折返速度调整

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 15470e0e4aa2c5839be5c009d5a4239c9238b4ba
+Subproject commit 35c2c8e7748a4a30230ef4fcaedbfd7d2466299d

third_party/train_pc_sim/train_pc_receive_handler.go

@@ -70,15 +70,13 @@ func (rd *TrainPcReciverData) receiverDataHandle(n int, data []byte) {
 		//case RECIVE_TRAIN_CREATE_REMOVE:
 		//	pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
-
 			rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(rd.aPort, rd.tcpClient, train, baseMsg.Data)
-
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
 			rd.pcSimManage.TrainPcSimDigitalReportHandle(train, baseMsg.Data)
 		case message.RECIVE_TRAIN_QUERY_STATUS:
 			rd.pcSimManage.TrainBtmQuery2(train, baseMsg.Data, rd.aPort)
-		case message.RECIVE_TRAIN_MOCK_DATA:
+			//case message.RECIVE_TRAIN_MOCK_DATA:
-			rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
+			//	rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
 
 			//case RECIVE_TRAIN_DOOR_MODE:
 			//	pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])

third_party/train_pc_sim/train_pc_sim.go

@@ -162,22 +162,23 @@ func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
 	return uint32(pluseCountData)
 }
 
-func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, float32) {
+func (d *trainPcSimService) pluseSpeed(pc *state_proto.SensorSpeedPulseCount, wheelDiameter int32) (uint32, float32) {
 	defer initLock.Unlock()
 	initLock.Lock()
+
 	var sum float32 = 0
-	pcLen := len(sta.PluseCount.PulseCount3)
+	pcLen := len(pc.PulseCount3)
 	if pcLen == 0 {
 		return 0, 0
 	}
-	for _, f := range sta.PluseCount.PulseCount3 {
+	for _, f := range pc.PulseCount3 {
 		sum += f
 	}
-	d.TrainPluseCountReset(sta)
+	d.trainPluseCountReset(pc)
 	speed := sum / float32(pcLen)
-	return pluseCountSpeed(sta.WheelDiameter, speed*1000), speed
+	return pluseCountSpeed(wheelDiameter, speed*1000), speed
-
 }
+
 func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
 	defer initLock.Unlock()
 	initLock.Lock()
@@ -190,36 +191,29 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2,
 
 	for _, sd := range d.findTrainAllConn(sta) {
 		if sd.speedPlace != nil {
-
 			sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
 		}
 	}
+	for _, pc := range sta.PulseCountMap {
+
 		if sta.TrainRunUp {
-		if sta.TrainEndsA.SpeedSensorEnableA {
+			if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
+				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
-			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
+				pc.PulseCount3 = append(pc.PulseCount3, h1)
-		}
-		if sta.TrainEndsA.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
-			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
 			}
 		} else {
-		if sta.TrainEndsB.SpeedSensorEnableA {
+			if sta.TrainEndsB.SpeedSensorEnableA || sta.TrainEndsB.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
+				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
-			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
+				pc.PulseCount3 = append(pc.PulseCount3, t1)
-		}
-		if sta.TrainEndsB.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
-			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
 			}
 		}
 	}
 
-func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
+}
-	sta.PluseCount.PulseCount1 = 0
+
-	sta.PluseCount.PulseCount2 = 0
+func (d *trainPcSimService) trainPluseCountReset(pc *state_proto.SensorSpeedPulseCount) {
-	sta.PluseCount.PulseCount3 = make([]float32, 0)
+	pc.PulseCount1 = 0
-	sta.PluseCount.PulseCount4 = make([]float32, 0)
+	pc.PulseCount3 = make([]float32, 0)
 }
 
 func (d *trainPcSimService) newCloseAllConn() {
@@ -239,13 +233,7 @@ func (d *trainPcSimService) newCloseConn(clientKey string) {
 			rd.speedPlace = nil
 		}
 	}
-	/*rd := d.newPcSimclientMap[clientKey]
+
-	if rd != nil {
-		rd.tcpClient.Close()
-		rd.tcpClient = nil
-		rd.train = nil
-		rd.speedPlace = nil
-	}*/
 }
 
