From 272274a5c4b45e65aa87538a904f605d19c81f9f Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Fri, 9 Aug 2024 16:41:41 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=97=E8=BD=A6=E5=BA=94=E7=AD=94=E5=99=A8?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=8F=AF=E5=8F=98=E6=8A=A5=E6=96=87=EF=BC=8C?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=88=97=E8=BD=A6=E5=88=9D=E5=A7=8B=E5=8C=96?= =?UTF-8?q?=E5=88=B6=E5=8A=A8=E5=8A=9B=E5=8F=8A=E5=88=97=E8=BD=A6=E8=A1=8C?= =?UTF-8?q?=E9=A9=B6=E5=88=B6=E5=8A=A8=E5=8A=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- rts-sim-module | 2 +- third_party/can_btm/balise_detection.go | 45 ++++++++++++++----- third_party/dynamics/dynamics.go | 2 +- third_party/message/dynamics.go | 1 + third_party/train_pc_sim/train_pc_sim.go | 1 + .../wayside/memory/train_tcc_graphic.go | 2 +- .../wayside/memory/wayside_memory_train.go | 3 +- .../memory/wayside_simulation_train_pc.go | 7 +-- 8 files changed, 41 insertions(+), 22 deletions(-) diff --git a/rts-sim-module b/rts-sim-module index ae5ee27..5170223 160000 --- a/rts-sim-module +++ b/rts-sim-module @@ -1 +1 @@ -Subproject commit ae5ee2729ef4024e55b1656e82f917f71ab5183f +Subproject commit 51702238da69fcf28d7c07ddccfc6e240222456e diff --git a/third_party/can_btm/balise_detection.go b/third_party/can_btm/balise_detection.go index 373a03e..76e2289 100644 --- a/third_party/can_btm/balise_detection.go +++ b/third_party/can_btm/balise_detection.go @@ -2,14 +2,12 @@ package can_btm import ( "fmt" - uuid2 "github.com/google/uuid" "joylink.club/bj-rtsts-server/dto/state_proto" "joylink.club/bj-rtsts-server/third_party/btm_vobc" "joylink.club/rtsssimulation/component" "joylink.club/rtsssimulation/fi" "joylink.club/rtsssimulation/repository" "joylink.club/rtsssimulation/repository/model/proto" - "log/slog" "math" "sort" "sync" @@ -31,7 +29,7 @@ type BtmAntennaRunningInfo struct { const ( //BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm - BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm + BtmAntennaOffsetHead = int64(0) //车载BTM天线距车头端点的距离，mm ) // TrainHeadPositionInfo 列车车头运行位置信息 @@ -88,6 +86,7 @@ func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repos curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头 var startBalises []*repository.Transponder var endBalises []*repository.Transponder + //startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, th2.LinkOffset, th.LinkOffset) startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset) //endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset) /* if th.Up { @@ -128,13 +127,13 @@ func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repos if len(balises) > 0 { balise := balises[0] baliseInfo := &BtmAntennaScanningBaliseInfo{BaliseId: balise.Id(), BaliseType: balise.BaliseType()} - uuid := uuid2.NewString() + /*uuid := uuid2.NewString() for _, transponder := range balises { slog.Info(fmt.Sprintf("uid :%v,baliseId:%v,Distance:%v,up:%v", uuid, transponder.Id(), baliseInfo.Distance, curAntennaRi.Up)) + }*/ - } - telegram, utel := t.rcvTelegram(wd, balise.Id()) - if t.addExpectedBalise(baliseInfo) { + telegram, utel := t.rcvTelegram2(wd, balise.Id()) + if utel != nil && t.addExpectedBalise(baliseInfo) { t.baliseCounterAdd1() //应答器计数器 if len(telegram) > 0 { baliseInfo.telegram = utel @@ -222,6 +221,32 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() { } } +// BTM天线接收应答器报文(线程不安全) +func (t *BaliseDetector) rcvTelegram2(wd *component.WorldData, baliseId string) ([]byte, []byte) { + + if entry, ok := wd.EntityMap[baliseId]; ok { + workedState := component.BaliseWorkStateType.Get(entry) + if !workedState.Work { + return nil, nil + } + + //hasVar := entry.HasComponent(component.BaliseVariableTelegramType) + //hexFix := entry.HasComponent(component.BaliseFixedTelegramType) + + if entry.HasComponent(component.BaliseVariableTelegramType) { + baliseVar := component.BaliseVariableTelegramType.Get(entry) + //slog.Info(fmt.Sprintf("find_baliseId:%v ,work:%v,var:%v,fix:%v,tel:%v,usertel:%v", baliseId, workedState.Work, hasVar, hexFix, hex.EncodeToString(baliseVar.Telegram), hex.EncodeToString(baliseVar.UserTelegram))) + return baliseVar.Telegram, baliseVar.UserTelegram + } else if entry.HasComponent(component.BaliseFixedTelegramType) { + fixBalise := component.BaliseFixedTelegramType.Get(entry) + //slog.Info(fmt.Sprintf("find_baliseId:%v ,work:%v,var:%v,fix:%v,tel:%v,usertel:%v", baliseId, workedState.Work, hasVar, hexFix, hex.EncodeToString(tel), hex.EncodeToString(utel))) + return fixBalise.Telegram, fixBalise.UserTelegram + } + } + + return nil, nil +} + // BTM天线接收应答器报文(线程不安全) func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) ([]byte, []byte) { entry, ok := wd.EntityMap[baliseId] @@ -385,6 +410,7 @@ func (t *BaliseDetector) searchBalisesFromBetweenLinkPosition(repo *repository.R return