[重写]11号线BTM与VOBC通信服务

config/config.go

@@ -67,7 +67,7 @@ type ThirdPartyConfig struct {
 	RsspAxleConfig RsspAxleConfig    `json:"rsspAxleCfgs" description:"计轴通信配置"`
 	//ElectricMachinery  ElectricMachineryConfig   `json:"electricMachinery" description:"电机配置"`
 	ElectricMachinerys []ElectricMachineryConfig `json:"electricMachinerys" description:"电机配置"`
-	BtmCanet           BtmCanetConfig            `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
+	BtmCanet           BtmCanetConfig            `json:"btmCanet" description:"11号线工装配置"` //废字段再利用
 	CidcModbus         []CidcModbusConfig        `json:"cidcModbus" description:"联锁驱采Modbus接口配置"`
 	Radar              RadarConfig               `json:"radar" description:"车载雷达相关配置"`
 	Acc                AccConfig                 `json:"acc" description:"车载加速计"`

rts-sim-module

@@ -1 +1 @@
-Subproject commit 073f5e3156b66343ff283ba3530b4d3d63ca4461
+Subproject commit b7bc9bdb1f72aded0cd0d1f5c2d6970e6d1cef76

third_party/btm_vobc/beijing11/msg.go

@@ -0,0 +1,301 @@
+package beijing11
+
+import (
+	"encoding/binary"
+	"github.com/snksoft/crc"
+	"joylink.club/bj-rtsts-server/util/myreader"
+)
+
+const ( //数据帧外层增加用于区分ID命令帧和请求帧的帧类型字段
+	id_Tupe   = 0xF8
+	rqst_Type = 0xE6
+)
+
+type frameType = byte
+
+const (
+	frameType_ID       frameType = 0x90 //ID命令帧
+	frameType_Req      frameType = 0x91 //请求帧
+	frameType_Telegram frameType = 0x92 //报文帧
+	frameType_Free     frameType = 0x94 //空闲帧
+)
+
+type frameState = byte //帧正确/不正确（不好起名字，就这么着吧）
+const (                //以下以外的值无效
+	fs_Correct frameState = 0x06 //帧正确
+	fs_Error   frameState = 0x15 //不正确
+	fs_Init    frameState = 0x00 //开机
+)
+
+type telegramState = byte //空闲/报文数据
+const (                   //以下以外的值无效
+	telegram_free = 0x05 //空闲
+	telegram_on   = 0x0A //报文数据
+	telegram_init = 0x00 //开机
+)
+
+type btmWorkState byte
+
+const (
+	bws_normal     btmWorkState = 0x00 //正常工作
+	bws_minorFault btmWorkState = 0x04 //警告BTM有轻微故障（单套故障，整机能工作），向 BDMS 汇报；
+	bws_fault      btmWorkState = 0xFF //BTM故障，不能正常工作；在MMI进行故障提示并向 ATS 汇报。
+)
+
+type ivState uint16 //电流/电压的状态
+const (
+	iv_under  ivState = 1 //欠流/欠压状态
+	iv_over   ivState = 2 //过流/过压状态
+	iv_normal ivState = 3 //正常
+)
+
+type cableState uint16 //线缆状态
+const (
+	cable_open   cableState = 1 //开路
+	cable_short  cableState = 2 //短路
+	cable_normal cableState = 3 //正常
+)
+
+type receiverBoardState uint16
+
+const (
+	rbs_doubleFault receiverBoardState = 0 //双通道故障
+	rbs_singleFault receiverBoardState = 1 //单通道故障
+	rbs_normal      receiverBoardState = 3 //正常
+)
+
+type powerBoardState uint16
+
+const (
+	pbs_fault       powerBoardState = 0 //故障
+	pbs_singleFault powerBoardState = 1 //单通道故障
+	pbs_doubleFault powerBoardState = 2 //双通道故障（文档写的单通道，应该是写错了）
+	pbs_normal      powerBoardState = 3 //正常
+)
+
+type cpuWorkTemperatureState uint16
+
+const (
+	wts_tooHigh cpuWorkTemperatureState = 0 //过高
+	wts_alarm   cpuWorkTemperatureState = 1 //温度报警
+	wts_unknown cpuWorkTemperatureState = 2 //未知
+	wts_normal  cpuWorkTemperatureState = 3 //正常
+)
+
+type baseFrame struct {
+	frameType frameType //帧类型
+	len       byte      //帧长
+	id        byte      //递增的ID码
+}
+
+func (b *baseFrame) decode(data []byte) error {
+	b.frameType = data[0]
+	b.len = data[1]
+	b.id = data[2]
+	return nil
+}
+
+type idFrame struct {
+	baseFrame
+	btmId         uint16 //BTM的ID
+	vobcId        uint16 //VOBC的ID
+	vobcCycle     uint32 //VOBC周期号（1~0xFFFFFFFF，0不使用）
+	reservedBytes []byte //预留字节（4字节）
