From 7ed8fcbed7d2c6976f3ac1f03cc81b57de5f7618 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Wed, 8 May 2024 10:00:53 +0800 Subject: [PATCH 1/4] =?UTF-8?q?=E5=88=97=E8=BD=A6pc=E4=BB=BF=E7=9C=9F?= =?UTF-8?q?=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- third_party/message/train_control.go | 1 + .../wayside/memory/train_tcc_graphic.go | 18 ++++++++++++++---- .../wayside/memory/wayside_memory_train.go | 6 +++++- 3 files changed, 20 insertions(+), 5 deletions(-) diff --git a/third_party/message/train_control.go b/third_party/message/train_control.go index aae9cff..1405179 100644 --- a/third_party/message/train_control.go +++ b/third_party/message/train_control.go @@ -29,6 +29,7 @@ func (r *TrainControlMsg) Encode() []byte { if !r.FromVobc { ls := r.ControlInfo.LifeSignal r.ControlInfo.LifeSignal = ls + 1 + r.ControlInfo.UpdateTime = time.Now().UnixMilli() } //data := make([]byte, 0) //data = binary.BigEndian.AppendUint16(data, uint16(r.ControlInfo.LifeSignal)) diff --git a/ts/simulation/wayside/memory/train_tcc_graphic.go b/ts/simulation/wayside/memory/train_tcc_graphic.go index d4630c3..f92a0d6 100644 --- a/ts/simulation/wayside/memory/train_tcc_graphic.go +++ b/ts/simulation/wayside/memory/train_tcc_graphic.go @@ -6,6 +6,14 @@ import ( "joylink.club/bj-rtsts-server/third_party/message" ) +const ( + SKQYS1 = "SKQYS1" //驾驶端1 + SKQYS2 = "SKQYS2" //驾驶端2 + JJZD = "JJZD" //紧急停车 + QHFXKZ = "QHFXKZ" //驾驶方向 + QYSB = "QYSB" //牵引制动手柄 +) + // 获取列车控制图形数据 func findTrainTccGraphicData(vs *VerifySimulation) *data_proto.TccGraphicStorage { var tccGI *data_proto.TccGraphicStorage @@ -52,7 +60,7 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3 } // 初始化列车控制数据 -func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState { +func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlState { var tccGI *data_proto.TccGraphicStorage for _, id := range vs.MapIds { if QueryGiType(id) == data_proto.PictureType_TrainControlCab { @@ -64,12 +72,12 @@ func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState { tcc := &state_proto.TrainControlState{} if tccGI != nil { for _, b := range tccGI.TccButtons { - if b.Code == "JJZD" { + if b.Code == JJZD { tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: b.Common.Id, Passed: false} } } for _, b := range tccGI.TccHandles { - if b.Code == "QYSB" { + if b.Code == QYSB { tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: b.Common.Id, Val: 0} } } @@ -77,7 +85,9 @@ func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState { for _, b := range tccGI.TccKeys { if b.GetType() == data_proto.TccKey_driverControllerActivationClint { val := false - if b.Code == "SKQYS1" { + if b.Code == SKQYS1 && runDir { + val = true + } else if b.Code == SKQYS2 && !runDir { val = true } ds = append(ds, &state_proto.TrainControlState_DriverKeySwitch{Id: b.Common.Id, Val: val}) diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 26cdb36..72b5ed8 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -99,8 +99,12 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf tl = DEFULAT_TRAIN_LOAD } status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true} + if !status.RunDirection { + status.VobcState.Tc1Active = false + status.VobcState.Tc2Active = true - status.Tcc = initTrainTcc(vs) + } + status.Tcc = initTrainTcc(vs, status.RunDirection) slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset) linkIdInt, _ := strconv.Atoi(linkId) From 0b25327b2895f166a2d738ecaed76846703d42d2 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Wed, 8 May 2024 14:39:23 +0800 Subject: [PATCH 2/4] =?UTF-8?q?=E5=88=97=E8=BD=A6=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=EF=BC=8C=E6=96=B9=E5=90=91=E8=AE=BE=E7=BD=AE=E2=80=9C0?= =?UTF-8?q?