列车应答器调整

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit ec6c571a37999ad7bab8f613deeb207b202468f0
+Subproject commit bc7ca44ffd0a95f8a1ae14b391f93b28b11a452b

third_party/can_btm/balise_btm.go

@@ -53,15 +53,32 @@ type btmCanetClient struct {
 	baliseDetector *BaliseDetector
 }
 
-func (s *btmCanetClient) FindNotSendState(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
+func (s *btmCanetClient) FindBaliseResend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
+	s.baliseDetector.eqLock.Lock()
+	defer s.baliseDetector.eqLock.Unlock()
+	cache := train.BtmBaliseCache
+
+	for _, balise := range cache.BaliseList {
+		slog.Info(fmt.Sprintf("===========%v", len(cache.BaliseList)))
+		if balise != nil && balise.BaliseId == cache.ResendBaliseId && balise.ResendCount < 3 {
+			balise.ResendCount++
+			ndsn := BaliseCounterAdd(cache.Dsn)
+			cache.Dsn = uint32(ndsn)
+			return balise, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	return nil, 0, 0, 0
+}
+
+func (s *btmCanetClient) FindBaliseByNotSend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
 	s.baliseDetector.eqLock.Lock()
 	defer s.baliseDetector.eqLock.Unlock()
 	cache := train.BtmBaliseCache
 	for _, btmCache := range cache.BaliseList {
 		if btmCache != nil && !btmCache.IsSend {
-
 			ndsn := BaliseCounterAdd(cache.Dsn)
 			cache.Dsn = uint32(ndsn)
+			cache.ResendBaliseId = btmCache.BaliseId
 			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
 		}
 	}
@@ -86,7 +103,8 @@ type BtmCanetClient interface {
 	HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo)
 	HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainBtmCache, h *TrainHeadPositionInfo)
 
-	FindNotSendState(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
+	FindBaliseByNotSend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
+	FindBaliseResend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
 }
 
 var (
@@ -121,16 +139,7 @@ func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state
 	//slog.Debug(h.String())
 	wd := entity.GetWorldData(w)
 	repo := wd.Repo
-
+	s.baliseDetector.detect(wd, repo, h, vobcBtm)
-	//s.baliseDetector.detect(wd, repo, h, vobcBtm)
-	h2 := &TrainHeadPositionInfo{
-		TrainId:      h.TrainId,
-		Up:           h.Up,
-		Link:         h.OldLink,
-		LinkOffset:   h.OldLinkOffset,
-		Speed:        h.Speed,
-		Acceleration: h.Acceleration}
-	s.baliseDetector.detect2(wd, repo, h, h2, vobcBtm)
 }
 func (s *btmCanetClient) Start(bcm BtmCanetManager) {
 	s.bcm = bcm

third_party/can_btm/balise_detection.go

@@ -2,6 +2,7 @@ package can_btm
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/btm_vobc"
 	"joylink.club/rtsssimulation/component"
@@ -11,6 +12,7 @@ import (
 	"log/slog"
 	"math"
 	"sort"
+	"strings"
 	"sync"
 	"time"
 )
@@ -102,68 +104,11 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep
 	}
 	if len(balises) > 0 {
 		balise := balises[0]
-
 		telegram, utel := t.rcvTelegram(wd, balise.Id())
-
 		t.addNewExpectedBalise(balise, btmCache, telegram, utel)
 	}
 
 }
-func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
-	t.tryRebind(th)
-
-	//BTM天线中心点运行信息
-	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
-	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
-	var startBalises []*repository.Transponder
-
-	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, th2.LinkOffset, th.LinkOffset)
-	startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th2.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
-
-	balises := make([]*repository.Transponder, 0)
-	for _, balise := range startBalises {
-		find := false
-		for _, transponder := range balises {
-			if transponder.Id() == balise.Id() {
-				find = true
-				break
-			}
-		}
-		if !find {
-			balises = append(balises, balise)
-		}
-	}
-	if len(balises) > 0 {
-		balise := balises[0]
-		baliseInfo := &BtmAntennaScanningBaliseInfo{BaliseId: balise.Id(), BaliseType: balise.BaliseType()}
-		//uuid := uuid2.NewString()
-		//slog.Info(fmt.Sprintf("uid :%v,baliseId:%v,Distance:%v,up:%v", uuid, balise.Id(), baliseInfo.Distance, curAntennaRi.Up))
-
-		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 {
-				baliseInfo.telegram = utel
-				baliseInfo.telegram128 = telegram
-				t.baliseMessageCounterAdd1() //报文计数器
-			}
-		}
-		t.aboveBalise = true
-	} else {
-		t.aboveBalise = false
-	}
-
-	/*	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, &TrainHeadPositionInfo{TrainId: th.TrainId,
-			Up:           !th.Up,
-			Link:         th.Link,
-			LinkOffset:   th.LinkOffset,
-			Speed:        th.Speed,
-			Acceleration: th.Acceleration})
-		curExpect2 := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi2)
-		if curExpect2 != nil && curExpect2.Distance > 20 {
-			btm_vobc.Default().UpdateTrainLeave(vobcBtm, curExpect2.BaliseId, curTime.UnixMilli())
-		}*/
-}
 