+}
+
+func (i *idFrame) decode(data []byte) error {
+	err := i.baseFrame.decode(data)
+	if err != nil {
+		return err
+	}
+	reader := myreader.NewReader(data[3:])
+	i.btmId = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	i.vobcId = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	i.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
+	return reader.Err
+}
+
+type reqFrame struct {
+	baseFrame
+	frameState        frameState    //帧正确/不正确
+	telegramState     telegramState //空闲/报文数据
+	sn                byte          //报文序列号。1-255；开机时使用 0
+	reservedBytes     []byte        //预留字节（10字节）
+	vobcCycle         uint32        //VOBC周期号（1~0xFFFFFFFF，0不使用）
+	time              []byte        //年月日时分秒各占一个字节
+	speed             uint16        //速度 单位：cm/s
+	vobcCycleDistance uint16        //周期走行距离 单位：cm
+}
+
+func (r *reqFrame) decode(data []byte) error {
+	err := r.baseFrame.decode(data)
+	if err != nil {
+		return err
+	}
+	reader := myreader.NewReader(data[3:])
+	r.frameState = reader.ReadByte()
+	r.telegramState = reader.ReadByte()
+	r.sn = reader.ReadByte()
+	r.reservedBytes = reader.ReadBytes(10)
+	r.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
+	r.time = reader.ReadBytes(6)
+	r.speed = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	r.vobcCycleDistance = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	return reader.Err
+}
+
+type telegramFrame struct {
+	id                  byte         //递增的id码
+	headTTLTime         uint16       //前沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
+	sn                  byte         //报文序列号。1-255，不使用0
+	btmWorkState        btmWorkState //BTM工作状态
+	channel1GoodBitRate byte         //1通道好码率（0~100）
+	channel2GoodBitRate byte         //2通道好码率（0~100）
+	decodeDuration      uint16       //解码时间。从包络前沿到解码成功的时间（没写单位，猜测是ms）
+	//reservedBytes       []byte       //预留（9字节）
+	tailTTLTime      uint16 //后沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
+	telegram         []byte //应答器报文（104字节）
+	responseDuration byte   //响应时间。0~150，其他非法，单位0.1ms，误差小于3ms
+	vobcReqCycle     uint32 //VOBC请求帧周期号。（1~0xFFFFFFFF，不使用0）
+}
+
+func (t *telegramFrame) encode() []byte {
+	data := make([]byte, 0, 150)
+	data = append(data, frameType_Telegram)
+	data = append(data, 0) //帧长度，占位
+	data = append(data, t.id)
+	data = binary.BigEndian.AppendUint16(data, t.headTTLTime)
+	data = append(data, t.sn)
+	data = append(data, byte(t.btmWorkState))
+	data = append(data, t.channel1GoodBitRate)
+	data = append(data, t.channel2GoodBitRate)
+	data = binary.BigEndian.AppendUint16(data, t.decodeDuration)
+	data = append(data, make([]byte, 9)...)
+	data = binary.BigEndian.AppendUint16(data, t.tailTTLTime)
+	data = append(data, t.telegram...)
+	data = append(data, t.responseDuration)
+	data = binary.BigEndian.AppendUint32(data, t.vobcReqCycle)
+	data[1] = byte(len(data) + 4) //帧长度赋值
+	data = binary.BigEndian.AppendUint32(data, crc32(data))
+	return data
+}
+
+type freeFrame struct {
+	id              byte         //递增的id码
+	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℃
+	//reservedBytes   []byte       //预留（6字节）
+	//14-15字节。功放板、天线状态
+	amp1CurrentState ivState    //功放1电流状态（0-1位）
+	amp1VoltageState ivState    //功放1电压状态（2-3位）
+	amp2CurrentState ivState    //功放2电流状态（4-5位）
+	amp2VoltageState ivState    //功放2电压状态（6-7位）
+	antenna1Fault    bool       //天线1状态（8-9位）（1故障，3正常）
+	cable1State      cableState //线缆1状态（10-11位）
