列车应答器添加可变报文，修改列车初始化制动力及列车行驶制动力

rts-sim-module

@@ -1 +1 @@
-Subproject commit ae5ee2729ef4024e55b1656e82f917f71ab5183f
+Subproject commit 51702238da69fcf28d7c07ddccfc6e240222456e

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.rcvTelegram2(wd, balise.Id())
-		telegram, utel := t.rcvTelegram(wd, balise.Id())
+		if utel != nil && t.addExpectedBalise(baliseInfo) {
-		if 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())))

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)

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])

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 {

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,
 	}

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
 	}

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