 func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
 	t.tryRebind(th)
@@ -285,13 +230,20 @@ func (t *BaliseDetector) addNewExpectedBalise(balise *repository.Transponder, bt
 
 	btmCache.BaliseCount = uint32(bc)
 	btmCache.MessageCounter = mc
-	//存入队尾
+	btmS := &state_proto.BTMState{BaliseId: balise.Id(),
-	bl[len(bl)-1] = &state_proto.BTMState{BaliseId: balise.Id(),
 		Telegram:    fmt.Sprintf("%x", userTelegram),
-		Telegram128: fmt.Sprintf("%x", telegram),
+		Telegram128: fmt.Sprintf("%X", telegram),
 		Unpack:      unpack,
 		BaliseType:  int32(balise.BaliseType().Number()),
-		AboveBalise: true}
+		AboveBalise: true, HasData: true}
+
+	if userTelegram == nil || len(userTelegram) == 0 {
+		btmS.Telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
+		btmS.Telegram128 = strings.Repeat("00", balise_const.TelegramByteLen)
+		btmS.HasData = false
+	}
+	//存入队尾
+	bl[len(bl)-1] = btmS
 	return true
 }
 

third_party/message/can_atp_req.go

@@ -73,6 +73,13 @@ type AtpRequestFrame struct {
 	//IsTrainPcSim bool
 }
 
+func (f *AtpRequestFrame) IsResend() bool {
+	if f.ResendRequest == 2 {
+		return true
+	}
+	return false
+}
+
 // NewAtpRequestFrame 创建ATP查询帧
 func NewAtpRequestFrame(sn byte) *AtpRequestFrame {
 	return &AtpRequestFrame{
@@ -98,10 +105,16 @@ func (f *AtpRequestFrame) Decode2(cf *BtmHeadFrame) bool {
 	buf := bytes.NewBuffer(cf.CanData)
 	if d, err := buf.ReadByte(); err == nil {
 		f.Speed = uint16(d << 4)
-
+		rr := byte(0)
-		f.ResendRequest = GetBit(d, 5)>>5 | GetBit(d, 4)>>6
+		rr = setBit(rr, 0, GetBit(d, 4))
+		rr = setBit(rr, 1, GetBit(d, 5))
+		f.ResendRequest = rr
 		f.PowerAmplifierControlledByAtp = true
 		f.PowerAmplifierTurnOn = true
+		if rr == 2 {
+			slog.Error(fmt.Sprintf("获取ATP请求帧数据：%b,rr :=%v ,result:%v id1:%v,id2:%v,id3:%v,id4:%v", d, rr, rr, f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
+
+		}
 	} else {
 		return false
 	}

third_party/message/can_btm_rsp.go

@@ -7,7 +7,7 @@ import (
 )
 
 // 返回应答器数据帧(数据帧 + timeA+timeB+结束帧)
-func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
+func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError, haxBaliseData bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
 	sn := statusRsp.CanId.ID4
 	//应答器整个是16个数据帧，其中报文占13帧，timeA,timeB 占2帧，最后是结束帧
 	//数据
@@ -33,8 +33,8 @@ func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackE
 			}
 		}
 	}
-	dtA := createTimeA(sn, DATA_TIME_A_OFFSET, msgTimeA, msgPackError, msg)
+	dtA := createTimeA(sn, DATA_TIME_A_OFFSET, msgTimeA, msgPackError, msg, haxBaliseData)
-	dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg)
+	dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg, haxBaliseData)
 	dtACf := dtA.Encode()
 	dtBCf := dtB.Encode()
 
