列车btm调整重构

rts-sim-module

@@ -1 +1 @@
-Subproject commit 73e7f83cfae775d13e60b6882231b69adab58b5c
+Subproject commit 12df28cc3716e39d24ddcada44d1d4a4233405d4

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 61b489dcf80d992891e3266d0224fbe05fd49d0f
+Subproject commit ec6c571a37999ad7bab8f613deeb207b202468f0

third_party/can_btm/balise_btm.go

@@ -3,7 +3,6 @@ package can_btm
 import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
@@ -11,7 +10,6 @@ import (
 	"joylink.club/rtsssimulation/entity"
 	"log/slog"
 	"sort"
-	"strings"
 	"sync"
 	"time"
 )
@@ -55,61 +53,20 @@ type btmCanetClient struct {
 	baliseDetector *BaliseDetector
 }
 
-func (s *btmCanetClient) FindNotSendState() (state_proto.BTMState, bool) {
+func (s *btmCanetClient) FindNotSendState(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
 	s.baliseDetector.eqLock.Lock()
 	defer s.baliseDetector.eqLock.Unlock()
-	detector := s.baliseDetector
+	cache := train.BtmBaliseCache
-	for _, info := range detector.eq {
+	for _, btmCache := range cache.BaliseList {
-		if info != nil && !info.IsSend {
+		if btmCache != nil && !btmCache.IsSend {
-			info.IsSend = true
-			return s.getStateFromDeta(info, uint32(detector.baliseCounter), uint32(detector.messageCounter), detector.aboveBalise), true
 
-		}
+			ndsn := BaliseCounterAdd(cache.Dsn)
-
+			cache.Dsn = uint32(ndsn)
-	}
+			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
-	return state_proto.BTMState{}, false
-}
-
-/*
-	func (s *btmCanetClient) GetAllData() {
-		detector := s.baliseDetector
-		for _, info := range detector.eq {
-			slog.Info("获取应答器信息 id:%v,是否发送:%v", info.BaliseId)
 		}
 	}
-*/
-func (s *btmCanetClient) getStateFromDeta(info *BtmAntennaScanningBaliseInfo, bc, mc uint32, aboveBalise bool) state_proto.BTMState {
-	var telegram string
-	var tel128 string
-	var dis int64
-	var baliseId string
-
-	if /*detector.aboveBalise &&*/ info != nil && len(info.telegram) != 0 {
-		telegram = fmt.Sprintf("%X", info.telegram)
-		tel128 = fmt.Sprintf("%X", info.telegram128)
-		dis = info.Distance
-		baliseId = info.BaliseId
-	} else {
-		telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
-		tel128 = strings.Repeat("00", balise_const.TelegramByteLen)
-	}
-
-	return state_proto.BTMState{
-		BaliseId:         baliseId,
-		DataSerialNumber: uint32(s.dsn),
-		BaliseCount:      bc,
-		MessageCounter:   mc,
-		Telegram:         telegram,
-		Telegram128:      tel128,
-		Distance:         dis,
-		AboveBalise:      aboveBalise,
-	}
-}
-func (s *btmCanetClient) GetState() state_proto.BTMState {
-	detector := s.baliseDetector
-	info := detector.eq[len(detector.eq)-1]
-	return s.getStateFromDeta(info, uint32(detector.baliseCounter), uint32(detector.messageCounter), detector.aboveBalise)
 
+	return nil, 0, 0, 0
 }
 
 type BtmClock struct {
@@ -127,12 +84,9 @@ type BtmCanetClient interface {
 	Stop()
 	//HandleTrainHeadPositionInfo 处理收到列车位置信息
 	HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo)
-	// GetState  获取BTM显示状态 + btm最新的状态
+	HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainBtmCache, h *TrainHeadPositionInfo)
-	//
+
-	// Deprecated 请从列车的btmBaliseCache中获取
+	FindNotSendState(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
-	GetState() state_proto.BTMState
-	//GetAllData()
-	FindNotSendState() (state_proto.BTMState, bool)
 }
 
 var (
@@ -148,6 +102,19 @@ func Default() BtmCanetClient {
 	}
 	return btmClient
 }
+func (s *btmCanetClient) HandleTrainHeadPositionInfoForTrain(w ecs.World, btmCache *state_proto.TrainBtmCache, h *TrainHeadPositionInfo) {
+	wd := entity.GetWorldData(w)
+	repo := wd.Repo
+	h2 := &TrainHeadPositionInfo{
+		TrainId:      h.TrainId,
+		Up:           h.Up,
+		Link:         h.OldLink,
+		LinkOffset:   h.OldLinkOffset,
+		Speed:        h.Speed,
+		Acceleration: h.Acceleration}
+	s.baliseDetector.newDetect(wd, repo, h, h2, btmCache)
+	//s.baliseDetector.detect2(wd, repo, h, h2, vobcBtm)
+}
 