=E2=80=9D=E9=97=AE=E9=A2=98=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../memory/wayside_simulation_train_pc.go | 108 +++++++++--------- 1 file changed, 56 insertions(+), 52 deletions(-) diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index 49bfc27..dca4edc 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -35,34 +35,40 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) { panic(sys_error.New("未找到TCC图形数据")) } sta := data.(*state_proto.TrainState) + vobc := sta.VobcState + tcc := sta.Tcc var tce []train_pc_sim.TrainControlEvent = nil if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON { - tce = trainControlEB(sta, ct.Button, ct.DeviceId, tccGraphicData) + tce = trainControlEB(vobc, tcc, ct.Button, ct.DeviceId, tccGraphicData) } else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH { - tce = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData) + tce = trainControlDriverKey(vobc, tcc, 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, ct.DirKey, ct.DeviceId, tccGraphicData) + tce = trainControlDirKey(vobc, tcc, ct.DirKey, ct.DeviceId, tccGraphicData) //此处先注释，根据现场调试情况 2024-4-16 //train_pc_sim.Default().SendTrainDirection(sta.VobcState.DirectionForward, sta.VobcState.DirectionBackward) } else if ct.ControlType == request_proto.TrainControl_HANDLER { oldTraction := sta.VobcState.TractionForce oldBrakeForce := sta.VobcState.BrakeForce isTraction := ct.Handler.Val > 0 //是否制动 - tce = trainControlHandle(sta, ct.Handler, ct.DeviceId, tccGraphicData) + tce = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData) train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta.ConnState, sta.VobcState) } + if !vobc.DirectionForward && !vobc.DirectionBackward { + vobc.TractionStatus = false + vobc.TractionForce = 0 + } if sta.ConnState.Conn && sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM && tce != nil { train_pc_sim.Default().PublishTrainControlEvent(tce) } } -func trainControlEB(trainState *state_proto.TrainState, request *request_proto.TrainControl_EmergentButton, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlEB(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_EmergentButton, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { if !request.Active { return nil } - if trainState.Tcc.Ebutton != nil && trainState.Tcc.Ebutton.Passed { + if tcc.Ebutton != nil && tcc.Ebutton.Passed { return nil } _, find := findTrainTccGraphicDataButton(tccGraphic, deviceId) @@ -70,67 +76,66 @@ func trainControlEB(trainState *state_proto.TrainState, request *request_proto.T slog.Error("未找到对应的紧急停车摁钮,deviceId:", deviceId) return nil } - if trainState.Tcc.Ebutton == nil { - trainState.Tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId, Passed: request.Active} + if tcc.Ebutton == nil { + tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId} } - trainState.VobcState.EmergencyBrakingStatus = true - trainState.Tcc.Ebutton.Passed = request.Active - trainState.VobcState.TractionForce = 0 - trainState.VobcState.BrakeForce = DEFAULT_BRAKE_FORCE + tcc.Ebutton.Passed = request.Active + vobc.EmergencyBrakingStatus = true + vobc.TractionForce = 0 + vobc.BrakeForce = DEFAULT_BRAKE_FORCE return nil } // 列车方向 -func trainControlDirKey(trainState *state_proto.TrainState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlDirKey(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { _, find := findTrainTccGraphicDataKey(tccGraphic, deviceId) if !find { slog.Error("未找到对应的列车方向键deviceId:", deviceId) return nil } - trainState.VobcState.DirectionForward = false - trainState.VobcState.DirectionBackward = false + vobc.DirectionForward = false + vobc.DirectionBackward = false if request.Val == 1 { - trainState.VobcState.DirectionForward = true + vobc.DirectionForward = true } else if request.Val == 0 { - trainState.VobcState.DirectionBackward = true + vobc.DirectionBackward = true } - if trainState.Tcc.DirKey == nil { - trainState.Tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId, Val: request.Val} - } else { - trainState.Tcc.DirKey.Val = request.Val + if tcc.DirKey == nil { + tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId} } + tcc.DirKey.Val = request.Val tce := make([]train_pc_sim.TrainControlEvent, 0) - tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(trainState.VobcState.DirectionForward)}) - tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(trainState.VobcState.DirectionBackward)}) + tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(vobc.DirectionForward)}) + tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(vobc.DirectionBackward)}) return tce } // 列车驾驶端激活 -func trainControlDriverKey(trainState *state_proto.TrainState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlDriverKey(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, 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 obj.Code == "SKQYS1" { - trainState.VobcState.Tc1Active = request.Val - } else if obj.Code == "SKQYS2" { - trainState.VobcState.Tc2Active = request.Val + if obj.Code == SKQYS1 { + vobc.Tc1Active = request.Val + } else if obj.Code == SKQYS2 { + vobc.Tc2Active = request.Val } - if trainState.VobcState.Tc1Active && trainState.VobcState.Tc2Active { - if obj.Code == "SKQYS1" { - trainState.VobcState.Tc1Active = false - } else if obj.Code == "SKQYS2" { - trainState.VobcState.Tc2Active = false + if vobc.Tc1Active && vobc.Tc2Active { + if obj.Code == SKQYS1 { + vobc.Tc1Active = false + } else if obj.Code == SKQYS2 { + vobc.Tc2Active = false } panic(sys_error.New("驾驶端不能同时激活")) } var addNew = true - for _, k := range trainState.Tcc.DriverKey { + for _, k := range tcc.DriverKey { if k.Id == deviceId { k.Id = deviceId k.Val = request.Val @@ -139,46 +144,45 @@ func trainControlDriverKey(trainState *state_proto.TrainState, request *request_ } } if addNew { - trainState.Tcc.DriverKey = append(trainState.Tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val}) + tcc.DriverKey = append(tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val}) } return []train_pc_sim.TrainControlEvent{{Command: message.KEY_STATE, Status: message.IsTrue(request.Val)}} } // 列车牵引控制 -func trainControlHandle(trainState *state_proto.TrainState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { _, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId) if !find { slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId) return nil } - - trainState.VobcState.TractionStatus = false - trainState.VobcState.TractionForce = 0 - trainState.VobcState.BrakingStatus = false - trainState.VobcState.BrakeForce = 0 - trainState.VobcState.MaintainBrakeStatus = false + vobc.TractionStatus = false + vobc.TractionForce = 0 + vobc.BrakingStatus = false + 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}) if request.Val > 0 { - trainState.VobcState.TractionStatus = true - trainState.VobcState.TractionForce = int64(request.Val * 180) + 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 { - trainState.VobcState.BrakingStatus = true - trainState.VobcState.BrakeForce = int64(-request.Val * 180) - trainState.VobcState.EmergencyBrakingStatus = false - if trainState.Tcc.Ebutton != nil { - trainState.Tcc.Ebutton.Passed = false + vobc.BrakingStatus = true + vobc.BrakeForce = int64(-request.Val * 180) + vobc.EmergencyBrakingStatus = false + if tcc.Ebutton != nil { + tcc.Ebutton.Passed = false } tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1}) } else { tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 1}) } - if trainState.Tcc.PushHandler == nil { - trainState.Tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId, Val: request.Val} + if tcc.PushHandler == nil { + tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId} } - trainState.Tcc.PushHandler.Val = request.Val + tcc.PushHandler.Val = request.Val return tce } From 6fa4c6e6a911a81c268a16fa652e9b9c4046e262 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Thu, 9 May 2024 14:36:13 +0800 Subject: [PATCH 3/4] =?UTF-8?q?