+	antenna2Fault    bool       //天线1状态（12-13位）（1故障，3正常）
+	cable2State      cableState //线缆2状态（14-15位）
+	//16-17字节。接收板状态
+	selfCheckChannel1Fault bool               //上行自检码检测通道1（0位）（1正常，0故障）
+	selfCheckChannel2Fault bool               //上行自检码检测通道2（1位）（1正常，0故障）
+	fskChannel1Fault       bool               //FSK连接线状态通道1（2位）（1正常，0故障）
+	fskChannel2Fault       bool               //FSK连接线状态通道2（3位）（1正常，0故障）
+	receiverBoardState     receiverBoardState //接收板状态（6-7位）
+	//18-19字节。电源板状态
+	channel1_24v      ivState         //通道1 24V状态（0-1位）
+	channel2_24v      ivState         //通道2 24V状态（2-3位）
+	channel1_23vFault bool            //通道1 23V状态（4位）（1正常，0故障）
+	channel2_23vFault bool            //通道2 23V状态（5位）（1正常，0故障）
+	powerBoardState   powerBoardState //电源板状态（14-15位）
+	//20-21字节。处理器板
+	cpuBoardId              byte                    //板卡ID槽位号（0-1位）（0-1号板卡，1-2号板卡，类推）
+	cpuWorkTemperatureState cpuWorkTemperatureState //工作温度状态（2-3位）
+
+	//freeData         []byte //空闲数据（104字节，全填0）
+	responseDuration byte   //相应时间，0-150，其他非法，单位0.1ms
+	vobcCycle        uint32 //VOBC请求帧周期号
+}
+
+func (f *freeFrame) encode() []byte {
+	data := make([]byte, 0, 150)
+	data = append(data, frameType_Free)
+	data = append(data, 0) //帧长度，占位
+	data = append(data, f.id)
+	data = append(data, f.sn)
+	data = append(data, byte(f.btmWorkState))
+	data = append(data, f.workTemperature)
+	data = append(data, make([]byte, 6)...)
+	//功放板、天线状态
+	var ampState uint16
+	ampState += uint16(f.amp1CurrentState) << 15
+	ampState += uint16(f.amp1VoltageState) << 13
+	ampState += uint16(f.amp2CurrentState) << 11
+	ampState += uint16(f.amp2VoltageState) << 9
+	if f.antenna1Fault {
+		ampState += uint16(1) << 7
+	} else {
+		ampState += uint16(3) << 7
+	}
+	ampState += uint16(f.cable1State) << 5
+	if f.antenna2Fault {
+		ampState += uint16(1) << 3
+	} else {
+		ampState += uint16(3) << 3
+	}
+	ampState += uint16(f.cable2State)
+	data = binary.BigEndian.AppendUint16(data, ampState)
+	//接收板状态
+	var receiverState uint16
+	if !f.selfCheckChannel1Fault {
+		receiverState += uint16(1) << 15
+	}
+	if !f.selfCheckChannel2Fault {
+		receiverState += uint16(1) << 14
+	}
+	if !f.fskChannel1Fault {
+		receiverState += uint16(1) << 13
+	}
+	if !f.fskChannel2Fault {
+		receiverState += uint16(1) << 12
+	}
+	receiverState += uint16(f.receiverBoardState) << 9
+	data = binary.BigEndian.AppendUint16(data, receiverState)
+	//电源板状态
+	var powerState uint16
+	powerState += uint16(f.channel1_24v) << 15
+	powerState += uint16(f.channel2_24v) << 13
+	if !f.channel1_23vFault {
+		powerState += uint16(1) << 11
+	}
+	if !f.channel2_23vFault {
+		powerState += uint16(1) << 10
+	}
+	powerState += uint16(f.powerBoardState)
+	data = binary.BigEndian.AppendUint16(data, powerState)
+	//处理器板
+	var cpuState uint16
+	cpuState += uint16(f.cpuBoardId) << 15
+	cpuState += uint16(f.cpuWorkTemperatureState) << 13
+	data = binary.BigEndian.AppendUint16(data, cpuState)
+	//其它
+	data = append(data, make([]byte, 104)...)
+	data = append(data, f.responseDuration)
+	data = binary.BigEndian.AppendUint32(data, f.vobcCycle)
+
+	data[1] = byte(len(data) + 4) //帧长度赋值
+	data = binary.BigEndian.AppendUint32(data, crc32(data))
+	return data
+}
+
+var crcHash = crc.NewHash(&crc.Parameters{
+	Width:      32,
+	Polynomial: crc.CRC32.Polynomial,
+	ReflectIn:  false,
+	ReflectOut: false,
+	Init:       0xFFFFFFFF,
+	FinalXor:   0,
+})
+
+func crc32(data []byte) uint32 {
+	return uint32(crcHash.CalculateCRC(data))
+}

