[修改]11号线BTM与VOBC通信服务逻辑

rts-sim-module

@@ -1 +1 @@
-Subproject commit b7bc9bdb1f72aded0cd0d1f5c2d6970e6d1cef76
+Subproject commit 88b24dff6589615d68c83f19196904bc7bb64077

third_party/btm_vobc/beijing11/msg.go

@@ -180,8 +180,17 @@ func (t *telegramFrame) encode() []byte {
 	return data
 }
 
+func (t *telegramFrame) getSn() byte {
+	if t == nil {
+		return 0
+	} else {
+		return t.sn
+	}
+}
+
 type freeFrame struct {
 	id byte //递增的id码
+	//reservedBytes   []byte       //保留（2个1字节）
 	sn              byte         //报文序列号。1-255，开机时为0
 	btmWorkState    btmWorkState //BTM工作状态
 	workTemperature byte         //工作温度。单位℃
@@ -221,6 +230,7 @@ func (f *freeFrame) encode() []byte {
 	data = append(data, frameType_Free)
 	data = append(data, 0) //帧长度，占位
 	data = append(data, f.id)
+	data = append(data, 0, 0)
 	data = append(data, f.sn)
 	data = append(data, byte(f.btmWorkState))
 	data = append(data, f.workTemperature)

third_party/btm_vobc/beijing11/service.go

@@ -31,6 +31,8 @@ type serviceContext struct {
 
 	id           byte           //无论何时传输数据，该数都在 1-255 范围内递增，在错误重传时也是递增的，255 之后是 1，不使用 0
 	sn           byte           //报文序列号。1-255；开机时使用0
+	lastTelFrame *telegramFrame //最后发送的报文帧
+	sendSuccess  bool           //如果报文帧后第一个请求帧的报文序列号与BTM刚发送的报文帧中的报文序列号不一样，BTM就认为发送是不成功的，BTM会将同样的数据再发一次；
 
 	lastCmdId byte   //vobc ID命令帧最新的ID码（1~255，不使用0）
 	lastReqId byte   //vobc 请求帧最新的ID码（1~255，不使用0）
@@ -41,11 +43,18 @@ type serviceContext struct {
 }
 
 func Start(sim *memory.VerifySimulation) {
+	mu.Lock()
+	defer mu.Unlock()
+	if serviceCtx != nil {
+		logger().Warn("重复启动服务")
+		return
+	}
 	config := sim.GetRunConfig().BtmVobc
 	client := udp.NewClient(fmt.Sprintf("%s:%d", config.RemoteIp, config.RemoteUdpPort))
-	serviceCtx := serviceContext{
+	serviceCtx = &serviceContext{
 		simulation:  sim,
 		client:      client,
+		sendSuccess: true,
 	}
 	server := udp.NewServer(fmt.Sprintf(":%d", config.LocalUdpPort), serviceCtx.handle)
 	err := server.Listen()
@@ -98,15 +107,83 @@ func (s *serviceContext) handle(data []byte) {
 }
 
