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列车pc仿真调整

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This commit is contained in:
tiger_zhou 2024-04-18 11:14:05 +08:00
parent 29fc4e265b
commit 4666c84860
8 changed files with 373 additions and 72 deletions
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106
third_party/message/can_btm_rsp.go vendored
View File

@ -2,16 +2,17 @@ package message
import "log/slog"
//BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
// CreateBtmRspFramesData 数据帧与状态应答帧同时发送给ATP
// CreateBtmRspFramesData BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
//
// 数据帧与状态应答帧同时发送给ATP
//
// 共17帧，17X12个字节，每个帧12字节
// msg - 应答器报文
// msgPackError - true BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
if len(msg) > 104 { //数据帧最多存储13*8个字节
/* if len(msg) > 104 { //数据帧最多存储13*8个字节
return nil, false
}
}*/
//最近一次ATP查询请求序列号
sn := statusRsp.FId.ID4
//13个BtmDataMessageFrame [0x00,0x0c]
@ -93,6 +94,101 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
rt = append(rt, dtACf.Encode()...)
rt = append(rt, dtBCf.Encode()...)
rt = append(rt, endCf.Encode()...)
if isTrainPcSim && len(rt) != 221 {
} else if len(rt) != 221 {
slog.Warn("len(rt)!=221")
return nil, false
}
return rt, true
}
func CreateBtmRspFramesDataForPcSim(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
if len(msg) > 128 { //数据帧最多存储13*8个字节
return nil, false
}
//最近一次ATP查询请求序列号
sn := statusRsp.FId.ID4
//13个BtmDataMessageFrame [0x00,0x0c]
//数据
dms := make([]*BtmDataMessageFrame, 14)
for mr := 0x00; mr <= 0x0E; mr++ {
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
mi := mr * 8
if mi < len(msg) { //数据帧中有<=8个字节数据
if mi+7 < len(msg) {
dms[mr].Message = msg[mi : mi+8]
} else {
for i, d := range msg[mi:] {
dms[mr].Message[i] = d
}
}
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
for c := 0; c < 8; c++ {
dms[mr].Message[c] = 0xff
}
}
}
//
dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
//dtA.TimeA = msgTimeA
//if !msgPackError {
// var crc32AData []byte
// crc32AData = append(crc32AData, msg...)
// crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
// dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
//} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
// dtA.Crc32A = 0xff_ff_ff_ff
//}
//
dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
dtB.TimeB = msgTimeB
if !msgPackError {
var crc32BData []byte
crc32BData = append(crc32BData, msg...)
crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtB.Crc32B = 0xff_ff_ff_ff
}
//
end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
end.TkB = tkTimeB
//
statusCf := statusRsp.Encode()
dmsCfs := make([]*CanetFrame, 0, 13)
for _, dm := range dms {
dmsCfs = append(dmsCfs, dm.Encode())
}
dtACf := dtA.Encode()
dtBCf := dtB.Encode()
//
crc32cData := make([]byte, 0, 132)
crc32cData = append(crc32cData, statusCf.CanData...)
for _, dmCf := range dmsCfs {
crc32cData = append(crc32cData, dmCf.CanData...)
}
crc32cData = append(crc32cData, dtACf.CanData...)
crc32cData = append(crc32cData, dtBCf.CanData...)
crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
//
end.Crc32C = Can_Crc32(crc32cData)
//
endCf := end.Encode()
//
rt := make([]byte, 0, 221) //17*13
rt = append(rt, statusCf.Encode()...)
for _, dmCf := range dmsCfs {
rt = append(rt, dmCf.Encode()...)
}
rt = append(rt, dtACf.Encode()...)
rt = append(rt, dtBCf.Encode()...)
rt = append(rt, endCf.Encode()...)
if len(rt) != 221 {
slog.Warn("len(rt)!=221")
return nil, false

