列车激活方向调整

api/simulation.go

@@ -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),
+		Id:           fmt.Sprintf("%v", req.TrainId),
-		HeadDeviceId:  req.Id,
+		HeadDeviceId: req.Id,
-		HeadOffset:    req.HeadOffset,
+		HeadOffset:   req.HeadOffset,
-		DevicePort:    req.DevicePort,
+		DevicePort:   req.DevicePort,
-		RunDirection:  req.RunDirection,
+		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,

message_server/sfp_ms.go

@@ -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,
+		Id:                   v.Id,
-		Up:               v.Up,
+		Up:                   v.Up,
-		InitialSpeed:     v.Speed,
+		InitialSpeed:         v.Speed,
-		TrainLength:      v.TrainLength,
+		TrainLength:          v.TrainLength,
-		Show:             v.Show,
+		Show:                 v.Show,
-		HeadDeviceId:     v.HeadDeviceId,
+		HeadDeviceId:         v.HeadDeviceId,
-		HeadOffset:       v.HeadOffset,
+		HeadOffset:           v.HeadOffset,
-		DevicePort:       v.DevicePort,
+		DevicePort:           v.DevicePort,
-		PointTo:          v.PointTo,
+		DriftTo:              v.DriftTo,
-		RunDirection:     v.RunDirection,
+		TrainRunUp:           v.TrainRunUp,
-		HeadDirection:    v.HeadDirection,
+		TrainActiveDirection: v.TrainActiveDirection,
-		TrainKilometer:   v.TrainKilometer,
+		TrainKilometer:       v.TrainKilometer,
-		ControlDelayTime: v.ControlDelayTime,
+		ControlDelayTime:     v.ControlDelayTime,
-		WheelDiameter:    v.WheelDiameter,
+		WheelDiameter:        v.WheelDiameter,
 		// 动力学
 		DynamicHeartbeat:     v.DynamicState.Heartbeat,
 		HeadLinkId:           v.DynamicState.HeadLinkId,

rts-sim-testing-message

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

third_party/dynamics/dynamics.go

@@ -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)

third_party/message/dynamics.go

@@ -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.UpSlope = IsTrueForByte(GetBit(b, 7))
-	t.Up = (b & (1 << 6)) != 0
+	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]))

third_party/train_pc_sim/train_pc_sim.go

@@ -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

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -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

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -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 {
+	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
-		status.VobcState.Tc1Active = true
+	status.VobcState = vobc
-	} else {
+
-		status.VobcState.Tc2Active = true
+	//status.TrainActiveDirection = trainActDir
-	}
+
-	status.Tcc = initTrainTcc(vs, status.RunDirection)
+	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),
+		TrainIndex: uint16(trainIndex),
-		LinkIndex:            uint16(linkIdInt),
+		LinkIndex:  uint16(linkIdInt),
-		LinkOffset:           uint32(loffset),
+		LinkOffset: uint32(loffset),
-		Speed:                status.Speed / 3.6,
+		Speed:      status.Speed / 3.6,
-		Up:                   status.Up,
+		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
+	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
-	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
 	// 修改world中的列车位置
-	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
+	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
-		TrainId:        trainId,
+	//修改列车激活方向
-		Up:             info.Up,
+	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
-		Len:            info.Len,
+
-		HeadLink:       outLinkId,
-		HeadLinkOffset: uint32(outLinkOffset),
-		TailLink:       tailLinkId,
-		TailLinkOffset: uint32(tailLinkOffset),
-	})
 	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 {

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -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 {