 func (s *serviceContext) handleIdFrame(frame *idFrame) {
-	if frame.id < s.lastCmdId {
+	if frame.id < s.lastCmdId && s.lastCmdId-frame.id < 250 { //第二个条件保证id没有突破255
 		logger().Error(fmt.Sprintf("vobc ID命令帧id倒退[%d：%d]", s.lastCmdId, frame.id))
 	}
 	s.lastCmdId = frame.id
 	s.btmId = frame.btmId
 	s.vobcId = frame.vobcId
-	rspFrame := freeFrame{
+}
+
+func (s *serviceContext) handleReqFrame(frame *reqFrame) {
+	if frame.frameState == fs_Error {
+		logger().Info("上一帧的报文序列或者CRC检查不正确")
+	}
+	if frame.id <= s.lastReqId && s.lastReqId-frame.id < 250 { //第二个条件保证id没有突破255
+		logger().Info(fmt.Sprintf("vobc请求帧id倒退【%d：%d】", s.lastReqId, frame.id))
+		return
+	}
+	s.lastReqId = frame.id
+	if !s.sendSuccess {
+		if frame.sn != s.lastTelFrame.getSn() { //报文帧后第一条请求帧的报文序列号对应不上
+			logger().Error(fmt.Sprintf("报文帧后第一条请求帧的报文序列号对应不上[%s：%s]", frame.sn, s.lastTelFrame.getSn()))
+			err := s.client.Send(s.lastTelFrame.encode())
+			if err != nil {
+				logger().Error(fmt.Sprintf("发送上一次的报文帧出错：%s", err))
+			} else {
+				logger().Error("BTM重发上一次的报文帧成功")
+			}
+			return
+		}
+		s.sendSuccess = true
+	}
+
+	var telegram []byte
+	s.simulation.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
+		trainState := value.(*state_proto.TrainState)
+		if trainState.ConnState.Conn && trainState.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
+			for _, bs := range trainState.BtmBaliseCacheA.BaliseList {
+				if !bs.IsSend {
+					bs.IsSend = true
+					tel, err := hex.DecodeString(bs.Telegram)
+					if err != nil {
+						logger().Error(fmt.Sprintf("用户报文解码出错：%s", err))
+						break
+					}
+					telegram = tel
+					break
+				}
+			}
+			return false
+		}
+		return true
+	})
+	if len(telegram) != 0 { //有未发送报文，发送报文帧
+		telFrame := telegramFrame{}
+		telFrame.id = s.nextId()
+		telFrame.headTTLTime = 1
+		telFrame.sn = s.nextSn()
+		telFrame.btmWorkState = bws_normal
+		telFrame.channel1GoodBitRate = 100
+		telFrame.channel2GoodBitRate = 100
+		telFrame.decodeDuration = 1
+		telFrame.tailTTLTime = 1
+		telFrame.telegram = telegram
+		telFrame.responseDuration = 10
+		telFrame.vobcReqCycle = frame.vobcCycle
+
+		encode := telFrame.encode()
+		err := s.client.Send(encode)
+		if err != nil {
+			logger().Error("发送数据失败")
+		} else {
+			logger().Info(fmt.Sprintf("发送报文帧：%x", encode))
+			s.sendSuccess = false
+		}
+	} else { //否则发送空闲帧
+		freeFrame := freeFrame{
 			id:                      s.nextId(),
-		sn:                      s.nextSn(),
+			sn:                      s.lastTelFrame.getSn(),
 			btmWorkState:            bws_normal,
 			workTemperature:         20,
 			amp1CurrentState:        iv_normal,
@@ -132,61 +209,14 @@ func (s *serviceContext) handleIdFrame(frame *idFrame) {
 			responseDuration:        0,
 			vobcCycle:               frame.vobcCycle,
 		}
-	encode := rspFrame.encode()
+		encode := freeFrame.encode()
 		err := s.client.Send(encode)
 		if err != nil {
 			logger().Error("发送数据失败")
 		} else {
-		logger().Info(fmt.Sprintf("回复ID命令帧：%x", encode))
+			logger().Info(fmt.Sprintf("发送空闲帧：%x", encode))
 		}
 	}
-
-func (s *serviceContext) handleReqFrame(frame *reqFrame) {
-	if frame.frameState == fs_Error {
-		logger().Info("上一帧的报文序列或者CRC检查不正确")
-	}
-	if frame.id <= s.lastReqId {
-		logger().Info(fmt.Sprintf("vobc请求帧id倒退【%d：%d】", s.lastReqId, frame.id))
-		return
-	}
-	s.lastReqId = frame.id
-
-	s.simulation.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
-		trainState := value.(*state_proto.TrainState)
-		if trainState.ConnState.Conn && trainState.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
-			telFrame := telegramFrame{}
-			telFrame.id = s.nextId()
-			telFrame.headTTLTime = 1
-			telFrame.sn = s.nextSn()
-			telFrame.btmWorkState = bws_normal
-			telFrame.channel1GoodBitRate = 100
-			telFrame.channel2GoodBitRate = 100
-			telFrame.decodeDuration = 1
-			telFrame.tailTTLTime = 1
-			for _, bs := range trainState.BtmBaliseCacheA.BaliseList {
-				if !bs.IsSend {
-					telegram, err := hex.DecodeString(bs.Telegram)
-					if err != nil {
-						logger().Error(fmt.Sprintf("用户报文解码出错：%s", err))
-						continue
-					}
-					telFrame.telegram = telegram
-				}
-			}
-			telFrame.responseDuration = 10
-			telFrame.vobcReqCycle = frame.vobcCycle
-
-			encode := telFrame.encode()
-			err := s.client.Send(encode)
-			if err != nil {
-				logger().Error("发送数据失败")
-			} else {
-				logger().Info(fmt.Sprintf("回复vobc请求帧：%x", encode))
-			}
-			return false
-		}
-		return true
-	})
 }
 
 func (s *serviceContext) nextId() byte {
@@ -198,6 +228,9 @@ func (s *serviceContext) nextId() byte {
 }
 
 func (s *serviceContext) nextSn() byte {
+	if s.sn == 0 {
+		return 0
+	}
 	tmp := s.sn
 	s.sn++
 	if s.sn == 0 {

ts/simulation/wayside/memory/wayside_simulation.go

@@ -1158,6 +1158,9 @@ func fillProtoRepository(repo *proto.Repository, storage *data_proto.RtssGraphic
 	}
 	//列车停车点
 	for _, sp := range storage.StopPositions {
+		if sp.KilometerSystem.CoordinateSystem == "" { //11号线北辛安-新首钢站间两个停车点没有公里标
+			continue
+		}
 		//id := GetMapElementId(sp.Common)
 		psp := &proto.StopPosition{
 			Id: uidsMap.StopPoint[GetMapElementId(sp.Common)].Uid,

ts/test_simulation_manage.go

@@ -211,6 +211,8 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	//obsolete.StopLineAllRsspAxleServices()
 	// 电机UDP停止
 	electrical_machinery.Default().Stop()
+	//11号线VOBC通信
+	btmBeijing11.Stop(s)
 	//11号线工装通信
 	trainBeijing11.Stop(s)