9
third_party/message/can_net.go vendored
View File

@ -49,16 +49,17 @@ func (p *CanetFrame) Encode() []byte {
}
func (p *CanetFrame) Decode(buf []byte) {
if len(buf) != 13 {
panic("len(buf)!=13")
}
//
if !p.IsTrainPcSim {
if len(buf) != 13 {
panic("len(buf)!=13")
}
p.FF = buf[0]&0x80 == 0x80
p.RTR = buf[0]&0x40 == 0x40
p.CanLen = buf[0] & 0x0f
}
p.CanLen = buf[0] & 0x0f
//1 2 3 4
p.CanId.ID1 = buf[1]
p.CanId.ID2 = buf[2]

19
third_party/message/train_pc_sim_message.go vendored
View File

@ -28,7 +28,6 @@ func (tp *TrainPcSimBaseMessage) Encode() []byte {
binary.Write(dataBufs, binary.BigEndian, tp.Data)
data := dataBufs.Bytes()
pack = append(pack, data...)
pack = binary.BigEndian.AppendUint16(pack, uint16(crc.CalculateCRC(crc.CRC16, data)))
return pack
}
@ -109,6 +108,24 @@ func (tp *TrainSpeedPlaceReportMsg) Encode(runDir bool, s1, s2 uint32) []byte {
return data
}
func (tp *TrainSpeedPlaceReportMsg) Decode(d []byte) {
buf := bytes.NewBuffer(d)
var runDir uint16
binary.Read(buf, binary.BigEndian, &runDir)
var s1 uint32
binary.Read(buf, binary.BigEndian, &s1)
var s2 uint32
binary.Read(buf, binary.BigEndian, &s2)
var c1 uint32
binary.Read(buf, binary.BigEndian, &c1)
var c2 uint32
binary.Read(buf, binary.BigEndian, &c2)
var ts uint32
binary.Read(buf, binary.BigEndian, &ts)
fmt.Println(runDir, s1, s2, c1, c2, ts)
}
// 轨旁向列车pc仿真发送的命令码
const (
//钥匙开关状态

10
third_party/tcp/tcp_client.go vendored
View File

@ -41,7 +41,7 @@ func StartTcpClient(rAddr string, handler func(n int, data []byte), readErr func
}
if err == io.EOF {
slog.Warn(fmt.Sprintf("TCP客户端[rAddr:%s]断开连接：", rAddr))
break
readErr(err)
}
}
handler(l, data)
@ -57,15 +57,15 @@ func (c *TcpClient) Close() {
c.conn = nil
}
}
func (c *TcpClient) Send(data []byte) {
func (c *TcpClient) Send(data []byte) error {
if c.conn == nil {
slog.Error("tcp client send error,conn is nil")
return
return fmt.Errorf("TCP未连接车载PC仿真")
}
_, err := c.conn.Write(data)
if err != nil {
slog.Error("tcp client send error", "error", err)
return err
}
return nil
}