@@ -56,6 +56,7 @@ func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackE
 	}
 	return rt, true
 }
+
 func createDataAtpEnd(sn byte, time uint32, statusData, msg, dtAData, dtBData []byte) *BtmDataMessageAtpTimeAndEndFrame {
 	end := BtmDataMessageEndAtpFrame(sn)
 	end.Time = time
@@ -67,23 +68,27 @@ func createDataAtpEnd(sn byte, time uint32, statusData, msg, dtAData, dtBData []
 	crc32cData = append(crc32cData, dtBData...)
 	crc32cData = binary.BigEndian.AppendUint32(crc32cData, end.Time)
 	end.Crc32 = Can_Crc32(crc32cData)
+
 	return end
 }
 
-func createTimeA(sn, offset byte, time uint32, msgPackError bool, msg []byte) *BtmDataMessageAtpTimeAndEndFrame {
+func createTimeA(sn, offset byte, time uint32, msgPackError bool, msg []byte, hasBaliseData bool) *BtmDataMessageAtpTimeAndEndFrame {
 	tf := CreateBtmDataMessageTimeAtpFrame(sn, offset)
 	tf.Time = time
 	if !msgPackError {
 		var crcData []byte
 		crcData = append(crcData, msg...)
 		crcData = binary.BigEndian.AppendUint32(crcData, time)
+		if !hasBaliseData {
+			tf.Crc32 = 0
+		} else {
 			if offset == DATA_TIME_A_OFFSET {
 				tf.Crc32 = Can_Crc32A(crcData) //CRC32A的校验范围是：报文+时间戳B
 
 			} else {
 				tf.Crc32 = Can_Crc32B(crcData) //CRC32B的校验范围是：报文+时间戳B
 			}
-
+		}
 	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
 		tf.Crc32 = 0xff_ff_ff_ff
 	}

third_party/train_pc_sim/train_pc_receive_handler.go

@@ -13,7 +13,7 @@ type TrainPcReciverData struct {
 	clientKey   string
 	tcpClient   *tcp.TcpClient
 	pcSimManage TrainPcSimManage
-	trainInit   bool
+	//trainInit   bool
 	state      tpapi.ThirdPartyApiServiceState
 	speedPlace *message.TrainSpeedPlaceReportMsg
 	train      *state_proto.TrainState
@@ -62,12 +62,12 @@ func (rd *TrainPcReciverData) receiverDataHandle(n int, data []byte) {
 		//case RECIVE_TRAIN_CREATE_REMOVE:
 		//	pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
-			initResult := rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(train, rd.trainInit, baseMsg.Data)
+			rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(train, baseMsg.Data)
-			rd.trainInit = initResult
+
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
 			rd.pcSimManage.TrainPcSimDigitalReportHandle(train, baseMsg.Data)
 		case message.RECIVE_TRAIN_QUERY_STATUS:
-			rd.pcSimManage.TrainBtmQuery(train, baseMsg.Data)
+			rd.pcSimManage.TrainBtmQuery2(train, baseMsg.Data)
 		case message.RECIVE_TRAIN_MOCK_DATA:
 			rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
 