 // HandleTrainHeadPositionInfo 处理来自动力学的列车位置信息
 func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo) {

third_party/can_btm/balise_detection.go

@@ -78,7 +78,37 @@ func (t *BaliseDetector) tryRebind(th *TrainHeadPositionInfo) {
 		//slog.Debug(fmt.Sprintf("列车[%s]与CAN-BTM绑定", t.trianId))
 	}
 }
+func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, btmCache *state_proto.TrainBtmCache) {
+	//BTM天线中心点运行信息
+	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
+	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
+	var startBalises []*repository.Transponder
 
+	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, th2.LinkOffset, th.LinkOffset)
+	startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th2.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
+
+	balises := make([]*repository.Transponder, 0)
+	for _, balise := range startBalises {
+		find := false
+		for _, transponder := range balises {
+			if transponder.Id() == balise.Id() {
+				find = true
+				break
+			}
+		}
+		if !find {
+			balises = append(balises, balise)
+		}
+	}
+	if len(balises) > 0 {
+		balise := balises[0]
+
+		telegram, utel := t.rcvTelegram(wd, balise.Id())
+
+		t.addNewExpectedBalise(balise, btmCache, telegram, utel)
+	}
+
+}
 func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
 	t.tryRebind(th)
 
@@ -198,6 +228,15 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
 	}
 }
 
+func BaliseCounterAdd(counter uint32) byte {
+	c := byte(counter)
+	c++
+	if c > 255 {
+		c = 0
+	}
+	return c
+}
+
 // 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) {
 
@@ -224,6 +263,37 @@ func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) (
 	}
 	return nil, nil
 }
+func (t *BaliseDetector) addNewExpectedBalise(balise *repository.Transponder, btmCache *state_proto.TrainBtmCache, telegram, userTelegram []byte) bool {
+	t.eqLock.Lock()
+	defer t.eqLock.Unlock()
+	bl := btmCache.BaliseList
+	for _, tt := range bl {
+		if tt != nil && tt.BaliseId == balise.Id() {
+			return false
+		}
+	}
+	for i := 1; i < len(bl); i++ {
+		bl[i-1] = bl[i]
+	}
+	unpack := false
+	bc := BaliseCounterAdd(btmCache.BaliseCount)
+	mc := btmCache.MessageCounter
+	if userTelegram != nil && len(userTelegram) > 0 {
+		mc = uint32(BaliseCounterAdd(mc))
+		unpack = true
+	}
+
+	btmCache.BaliseCount = uint32(bc)
+	btmCache.MessageCounter = mc
+	//存入队尾
+	bl[len(bl)-1] = &state_proto.BTMState{BaliseId: balise.Id(),
+		Telegram:    fmt.Sprintf("%x", userTelegram),
+		Telegram128: fmt.Sprintf("%x", telegram),
+		Unpack:      unpack,
+		BaliseType:  int32(balise.BaliseType().Number()),
+		AboveBalise: true}
+	return true
+}
 
 // true-新增；false-更新
 func (t *BaliseDetector) addExpectedBalise(curExpect *BtmAntennaScanningBaliseInfo) bool {

third_party/train_pc_sim/train_pc_sim.go

@@ -48,8 +48,6 @@ type TrainPcSim interface {
 	CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
 	// TrainPluseCount 计算列车脉冲
 	TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
-
-	DsnAddAndReturn() byte
 }
 
 type TrainPcSimManage interface {
@@ -77,7 +75,6 @@ type trainPcSimService struct {
 	context           context.Context
 	trainPcSimManage  TrainPcSimManage
 	configs           []config.VehiclePCSimConfig
-	btmDsn            uint8
 }
 
 var (
@@ -111,13 +108,6 @@ func (d *trainPcSimService) TrueService() bool {
 func (d *trainPcSimService) ServiceDesc() string {
 	return Name
 }
-func (d *trainPcSimService) DsnAddAndReturn() byte {
-	defer initLock.Unlock()
-	initLock.Lock()
-	returnVal := d.btmDsn
-	d.btmDsn = returnVal + 1
-	return returnVal
-}
 
 func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
 	return t.ConnState.TypeName
@@ -455,14 +445,12 @@ func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
 func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
 	trainClient, trainDataErr := d.findTrainConn(train)
 	if trainDataErr != nil {
-		slog.Error(fmt.Sprintf("发送列车牵引知道失败，未找到对应的列车id:%v", train.Id))
+		slog.Error(fmt.Sprintf("发送列车牵引失败，未找到对应的列车id:%v", train.Id))
 		return
 	}
 	tc := train.ConnState
 	if tc.Conn {
-
 		vobc := train.VobcState
-
 		msg := &message.TrainPcSimBaseMessage{}
 		newTraction := vobc.TractionForce
 		if tractionState {