third_party/btm_vobc/beijing11/service.go

@@ -0,0 +1,214 @@
+package beijing11
+
+import (
+	"bytes"
+	"encoding/hex"
+	"fmt"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/tpapi"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
+	"log/slog"
+	"sync"
+)
+
+var (
+	logTag        = "[北京11号线BTM-VOBC通信]"
+	privateLogger *slog.Logger
+	loggerInit    sync.Once
+)
+
+var (
+	mu         = sync.Mutex{}  //启动任务时使用，避免重复启动任务
+	serviceCtx *serviceContext //当前正在运行的服务
+)
+
+type serviceContext struct {
+	simulation *memory.VerifySimulation
+	client     udp.UdpClient
+	server     udp.UdpServer
+
+	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
+
+	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）
+	btmId     uint16 //BTM的id
+	vobcId    uint16 //VOBC的id
+
+	state tpapi.ThirdPartyApiServiceState
+}
+
+func Start(sim *memory.VerifySimulation) {
+	config := sim.GetRunConfig().BtmVobc
+	client := udp.NewClient(fmt.Sprintf("%s:%d", config.RemoteIp, config.RemoteUdpPort))
+	serviceCtx := serviceContext{
+		simulation: sim,
+		client:     client,
+	}
+	server := udp.NewServer(fmt.Sprintf(":%d", config.LocalUdpPort), serviceCtx.handle)
+	err := server.Listen()
+	if err != nil {
+		Stop(sim)
+		return
+	}
+	serviceCtx.server = server
+	serviceCtx.state = tpapi.ThirdPartyState_Normal
+}
+
+func Stop(sim *memory.VerifySimulation) {
+	if serviceCtx != nil && serviceCtx.simulation == sim {
+		if serviceCtx.server != nil {
+			serviceCtx.server.Close()
+		}
+		if serviceCtx.client != nil {
+			serviceCtx.client.Close()
+		}
+		serviceCtx = nil
+		logger().Info("服务停止")
+	}
+}
+
+func (s *serviceContext) handle(data []byte) {
+	logger().Info(fmt.Sprintf("收到数据：%x", data))
+	if !bytes.HasPrefix(data, []byte{0xFF, 0xFE}) || !bytes.HasSuffix(data, []byte{0xFF, 0xFD}) {
+		logger().Error("帧头/帧尾不对，丢弃数据")
+		return
+	}
+	decodeBytes, _ := message.TranslateFromFFFE(data[3 : len(data)-2])
+	switch data[2] {
+	case id_Tupe:
+		frame := idFrame{}
+		err := frame.decode(decodeBytes)
+		if err != nil {
+			logger().Error(fmt.Sprintf("id命令帧解析出错：%s", err))
+			return
+		}
+		s.handleIdFrame(&frame)
+	case rqst_Type:
+		frame := reqFrame{}
+		err := frame.decode(decodeBytes[20 : len(decodeBytes)-2]) //RSSP-I协议部分不做校验，直接忽略
+		if err != nil {
+			logger().Error(fmt.Sprintf("请求帧解析出错：%s", err))
+			return
+		}
+		s.handleReqFrame(&frame)
+	}
+}
+
+func (s *serviceContext) handleIdFrame(frame *idFrame) {
+	if frame.id < s.lastCmdId {
+		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{
+		id:                      s.nextId(),
+		sn:                      s.nextSn(),
+		btmWorkState:            bws_normal,
+		workTemperature:         20,
+		amp1CurrentState:        iv_normal,
+		amp1VoltageState:        iv_normal,
+		amp2CurrentState:        iv_normal,
+		amp2VoltageState:        iv_normal,
+		antenna1Fault:           false,
+		cable1State:             cable_normal,
+		antenna2Fault:           false,
+		cable2State:             cable_normal,
+		selfCheckChannel1Fault:  false,
+		selfCheckChannel2Fault:  false,
+		fskChannel1Fault:        false,
+		fskChannel2Fault:        false,
+		receiverBoardState:      rbs_normal,
+		channel1_24v:            iv_normal,
+		channel2_24v:            iv_normal,
+		channel1_23vFault:       false,
+		channel2_23vFault:       false,
+		powerBoardState:         pbs_normal,
+		cpuBoardId:              0,
+		cpuWorkTemperatureState: wts_normal,
+		responseDuration:        0,
+		vobcCycle:               frame.vobcCycle,
+	}
+	encode := rspFrame.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))
+	}
+}
+
+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 {
+	s.id++
+	if s.id == 0 {
+		s.id++
+	}
+	return s.id
+}
+
+func (s *serviceContext) nextSn() byte {
+	tmp := s.sn
+	s.sn++
+	if s.sn == 0 {
+		s.sn++
+	}
+	return tmp
+}
+
+func logger() *slog.Logger {
+	loggerInit.Do(func() {
+		privateLogger = slog.Default().With("tag", logTag)
+	})
+	return privateLogger
+}

