停车点构建proto

api/simulation.go

@@ -420,7 +420,7 @@ func removeAllTrain(c *gin.Context) {
 	}
 	slog.Debug("ATS测试仿真-移除所有列车,请求：", rt)
 	simulation := checkDeviceDataAndReturn(rt.SimulationId)
-	memory.RemoveAllTrain(simulation)
+	memory.RemoveAllTrain(simulation, false)
 	//TODO 后续调用列车删除操作
 	c.JSON(http.StatusOK, "ok")
 }
@@ -448,7 +448,7 @@ func removeTrain(c *gin.Context) {
 	}
 	slog.Debug("ATS测试仿真-移除列车,请求：", rt)
 	simulation := checkDeviceDataAndReturn(rt.SimulationId)
-	memory.RemoveTrainState(simulation, rt.TrainId)
+	memory.RemoveTrainState(simulation, rt.TrainId, false)
 	//TODO 后续调用列车删除操作
 	c.JSON(http.StatusOK, "ok")
 }

third_party/balisecodec/codec.go

@@ -4,7 +4,6 @@ import (
 	"encoding/hex"
 	"fmt"
 	"log/slog"
-	"strconv"
 )
 
 // 应答器数据编解码器
@@ -84,8 +83,8 @@ func checkCb(bits1023 []byte) error {
 	cb := getRange(bits1023, 109, 107)
 	for i, v := range cb {
 		n := 109 - i
-		name := "b" + strconv.Itoa(109-i)
+		//name := "b" + strconv.Itoa(109-i)
-		slog.Info("cb", name, v)
+		//slog.Info("cb", name, v)
 		if n == 109 && v == 1 {
 			return buildError("控制位cb错误，b109应该为0，实际为1")
 		} else if n == 108 && v == 1 {
@@ -131,7 +130,7 @@ func calculateS(sb []byte) uint32 {
 	B := ToValLeftMsb(sb)
 	const A uint64 = 2801775573
 	S := uint32((A * uint64(B)) % (1 << 32))
-	slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
+	//slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
 	return S
 }
 

third_party/balisecodec/decode.go

@@ -1,10 +1,5 @@
 package balisecodec
 
-import (
-	"fmt"
-	"log/slog"
-)
-
 // 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组，除了第一个10位值，其余值求和，然后循环2的10次方次与其他值求和结果相加后模2的10次方，若结果和第一个10位值相同，则结束，此值即为原始的第一个10位值，将此值替换为第一个10位二进制数组，依然是左边为MSB
 func revertFirst10Bits(b []byte) []byte {
 	if len(b) != 830 {
@@ -37,7 +32,7 @@ func revertFirst10Bits(b []byte) []byte {
 			break
 		}
 	}
-	slog.Info("还原第一个10位值", "sum", sum, "bits[0]", w10s[0], "bits[0]b", fmt.Sprintf("%010b", w10s[0]))
+	//slog.Info("还原第一个10位值", "sum", sum, "bits[0]", w10s[0], "bits[0]b", fmt.Sprintf("%010b", w10s[0]))
 	bits := make([]byte, 830)
 	// 将整个10位数组转换为二进制数组，依然是MSB
 	u0bits := ToBitsLeftMsb(int(w10s[0]), 10)

third_party/semi_physical_train/balise_vobc.go

@@ -20,10 +20,11 @@ import (
 )
 
 type BtmVobcManage interface {
+	SemiPhysicalBaseManager
 	GetBtmVobcConfig() config.BtmVobcConfig
 
-	GetAllTrain() []*state_proto.TrainState
+	//GetAllTrain() []*state_proto.TrainState
-	GetConnVobcTrain() *state_proto.TrainState
+
 }
 type BtmVobcService interface {
 	Start(btmVobcManage BtmVobcManage)
@@ -57,13 +58,13 @@ func BtmDefault() BtmVobcService {
 func (b *BtmVobcClient) Start(btmVobcManage BtmVobcManage) {
 	cfg := btmVobcManage.GetBtmVobcConfig()
 	if !cfg.Open {
-		slog.Info("11号线 btm vobc配置未开启...")
+		slog.Info("11号线 btm 配置未开启...")
 		return
 	}
 	udpServer := udp.NewServer(fmt.Sprintf("%v:%d", cfg.LocalUdpIp, cfg.LocalUdpPort), b.handleBtmVobcFrames)
 	err := udpServer.Listen()
 	if err != nil {
-		slog.Error("11号线 btm VOBC 服务启动失败...")
+		slog.Error("11号线 btm  服务启动失败...")
 		return
 	}
 	//

third_party/semi_physical_train/semi_physical_train.go

@@ -2,6 +2,7 @@ package semi_physical_train
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"sync"
 