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -100,6 +100,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
 	status.TailOffset = tailDeviceOffset
 	status.TailDevicePort = tailDevicePort
+	status.BtmBaliseCache = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
 	//初始化列车参数状态
 	createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
 	tl := configTrainData.TrainLoad
@@ -113,7 +114,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	//status.TrainActiveDirection = trainActDir
 
 	status.Tcc = initTrainTcc(vs)
-	status.VobcBtm = &state_proto.VobcBtmState{TelegramState: make([]*state_proto.VobcBtmState_TelegramState, 0), History: make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)}
+	status.VobcBtm = &state_proto.VobcBtmState{TelegramState: make([]*state_proto.VobcBtmState_TelegramState, 3), History: make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)}
 	//slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
 	linkIdInt, _ := strconv.Atoi(linkId)
 	err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
@@ -343,9 +344,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 		sta.OldLinkOffset = outLinkOffset
 		sta.OldLink = outLinkId
 	}
-	if sta.BtmBaliseCache == nil {
+
-		sta.BtmBaliseCache = make([]*state_proto.BTMState, 0)
-	}
 	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
 	//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 {
@@ -412,8 +411,7 @@ func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.Dynamic
 func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64) {
 	// 更新BTM中列车位置信息
 	//isup := sta.TrainActiveDirection == 1
-
+	can_btm.Default().HandleTrainHeadPositionInfoForTrain(vs.World, sta.BtmBaliseCache, &fi.TrainHeadPositionInfo{
-	can_btm.Default().HandleTrainHeadPositionInfo(vs.World, sta.VobcBtm, &fi.TrainHeadPositionInfo{
 		TrainId:       sta.Id,
 		Up:            info.Up,
 		Link:          outLinkId,
@@ -423,10 +421,20 @@ func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInf
 		OldLinkOffset: sta.OldLinkOffset,
 		OldLink:       sta.OldLink,
 	})
-	state := can_btm.Default().GetState()
+	/*can_btm.Default().HandleTrainHeadPositionInfo(vs.World, sta.VobcBtm, &fi.TrainHeadPositionInfo{
-	if sta.BtmState == nil || sta.BtmState.BaliseId != state.BaliseId {
+		TrainId:       sta.Id,
-		sta.BtmState = &state
+		Up:            info.Up,
-	}
+		Link:          outLinkId,
+		LinkOffset:    outLinkOffset,
+		Speed:         info.Speed,
+		Acceleration:  info.Acceleration,
+		OldLinkOffset: sta.OldLinkOffset,
+		OldLink:       sta.OldLink,
+	})*/
+	/*	state := can_btm.Default().GetState()
+		if sta.BtmState == nil || sta.BtmState.BaliseId != state.BaliseId {
+			sta.BtmState = &state
+		}*/
 
 }
 
@@ -490,28 +498,6 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
 	return fi.RemoveTrainFromWorld(vs.World, trainId)
 }
 
-// 删除列车状态
-/*func RemoveTrainState(vs *VerifySimulation, id string) {
-	allTrainMap := &vs.Memory.Status.TrainStateMap
-	d, ok := allTrainMap.Load(id)
-	if ok {
-		t := d.(*state_proto.TrainState)
-		trainIndex, _ := strconv.ParseUint(id, 10, 16)
-		err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
-			TrainIndex: uint16(trainIndex),
-		})
-		if err != nil {
-			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
-		}
-		// 从仿真内存中移除列车
-		t.Show = false
-		// 移除车
-		fi.RemoveTrainFromWorld(vs.World, id)
-		allTrainMap.Store(id, t)
-	} else {
-		panic(fmt.Sprintf("列车【%s】不存在", id))
-	}
-}*/
 func RemoveTrainState(vs *VerifySimulation, id string) {
 	allTrainMap := &vs.Memory.Status.TrainStateMap
 	d, ok := allTrainMap.Load(id)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -6,7 +6,6 @@ import (
 	"fmt"
 	uuid2 "github.com/google/uuid"
 	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/data_proto"
 	"joylink.club/bj-rtsts-server/dto/request_proto"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
@@ -17,7 +16,6 @@ import (
 	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"math"
-	"strings"
 	"time"
 )
 
@@ -512,7 +510,7 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 				ebTce := controlEBBtn(vobc, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
-				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
+				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
 				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, 0}})
 				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{0x38, 0}})
 				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
@@ -706,11 +704,11 @@ 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 {
+	balise, dsn, bc, mc := can_btm.Default().FindNotSendState(train)
-		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))
+	/*if balise == 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
-	}
+	}*/
-	notSendBtm, ok := can_btm.Default().FindNotSendState()
 	trainAtm := message.NewBtmHeadFrame(data)
 	atpReq := &message.AtpRequestFrame{}
 