145
third_party/train_pc_sim/example/main.go vendored
View File

@ -1,12 +1,14 @@
package main
import (
"encoding/binary"
"fmt"
"io"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
"log/slog"
"net"
"strconv"
)
type TcpConnHandler = func(conn net.Conn)
@ -33,14 +35,14 @@ func tcpRunAcceptTask(listen net.Listener, port int, connHandler TcpConnHandler,
func tcpRunReadTask(conn net.Conn, port int, msgHandler TcpMsgHandler) {
go func() {
defer func() {
/* defer func() {
if err := recover(); err != nil {
slog.Error(fmt.Sprintf("TCP服务端[port:%d]读数据任务异常：", port), err)
serConn.Close()
serConn = nil
}
}()
}()*/
for {
data := make([]byte, 1024)
l, err := conn.Read(data)
@ -87,6 +89,72 @@ func changeDoorMode() *message.TrainPcSimBaseMessage {
return msg
}
func boolsToByte(flags [8]bool) byte {
var result uint8
for index, b := range flags {
if b {
result = result + (1 << index)
}
}
return result
}
func pcSimInfoOut() *message.TrainPcSimBaseMessage {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = train_pc_sim.RECIVE_TRAIN_INTERFACE_CABINET_OUTR
data := make([]byte, 0)
data = append(data, boolsToByte([8]bool{false, false, false, false, false, false, false, false}))
data = append(data, boolsToByte([8]bool{false, false, false, false, false, false, false, false}))
data = append(data, boolsToByte([8]bool{false, false, false, false, false, false, false, false}))
data = append(data, boolsToByte([8]bool{false, false, false, false, false, false, false, false}))
data = append(data, boolsToByte([8]bool{true, false, false, false, false, false, false, false}))
msg.Data = data
return msg
}
func pcSimInfoOutReport() *message.TrainPcSimBaseMessage {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = train_pc_sim.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK
data := make([]byte, 0)
data = append(data, boolsToByte([8]bool{true, true, false, false, false, false, false, false}))
msg.Data = data
return msg
}
var autoIncNo = 0
func queryBtm() *message.TrainPcSimBaseMessage {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = train_pc_sim.RECIVE_TRAIN_QUERY_STATUS
autoIncNo = autoIncNo + 1
data := make([]byte, 0)
data = append(data, 0x62)
data = append(data, 0x81)
data = append(data, 0x02)
data = append(data, byte(autoIncNo)<<3)
data = append(data, boolsToByte([8]bool{true, true, false, false, false, false, false, false}))
data = append(data, 0) //速度低位
data = append(data, 0) //当前时间高位
data = append(data, 0) //当前时间
data = append(data, 0) //当前时间
data = append(data, 0) //当前时间低位
data = append(data, 0) //当前时间低位
data = append(data, 0) //CRC16-H(MSB
