunUp)
slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
linkIdInt, _ := strconv.Atoi(linkId)
err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
TrainIndex: uint16(trainIndex),
LinkIndex: uint16(linkIdInt),
LinkOffset: uint32(loffset),
Speed: status.Speed / 3.6,
Up: status.Up,
TrainIndex: uint16(trainIndex),
LinkIndex: uint16(linkIdInt),
LinkOffset: uint32(loffset),
Speed: status.Speed / 3.6,
Up: status.Up,
//Up: status.TrainRunUp,
TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData),
})
if err != nil {
@ -296,58 +295,42 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
//slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)
outLinkId, id, port, outLinkOffset, offset, kilometer, e1 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up)
if e1 != nil {
panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1))
}
//runDirection 指定的是link方向
//pointTO 指的是是否ab，或是否到岔心
runDirection, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up)
//slog.Debug("处理动力学转换后的消息", "number", info.Number, "Link", info.Link, "车头位置", id, "偏移", Offset, "是否上行", runDirection, "是否ab", pointTo)
slog.Debug("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo, "t1Dir:", info.TrainActToMax, "t2Dir:", info.TrainActToMin)
trainHeadActUp := true
if info.TrainActToMax || info.TrainActToMin {
if info.TrainActToMin {
trainHeadActUp = false
}
}
// 车尾相对车头link的偏移量
calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
//calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), trainHeadActUp)
tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)
if e2 != nil {
panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2))
}
//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
// 更新BTM中列车位置信息
can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
TrainId: trainId,
Up: info.Up,
Link: outLinkId,
LinkOffset: outLinkOffset,
Speed: info.Speed,
Acceleration: info.Acceleration,
})
state := can_btm.Default().GetState()
sta.BtmState = &state
updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
// 修改world中的列车位置
fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
TrainId: trainId,
Up: info.Up,
Len: info.Len,
HeadLink: outLinkId,
HeadLinkOffset: uint32(outLinkOffset),
TailLink: tailLinkId,
TailLinkOffset: uint32(tailLinkOffset),
})
handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
//修改列车激活方向
updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
sta.HeadDeviceId = vs.GetComIdByUid(id)
sta.DevicePort = port
sta.HeadOffset = offset
sta.PointTo = pointTo
sta.DriftTo = pointTo
sta.TrainKilometer = kilometer.Value
sta.RunDirection = runDirection
//判定车头方向
sta.HeadDirection = runDirection
if sta.VobcState != nil {
if sta.VobcState.DirectionForward {
sta.HeadDirection = runDirection
} else if sta.VobcState.DirectionBackward {
sta.HeadDirection = !runDirection
}
}
if info.Speed < 0 {
sta.RunDirection = !sta.RunDirection
}
sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
sta.TailOffset = tailOffset
sta.TailDevicePort = tailDevicePort
@ -379,6 +362,47 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
return sta
}
func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, id, port string, trainHeadActUp bool) {
sta.TrainActiveDirection = 0
if info.TrainActToMax || info.TrainActToMin {
_, pointTo2 := QueryDirectionAndABByDevice(vs.Repo, id, port, trainHeadActUp)
pt := pointTo2
if pt {
sta.TrainActiveDirection = 1
} else {
sta.TrainActiveDirection = 2
}
}
}
// 根据列车位置修改列车应答器
func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64) {
// 更新BTM中列车位置信息
can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
TrainId: sta.Id,
Up: info.Up,
Link: outLinkId,
LinkOffset: outLinkOffset,
Speed: info.Speed,
Acceleration: info.Acceleration,
})
state := can_btm.Default().GetState()
sta.BtmState = &state
}
// 根据动力学修改列车位置
func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64, tailLinkId string, tailLinkOffset int64) {
fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
TrainId: sta.Id,
Up: info.Up,
Len: info.Len,
HeadLink: outLinkId,
HeadLinkOffset: uint32(outLinkOffset),
TailLink: tailLinkId,
TailLinkOffset: uint32(tailLinkOffset),
})
}
// 接受动力学时间15毫米
const RECEIVE_DYNAMIC_DATA_RATE = 15
@ -390,7 +414,7 @@ func pluseCount(sta *state_proto.TrainState) {
if sta.PluseCount == nil {
return
}
if sta.RunDirection {
if sta.TrainRunUp {
p1 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
p2 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
if sta.TrainEndsA.SpeedSensorEnableA {

16
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -41,7 +41,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
tce = trainControlEB(vobc, tcc, ct.Button, ct.DeviceId, tccGraphicData)
} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
tce = trainControlDriverKey(sta.DynamicState.Speed, vobc, tcc, ct.DriverKey, ct.DeviceId, tccGraphicData)
tce = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
train_pc_sim.Default().SendDriverActive(sta.ConnState, sta.VobcState)
} else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH {
tce = trainControlDirKey(sta.DynamicState.Speed, vobc, tcc, ct.DirKey, ct.DeviceId, tccGraphicData)
@ -142,15 +142,17 @@ func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc
}
// 列车驾驶端激活
func trainControlDriverKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
func trainControlDriverKey(train *state_proto.TrainState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
obj, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
if !find {
slog.Error("未找到对应的驾驶端激活设备deviceId:", deviceId)
return nil
}
if trainSpeed != 0 {
if train.DynamicState.Speed != 0 {
panic(sys_error.New("因列车未停稳，不支持此操作"))
}
vobc := train.VobcState
tcc := train.Tcc
if obj.Code == SKQYS1 {
vobc.Tc1Active = request.Val
} else if obj.Code == SKQYS2 {
@ -164,6 +166,14 @@ func trainControlDriverKey(trainSpeed int32, vobc *state_proto.TrainVobcState, t
}
panic(sys_error.New("驾驶端不能同时激活"))
}
train.TrainActiveDirection = 0
if vobc.Tc1Active {
//train.TrainActiveDirection = 1
train.TrainRunUp = true
} else if vobc.Tc2Active {
//train.TrainActiveDirection = 2
train.TrainRunUp = false
}
var addNew = true
for _, k := range tcc.DriverKey {
if k.Id == deviceId {