rs[i].LinkPosition().Offset() < rs[j].LinkPosition().Offset() }) for _, r := range rs { + if r.LinkPosition().Offset() >= fromOffset && r.LinkPosition().Offset() <= toOffset { //slog.Info(fmt.Sprintf("up id:%v,offset:%v,from:%v,to:%v", r.Id(), r.LinkPosition().Offset(), fromOffset, toOffset)) balises = append(balises, r) @@ -394,13 +420,8 @@ func (t *BaliseDetector) searchBalisesFromBetweenLinkPosition(repo *repository.R sort.SliceStable(rs, func(i, j int) bool { return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset() }) - //cha := int64(math.Abs(float64(toOffset - fromOffset))) - for _, r := range rs { - /*if r.LinkPosition().Offset() <= fromOffset && r.LinkPosition().Offset() >= toOffset { - balises = append(balises, r) - }*/ if r.LinkPosition().Offset() <= toOffset { cha := int64(math.Abs(float64(toOffset - fromOffset))) cha2 := int64(math.Abs(float64(toOffset - r.LinkPosition().Offset()))) diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go index b6a711c..512d837 100644 --- a/third_party/dynamics/dynamics.go +++ b/third_party/dynamics/dynamics.go @@ -141,7 +141,7 @@ func (d *dynamics) requestStartSimulation(base *message.LineBaseInfo) error { } url := d.buildUrl("/api/start/") data, _ := json.Marshal(base) - fmt.Println(string(data)) + //fmt.Println(string(data)) resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data)) if err != nil { return sys_error.New("动力学开始仿真请求发送错误", err) diff --git a/third_party/message/dynamics.go b/third_party/message/dynamics.go index e9d2509..2decb51 100644 --- a/third_party/message/dynamics.go +++ b/third_party/message/dynamics.go @@ -86,6 +86,7 @@ type DynamicsTrainInfo struct { // 解析动力学的列车信息 func (t *DynamicsTrainInfo) Decode(buf []byte) error { + t.LifeSignal = binary.BigEndian.Uint16(buf[0:2]) t.Number = buf[2] t.Len = binary.BigEndian.Uint32(buf[3:7]) diff --git a/third_party/train_pc_sim/train_pc_sim.go b/third_party/train_pc_sim/train_pc_sim.go index f40348e..786e4bd 100644 --- a/third_party/train_pc_sim/train_pc_sim.go +++ b/third_party/train_pc_sim/train_pc_sim.go @@ -172,6 +172,7 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, } if sd, err := d.findTrainConn(sta); err == nil { sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement + //sd.speedPlace.PulseCount1 += float32(uint32(h1 * 10)) sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1 } if sta.TrainRunUp { diff --git a/ts/simulation/wayside/memory/train_tcc_graphic.go b/ts/simulation/wayside/memory/train_tcc_graphic.go index 435a387..13a6c73 100644 --- a/ts/simulation/wayside/memory/train_tcc_graphic.go +++ b/ts/simulation/wayside/memory/train_tcc_graphic.go @@ -99,7 +99,7 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3 } func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) { - vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: 100, DirectionForward: true, + vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE * 100, DirectionForward: true, AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true, ConfirmBtn: true, AtpPowerOnBtn: true, } diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index b048082..4278fba 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -343,9 +343,8 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess sta.OldLinkOffset = outLinkOffset sta.OldLink = outLinkId } - //slog.Info(fmt.Sprintf("old:%v ,new :%v,--:%v", outLinkOffset, sta.OldLinkOffset, pointTo)) updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset) - //slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v", info.Speed, info.Acceleration)) + //slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v,位移距离:%v", info.Speed, info.Acceleration, info.Displacement)) if sta.OldLink != outLinkId { sta.OldLink = outLinkId } diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index d52957e..675a40a 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -428,7 +428,7 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train notBreak = 1 } else if request.Val < 0 { vobc.BrakingStatus = true - vobc.BrakeForce = -int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100 + vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100 vobc.EmergencyBrakingStatus = false jjzdBtn.Passed = false brakeState = 0 @@ -696,11 +696,9 @@ func (s *VerifySimulation) TrainPcSimMockInfo(train *state_proto.TrainState, dat train.VobcState.MockInfo = uint32(mockData) } -var sendData []uint32 - // 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) { - //time.Sleep(time.Millisecond * 50) + uuid := uuid2.NewString() ts := time.Now().UnixMilli() //slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧uuid:%v,时间：%v, 报文内容:%v", uuid, ts, hex.EncodeToString(data))) @@ -708,7 +706,6 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b slog.Error("列车btm查询报文长度错误:", len(data)) return } - if train.BtmState == nil { slog.Warn(fmt.Sprintf("列车暂时未获取到应答器信息,无法进行btm查询列车id:%v", train.Id)) return