【动力学列车信息变化逻辑修改】
This commit is contained in:
weizhihong
parent
de7d72b92a
commit
1c074ff258
@ -5,12 +5,13 @@ import (
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"log/slog"
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"math"
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"strconv"
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"time"
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"joylink.club/bj-rtsts-server/dto"
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"joylink.club/bj-rtsts-server/third_party/dynamics"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/rtsssimulation/fi"
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"google.golang.org/protobuf/proto"
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"joylink.club/bj-rtsts-server/ts/protos/graphicData"
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"joylink.club/bj-rtsts-server/ts/protos/state"
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)
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@ -41,14 +42,9 @@ func AddTrainState(vs *VerifySimulation, status *state.TrainState, mapId int32)
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// 车头所在公里标
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kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset)
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// 车尾相对车头link的偏移量
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var calctailOffset int64
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if up {
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calctailOffset = loffset - status.TrainLength
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} else {
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calctailOffset = loffset + status.TrainLength
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}
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calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
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// 车尾位置
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tailLink, _, _, tailLOffset, _, _ := CalcInitializeLink(vs, linkId, calctailOffset, up)
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tailLink, tailDeviceId, _, tailLOffset, _, _ := CalcInitializeLink(vs, linkId, calctailOffset, up)
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status.Up = up
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status.PointTo = pointTo
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status.TrainKilometer = kilometer.Value
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@ -73,24 +69,74 @@ func AddTrainState(vs *VerifySimulation, status *state.TrainState, mapId int32)
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if err != nil {
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panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
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}
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occupySectionId := QueryDeviceRoutePath(vs, uid, tailDeviceId, status.DevicePort, !pointTo)
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// world中加车
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fi.AddTrainToWorld(vs.World, status.Id)
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fi.UpdateTrainFromDynamics(vs.World, status.Id, occupySectionId)
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// 将信息合并到当前设备状态中
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allTrainMap.Store(status.Id, status)
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}
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// 修改列车状态
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func UpdateTrainState(vs *VerifySimulation, status *state.TrainState) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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d, ok := allTrainMap.Load(status.Id)
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// 根据动力学发来的信息修改列车状态
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func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *message.DynamicsTrainInfo) {
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data, ok := vs.Memory.Status.TrainStateMap.Load(trainId)
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if !ok {
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panic(fmt.Sprintf("列车【%s】不存在", status.Id))
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panic(fmt.Sprintf("列车【%s】不存在", trainId))
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}
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t := d.(*state.TrainState)
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t.RunDirection = status.RunDirection
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t.PointTo = status.PointTo
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// 合并其他信息
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proto.Merge(t, status)
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// 更新全量信息
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allTrainMap.Store(status.Id, t)
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sta := data.(*state.TrainState)
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delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
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sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
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slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
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inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)
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outLinkId, id, port, outLinkOffset, offset, kilometer := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up)
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runDirection, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up)
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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)
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// 车尾相对车头link的偏移量
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calctailOffset := calcTrailTailOffset(outLinkOffset, sta.TrainLength, info.Up)
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tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailDeviceOffset, _ := CalcInitializeLink(vs, outLinkId, calctailOffset, info.Up)
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slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
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occupySectionId := QueryDeviceRoutePath(vs, id, tailDeviceId, port, !pointTo)
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// 修改world中的列车信息
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fi.UpdateTrainFromDynamics(vs.World, trainId, occupySectionId)
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sta.HeadDeviceId = vs.GetComIdByUid(id)
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sta.DevicePort = port
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sta.HeadOffset = offset
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sta.PointTo = pointTo
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sta.TrainKilometer = kilometer.Value
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sta.RunDirection = runDirection
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//判定车头方向
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sta.HeadDirection = runDirection
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if sta.VobcState != nil {
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if sta.VobcState.DirectionForward {
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sta.HeadDirection = runDirection
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} else if sta.VobcState.DirectionBackward {
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sta.HeadDirection = !runDirection
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}
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}
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if info.Speed < 0 {
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sta.RunDirection = !sta.RunDirection
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}
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// 赋值动力学信息
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sta.DynamicState.Heartbeat = int32(info.LifeSignal)
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sta.DynamicState.HeadLinkId = outLinkId
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sta.DynamicState.HeadLinkOffset = outLinkOffset
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sta.DynamicState.TailLinkId = tailLinkId
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sta.DynamicState.TailLinkOffset = tailLinkOffset
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sta.DynamicState.Slope = int32(info.Slope)
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sta.DynamicState.Upslope = info.UpSlope
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sta.DynamicState.RunningUp = info.Up
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sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
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sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
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sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
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sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
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sta.DynamicState.Speed = speedParse(info.Speed)
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sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
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sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
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sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
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sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
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sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
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sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
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sta.DynamicState.Acceleration = info.Acceleration
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}
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// 删除列车状态
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@ -108,8 +154,19 @@ func RemoveTrainState(vs *VerifySimulation, id string) {
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}
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// 从仿真内存中移除列车
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t.Show = false