=E5=88=97=E8=BD=A6=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- dto/common_proto/common_data.pb.go | 6 +- dto/request_proto/request.pb.go | 275 +++++++++++------- dto/state_proto/device_state.pb.go | 6 +- .../wayside/memory/wayside_memory_train.go | 12 +- .../memory/wayside_simulation_train_pc.go | 57 +++- 5 files changed, 219 insertions(+), 137 deletions(-) diff --git a/dto/common_proto/common_data.pb.go b/dto/common_proto/common_data.pb.go index b945e42..93b0c74 100644 --- a/dto/common_proto/common_data.pb.go +++ b/dto/common_proto/common_data.pb.go @@ -236,7 +236,7 @@ type TrainEndsState struct { SpeedSensorEnableB bool `protobuf:"varint,2,opt,name=speedSensorEnableB,proto3" json:"speedSensorEnableB,omitempty"` // 雷达是否有效 RadarEnable bool `protobuf:"varint,3,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"` - // 雷达测速差值（米/秒） + // 雷达测速差值（千米/小时） RadarCheckSpeedDiff float32 `protobuf:"fixed32,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"` // 雷达检测时间(秒) RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"` @@ -246,9 +246,9 @@ type TrainEndsState struct { AccCheckSpeedDiff float32 `protobuf:"fixed32,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"` // 加速度持续时间 AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"` - // 速传速度输出（米/秒） + // 速传速度输出（千米/小时） AccOutSpeed int32 `protobuf:"varint,9,opt,name=accOutSpeed,proto3" json:"accOutSpeed,omitempty"` - // 雷达速度输出（米/秒） + // 雷达速度输出（千米/小时） RadarOutSpeed int32 `protobuf:"varint,10,opt,name=radarOutSpeed,proto3" json:"radarOutSpeed,omitempty"` // 记录雷达设置检测时间的时间点，用于计算周期内的数字 RadarCheckTimeOverAt int64 `protobuf:"varint,11,opt,name=radarCheckTimeOverAt,proto3" json:"radarCheckTimeOverAt,omitempty"` diff --git a/dto/request_proto/request.pb.go b/dto/request_proto/request.pb.go index 6bd5127..9b4a37e 100644 --- a/dto/request_proto/request.pb.go +++ b/dto/request_proto/request.pb.go @@ -587,6 +587,55 @@ func (TrainControl_TrainControlType) EnumDescriptor() ([]byte, []int) { return file_request_proto_rawDescGZIP(), []int{14, 0} } +type TrainControl_Direction int32 + +const ( + TrainControl_BACKWARD TrainControl_Direction = 0 //后退 + TrainControl_FORWARD TrainControl_Direction = 1 //前进 + TrainControl_NEUTRALWARD TrainControl_Direction = 2 //中位 +) + +// Enum value maps for TrainControl_Direction. +var ( + TrainControl_Direction_name = map[int32]string{ + 0: "BACKWARD", + 1: "FORWARD", + 2: "NEUTRALWARD", + } + TrainControl_Direction_value = map[string]int32{ + "BACKWARD": 0, + "FORWARD": 1, + "NEUTRALWARD": 2, + } +) + +func (x TrainControl_Direction) Enum() *TrainControl_Direction { + p := new(TrainControl_Direction) + *p = x + return p +} + +func (x TrainControl_Direction) String() string { + return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x)) +} + +func (TrainControl_Direction) Descriptor() protoreflect.EnumDescriptor { + return file_request_proto_enumTypes[11].Descriptor() +} + +func (TrainControl_Direction) Type() protoreflect.EnumType { + return &file_request_proto_enumTypes[11] +} + +func (x TrainControl_Direction) Number() protoreflect.EnumNumber { + return protoreflect.EnumNumber(x) +} + +// Deprecated: Use TrainControl_Direction.Descriptor instead. +func (TrainControl_Direction) EnumDescriptor() ([]byte, []int) { + return file_request_proto_rawDescGZIP(), []int{14, 1} +} + type Ckm_Operation int32 const ( @@ -617,11 +666,11 @@ func (x Ckm_Operation) String() string { } func (Ckm_Operation) Descriptor() protoreflect.EnumDescriptor { - return file_request_proto_enumTypes[11].Descriptor() + return file_request_proto_enumTypes[12].Descriptor() } func (Ckm_Operation) Type() protoreflect.EnumType { - return &file_request_proto_enumTypes[11] + return &file_request_proto_enumTypes[12] } func (x Ckm_Operation) Number() protoreflect.EnumNumber { @@ -666,11 +715,11 @@ func (x Ckm_Force) String() string { } func (Ckm_Force) Descriptor() protoreflect.EnumDescriptor { - return file_request_proto_enumTypes[12].Descriptor() + return file_request_proto_enumTypes[13].Descriptor() } func (Ckm_Force) Type() protoreflect.EnumType { - return &file_request_proto_enumTypes[12] + return &file_request_proto_enumTypes[13] } func (x Ckm_Force) Number() protoreflect.EnumNumber { @@ -712,11 +761,11 @@ func (x Ckm_Fault) String() string { } func (Ckm_Fault) Descriptor() protoreflect.EnumDescriptor { - return file_request_proto_enumTypes[13].Descriptor() + return file_request_proto_enumTypes[14].Descriptor() } func (Ckm_Fault) Type() protoreflect.EnumType { - return &file_request_proto_enumTypes[13] + return &file_request_proto_enumTypes[14] } func (x Ckm_Fault) Number() protoreflect.EnumNumber { @@ -758,11 +807,11 @@ func (x Xcj_Operation) String() string { } func (Xcj_Operation) Descriptor() protoreflect.EnumDescriptor { - return file_request_proto_enumTypes[14].Descriptor() + return file_request_proto_enumTypes[15].Descriptor() } func (Xcj_Operation) Type() protoreflect.EnumType { - return &file_request_proto_enumTypes[14] + return &file_request_proto_enumTypes[15] } func (x Xcj_Operation) Number() protoreflect.EnumNumber { @@ -804,11 +853,11 @@ func (x Xcj_Fault) String() string { } func (Xcj_Fault) Descriptor() protoreflect.EnumDescriptor { - return file_request_proto_enumTypes[15].Descriptor() + return file_request_proto_enumTypes[16].Descriptor() } func (Xcj_Fault) Type() protoreflect.EnumType { - return &file_request_proto_enumTypes[15] + return &file_request_proto_enumTypes[16] } func (x Xcj_Fault) Number() protoreflect.EnumNumber { @@ -2386,7 +2435,7 @@ var file_request_proto_rawDesc = []byte{ 0x52, 0x05, 0x66, 0x6f, 0x72, 0x63, 0x65, 0x12, 0x28, 0x0a, 0x05, 0x66, 0x61, 0x75, 0x6c, 0x74, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x12, 0x2e, 0x72, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x2e, 0x50, 0x73, 0x64, 0x2e, 0x46, 0x61, 0x75, 0x6c, 0x74, 0x52, 0x05, 0x66, 0x61, 0x75, 0x6c, - 0x74, 0x22, 0xb3, 0x05, 0x0a, 0x0c, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x43, 0x6f, 0x6e, 0x74, 0x72, + 0x74, 0x22, 0xec, 0x05, 0x0a, 0x0c, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x43, 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x12, 0x22, 0x0a, 0x0c, 0x73, 0x69, 0x6d, 0x75, 0x6c, 0x61, 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0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x72, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x5f, + 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33, } var ( @@ -2496,7 +2548,7 @@ func file_request_proto_rawDescGZIP() []byte { return file_request_proto_rawDescData } -var file_request_proto_enumTypes = make([]protoimpl.EnumInfo, 16) +var file_request_proto_enumTypes = make([]protoimpl.EnumInfo, 17) var file_request_proto_msgTypes = make([]protoimpl.MessageInfo, 25) var file_request_proto_goTypes = []interface{}{ (Relay_Operation)(0), // 0: request.Relay.Operation @@ -2510,64 +2562,65 @@ var file_request_proto_goTypes = []interface{}{ (Psd_Force)(0), // 8: request.Psd.Force (Psd_Fault)(0), // 9: request.Psd.Fault (TrainControl_TrainControlType)(0), // 10: request.TrainControl.TrainControlType - (Ckm_Operation)(0), // 11: request.Ckm.Operation - (Ckm_Force)(0), // 12: request.Ckm.Force - (Ckm_Fault)(0), // 13: request.Ckm.Fault - (Xcj_Operation)(0), // 14: request.Xcj.Operation - (Xcj_Fault)(0), // 15: request.Xcj.Fault - (*Relay)(nil), // 16: request.Relay - (*RelayOperationReq)(nil), // 17: request.RelayOperationReq - (*Points)(nil), // 18: request.Points - (*PointsOperationReq)(nil), // 19: request.PointsOperationReq - (*PointsParam)(nil), // 20: request.PointsParam - (*Signal)(nil), // 21: request.Signal - (*SignalOperationReq)(nil), // 22: request.SignalOperationReq - (*SignalParam)(nil), // 23: request.SignalParam - (*Section)(nil), // 24: request.Section - (*SectionOperationReq)(nil), // 25: request.SectionOperationReq - (*SectionParam)(nil), // 26: request.SectionParam - (*Psd)(nil), // 27: request.Psd - (*PsdOperationReq)(nil), // 28: request.PsdOperationReq - (*PsdParam)(nil), // 29: request.PsdParam - (*TrainControl)(nil), // 30: request.TrainControl - (*CkmOperationReq)(nil), // 31: request.CkmOperationReq - (*Ckm)(nil), // 32: request.Ckm - (*CkmParam)(nil), // 33: request.CkmParam - (*XcjOperationReq)(nil), // 34: request.XcjOperationReq - (*Xcj)(nil), // 35: request.Xcj - (*XcjParam)(nil), // 36: request.XcjParam - (*TrainControl_EmergentButton)(nil), // 37: request.TrainControl.EmergentButton - (*TrainControl_DriverKeySwitch)(nil), // 38: request.TrainControl.DriverKeySwitch - (*TrainControl_DirectionKeySwitch)(nil), // 39: request.TrainControl.DirectionKeySwitch - (*TrainControl_PushHandler)(nil), // 40: request.TrainControl.PushHandler + (TrainControl_Direction)(0), // 11: request.TrainControl.Direction + (Ckm_Operation)(0), // 12: request.Ckm.Operation + (Ckm_Force)(0), // 13: request.Ckm.Force + (Ckm_Fault)(0), // 14: request.Ckm.Fault + (Xcj_Operation)(0), // 15: request.Xcj.Operation + (Xcj_Fault)(0), // 16: request.Xcj.Fault + (*Relay)(nil), // 17: request.Relay + (*RelayOperationReq)(nil), // 18: request.RelayOperationReq + (*Points)(nil), // 19: request.Points + (*PointsOperationReq)(nil), // 20: request.PointsOperationReq + (*PointsParam)(nil), // 21: request.PointsParam + (*Signal)(nil), // 22: request.Signal + (*SignalOperationReq)(nil), // 23: request.SignalOperationReq + (*SignalParam)(nil), // 24: request.SignalParam + (*Section)(nil), // 25: request.Section + (*SectionOperationReq)(nil), // 26: request.SectionOperationReq + (*SectionParam)(nil), // 27: request.SectionParam + (*Psd)(nil), // 28: request.Psd + (*PsdOperationReq)(nil), // 29: request.PsdOperationReq + (*PsdParam)(nil), // 30: request.PsdParam + (*TrainControl)(nil), // 31: request.TrainControl + (*CkmOperationReq)(nil), // 32: request.CkmOperationReq + (*Ckm)(nil), // 33: request.Ckm + (*CkmParam)(nil), // 34: request.CkmParam + (*XcjOperationReq)(nil), // 35: request.XcjOperationReq + (*Xcj)(nil), // 36: request.Xcj + (*XcjParam)(nil), // 37: request.XcjParam + (*TrainControl_EmergentButton)(nil), // 38: request.TrainControl.EmergentButton + (*TrainControl_DriverKeySwitch)(nil), // 39: request.TrainControl.DriverKeySwitch + (*TrainControl_DirectionKeySwitch)(nil), // 40: request.TrainControl.DirectionKeySwitch + (*TrainControl_PushHandler)(nil), // 41: request.TrainControl.PushHandler } var file_request_proto_depIdxs = []int32{ 0, // 0: request.RelayOperationReq.operation:type_name -> request.Relay.Operation 1, // 1: request.PointsOperationReq.operation:type_name -> request.Points.Operation - 20, // 2: request.PointsOperationReq.param:type_name -> request.PointsParam + 21, // 2: request.PointsOperationReq.param:type_name -> request.PointsParam 2, // 3: request.PointsParam.forcePosition:type_name -> request.Points.Force 3, // 4: request.SignalOperationReq.operation:type_name -> request.Signal.Operation - 23, // 5: request.SignalOperationReq.param:type_name -> request.SignalParam + 24, // 5: request.SignalOperationReq.param:type_name -> request.SignalParam 5, // 6: request.SignalParam.force:type_name -> request.Signal.Force 4, // 7: request.SignalParam.dsList:type_name -> request.Signal.DS 6, // 8: request.SectionOperationReq.operation:type_name -> request.Section.Operation - 26, // 9: request.SectionOperationReq.param:type_name -> request.SectionParam + 27, // 9: request.SectionOperationReq.param:type_name -> request.SectionParam 7, // 10: request.PsdOperationReq.operation:type_name -> request.Psd.Operation - 29, // 11: request.PsdOperationReq.param:type_name -> request.PsdParam + 30, // 11: request.PsdOperationReq.param:type_name -> request.PsdParam 8, // 12: request.PsdParam.force:type_name -> request.Psd.Force 9, // 13: request.PsdParam.fault:type_name -> request.Psd.Fault 10, // 14: request.TrainControl.controlType:type_name -> request.TrainControl.TrainControlType - 37, // 15: request.TrainControl.button:type_name -> request.TrainControl.EmergentButton - 38, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch - 39, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch - 40, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler - 11, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation - 33, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam - 12, // 21: request.CkmParam.force:type_name -> request.Ckm.Force - 13, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault - 14, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation - 36, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam - 15, // 25: request.XcjParam.fault:type_name -> request.Xcj.Fault + 38, // 15: request.TrainControl.button:type_name -> request.TrainControl.EmergentButton + 39, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch + 40, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch + 41, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler + 12, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation + 34, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam + 13, // 21: request.CkmParam.force:type_name -> request.Ckm.Force + 14, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault + 15, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation + 37, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam + 16, // 25: request.XcjParam.fault:type_name -> request.Xcj.Fault 26, // [26:26] is the sub-list for method output_type 26, // [26:26] is the sub-list for method input_type 26, // [26:26] is the sub-list for extension type_name @@ -2887,7 +2940,7 @@ func file_request_proto_init() { File: protoimpl.DescBuilder{ GoPackagePath: reflect.TypeOf(x{}).PkgPath(), RawDescriptor: file_request_proto_rawDesc, - NumEnums: 16, + NumEnums: 17, NumMessages: 25, NumExtensions: 0, NumServices: 0, diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go index a11b3c2..ef1de40 100644 --- a/dto/state_proto/device_state.pb.go +++ b/dto/state_proto/device_state.pb.go @@ -3211,7 +3211,7 @@ type TrainEndsStateMqtt struct { SpeedSensorEnableB bool `protobuf:"varint,2,opt,name=speedSensorEnableB,proto3" json:"speedSensorEnableB,omitempty"` // 雷达是否有效 RadarEnable bool `protobuf:"varint,3,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"` - // 雷达测速差值（米/秒） 原本数据：float + // 雷达测速差值（千米/小时） 原本数据：float RadarCheckSpeedDiff string `protobuf:"bytes,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"` // 雷达检测时间(秒) RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"` @@ -3220,9 +3220,9 @@ type TrainEndsStateMqtt struct { AccCheckSpeedDiff string `protobuf:"bytes,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"` // 加速度持续时间 AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"` - // 速传速度输出（米/秒） + // 速传速度输出（千米/小时） AccOutSpeed int32 `protobuf:"varint,9,opt,name=accOutSpeed,proto3" json:"accOutSpeed,omitempty"` - // 雷达速度输出（米/秒） + // 雷达速度输出（千米/小时） RadarOutSpeed int32 `protobuf:"varint,10,opt,name=radarOutSpeed,proto3" json:"radarOutSpeed,omitempty"` } diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 72b5ed8..a72e1f8 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -98,11 +98,13 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf if tl <= 0 { tl = DEFULAT_TRAIN_LOAD } - status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true} - if !status.RunDirection { - status.VobcState.Tc1Active = false - status.VobcState.Tc2Active = true + 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) @@ -299,7 +301,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1)) } 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, "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, "Link", info.Link, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo) // 车尾相对车头link的偏移量 calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up) tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up) diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index dca4edc..73f22fa 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -41,10 +41,10 @@ 