 	"joylink.club/bj-rtsts-server/config"
@@ -20,10 +21,14 @@ type SemiPhysicalTrain interface {
 	// 发送列车控制消息
 	SendTrainControlMessage(info *message.DynamicsTrainInfo)
 }
-
+type SemiPhysicalBaseManager interface {
+	GetConnVobcTrain() *state_proto.TrainState
+}
 type SemiPhysicalMessageManager interface {
+	SemiPhysicalBaseManager
 	// 处理半实物仿真列车控制消息
 	HandleSemiPhysicalTrainControlMsg(b []byte)
+	HandleSemiPhysicalTrainControlMsg2(b []byte)
 	// 获取半实物启动参数
 	GetSemiPhysicalRunConfig() *config.VobcConfig
 }
@@ -88,6 +93,7 @@ func (s *semiPhysicalTrainImpl) Start(manager SemiPhysicalMessageManager) {
 }
 
 func (s *semiPhysicalTrainImpl) Stop() {
+
 	initMutex.Lock()
 	defer initMutex.Unlock()
 	s.udpDelayRecorder.Stop()

third_party/train_pc_sim/train_pc_sim.go

@@ -126,7 +126,7 @@ func (d *trainPcSimService) findTrainConnForPort2(sta *state_proto.TrainState, t
 			return rd, nil
 		}
 	}
-	return nil, fmt.Errorf("")
+	return nil, fmt.Errorf("未找到对应端口的列车 对应的端口:%v", trainClientPort.String())
 }
 
 func (d *trainPcSimService) findTrainAllConn(sta *state_proto.TrainState) []*TrainPcReciverData {
@@ -178,14 +178,13 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2,
 		return
 	default:
 	}
-
+	//slog.Info(fmt.Sprintf("接受列车速度:%v", h1))
 	for _, sd := range d.findTrainAllConn(sta) {
 		if sd.speedPlace != nil {
 			sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
 		}
 	}
 	for _, pc := range sta.PulseCountMap {
-
 		if sta.TrainRunUp {
 			if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
 				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
@@ -259,7 +258,6 @@ func (d *trainPcSimService) initConn2(clientKey string) error {
 		return sys_error.New(fmt.Sprintf("配置：%v 端口B连接失败", clientKey))
 	}
 	if rd1.success {
-		//rd1.aPort = true
 		rd1.RealTrainPort = state_proto.TrainState_PORT_A
 	}
 	if rd2.success {
@@ -279,7 +277,6 @@ func (d *trainPcSimService) connServer(open bool, ip string, port uint32, rd *Tr
 		return nil
 	}
 	addr := fmt.Sprintf("%v:%v", ip, port)
-	//slog.Info(addr, "连接.,...")
 	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
 	if err != nil {
 		return sys_error.New(fmt.Sprintf("车载atp连接失败,add:%v ,message:%v", addr, err))
@@ -356,22 +353,18 @@ func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, i
 	}
 	msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
 	rds := d.newPcSimclientMap3[clientKey]
-	if rds != nil {
+	for index, rd := range rds {
-		for index, rd := range rds {
+		slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v，succ:%v", index, rd.tcpClient, rd.tcpClient == nil, rd.success))
-			if rd != nil && rd.success {
+		if rd != nil && rd.success {
-				slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v", index, rd.tcpClient, rd.tcpClient == nil))
+			initTrainErr := d.initTrain(rd, train, isCreate, msg)
-				initTrainErr := d.initTrain(rd, train, isCreate, msg)
+			if initTrainErr != nil {
-				if !isCreate {
+				return initTrainErr
-					d.newCloseConn(clientKey)
-				}
-				if initTrainErr != nil {
-					return initTrainErr
-				}
 			}
-
 		}
 	}
-
+	if !isCreate {
+		d.newCloseConn(clientKey)
+	}
 	return nil
 }
 func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
@@ -424,32 +417,35 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 
 		trains := d.trainPcSimManage.GetConnTrain2()
 		for _, train := range trains {
-			if train.ConnState.Conn {
+			for numKey, pc := range train.PulseCountMap {
-				for numKey, pc := range train.PulseCountMap {
+				trainPort := state_proto.TrainState_TrainPort(numKey)
-					trainPort := state_proto.TrainState_TrainPort(numKey)
+				trainClient, _ := d.findTrainConnForPort2(train, trainPort)
-					trainClient, _ := d.findTrainConnForPort2(train, trainPort)
+				if trainClient == nil {
-					if trainClient == nil {
+					continue
+				}
+				if trainClient.success {
+					if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
+						slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
 						continue
 					}
-					if trainClient.success {
+					if trainClient.ConnError() {
-						if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
+						continue
-							slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
+					}
-							continue
+					/*ds := &strings.Builder{}
-						}
+					for i, s := range pc.PulseCount3 {
-						if trainClient.ConnError() {
+						ds.WriteString(fmt.Sprintf("i:%v,s:%v  ", i, s))
-							continue
+					}
-						}
+					slog.Info(fmt.Sprintf("列车速度统计 列车id:%v 列车方向：%v ,列车速度信息:%v", train.Id, trainClient.RealTrainPort.String(), ds.String()))*/
-						s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
+					s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
-						runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
+					runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
-						disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
+					disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
-						data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
+					data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
-						bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
+					bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
-						dataCode := bm.Encode()
+					dataCode := bm.Encode()
-						//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车服务端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%X", train.Id, trainClient.RealTrainPort.String(), speed, s1, trainClient.speedPlace.PulseCount1, dataCode))
+					//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车服务端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%X", train.Id, trainClient.RealTrainPort.String(), speed, s1, trainClient.speedPlace.PulseCount1, dataCode))
-						err := trainClient.tcpClient.Send(dataCode)
+					err := trainClient.tcpClient.Send(dataCode)
-						if err != nil {
+					if err != nil {
-							slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
+						slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
-						}
 					}
 				}
 			}