data = append(data, 0) //CRC16-L(LSB)
msg.Data = data
return msg
}
func pcSimNumReportOut() *message.TrainPcSimBaseMessage {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = train_pc_sim.RECIVE_TRAIN_MOCK_DATA
sd := uint16(1234)
data := make([]byte, 2)
binary.BigEndian.PutUint16(data, sd)
msg.Data = data
return msg
}
// 测试创建连接
/*func TestConn(t *testing.T) {
createServer(func(n int, data []byte) {
@ -99,16 +167,68 @@ func main() {
createServer(func(n int, data []byte) {
msg := &message.TrainPcSimBaseMessage{}
msg.Decode(data)
d := data[:n]
msg.Decode(d)
pd := fmt.Sprintf("%X", d)
if msg.Type == train_pc_sim.SENDER_TRAIN_TC_ACTIVE {
fmt.Println("接收驾驶端激活")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.SENDER_TRAIN_TC_NOT_ACTIVE {
fmt.Println("接收驾驶端未激活")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.SENDER_TRAIN_OUTR_INFO {
fmt.Println("接受列车输出数字量", msg.Data[0], msg.Data[1])
fmt.Println(pd)
t := msg.Data[0]
s := msg.Data[1]
tt := strconv.Itoa(int(t))
switch t {
case 0:
tt = "驾驶台"
case 1:
tt = "手柄向前"
case 2:
tt = "手柄向后"
case 14:
tt = "手柄归零"
case 4:
tt = "制动状态"
}
fmt.Println("接受列车输出数字量", tt, s)
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_CREATE_REMOVE {
fmt.Println("创建或删除列车")
}
state := msg.Data[0]
if state == 0x01 {
fmt.Println("创建列车")
} else if state == 0x00 {
fmt.Println("删除列车")
}
fmt.Println(pd)
} else if msg.Type == train_pc_sim.SENDER_TRAIN_HAND_KEY_FORWARD {
fmt.Println("列车手柄向前")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD {
fmt.Println("列车手柄取消向前")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_HAND_KEY_BACKWARD {
fmt.Println("列车手柄向后")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD {
fmt.Println("列车手柄取消向后")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_BTM_HAS_DATA {
fmt.Println("有数据应答")
fmt.Println(pd)
} else if msg.Type == train_pc_sim.RECIVE_TRAIN_BTM_NOT_DATA {
} /*else if msg.Type == train_pc_sim.SENDER_TRAIN_LOCATION_INFO {
fmt.Println("列车速度位置报告")
fmt.Println(pd)
mp := message.TrainSpeedPlaceReportMsg{}
mp.Decode(msg.Data)
}*/
})
//reader := bufio.NewReader(os.Stdin)
@ -129,6 +249,19 @@ func main() {
} else if command == "door-mode" {
msg := changeDoorMode()
serConn.Write(msg.Encode())
} else if command == "info-out" {
msg := pcSimInfoOut()
serConn.Write(msg.Encode())
} else if command == "info-out-report" {
msg := pcSimInfoOutReport()
serConn.Write(msg.Encode())
} else if command == "query-btm" {
msg := queryBtm()
serConn.Write(msg.Encode())
} else if command == "num-out" {
msg := pcSimNumReportOut()
serConn.Write(msg.Encode())
}
command = ""
/*content, _ := reader.ReadString('\n')

