折返速度调整
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tiger_zhou
parent
8b5ef2e597
commit
449162856b
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@ -1 +1 @@
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Subproject commit 15470e0e4aa2c5839be5c009d5a4239c9238b4ba
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Subproject commit 35c2c8e7748a4a30230ef4fcaedbfd7d2466299d
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@ -70,15 +70,13 @@ func (rd *TrainPcReciverData) receiverDataHandle(n int, data []byte) {
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//case RECIVE_TRAIN_CREATE_REMOVE:
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// pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
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case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
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rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(rd.aPort, rd.tcpClient, train, baseMsg.Data)
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case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
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rd.pcSimManage.TrainPcSimDigitalReportHandle(train, baseMsg.Data)
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case message.RECIVE_TRAIN_QUERY_STATUS:
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rd.pcSimManage.TrainBtmQuery2(train, baseMsg.Data, rd.aPort)
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case message.RECIVE_TRAIN_MOCK_DATA:
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rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
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//case message.RECIVE_TRAIN_MOCK_DATA:
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// rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
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//case RECIVE_TRAIN_DOOR_MODE:
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// pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])
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85
third_party/train_pc_sim/train_pc_sim.go
vendored
85
third_party/train_pc_sim/train_pc_sim.go
vendored
@ -162,22 +162,23 @@ func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
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return uint32(pluseCountData)
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}
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func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, float32) {
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func (d *trainPcSimService) pluseSpeed(pc *state_proto.SensorSpeedPulseCount, wheelDiameter int32) (uint32, float32) {
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defer initLock.Unlock()
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initLock.Lock()
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var sum float32 = 0
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pcLen := len(sta.PluseCount.PulseCount3)
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pcLen := len(pc.PulseCount3)
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if pcLen == 0 {
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return 0, 0
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}
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for _, f := range sta.PluseCount.PulseCount3 {
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for _, f := range pc.PulseCount3 {
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sum += f
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}
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d.TrainPluseCountReset(sta)
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d.trainPluseCountReset(pc)
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speed := sum / float32(pcLen)
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return pluseCountSpeed(sta.WheelDiameter, speed*1000), speed
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return pluseCountSpeed(wheelDiameter, speed*1000), speed
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}
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func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
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defer initLock.Unlock()
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initLock.Lock()
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@ -190,36 +191,29 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2,
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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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if sta.TrainRunUp {
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if sta.TrainEndsA.SpeedSensorEnableA {
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sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
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sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
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}
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if sta.TrainEndsA.SpeedSensorEnableB {
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sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
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sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
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}
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} else {
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if sta.TrainEndsB.SpeedSensorEnableA {
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sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
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sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
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}
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if sta.TrainEndsB.SpeedSensorEnableB {
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sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
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sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
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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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pc.PulseCount3 = append(pc.PulseCount3, h1)
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}
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} else {
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if sta.TrainEndsB.SpeedSensorEnableA || sta.TrainEndsB.SpeedSensorEnableB {
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pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
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pc.PulseCount3 = append(pc.PulseCount3, t1)
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}
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}
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}
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}
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func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
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sta.PluseCount.PulseCount1 = 0
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sta.PluseCount.PulseCount2 = 0
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sta.PluseCount.PulseCount3 = make([]float32, 0)
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sta.PluseCount.PulseCount4 = make([]float32, 0)
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func (d *trainPcSimService) trainPluseCountReset(pc *state_proto.SensorSpeedPulseCount) {
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pc.PulseCount1 = 0
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pc.PulseCount3 = make([]float32, 0)
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}
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func (d *trainPcSimService) newCloseAllConn() {
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@ -239,13 +233,7 @@ func (d *trainPcSimService) newCloseConn(clientKey string) {
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rd.speedPlace = nil
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}
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}
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/*rd := d.newPcSimclientMap[clientKey]
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if rd != nil {
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rd.tcpClient.Close()
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rd.tcpClient = nil
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rd.train = nil
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rd.speedPlace = nil
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}*/
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}
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func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {
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@ -393,7 +381,9 @@ func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto
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msgs := make([]message.TrainPcSimBaseMessage, 0)
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sendMsg := make([]byte, 0)
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rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
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train.PluseCount = &state_proto.SensorSpeedPulseCount{}
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train.PulseCountMap = make(map[int32]*state_proto.SensorSpeedPulseCount)
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train.PulseCountMap[int32(state_proto.TrainState_PORT_A.Number())] = &state_proto.SensorSpeedPulseCount{}
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train.PulseCountMap[int32(state_proto.TrainState_PORT_B.Number())] = &state_proto.SensorSpeedPulseCount{}
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rd.train = train
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tcc := train.Tcc
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tcc.LineInitTimeStamp12PortA = 0
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@ -440,9 +430,14 @@ 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 && train.PluseCount != nil {
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trainClients := d.newPcSimclientMap3[train.ConnState.TypeName]
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for _, trainClient := range trainClients {
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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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aPort := true
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if trainPort == state_proto.TrainState_PORT_B {
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aPort = false
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}