third_party/train_pc_sim/beijing11/service.go

@@ -61,7 +61,7 @@ func (s *serviceContext) ServiceDesc() string {
 }
 
 func Start(simulation *memory.VerifySimulation) {
-	config := simulation.GetRunConfig().BtmVobc
+	config := simulation.GetRunConfig().BtmCanet
 	if !config.Open {
 		return
 	}
@@ -82,7 +82,7 @@ func Start(simulation *memory.VerifySimulation) {
 }
 
 func Stop(simulation *memory.VerifySimulation) {
-	if serviceCtx.simulation == simulation {
+	if serviceCtx != nil && serviceCtx.simulation == simulation {
 		serviceCtx.cancelFunc()
 		if serviceCtx.client != nil {
 			serviceCtx.client.Close()

ts/test_simulation_manage.go

@@ -5,6 +5,7 @@ import (
 	"joylink.club/bj-rtsts-server/service"
 	"joylink.club/bj-rtsts-server/third_party/acc"
 	axleBeijing12 "joylink.club/bj-rtsts-server/third_party/axle_device/beijing12"
+	btmBeijing11 "joylink.club/bj-rtsts-server/third_party/btm_vobc/beijing11"
 	"joylink.club/bj-rtsts-server/third_party/interlock/beijing11"
 	"joylink.club/bj-rtsts-server/third_party/interlock/beijing12"
 	"joylink.club/bj-rtsts-server/third_party/radar"
@@ -171,8 +172,8 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	//列车加速计发送vobc
 	acc.Default().Start(s)
 	train_pc_sim.Default().Start(s)
-	//btm vobc
+	//11号线VOBC通信
-	semi_physical_train.BtmDefault().Start(s)
+	btmBeijing11.Start(s)
 	//11号线工装通信
 	trainBeijing11.Start(s)
 	return nil