停车点构建proto
This commit is contained in:
tiger_zhou
parent
3a22950790
commit
2463edd996
@ -420,7 +420,7 @@ func removeAllTrain(c *gin.Context) {
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}
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slog.Debug("ATS测试仿真-移除所有列车,请求：", rt)
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simulation := checkDeviceDataAndReturn(rt.SimulationId)
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memory.RemoveAllTrain(simulation)
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memory.RemoveAllTrain(simulation, false)
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//TODO 后续调用列车删除操作
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c.JSON(http.StatusOK, "ok")
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}
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@ -448,7 +448,7 @@ func removeTrain(c *gin.Context) {
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}
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slog.Debug("ATS测试仿真-移除列车,请求：", rt)
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simulation := checkDeviceDataAndReturn(rt.SimulationId)
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memory.RemoveTrainState(simulation, rt.TrainId)
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memory.RemoveTrainState(simulation, rt.TrainId, false)
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//TODO 后续调用列车删除操作
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c.JSON(http.StatusOK, "ok")
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}
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7
third_party/balisecodec/codec.go
vendored
7
third_party/balisecodec/codec.go
vendored
@ -4,7 +4,6 @@ import (
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"encoding/hex"
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"fmt"
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"log/slog"
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"strconv"
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)
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// 应答器数据编解码器
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@ -84,8 +83,8 @@ func checkCb(bits1023 []byte) error {
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cb := getRange(bits1023, 109, 107)
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for i, v := range cb {
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n := 109 - i
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name := "b" + strconv.Itoa(109-i)
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slog.Info("cb", name, v)
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//name := "b" + strconv.Itoa(109-i)
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//slog.Info("cb", name, v)
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if n == 109 && v == 1 {
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return buildError("控制位cb错误，b109应该为0，实际为1")
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} else if n == 108 && v == 1 {
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@ -131,7 +130,7 @@ func calculateS(sb []byte) uint32 {
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B := ToValLeftMsb(sb)
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const A uint64 = 2801775573
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S := uint32((A * uint64(B)) % (1 << 32))
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slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
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//slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
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return S
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}
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7
third_party/balisecodec/decode.go
vendored
7
third_party/balisecodec/decode.go
vendored
@ -1,10 +1,5 @@
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package balisecodec
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import (
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"fmt"
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"log/slog"
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)
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// 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
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func revertFirst10Bits(b []byte) []byte {
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if len(b) != 830 {
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@ -37,7 +32,7 @@ func revertFirst10Bits(b []byte) []byte {
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break
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}
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}
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slog.Info("还原第一个10位值", "sum", sum, "bits[0]", w10s[0], "bits[0]b", fmt.Sprintf("%010b", w10s[0]))
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//slog.Info("还原第一个10位值", "sum", sum, "bits[0]", w10s[0], "bits[0]b", fmt.Sprintf("%010b", w10s[0]))
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bits := make([]byte, 830)
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// 将整个10位数组转换为二进制数组，依然是MSB
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u0bits := ToBitsLeftMsb(int(w10s[0]), 10)
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@ -20,10 +20,11 @@ import (
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)
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type BtmVobcManage interface {
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SemiPhysicalBaseManager
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GetBtmVobcConfig() config.BtmVobcConfig
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GetAllTrain() []*state_proto.TrainState
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GetConnVobcTrain() *state_proto.TrainState
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//GetAllTrain() []*state_proto.TrainState
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}
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type BtmVobcService interface {
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Start(btmVobcManage BtmVobcManage)
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@ -57,13 +58,13 @@ func BtmDefault() BtmVobcService {
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func (b *BtmVobcClient) Start(btmVobcManage BtmVobcManage) {
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cfg := btmVobcManage.GetBtmVobcConfig()
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if !cfg.Open {
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slog.Info("11号线 btm vobc配置未开启...")
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slog.Info("11号线 btm 配置未开启...")
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return
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}
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udpServer := udp.NewServer(fmt.Sprintf("%v:%d", cfg.LocalUdpIp, cfg.LocalUdpPort), b.handleBtmVobcFrames)
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err := udpServer.Listen()
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if err != nil {
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slog.Error("11号线 btm VOBC 服务启动失败...")
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slog.Error("11号线 btm 服务启动失败...")