third_party/train_pc_sim/train_pc_sim.go

@@ -57,7 +57,7 @@ type TrainPcSimManage interface {
 	//获取列车模拟量数据
 	ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage
 	// TrainPcSimDigitalOutInfoHandle 4.4.1.	车载输出数字量信息报文内容
-	TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, trainInit bool, data []byte) bool
+	TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, data []byte)
 	// TrainPcSimDigitalReportHandle 4.4.2.	车载输出数字反馈量信息报文内容
 	TrainPcSimDigitalReportHandle(train *state_proto.TrainState, data []byte)
 	FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState
@@ -66,7 +66,8 @@ type TrainPcSimManage interface {
 	//处理列车pc仿真模拟量数据
 	TrainPcSimMockInfo(train *state_proto.TrainState, data []byte)
 	// TrainBtmQuery 处理列车btm查询
-	TrainBtmQuery(train *state_proto.TrainState, data []byte)
+
+	TrainBtmQuery2(train *state_proto.TrainState, data []byte)
 }
 type trainPcSimService struct {
 	state             tpapi.ThirdPartyApiServiceState
@@ -207,7 +208,7 @@ func (d *trainPcSimService) newCloseConn(clientKey string) {
 		rd.tcpClient = nil
 		rd.train = nil
 		rd.speedPlace = nil
-		rd.trainInit = false
+		//rd.trainInit = false
 		//d.cancleContextFun()
 	}
 }
@@ -228,7 +229,7 @@ func (d *trainPcSimService) initConn(clientKey string) error {
 	if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
 		return nil
 	} else {
-		rd.trainInit = false
+		//rd.trainInit = false
 		rd.tcpClient = nil
 	}
 	cfg, cfgErr := d.findConfig(clientKey)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -52,6 +52,9 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 		if !vobc.Tc1Active && !vobc.Tc2Active {
 			panic(sys_error.New("TC1和TC2都未激活不能搬动牵引制动手柄 "))
 		}
+		if vobc.TractionSafetyCircuit {
+			panic(sys_error.New("牵引切除，不能进行列车控制"))
+		}
 		oldTraction := sta.VobcState.TractionForce
 		oldBrakeForce := sta.VobcState.BrakeForce
 		isTraction := ct.Handler.Val > 0 //是否制动
@@ -487,15 +490,16 @@ func (s *VerifySimulation) FindConnTrain(ct state_proto.TrainConnState_TrainConn
 }
 
 // 反馈atp输出数字量数据
-func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState, data1, data3 byte, trainInit bool) bool {
+func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState, data1, data3 byte) {
 	vobc := train.VobcState
 	tcc := train.Tcc
 	tce := make([]message.TrainPcSimBaseMessage, 0)
 	tcc.Line12ConnErr = false
-	initResult := trainInit
+	//initResult := trainInit
 	if vobc.Tc1Active || vobc.Tc2Active {
 		state := message.GetBit(data1, 3)
-		if trainInit {
+		//if trainInit {
+		if vobc.TrainConnInitComplate {
 			if data1 == 0 {
 				tcc.Line12ConnErr = true
 			}
@@ -504,19 +508,15 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 				ebTce := controlEBBtn(vobc, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 			} else if message.GetBit(data1, 0) == 0 {
-
 				jjzdBtn := tcc.Buttons[JJZD]
 				ebTce := controlEBBtn(vobc, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
-				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
+				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
-				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, 0}})
-				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{0x38, 0}})
-				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
-				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_BACKWARD})
 			}
 		} else {
-			initResult = true
+			//initResult = false
+			vobc.TrainConnInitComplate = true
 			if tcc.LineInitTimeStamp12 <= 0 {
 				tcc.LineInitTimeStamp12 = time.Now().Add(time.Second * 6).Unix()
 			}
@@ -524,7 +524,8 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
 				initData := s.ObtainTrainDigitalMockDataForStatus(train)
 				tce = append(tce, initData...)
-				initResult = false
+				//initResult = false
+				vobc.TrainConnInitComplate = false
 			}
 		}
 
@@ -535,26 +536,20 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})
 	}
 	train_pc_sim.Default().SendTrainControlMsg(train, tce)
-	return initResult
+	//return initResult
 }
 
 // 4.4.1.	车载输出数字量信息报文内容
-func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, trainInit bool, data []byte) bool {
+func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, data []byte) {
-	/*for i, d := range data {
+	s.reportTrainMockInitMsg(train, data[4], data[1])
-		slog.Info(fmt.Sprintf("atp模拟量分析index:%v ,bin:%2b,trainInit:%v", i, d, trainInit))
-	}*/
-
-	initResult := s.reportTrainMockInitMsg(train, data[4], data[1], trainInit)
 	vobc := train.VobcState
 	trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
 	trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
 	trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
 	trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
 	trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
-	/*	if !vobc.EmergencyBrakingStatus {
+
-		train_pc_sim.Default().ResetPlusePlace(train)
+	//return initResult
-	}*/
-	return initResult
 
 }
 func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobcState) {
@@ -694,63 +689,52 @@ func (s *VerifySimulation) TrainPcSimMockInfo(train *state_proto.TrainState, dat
 }
 