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(vobc, tcc, ct.DriverKey, ct.DeviceId, tccGraphicData) + tce = trainControlDriverKey(sta.DynamicState.Speed, vobc, tcc, 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(vobc, tcc, ct.DirKey, ct.DeviceId, tccGraphicData) + 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 //train_pc_sim.Default().SendTrainDirection(sta.VobcState.DirectionForward, sta.VobcState.DirectionBackward) } else if ct.ControlType == request_proto.TrainControl_HANDLER { @@ -88,24 +88,49 @@ func trainControlEB(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainCont } // 列车方向 -func trainControlDirKey(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { _, find := findTrainTccGraphicDataKey(tccGraphic, deviceId) if !find { slog.Error("未找到对应的列车方向键deviceId:", deviceId) - return nil - } - - vobc.DirectionForward = false - vobc.DirectionBackward = false - - if request.Val == 1 { - vobc.DirectionForward = true - } else if request.Val == 0 { - vobc.DirectionBackward = true + panic(sys_error.New("未找到对应的列车方向键")) } if tcc.DirKey == nil { tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId} } + + 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 + if direction == request_proto.TrainControl_FORWARD { + vobc.DirectionForward = true + } else if direction == request_proto.TrainControl_BACKWARD { + vobc.DirectionBackward = true + } + /* if direction == request_proto.TrainControl_NEUTRALWARD { + vobc.DirectionBackward = false + vobc.DirectionForward = false + } else if trainSpeed > 0 && direction != vobc.HistoryDir { + tcc.DirKey.Val = uint32(vobc.HistoryDir.Number()) + if vobc.HistoryDir == request_proto.TrainControl_FORWARD { + vobc.DirectionForward = true + } else if vobc.HistoryDir == request_proto.TrainControl_BACKWARD { + vobc.DirectionBackward = true + } + panic(sys_error.New("列车未停稳时，不能变更方向")) + } + vobc.DirectionBackward = false + vobc.DirectionForward = false + if direction == request_proto.TrainControl_FORWARD { + vobc.DirectionForward = true + vobc.HistoryDir = request_proto.TrainControl_FORWARD + } else if direction == request_proto.TrainControl_BACKWARD { + vobc.DirectionBackward = true + vobc.HistoryDir = request_proto.TrainControl_BACKWARD + }*/ + tcc.DirKey.Val = request.Val tce := make([]train_pc_sim.TrainControlEvent, 0) tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(vobc.DirectionForward)}) @@ -114,13 +139,15 @@ func trainControlDirKey(vobc *state_proto.TrainVobcState, tcc *state_proto.Train } // 列车驾驶端激活 -func trainControlDriverKey(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(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 { 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 { + panic(sys_error.New("因列车未停稳，不支持此操作")) + } if obj.Code == SKQYS1 { vobc.Tc1Active = request.Val } else if obj.Code == SKQYS2 { From a6119b890f4e5d1ce69dd52cdb9dd2dc18191abc Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Fri, 10 May 2024 08:23:50 +0800 Subject: [PATCH 4/4] =?UTF-8?q?=E5=88=97=E8=BD=A6=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- rts-sim-testing-message | 2 +- ts/simulation/wayside/memory/wayside_simulation_train_pc.go | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/rts-sim-testing-message b/rts-sim-testing-message index 1211347..e4c55ea 160000 --- a/rts-sim-testing-message +++ b/rts-sim-testing-message @@ -1 +1 @@ -Subproject commit 121134778a38df672562fd8d1acb1482a327702f +Subproject commit e4c55ea4b6f9f5f875d59fc5bba51fc21bc8ef97 diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index 73f22fa..1a0b700 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -59,6 +59,9 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) { vobc.TractionStatus = false vobc.TractionForce = 0 } + if vobc.EmergencyBrakingStatus { + vobc.TractionForce = 0 + } if sta.ConnState.Conn && sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM && tce != nil { train_pc_sim.Default().PublishTrainControlEvent(tce) }