From 1c074ff258ae093912b1571985ad8b8bbd1ca57c Mon Sep 17 00:00:00 2001 From: weizhihong Date: Thu, 9 Nov 2023 15:58:16 +0800 Subject: [PATCH] =?UTF-8?q?=E3=80=90=E5=8A=A8=E5=8A=9B=E5=AD=A6=E5=88=97?= =?UTF-8?q?=E8=BD=A6=E4=BF=A1=E6=81=AF=E5=8F=98=E5=8C=96=E9=80=BB=E8=BE=91?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E3=80=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../wayside/memory/wayside_memory_train.go | 97 +++++++++++++++---- .../wayside/memory/wayside_simulation.go | 81 ++-------------- 2 files changed, 86 insertions(+), 92 deletions(-) diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 1dcc554..c9cf094 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -5,12 +5,13 @@ import ( "log/slog" "math" "strconv" + "time" "joylink.club/bj-rtsts-server/dto" "joylink.club/bj-rtsts-server/third_party/dynamics" "joylink.club/bj-rtsts-server/third_party/message" + "joylink.club/rtsssimulation/fi" - "google.golang.org/protobuf/proto" "joylink.club/bj-rtsts-server/ts/protos/graphicData" "joylink.club/bj-rtsts-server/ts/protos/state" ) @@ -41,14 +42,9 @@ func AddTrainState(vs *VerifySimulation, status *state.TrainState, mapId int32) // 车头所在公里标 kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset) // 车尾相对车头link的偏移量 - var calctailOffset int64 - if up { - calctailOffset = loffset - status.TrainLength - } else { - calctailOffset = loffset + status.TrainLength - } + calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up) // 车尾位置 - tailLink, _, _, tailLOffset, _, _ := CalcInitializeLink(vs, linkId, calctailOffset, up) + tailLink, tailDeviceId, _, tailLOffset, _, _ := CalcInitializeLink(vs, linkId, calctailOffset, up) status.Up = up status.PointTo = pointTo status.TrainKilometer = kilometer.Value @@ -73,24 +69,74 @@ func AddTrainState(vs *VerifySimulation, status *state.TrainState, mapId int32) if err != nil { panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()}) } + occupySectionId := QueryDeviceRoutePath(vs, uid, tailDeviceId, status.DevicePort, !pointTo) + // world中加车 + fi.AddTrainToWorld(vs.World, status.Id) + fi.UpdateTrainFromDynamics(vs.World, status.Id, occupySectionId) // 将信息合并到当前设备状态中 allTrainMap.Store(status.Id, status) } -// 修改列车状态 -func UpdateTrainState(vs *VerifySimulation, status *state.TrainState) { - allTrainMap := &vs.Memory.Status.TrainStateMap - d, ok := allTrainMap.Load(status.Id) +// 根据动力学发来的信息修改列车状态 +func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *message.DynamicsTrainInfo) { + data, ok := vs.Memory.Status.TrainStateMap.Load(trainId) if !ok { - panic(fmt.Sprintf("列车【%s】不存在", status.Id)) + panic(fmt.Sprintf("列车【%s】不存在", trainId)) } - t := d.(*state.TrainState) - t.RunDirection = status.RunDirection - t.PointTo = status.PointTo - // 合并其他信息 - proto.Merge(t, status) - // 更新全量信息 - allTrainMap.Store(status.Id, t) + sta := data.(*state.TrainState) + delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime + 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 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up) + 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) + // 车尾相对车头link的偏移量 + calctailOffset := calcTrailTailOffset(outLinkOffset, sta.TrainLength, info.Up) + tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailDeviceOffset, _ := CalcInitializeLink(vs, outLinkId, calctailOffset, info.Up) + slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort) + occupySectionId := QueryDeviceRoutePath(vs, id, tailDeviceId, port, !pointTo) + // 修改world中的列车信息 + fi.UpdateTrainFromDynamics(vs.World, trainId, occupySectionId) + sta.HeadDeviceId = vs.GetComIdByUid(id) + sta.DevicePort = port + sta.HeadOffset = offset + sta.PointTo = 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 + } + // 赋值动力学信息 + sta.DynamicState.Heartbeat = int32(info.LifeSignal) + sta.DynamicState.HeadLinkId = outLinkId + sta.DynamicState.HeadLinkOffset = outLinkOffset + sta.DynamicState.TailLinkId = tailLinkId + sta.DynamicState.TailLinkOffset = tailLinkOffset + sta.DynamicState.Slope = int32(info.Slope) + sta.DynamicState.Upslope = info.UpSlope + sta.DynamicState.RunningUp = info.Up + sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000 + sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000 + sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000 + sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000 + sta.DynamicState.Speed = speedParse(info.Speed) + sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1) + sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2) + sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1) + sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2) + sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed) + sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed) + sta.DynamicState.Acceleration = info.Acceleration } // 删除列车状态 @@ -108,8 +154,19 @@ func RemoveTrainState(vs *VerifySimulation, id string) { } // 从仿真内存中移除列车 t.Show = false + // 移除车 + fi.RemoveTrainFromWorld(vs.World, id) allTrainMap.Store(id, t) } else { panic(fmt.Sprintf("列车【%s】不存在", id)) } } + +func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset int64) { + if up { + calctailOffset = headerOffset - length + } else { + calctailOffset = headerOffset + length + } + return +} diff --git a/ts/simulation/wayside/memory/wayside_simulation.go b/ts/simulation/wayside/memory/wayside_simulation.go index ec8156a..1685421 100644 --- a/ts/simulation/wayside/memory/wayside_simulation.go +++ b/ts/simulation/wayside/memory/wayside_simulation.go @@ -9,7 +9,6 @@ import ( "strconv" "strings" "sync" - "time" "joylink.club/bj-rtsts-server/config" "joylink.club/bj-rtsts-server/dto" @@ -271,73 +270,15 @@ func handlerDynamicsTurnoutState(w ecs.World, uid string) *message.DynamicsTurno // 处理动力学列车速度消息 func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) { - sta, ok := s.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number))) + trainId := strconv.Itoa(int(info.Number)) + _, ok := s.Memory.Status.TrainStateMap.Load(trainId) if !ok { return } // 给半实物仿真发送速度 semi_physical_train.Default().SendTrainControlMessage(info) // 更新列车状态 - UpdateTrainState(s, convert(info, sta.(*state.TrainState), s)) -} - -func convert(info *message.DynamicsTrainInfo, sta *state.TrainState, simulation *VerifySimulation) *state.TrainState { - delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime - 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 := CalcInitializeLink(simulation, inLinkId, inLinkOffset, info.Up) - runDirection, pointTo := QueryDirectionAndABByDevice(simulation.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) - // 车尾相对车头link的偏移量 - var calctailOffset int64 - if info.Up { - calctailOffset = outLinkOffset - sta.TrainLength - } else { - calctailOffset = outLinkOffset + sta.TrainLength - } - tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailDeviceOffset, _ := CalcInitializeLink(simulation, outLinkId, calctailOffset, info.Up) - slog.Debug("车未位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort) - sta.HeadDeviceId = simulation.GetComIdByUid(id) - sta.DevicePort = port - sta.HeadOffset = offset - sta.PointTo = 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 - } - // 赋值动力学信息 - sta.DynamicState.Heartbeat = int32(info.LifeSignal) - sta.DynamicState.HeadLinkId = outLinkId - sta.DynamicState.HeadLinkOffset = outLinkOffset - sta.DynamicState.TailLinkId = tailLinkId - sta.DynamicState.TailLinkOffset = tailLinkOffset - sta.DynamicState.Slope = int32(info.Slope) - sta.DynamicState.Upslope = info.UpSlope - sta.DynamicState.RunningUp = info.Up - sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000 - sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000 - sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000 - sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000 - sta.DynamicState.Speed = speedParse(info.Speed) - sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1) - sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2) - sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1) - sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2) - sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed) - sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed) - sta.DynamicState.Acceleration = info.Acceleration - return sta + UpdateTrainStateByDynamics(s, trainId, info) } // 获取动力学配置信息 @@ -1424,24 +1365,20 @@ func findTurnoutIds(axleCountingMap map[string]*graphicData.AxleCounting, axleId if len(axleIds) <= 2 { return nil } - turnoutMap := make(map[string]bool) + turnoutMap := make(map[string]int) for _, axleId := range axleIds { axle := axleCountingMap[axleId] - relTurnoutCount := 0 - var turnoutId string for _, ref := range axle.AxleCountingRef { if ref.DeviceType == graphicData.RelatedRef_Turnout { - relTurnoutCount++ - turnoutId = ref.Id + turnoutMap[ref.Id] = turnoutMap[ref.Id] + 1 } } - if relTurnoutCount == 1 { - turnoutMap[turnoutId] = true - } } var turnoutIds []string - for id := range turnoutMap { - turnoutIds = append(turnoutIds, id) + for id, num := range turnoutMap { + if num > 1 { + turnoutIds = append(turnoutIds, id) + } } return turnoutIds }