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return
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}
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//
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@ -2,6 +2,7 @@ package semi_physical_train
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import (
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"fmt"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"sync"
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"joylink.club/bj-rtsts-server/config"
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@ -20,10 +21,14 @@ type SemiPhysicalTrain interface {
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// 发送列车控制消息
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SendTrainControlMessage(info *message.DynamicsTrainInfo)
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}
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type SemiPhysicalBaseManager interface {
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GetConnVobcTrain() *state_proto.TrainState
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}
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type SemiPhysicalMessageManager interface {
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SemiPhysicalBaseManager
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// 处理半实物仿真列车控制消息
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HandleSemiPhysicalTrainControlMsg(b []byte)
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HandleSemiPhysicalTrainControlMsg2(b []byte)
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// 获取半实物启动参数
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GetSemiPhysicalRunConfig() *config.VobcConfig
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}
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@ -88,6 +93,7 @@ func (s *semiPhysicalTrainImpl) Start(manager SemiPhysicalMessageManager) {
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}
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func (s *semiPhysicalTrainImpl) Stop() {
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initMutex.Lock()
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defer initMutex.Unlock()
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s.udpDelayRecorder.Stop()
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80
third_party/train_pc_sim/train_pc_sim.go
vendored
80
third_party/train_pc_sim/train_pc_sim.go
vendored
@ -126,7 +126,7 @@ func (d *trainPcSimService) findTrainConnForPort2(sta *state_proto.TrainState, t
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return rd, nil
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}
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}
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return nil, fmt.Errorf("")
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return nil, fmt.Errorf("未找到对应端口的列车 对应的端口:%v", trainClientPort.String())
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}
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func (d *trainPcSimService) findTrainAllConn(sta *state_proto.TrainState) []*TrainPcReciverData {
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@ -178,14 +178,13 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2,
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return
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default:
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}
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//slog.Info(fmt.Sprintf("接受列车速度:%v", h1))
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for _, sd := range d.findTrainAllConn(sta) {
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if sd.speedPlace != nil {
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sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
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}
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}
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for _, pc := range sta.PulseCountMap {
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if sta.TrainRunUp {
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if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
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pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
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@ -259,7 +258,6 @@ func (d *trainPcSimService) initConn2(clientKey string) error {
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return sys_error.New(fmt.Sprintf("配置：%v 端口B连接失败", clientKey))
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}
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if rd1.success {
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//rd1.aPort = true
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rd1.RealTrainPort = state_proto.TrainState_PORT_A
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}
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if rd2.success {
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@ -279,7 +277,6 @@ func (d *trainPcSimService) connServer(open bool, ip string, port uint32, rd *Tr
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return nil
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}
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addr := fmt.Sprintf("%v:%v", ip, port)
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//slog.Info(addr, "连接.,...")
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client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
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if err != nil {
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return sys_error.New(fmt.Sprintf("车载atp连接失败,add:%v ,message:%v", addr, err))
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@ -356,22 +353,18 @@ func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, i
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}
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msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
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rds := d.newPcSimclientMap3[clientKey]
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if rds != nil {
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for index, rd := range rds {
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if rd != nil && rd.success {
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slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v", index, rd.tcpClient, rd.tcpClient == nil))
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initTrainErr := d.initTrain(rd, train, isCreate, msg)
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if !isCreate {
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d.newCloseConn(clientKey)
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}
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if initTrainErr != nil {
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return initTrainErr
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}
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for index, rd := range rds {
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slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v，succ:%v", index, rd.tcpClient, rd.tcpClient == nil, rd.success))
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if rd != nil && rd.success {
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initTrainErr := d.initTrain(rd, train, isCreate, msg)
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if initTrainErr != nil {
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return initTrainErr
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}
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}
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}
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if !isCreate {
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d.newCloseConn(clientKey)
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}
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return nil
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}
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func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
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@ -424,32 +417,35 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
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trains := d.trainPcSimManage.GetConnTrain2()
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for _, train := range trains {
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if train.ConnState.Conn {
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for numKey, pc := range train.PulseCountMap {
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trainPort := state_proto.TrainState_TrainPort(numKey)
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trainClient, _ := d.findTrainConnForPort2(train, trainPort)
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if trainClient == nil {
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for numKey, pc := range train.PulseCountMap {
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trainPort := state_proto.TrainState_TrainPort(numKey)
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trainClient, _ := d.findTrainConnForPort2(train, trainPort)
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if trainClient == nil {
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continue
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}
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if trainClient.success {
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if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
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slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空 列车id:%v", train.Id))
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continue
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}
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if trainClient.success {
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if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
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slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空 列车id:%v", train.Id))
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continue
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}
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if trainClient.ConnError() {
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continue
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}