 func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {
@@ -393,7 +381,9 @@ func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto
 	msgs := make([]message.TrainPcSimBaseMessage, 0)
 	sendMsg := make([]byte, 0)
 	rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
-	train.PluseCount = &state_proto.SensorSpeedPulseCount{}
+	train.PulseCountMap = make(map[int32]*state_proto.SensorSpeedPulseCount)
+	train.PulseCountMap[int32(state_proto.TrainState_PORT_A.Number())] = &state_proto.SensorSpeedPulseCount{}
+	train.PulseCountMap[int32(state_proto.TrainState_PORT_B.Number())] = &state_proto.SensorSpeedPulseCount{}
 	rd.train = train
 	tcc := train.Tcc
 	tcc.LineInitTimeStamp12PortA = 0
@@ -440,9 +430,14 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 
 		trains := d.trainPcSimManage.GetConnTrain2()
 		for _, train := range trains {
-			if train.ConnState.Conn && train.PluseCount != nil {
+			if train.ConnState.Conn {
-				trainClients := d.newPcSimclientMap3[train.ConnState.TypeName]
+				for numKey, pc := range train.PulseCountMap {
-				for _, trainClient := range trainClients {
+					trainPort := state_proto.TrainState_TrainPort(numKey)
+					aPort := true
+					if trainPort == state_proto.TrainState_PORT_B {
+						aPort = false
+					}
+					trainClient, _ := d.findTrainConnForPort(train, aPort)
 					if trainClient.success {
 						if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
 							slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
@@ -454,27 +449,25 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 						} else if trainClient.aPort == false && train.Tcc.Line12ConnErrPortB {
 							connState = tpapi.ThirdPartyState_Broken
 						}
-						/*if train.Tcc.Line12ConnErr {
-							connState = tpapi.ThirdPartyState_Broken
-						}*/
 						trainClient.updateState(connState)
-						s1, speed := d.pluseSpeed(train)
+						s1, _ := d.pluseSpeed(pc, train.WheelDiameter)
 						runDir := uint16(2)
 						if train.VobcState.DirectionForward {
 							runDir = 1
+						} else if train.VobcState.DirectionBackward {
+							runDir = 0
 						}
 						disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
 						data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
 						bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
 						dataCode := bm.Encode()
-						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)
+						//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)
 						err := trainClient.tcpClient.Send(dataCode)
 						if err != nil {
 							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)))
 						}
 					}
 				}
-
 			}
 		}
 	}

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -446,7 +446,7 @@ func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.Dynamics
 }
 
 func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
-	if sta.PluseCount == nil {
+	if sta.PulseCountMap == nil {
 		return
 	}
 	train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -16,7 +16,6 @@ import (
 	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"math"
-	"strings"
 	"time"
 )
 
@@ -745,12 +744,12 @@ func (s *VerifySimulation) reportTrainMockInitMsg2(aport, act, initConn bool, in
 			connErr = true
 		}
 		if state == 0 {
-			slog.Info("列车紧急制动%v", aport)
+			//slog.Info("列车紧急制动%v", aport)
 			jjzdBtn := tcc.Buttons[JJZD]
 			ebTce := controlEBBtn(train, true, jjzdBtn)
 			tce = append(tce, ebTce...)
 		} else if message.GetBit(data1, 0) == 0 {
-			slog.Info(fmt.Sprintf("列车紧切牵引%v ,state :%v", aport, state))
+			//slog.Info(fmt.Sprintf("列车紧切牵引%v ,state :%v", aport, state))
 			jjzdBtn := tcc.Buttons[JJZD]
 			ebTce := controlEBBtn(train, true, jjzdBtn)
 			tce = append(tce, ebTce...)
@@ -801,7 +800,7 @@ func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
 func (s *VerifySimulation) shuziliang(aport bool, client *tcp.TcpClient, baseMessage []message.TrainPcSimBaseMessage) {
 	for _, msg := range baseMessage {
 		dd := msg.Encode()
-		slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
+		//slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
 		client.Send(dd)
 
 	}
@@ -810,18 +809,15 @@ func (s *VerifySimulation) shuziliang(aport bool, client *tcp.TcpClient, baseMes
 // 4.4.1.	车载输出数字量信息报文内容
 func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(aport bool, client *tcp.TcpClient, train *state_proto.TrainState, data []byte) bool {
 
-	dd := &strings.Builder{}
 	//slog.Info("开始接受atp输出模拟量==============%v", aport)
 	/*	for i, d := range data {
+		dd := &strings.Builder{}
 			for j := 0; j < 8; j++ {
 				dd.WriteString(fmt.Sprintf(" bit%v  val:%v , ", j, message.GetBit(d, uint(j))))
 			}
 			slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
 		}*/
-	d := data[4]
+
-	for j := 0; j < 8; j++ {
-		dd.WriteString(fmt.Sprintf(" bit%v  val:%v , ", j, message.GetBit(d, uint(j))))
-	}
 	//slog.Info(fmt.Sprintf("%v", dd.String()), aport)
 	//slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee", aport)
 
@@ -834,17 +830,9 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(aport bool, client *tc
 			train.Tcc.LineInitTimeStamp12PortA = ts
 			train.Tcc.TrainConnInitComplatePortA = initConn
 			train.Tcc.Line12ConnErrPortA = connErr
-			//slog.Info("发送数字量")
 			s.shuziliang(aport, client, tce)
 		}
-		/*		if initConn {
+
-					train.Tcc.TrainConnInitComplatePortB = initConn
-					train.Tcc.LineInitTimeStamp12PortB = ts
-				}
-				if train.Tcc.ActiveTrainA {
-					train.Tcc.ActiveTrainB = train.Tcc.ActiveTrainA
-				}
-		*/
 		if train.VobcState.Tc1Active {
 			trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
 			trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
@@ -1060,9 +1048,13 @@ func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []
 			balise.IsSend = true
 			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)
 		} else {
+			queryData := make([]byte, 0)
+			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
+			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
+			train_pc_sim.Default().SendBaliseData(train, trainPort, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 			return
 		}
-		slog.Info(logstr)
+		slog.Info(logstr, trainPort)
 		aliseData, _ := hex.DecodeString(balise.Telegram)
 		stateRepFrame := btmRepFrame.EncodeBtmAtp()
 		statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, balise.HasData, cl.BtmTk, cl.BtmTk, cl.BtmTk)