 // 4.4.4.	车载输出BTM查询同步帧报文内容（0x04）
-func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []byte) {
+func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []byte) {
 
 	ts := time.Now().UnixMilli()
 	if len(data) < 12 {
 		slog.Error("列车btm查询报文长度错误:", len(data))
 		return
 	}
-	balise, dsn, bc, mc := can_btm.Default().FindNotSendState(train)
 
 	trainAtm := message.NewBtmHeadFrame(data)
 	atpReq := &message.AtpRequestFrame{}
-
 	if !atpReq.Decode2(trainAtm) {
 		slog.Warn("列车pc驾驶模拟-CanetFrame解码成AtpRequestFrame失败", "CanetFrame", trainAtm.String())
 		return
 	}
-
+	var balise *state_proto.BTMState
-	cl := clock(atpReq)
+	var dsn, bc, mc byte
-
+	if atpReq.IsResend() {
-	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, balise, atpReq, cl, dsn, bc, mc)
+		balise, dsn, bc, mc = can_btm.Default().FindBaliseResend(train)
-
-	if atpReq.ResendRequest == 2 {
-		slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr:%v", atpReq.String()))
-		//重新发送
-		//if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
-		if len(balise.BaliseTelegramForPcSimResend) > 0 {
-			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr111111111:%v", atpReq.String()))
-			//dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
-			dd, _ := hex.DecodeString(balise.BaliseTelegramForPcSimResend)
-			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
 	} else {
-			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr2222222222222:%v", atpReq.String()))
+		balise, dsn, bc, mc = can_btm.Default().FindBaliseByNotSend(train)
-			timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
-			timeSyncF.T2 = cl.BtmTk
-			timeSyncF.T3 = cl.TkNow()
-			queryData := make([]byte, 0)
-			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
-			queryData = append(queryData, timeSyncF.Encode().Encode()...)
-			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 	}
-	} else {
+	cl := clock(atpReq)
+	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, balise, atpReq, cl, dsn, bc, mc)
 	timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
 	timeSyncF.T2 = cl.BtmTk
 	timeSyncF.T3 = cl.TkNow()
-
 	if balise == nil {
-			//无应答器数据
 		queryData := make([]byte, 0)
 		queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
 		queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 		train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
+	} else {
+		logstr := ""
+		if atpReq.IsResend() {
+			logstr = fmt.Sprintf("准备重新发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc)
+
 		} else if !balise.IsSend {
 			balise.IsSend = true
-			slog.Info(fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc))
+			logstr = fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc)
+		} else {
+			return
+		}
+		slog.Info(logstr)
 		aliseData, _ := hex.DecodeString(balise.Telegram)
 		stateRepFrame := btmRepFrame.EncodeBtmAtp()
-			statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, cl.BtmTk, cl.BtmTk, cl.BtmTk)
+		statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, balise.HasData, cl.BtmTk, cl.BtmTk, cl.BtmTk)
 		if statusDataCfOk {
 			timeSyncF.T2 = cl.BtmTk
 			timeSyncF.T3 = cl.TkNow()
@@ -764,7 +748,6 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 			slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
 		}
 	}
-	}
 }
 
 func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn, baliseCount, messageCount byte) *message.BtmStatusRspFrame {

ts/test_simulation_manage.go

@@ -156,20 +156,6 @@ func runThirdParty(s *memory.VerifySimulation) error {
 func stopThirdParty(s *memory.VerifySimulation) {
 	// 停止半实物
 	semi_physical_train.Default().Stop()
-	// 联锁启动
-	for _, c := range s.GetRunConfig().Interlocks {
-		switch c.Line {
-		case "11":
-			beijing11.Stop(c.Code)
-		default:
-			beijing12.Stop(c)
-		}
-	}
-	//计轴RSSP启动销毁
-	axleBeijing12.Stop(s)
-	//obsolete.StopLineAllRsspAxleServices()
-	// 电机UDP停止
-	electrical_machinery.Default().Stop()
 	// 车载BTM停止
 	can_btm.Default().Stop()
 	// 联锁驱采Modbus服务停止
@@ -184,6 +170,21 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	btm_vobc.Default().Stop()
 	// 停止动力学接口功能
 	dynamics.Default().Stop()
+	// 联锁启动
+	for _, c := range s.GetRunConfig().Interlocks {
+		switch c.Line {
+		case "11":
+			beijing11.Stop(c.Code)
+		default:
+			beijing12.Stop(c)
+		}
+	}
+	//计轴RSSP启动销毁
+	axleBeijing12.Stop(s)
+	//obsolete.StopLineAllRsspAxleServices()
+	// 电机UDP停止
+	electrical_machinery.Default().Stop()
+
 }
 
 func createSimulationId(projectId int32) string {