90
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -10,6 +10,7 @@ import (
"joylink.club/bj-rtsts-server/third_party/tpapi"
"joylink.club/ecs"
"log/slog"
"strconv"
"sync"
"time"
)
@ -27,7 +28,7 @@ type TrainPcSim interface {
//发送驾驶端激活
SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
//发送牵引制动手柄
SendHandleSwitch(oldTraction, oldBrakeForce int64, isBrake bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
//列车运行方向
//因文档说明不清楚，在调用的时候目前是注释状态，现场调试可能会用到
SendTrainDirection(trainForward, trainBackward bool)
@ -38,7 +39,7 @@ type TrainPcSim interface {
CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
CreateOrRemoveTrain(msgType byte, data []byte)
CreateOrRemoveTrain(msgType byte, data []byte) error
tpapi.ThirdPartyApiService
}
@ -102,18 +103,29 @@ func (d *trainPcSimService) readError(err error) {
}
func (d *trainPcSimService) connTrainPcSim() {
reconnIndex := 0
for {
client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", d.config.PcSimIp, d.config.PcSimPort), d.reivceData, d.readError)
if err != nil {
reconnIndex++
slog.Error("连接车载pc平台失败，尝试=", reconnIndex, err)
d.updateState(tpapi.ThirdPartyState_Broken)
} else {
d.pcSimClient = client
return
ctx, ctxFun := context.WithCancel(context.Background())
go func() {
for {
select {
case <-ctx.Done():
return
default:
}
client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", d.config.PcSimIp, d.config.PcSimPort), d.reivceData, d.readError)
if err != nil {
reconnIndex++
slog.Error("连接车载pc平台失败，尝试=", strconv.Itoa(reconnIndex), err)
d.updateState(tpapi.ThirdPartyState_Broken)
} else {
d.pcSimClient = client
ctxFun()
return
}
time.Sleep(time.Second)
}
time.Sleep(time.Second * 1)
}
}()
}
func (d *trainPcSimService) Start(wd ecs.World, pcSimManage TrainPcSimManage) {
config := pcSimManage.GetTrainPcSimConfig()
@ -127,7 +139,7 @@ func (d *trainPcSimService) Start(wd ecs.World, pcSimManage TrainPcSimManage) {
d.cancleContext = ctxFun
d.trainPcSimManage = pcSimManage
FireTrainControlEventType.Subscribe(wd, d.trainControlEventHandle)
//FireTrainControlEventType.Subscribe(wd, d.trainControlEventHandle)
d.updateState(tpapi.ThirdPartyState_Normal)
go d.sendTrainLocationAndSpeedTask(ctx)
@ -153,9 +165,10 @@ func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainSta
d.speedPlace = nil
}
}
func (d *trainPcSimService) CreateOrRemoveTrain(msgType byte, data []byte) {
func (d *trainPcSimService) CreateOrRemoveTrain(msgType byte, data []byte) error {
msg := &message.TrainPcSimBaseMessage{Data: data, Type: uint16(msgType)}
d.pcSimClient.Send(msg.Encode())
return d.pcSimClient.Send(msg.Encode())
}
// 依据文档80ms发送列车速度位置
@ -167,7 +180,8 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
default:
}
train := d.trainPcSimManage.GetConnTrain()
if train != nil && train.ConnState.Conn {
if train != nil && train.ConnState.Conn && train.PluseCount != nil {
s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
d.speedPlace.ParsePulseCount1(s1, s2)
data := d.speedPlace.Encode(train.RunDirection, s1, s2)
@ -193,26 +207,34 @@ func (d *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vob
d.pcSimClient.Send(msg.Encode())
}
}
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, isBrake bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
msg := &message.TrainPcSimBaseMessage{}
newTraction := vobc.TractionForce
newBrake := vobc.BrakeForce
if isBrake {
if newBrake < oldBrakeForce && newBrake == 0 {
//手柄取消后退
msg.Type = RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
} else if newBrake > oldBrakeForce {
//手柄后退
msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
}
} else {
if newTraction < oldTraction && newTraction == 0 {
newBrake := -vobc.BrakeForce
newOldBrakeForce := -oldBrakeForce
if tractionState {
if newTraction <= oldTraction && newTraction == 0 {
//手柄取消前进
msg.Type = RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
} else if newTraction > oldTraction {
//手柄前进
msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
} else {
//手柄前进
msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
}
} else {
if newBrake >= newOldBrakeForce && newBrake == 0 {
//手柄取消后退
msg.Type = RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
} else if newBrake < newOldBrakeForce {
//手柄后退
msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
} else {
//手柄后退
msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
}
}
d.pcSimClient.Send(msg.Encode())
@ -238,6 +260,8 @@ func (d *trainPcSimService) SendBaliseData(msgType uint16, data []byte) {
msg := &message.TrainPcSimBaseMessage{}
msg.Type = msgType
msg.Data = data
//fmt.Println(fmt.Sprintf("%X", msg.Encode()))
d.pcSimClient.Send(msg.Encode())
}
@ -254,7 +278,13 @@ func (d *trainPcSimService) PublishTrainControlEvent(world ecs.World, events []T
return
}
for _, event := range events {
FireTrainControlEventType.Publish(world, &event)
msg := &message.TrainPcSimBaseMessage{}
msg.Type = SENDER_TRAIN_OUTR_INFO
data := []byte{event.Command, event.Status}
msg.Data = data
d.pcSimClient.Send(msg.Encode())
//FireTrainControlEventType.Publish(world, &event)
}
}