@@ -720,18 +718,17 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 	}
 
 	cl := clock(atpReq)
-	dsn := train_pc_sim.Default().DsnAddAndReturn()
+
-	//btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
+	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, balise, atpReq, cl, dsn, bc, mc)
-	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, &notSendBtm, atpReq, cl, dsn)
+
-	//slog.Info(fmt.Sprintf("id1:%x,id2:%x,id3:%x,id4:%x,resendRequest:%v,reqTime:%v,dsn:%v", trainAtm.CanId.ID1, trainAtm.CanId.ID2, trainAtm.CanId.ID3, trainAtm.CanId.ID4, atpReq.ResendRequest, atpReq.Time, dsn))
 	if atpReq.ResendRequest == 2 {
 		slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr:%v", atpReq.String()))
 		//重新发送
 		//if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
-		if len(notSendBtm.BaliseTelegramForPcSimResend) > 0 {
+		if len(balise.BaliseTelegramForPcSimResend) > 0 {
 			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr111111111:%v", atpReq.String()))
 			//dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
-			dd, _ := hex.DecodeString(notSendBtm.BaliseTelegramForPcSimResend)
+			dd, _ := hex.DecodeString(balise.BaliseTelegramForPcSimResend)
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
 		} else {
 			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr2222222222222:%v", atpReq.String()))
@@ -744,31 +741,20 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 		}
 	} else {
-
 		timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
 		timeSyncF.T2 = cl.BtmTk
 		timeSyncF.T3 = cl.TkNow()
-		//telCount := strings.Count(train.BtmState.Telegram, "00")
+
-		telCount := strings.Count(notSendBtm.Telegram, "00")
+		if balise == nil {
-		//if telCount >= balise_const.UserTelegramByteLen || train.BtmState.IsSend {
+			//无应答器数据
-		if !ok && (notSendBtm.Telegram == "" || telCount >= balise_const.UserTelegramByteLen) {
-			//slog.Info(fmt.Sprintf("准备发送无数据应答器id:%v", train.BtmState.BaliseId))
 			queryData := make([]byte, 0)
 			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
 			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
-			//train.BtmState.IsSend = true
+		} else if !balise.IsSend {
-		} else /*if  !train.BtmState.IsSend*/
+			balise.IsSend = true
-		if !notSendBtm.IsSend {
+			slog.Info(fmt.Sprintf("准备发送应答id:%v,uuid :%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", balise.BaliseId, uuid, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc))
-			slog.Info(fmt.Sprintf("准备发送应答id:%v,uuid :%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", notSendBtm.BaliseId, uuid, ts, time.Now().UnixMilli(), notSendBtm.Telegram, notSendBtm.BaliseCount, notSendBtm.MessageCounter))
+			aliseData, _ := hex.DecodeString(balise.Telegram)
-			//slog.Info(fmt.Sprintf("准备发送应答id:%v,uuid :%v,消耗时间:%v , 数据:%v", train.BtmState.BaliseId, uuid, ts-time.Now().UnixMilli(), train.BtmState.Telegram))
-			/*	defer func() {
-				train.BtmState.IsSend = true
-			}()*/
-			//有数据
-			//aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
-			aliseData, _ := hex.DecodeString(notSendBtm.Telegram)
-
 			stateRepFrame := btmRepFrame.EncodeBtmAtp()
 			statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, cl.BtmTk, cl.BtmTk, cl.BtmTk)
 			if statusDataCfOk {
@@ -778,7 +764,7 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 				queryData = append(queryData, stateRepFrame.Encode()...)
 				queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 				queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
-				train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
+				balise.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
 				train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
 			} else {
 				slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
@@ -787,22 +773,22 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 	}
 }
 
-func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn byte) *message.BtmStatusRspFrame {
+func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn, baliseCount, messageCount byte) *message.BtmStatusRspFrame {
 	statusF := message.NewBtmStatusRspFrame(canIdSn)
 	statusF.PowerAmplifierOn = true
 	statusF.PowerAmplifierFailure = false
 	statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
 	statusF.AntennaFault = false
-	statusF.BaliseCounter = byte(btmState.BaliseCount)
+	statusF.BaliseCounter = baliseCount
-	statusF.MessageCounter = byte(btmState.MessageCounter)
+	statusF.MessageCounter = messageCount
 	//statusF.TkTimeA = cl.TkNow()
 	statusF.TkTimeA = cl.BtmTk
 	statusF.DetailedCode = 0
-	if btmState.AboveBalise {
+	if btmState != nil && btmState.AboveBalise {
 		statusF.DetailedCode = 0x07
 	}
 
-	btmState.DataSerialNumber = uint32(dsn)
+	//btmState.DataSerialNumber = uint32(dsn)
 	statusF.Dsn = dsn
 	return statusF
 }