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trainClient, _ := d.findTrainConnForPort(train, aPort)
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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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@ -454,27 +449,25 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
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} else if trainClient.aPort == false && train.Tcc.Line12ConnErrPortB {
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connState = tpapi.ThirdPartyState_Broken
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}
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/*if train.Tcc.Line12ConnErr {
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connState = tpapi.ThirdPartyState_Broken
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}*/
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trainClient.updateState(connState)
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s1, speed := d.pluseSpeed(train)
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s1, _ := d.pluseSpeed(pc, train.WheelDiameter)
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runDir := uint16(2)
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if train.VobcState.DirectionForward {
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runDir = 1
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} else if train.VobcState.DirectionBackward {
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runDir = 0
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}
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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,A端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, trainClient.aPort, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)), trainClient.aPort)
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//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,A端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, trainClient.aPort, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)), trainClient.aPort)
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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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}
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}
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}
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@ -446,7 +446,7 @@ func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.Dynamics
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}
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func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
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if sta.PluseCount == nil {
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if sta.PulseCountMap == nil {
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return
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}
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train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
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@ -16,7 +16,6 @@ import (
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train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
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"log/slog"
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"math"
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"strings"
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"time"
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)
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@ -745,12 +744,12 @@ func (s *VerifySimulation) reportTrainMockInitMsg2(aport, act, initConn bool, in
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connErr = true
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}
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if state == 0 {
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slog.Info("列车紧急制动%v", aport)
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//slog.Info("列车紧急制动%v", aport)
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jjzdBtn := tcc.Buttons[JJZD]
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ebTce := controlEBBtn(train, true, jjzdBtn)
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tce = append(tce, ebTce...)
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} else if message.GetBit(data1, 0) == 0 {
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slog.Info(fmt.Sprintf("列车紧切牵引%v ,state :%v", aport, state))
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//slog.Info(fmt.Sprintf("列车紧切牵引%v ,state :%v", aport, state))
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jjzdBtn := tcc.Buttons[JJZD]
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ebTce := controlEBBtn(train, true, jjzdBtn)
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tce = append(tce, ebTce...)
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@ -801,7 +800,7 @@ func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
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func (s *VerifySimulation) shuziliang(aport bool, client *tcp.TcpClient, baseMessage []message.TrainPcSimBaseMessage) {
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for _, msg := range baseMessage {
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dd := msg.Encode()
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slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
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//slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
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client.Send(dd)
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}
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@ -810,18 +809,15 @@ func (s *VerifySimulation) shuziliang(aport bool, client *tcp.TcpClient, baseMes
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// 4.4.1. 车载输出数字量信息报文内容
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func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(aport bool, client *tcp.TcpClient, train *state_proto.TrainState, data []byte) bool {
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dd := &strings.Builder{}
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//slog.Info("开始接受atp输出模拟量==============%v", aport)
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/* for i, d := range data {
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for j := 0; j < 8; j++ {
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dd.WriteString(fmt.Sprintf(" bit%v val:%v , ", j, message.GetBit(d, uint(j))))
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}
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slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
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}*/
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d := data[4]
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for j := 0; j < 8; j++ {
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dd.WriteString(fmt.Sprintf(" bit%v val:%v , ", j, message.GetBit(d, uint(j))))
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}
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dd := &strings.Builder{}
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for j := 0; j < 8; j++ {
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dd.WriteString(fmt.Sprintf(" bit%v val:%v , ", j, message.GetBit(d, uint(j))))
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}
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slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
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}*/
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//slog.Info(fmt.Sprintf("%v", dd.String()), aport)
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//slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee", aport)
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@ -834,17 +830,9 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(aport bool, client *tc
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train.Tcc.LineInitTimeStamp12PortA = ts
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train.Tcc.TrainConnInitComplatePortA = initConn
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train.Tcc.Line12ConnErrPortA = connErr
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//slog.Info("发送数字量")
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s.shuziliang(aport, client, tce)
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}
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/* if initConn {
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train.Tcc.TrainConnInitComplatePortB = initConn
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train.Tcc.LineInitTimeStamp12PortB = ts
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}
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if train.Tcc.ActiveTrainA {
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train.Tcc.ActiveTrainB = train.Tcc.ActiveTrainA
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}
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*/
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if train.VobcState.Tc1Active {
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trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
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trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
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@ -1060,9 +1048,13 @@ func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []
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balise.IsSend = true
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logstr = fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data)
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} else {
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queryData := make([]byte, 0)
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queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
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queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
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train_pc_sim.Default().SendBaliseData(train, trainPort, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
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return
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}
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slog.Info(logstr)
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slog.Info(logstr, trainPort)
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aliseData, _ := hex.DecodeString(balise.Telegram)
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stateRepFrame := btmRepFrame.EncodeBtmAtp()
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statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, balise.HasData, cl.BtmTk, cl.BtmTk, cl.BtmTk)
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