40
ts/simulation/wayside/memory/wayside_memory_train.go
View File

@ -5,6 +5,7 @@ import (
"joylink.club/bj-rtsts-server/dto/common_proto"
"joylink.club/bj-rtsts-server/service"
"joylink.club/bj-rtsts-server/third_party/can_btm"
"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
"log/slog"
"math"
"reflect"
@ -149,11 +150,15 @@ func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
return true
})
}
if ct.ConnType == state_proto.TrainConnState_PC_SIM {
err := TrainPcSimConnOrRemoveHandle(train)
if err != nil {
panic(sys_error.New("连接车载PC仿真失败"))
}
train_pc_sim.Default().SendDriverActive(train.ConnState, train.VobcState)
}
train.ConnState.Conn = true
train.ConnState.ConnType = ct.ConnType
if train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
TrainPcSimConnOrRemoveHandle(train)
}
}
// 列车断开三方连接
@ -168,8 +173,13 @@ func TrainUnConn(vs *VerifySimulation, trainId string) {
train.ConnState.Conn = false
train.ConnState.ConnType = state_proto.TrainConnState_NONE
if oldType == state_proto.TrainConnState_PC_SIM {
TrainPcSimConnOrRemoveHandle(train)
err := TrainPcSimConnOrRemoveHandle(train)
if err != nil {
panic(sys_error.New("未连接车载PC仿真，无法断开连接"))
}
}
train.ConnState.Conn = false
train.ConnState.ConnType = state_proto.TrainConnState_NONE
}
func createOrUpdateStateDynamicConfig(trainState *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
trainEndsB dto.ConfigTrainEnds) {
@ -334,24 +344,30 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
const RECEIVE_DYNAMIC_DATA_RATE = 15
func formatSpeedTime(s int32) int32 {
d3, _ := strconv.ParseFloat(fmt.Sprintf("%.2f", s), 64)
return int32(math.Abs(math.Round(d3)))
//d3, _ := strconv.ParseFloat(fmt.Sprintf("%.2f", s), 64)
return int32(math.Abs(math.Round(float64(s))))
}
func pluseCount(sta *state_proto.TrainState) {
if sta.PluseCount == nil {
return
}
if sta.RunDirection {
p1 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
p2 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
if sta.TrainEndsA.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 += uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
} else if sta.TrainEndsA.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 += uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + p1
}
if sta.TrainEndsA.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + p2
}
} else {
t1 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
t2 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
if sta.TrainEndsB.SpeedSensorEnableA {
sta.PluseCount.PulseCount1 += uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
} else if sta.TrainEndsB.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 += uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + t1
}
if sta.TrainEndsB.SpeedSensorEnableB {
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + t2
}
}
}

26
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -48,9 +48,9 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
} else if ct.ControlType == request_proto.TrainControl_HANDLER {
oldTraction := sta.VobcState.TractionForce
oldBrakeForce := sta.VobcState.BrakeForce
isBrake := ct.Handler.Val < 0 //是否制动
isTraction := ct.Handler.Val > 0 //是否制动
tce = trainControlHandle(sta, ct.Handler, ct.DeviceId, tccGraphicData)
train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isBrake, sta.ConnState, sta.VobcState)
train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta.ConnState, sta.VobcState)
}
if sta.ConnState.Conn && sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM && tce != nil {
@ -96,7 +96,10 @@ func trainControlDirKey(trainState *state_proto.TrainState, request *request_pro
} else {
trainState.Tcc.DirKey.Val = request.Val
}
return nil
tce := make([]train_pc_sim.TrainControlEvent, 0)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(trainState.VobcState.DirectionForward)})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(trainState.VobcState.DirectionBackward)})
return tce
}
// 列车驾驶端激活
@ -141,17 +144,18 @@ func trainControlHandle(trainState *state_proto.TrainState, request *request_pro
trainState.VobcState.BrakeForce = 0
trainState.VobcState.MaintainBrakeStatus = false
tce := make([]train_pc_sim.TrainControlEvent, 0)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 0})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 0})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 0})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 0})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 0})
if request.Val > 0 {
trainState.VobcState.TractionStatus = true
trainState.VobcState.TractionForce = int64(request.Val * 180)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 0})
} else if request.Val < 0 {
trainState.VobcState.BrakingStatus = true
trainState.VobcState.BrakeForce = int64(-request.Val * 180)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1})
} else {
@ -372,13 +376,17 @@ func (s *VerifySimulation) TrainPcSimDigitalReportHandle(data []byte) {
}
// 创建/删除列车
func TrainPcSimConnOrRemoveHandle(train *state_proto.TrainState) {
func TrainPcSimConnOrRemoveHandle(train *state_proto.TrainState) error {
var data byte = 0x01
if train.ConnState.Conn == false {
data = 0x00
}
train_pc_sim.Default().CreateOrRemoveTrain(train_pc_sim.RECIVE_TRAIN_CREATE_REMOVE, []byte{data})
crErr := train_pc_sim.Default().CreateOrRemoveTrain(train_pc_sim.RECIVE_TRAIN_CREATE_REMOVE, []byte{data})
if crErr != nil {
return crErr
}
train_pc_sim.Default().CreateOrRemoveSpeedPLace(train)
return nil
}
// 门模式