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s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
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runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
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disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
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data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
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bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
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dataCode := bm.Encode()
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//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))
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err := trainClient.tcpClient.Send(dataCode)
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if err != nil {
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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)))
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}
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if trainClient.ConnError() {
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continue
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}
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/*ds := &strings.Builder{}
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for i, s := range pc.PulseCount3 {
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ds.WriteString(fmt.Sprintf("i:%v,s:%v ", i, s))
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}
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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()))*/
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s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
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runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
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disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
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data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
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bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
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dataCode := bm.Encode()
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//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))
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err := trainClient.tcpClient.Send(dataCode)
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if err != nil {
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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)))
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}
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}
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}
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@ -337,6 +337,8 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
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}
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//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
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// 修改world中的列车位置
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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)
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handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
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//修改列车激活方向
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updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
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@ -460,7 +462,7 @@ func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
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train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
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}
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func RemoveAllTrain(vs *VerifySimulation) {
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func RemoveAllTrain(vs *VerifySimulation, realRemove bool) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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if allTrainMap == nil {
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slog.Info("当前没有列车不能执行")
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@ -468,7 +470,7 @@ func RemoveAllTrain(vs *VerifySimulation) {
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}
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allTrainMap.Range(func(k any, t any) bool {
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id := k.(string)
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RemoveTrainState(vs, id)
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RemoveTrainState(vs, id, realRemove)
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return true
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})
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}
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@ -500,18 +502,22 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
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return fi.RemoveTrainFromWorld(vs.World, trainId)
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}
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func RemoveTrainState(vs *VerifySimulation, id string) {
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func RemoveTrainState(vs *VerifySimulation, id string, realRemove bool) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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d, ok := allTrainMap.Load(id)
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if ok {
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t := d.(*state_proto.TrainState)
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err := removeTrain(vs, id, t)
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t.VobcState.VobcBtmInfo = nil
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//clearTrainVobcBtmState(vs, id)
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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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allTrainMap.Store(id, t)
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if realRemove {
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allTrainMap.Delete(id)
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} else {
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allTrainMap.Store(id, t)
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}
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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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@ -525,14 +531,3 @@ func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset in
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}
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return
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}
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func clearTrainVobcBtmState(vs *VerifySimulation, id string) {
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//allTrainMap := &vs.Memory.Status.TrainStateMap
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//d, ok := allTrainMap.Load(id)
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//if !ok {
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// slog.Error(fmt.Sprintf("vobc btm 清空操作 列车【%s】不存在", id))
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// return
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//}
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//t := d.(*state_proto.TrainState)
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//t.VobcBtm.History = nil
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}
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@ -380,34 +380,6 @@ func speedParse(speed float32) int32 {
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return int32(math.Abs(float64(speed * 3.6 * 100)))
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}
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// 处理半实物仿真列车控制消息
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func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
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s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
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train := value.(*state_proto.TrainState)
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if !train.Show { // 下线列车
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return true
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}
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connState := train.ConnState
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if connState.Conn == true && connState.ConnType == state_proto.TrainConnState_VOBC {
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/*trainId, err := strconv.Atoi(train.Id)
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if err != nil {
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panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
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}*/
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// 存放至列车中
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//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
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//d := append(b, uint8(trainId))
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//dynamics.Default().SendTrainControlMessage(d)
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controlMessage := &message.TrainControlMsg{}
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controlMessage.Decode(b)
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controlMessage.TrainId = train.Id
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controlMessage.FromVobc = true
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train.VobcState = controlMessage.ControlInfo
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return false
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}
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return true
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})
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}
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||||
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
|
||||
|
||||
@ -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() {
|
||||
|
||||
}
|
||||
@ -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()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user