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// 移除车
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fi.RemoveTrainFromWorld(vs.World, id)
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allTrainMap.Store(id, t)
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} else {
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panic(fmt.Sprintf("列车【%s】不存在", id))
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}
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}
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func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset int64) {
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if up {
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calctailOffset = headerOffset - length
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} else {
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calctailOffset = headerOffset + length
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}
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return
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}
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@ -9,7 +9,6 @@ import (
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"strconv"
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"strings"
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"sync"
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"time"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/dto"
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@ -271,73 +270,15 @@ func handlerDynamicsTurnoutState(w ecs.World, uid string) *message.DynamicsTurno
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// 处理动力学列车速度消息
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func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) {
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sta, ok := s.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))
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trainId := strconv.Itoa(int(info.Number))
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_, ok := s.Memory.Status.TrainStateMap.Load(trainId)
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if !ok {
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return
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}
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// 给半实物仿真发送速度
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semi_physical_train.Default().SendTrainControlMessage(info)
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// 更新列车状态
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UpdateTrainState(s, convert(info, sta.(*state.TrainState), s))
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}
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func convert(info *message.DynamicsTrainInfo, sta *state.TrainState, simulation *VerifySimulation) *state.TrainState {
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delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
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sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
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slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
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inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)
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outLinkId, id, port, outLinkOffset, offset, kilometer := CalcInitializeLink(simulation, inLinkId, inLinkOffset, info.Up)
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runDirection, pointTo := QueryDirectionAndABByDevice(simulation.Repo, id, port, info.Up)
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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)
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// 车尾相对车头link的偏移量
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var calctailOffset int64
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if info.Up {
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calctailOffset = outLinkOffset - sta.TrainLength
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} else {
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calctailOffset = outLinkOffset + sta.TrainLength
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}
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tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailDeviceOffset, _ := CalcInitializeLink(simulation, outLinkId, calctailOffset, info.Up)
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slog.Debug("车未位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
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sta.HeadDeviceId = simulation.GetComIdByUid(id)
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sta.DevicePort = port
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sta.HeadOffset = offset
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sta.PointTo = pointTo
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sta.TrainKilometer = kilometer.Value
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sta.RunDirection = runDirection
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//判定车头方向
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sta.HeadDirection = runDirection
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if sta.VobcState != nil {
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if sta.VobcState.DirectionForward {
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sta.HeadDirection = runDirection
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} else if sta.VobcState.DirectionBackward {
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sta.HeadDirection = !runDirection
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}
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}
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if info.Speed < 0 {
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sta.RunDirection = !sta.RunDirection
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}
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// 赋值动力学信息
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sta.DynamicState.Heartbeat = int32(info.LifeSignal)
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sta.DynamicState.HeadLinkId = outLinkId
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sta.DynamicState.HeadLinkOffset = outLinkOffset
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sta.DynamicState.TailLinkId = tailLinkId
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sta.DynamicState.TailLinkOffset = tailLinkOffset
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sta.DynamicState.Slope = int32(info.Slope)
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sta.DynamicState.Upslope = info.UpSlope
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sta.DynamicState.RunningUp = info.Up
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sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
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sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
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sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
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sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
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sta.DynamicState.Speed = speedParse(info.Speed)
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sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
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sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
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sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
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sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
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sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
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sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
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sta.DynamicState.Acceleration = info.Acceleration
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return sta
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UpdateTrainStateByDynamics(s, trainId, info)
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}
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// 获取动力学配置信息
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@ -1424,25 +1365,21 @@ func findTurnoutIds(axleCountingMap map[string]*graphicData.AxleCounting, axleId
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if len(axleIds) <= 2 {
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return nil
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}
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turnoutMap := make(map[string]bool)
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turnoutMap := make(map[string]int)
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for _, axleId := range axleIds {
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axle := axleCountingMap[axleId]
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relTurnoutCount := 0
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var turnoutId string
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for _, ref := range axle.AxleCountingRef {
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if ref.DeviceType == graphicData.RelatedRef_Turnout {
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relTurnoutCount++
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turnoutId = ref.Id
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turnoutMap[ref.Id] = turnoutMap[ref.Id] + 1
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}
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}
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if relTurnoutCount == 1 {
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turnoutMap[turnoutId] = true
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}
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}
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var turnoutIds []string
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for id := range turnoutMap {
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for id, num := range turnoutMap {
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if num > 1 {
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turnoutIds = append(turnoutIds, id)
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}
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}
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return turnoutIds
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}
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