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -337,6 +337,8 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	}
 	//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
 	// 修改world中的列车位置
+
+	slog.Debug("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "车头位置", id, "偏移", offset, "车尾位置：", tailDeviceId, "车尾偏移：", tailOffset, "车头linkOffset：", outLinkOffset, "车位linkOffset：", tailLinkOffset)
 	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
 	//修改列车激活方向
 	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
@@ -460,7 +462,7 @@ func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
 	train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
 
 }
-func RemoveAllTrain(vs *VerifySimulation) {
+func RemoveAllTrain(vs *VerifySimulation, realRemove bool) {
 	allTrainMap := &vs.Memory.Status.TrainStateMap
 	if allTrainMap == nil {
 		slog.Info("当前没有列车不能执行")
@@ -468,7 +470,7 @@ func RemoveAllTrain(vs *VerifySimulation) {
 	}
 	allTrainMap.Range(func(k any, t any) bool {
 		id := k.(string)
-		RemoveTrainState(vs, id)
+		RemoveTrainState(vs, id, realRemove)
 		return true
 	})
 }
@@ -500,18 +502,22 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
 	return fi.RemoveTrainFromWorld(vs.World, trainId)
 }
 
-func RemoveTrainState(vs *VerifySimulation, id string) {
+func RemoveTrainState(vs *VerifySimulation, id string, realRemove bool) {
 	allTrainMap := &vs.Memory.Status.TrainStateMap
 	d, ok := allTrainMap.Load(id)
 	if ok {
 		t := d.(*state_proto.TrainState)
 		err := removeTrain(vs, id, t)
 		t.VobcState.VobcBtmInfo = nil
-		//clearTrainVobcBtmState(vs, id)
 		if err != nil {
 			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
 		}
-		allTrainMap.Store(id, t)
+		if realRemove {
+			allTrainMap.Delete(id)
+		} else {
+			allTrainMap.Store(id, t)
+
+		}
 	} else {
 		panic(fmt.Sprintf("列车【%s】不存在", id))
 	}
@@ -525,14 +531,3 @@ func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset in
 	}
 	return
 }
-
-func clearTrainVobcBtmState(vs *VerifySimulation, id string) {
-	//allTrainMap := &vs.Memory.Status.TrainStateMap
-	//d, ok := allTrainMap.Load(id)
-	//if !ok {
-	//	slog.Error(fmt.Sprintf("vobc btm 清空操作 列车【%s】不存在", id))
-	//	return
-	//}
-	//t := d.(*state_proto.TrainState)
-	//t.VobcBtm.History = nil
-}

ts/simulation/wayside/memory/wayside_simulation.go

@@ -380,34 +380,6 @@ func speedParse(speed float32) int32 {
 	return int32(math.Abs(float64(speed * 3.6 * 100)))
 }
 
-// 处理半实物仿真列车控制消息
-func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
-	s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
-		train := value.(*state_proto.TrainState)
-		if !train.Show { // 下线列车
-			return true
-		}
-		connState := train.ConnState
-		if connState.Conn == true && connState.ConnType == state_proto.TrainConnState_VOBC {
-			/*trainId, err := strconv.Atoi(train.Id)
-			if err != nil {
-				panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
-			}*/
-			// 存放至列车中
-			//接收半实物列车控制不单独发送动力学，由动力学统一发送
-			//d := append(b, uint8(trainId))
-			//dynamics.Default().SendTrainControlMessage(d)
-			controlMessage := &message.TrainControlMsg{}
-			controlMessage.Decode(b)
-			controlMessage.TrainId = train.Id
-			controlMessage.FromVobc = true
-			train.VobcState = controlMessage.ControlInfo
-
-			return false
-		}
-		return true
-	})
-}
 func (s *VerifySimulation) CollectTrainControlState() []message.TrainControlMsg {
 	cms := make([]message.TrainControlMsg, 0)
 	s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
@@ -426,11 +398,6 @@ func (s *VerifySimulation) CollectTrainControlState() []message.TrainControlMsg
 	return cms
 }
 
-// 获取半实物运行配置信息
-func (s *VerifySimulation) GetSemiPhysicalRunConfig() *config.VobcConfig {
-	return &s.runConfig.Vobc
-}
-
 // 处理接到的联锁消息
 func (s *VerifySimulation) HandleInterlockDriverInfo(code string, driveBytes []byte) {
 	wd := entity.GetWorldData(s.World)
@@ -1151,6 +1118,17 @@ func fillProtoRepository(repo *proto.Repository, storage *data_proto.RtssGraphic
 		}
 		repo.CheckPoints = append(repo.CheckPoints, cp)
 	}
+	//列车停车点
+	for _, sp := range storage.StopPositions {
+		id := GetMapElementId(sp.Common)
+		psp := &proto.StopPosition{Id: id, Km: convertKm(sp.KilometerSystem)}
+
+		switch sp.GetRefDev().DeviceType {
+		case data_proto.RelatedRef_Section:
+			psp.SectionId = uidsMap.PhysicalSectionIds[sp.GetRefDev().Id].Uid
+		}
+		repo.StopPosition = append(repo.StopPosition, psp)
+	}
 	//物理区段
 	for _, data := range storage.Section {
 		var turnoutUids []string

ts/simulation/wayside/memory/wayside_simulation_semi_physical.go

@@ -0,0 +1,50 @@
+package memory
+
+import (
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/message"
+)
+
+// 获取半实物运行配置信息
+func (s *VerifySimulation) GetSemiPhysicalRunConfig() *config.VobcConfig {
+	return &s.runConfig.Vobc
+}
+
+// 处理半实物仿真列车控制消息
+func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
+	s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
+		train := value.(*state_proto.TrainState)
+		if !train.Show { // 下线列车
+			return true
+		}
+		connState := train.ConnState
+		if connState.Conn == true && connState.ConnType == state_proto.TrainConnState_VOBC {
+			/*trainId, err := strconv.Atoi(train.Id)
+			if err != nil {
+				panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+			}*/
+			// 存放至列车中
+			//接收半实物列车控制不单独发送动力学，由动力学统一发送
+			//d := append(b, uint8(trainId))
+			//dynamics.Default().SendTrainControlMessage(d)
+			controlMessage := &message.TrainControlMsg{}
+			controlMessage.Decode(b)
+			controlMessage.TrainId = train.Id
+			controlMessage.FromVobc = true
+			train.VobcState = controlMessage.ControlInfo
+
+			return false
+		}
+		return true
+	})
+}
+
+// 处理半实物仿真列车控制消息
+func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg2(b []byte) {
+	//train := s.GetConnVobcTrain()
+
+}
+func aaByte1() {
+
+}

ts/test_simulation_manage.go

@@ -90,8 +90,9 @@ func DestroySimulation(simulationId string) {
 	if !e {
 		return
 	}
-	simulationMap.Delete(simulationId)
 	simulationInfo := s.(*memory.VerifySimulation)
+	memory.RemoveAllTrain(simulationInfo, true)
+	simulationMap.Delete(simulationId)
 	// simulationInfo.Destroy()
 	// 停止ecs world
 	simulationInfo.World.Close()