加速度计编码调整，pc仿真添加日志

bin/acc_conn-example.go

@@ -1,12 +1,14 @@
 package main
 
 import (
+	"encoding/hex"
 	"fmt"
 	"github.com/spf13/viper"
 	"joylink.club/bj-rtsts-server/bin/config"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 	"log/slog"
+	"sort"
 	"time"
 )
 
@@ -18,7 +20,8 @@ func initConfig() {
 	cnf := viper.New()
 	cnf.SetConfigName(config_name)
 	cnf.SetConfigType("yml")
-	cnf.AddConfigPath("./config/")
+	cnf.AddConfigPath("./bin/config/")
+	//cnf.AddConfigPath("./config/")
 	cnf.AddConfigPath(".")
 	err := cnf.ReadInConfig()
 	if err != nil {
@@ -30,26 +33,92 @@ func initConfig() {
 	}
 	slog.Info("成功加载配置", "config", exampleConfig)
 }
+
 func main() {
+
 	initConfig()
-	testAcc()
+	accClient := udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+	go testAcc(accClient, 0.54)
+	//btm server 接受数据测试
+	ser := udp.NewServer(fmt.Sprintf("192.168.1.150:%d", 4646), handleCanetFrames)
+	ser.Listen()
+	fmt.Println(ser, "===========")
+
+	//speedClient := udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
+	//go testSpeed(speedClient, 30)
+	select {}
 }
-func testAcc() {
+
-	var client udp.UdpClient
+func handleCanetFrames(cfs []byte) {
 	defer func() {
-		if client != nil {
+		if e := recover(); e != nil {
-			client.Close()
+			slog.Debug(fmt.Sprintf("handleCanetFrames异常[%s]", e))
 		}
-		slog.Info("连接关闭")
 	}()
-	client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+
-	ac := message.Accelerometer{Acc: 1}
+	//一个cannet 帧 13字节
+	if len(cfs) > 0 && len(cfs)%13 == 0 {
+		cfSum := len(cfs) / 13
+		dms := make([]*message.CanetFrame, 0, 16) //13个应答器报文数据帧+TimeA帧+TimeB帧+结束帧
+		for cfi := 0; cfi < cfSum; cfi++ {
+			cfStart := cfi * 13
+			cf := message.NewCanetFrame(cfs[cfStart:cfStart+13], false)
+			//
+			switch cf.CanFrameType() {
+			case message.CfReq:
+				fmt.Println(message.CfReq)
+			case message.CfStatusRsp:
+				fmt.Println(message.CfStatusRsp)
+			case message.CfTimeSync:
+				fmt.Println(message.CfTimeSync)
+			case message.CfMsg:
+				fallthrough
+			case message.CfMsgTimeA:
+				fallthrough
+			case message.CfMsgTimeB:
+				fallthrough
+			case message.CfMsgEnd:
+				dms = append(dms, cf)
+			default:
+				slog.Warn("CanetFrame帧没有具体对应的应用帧", "CannetFrame", cf.String())
+			} //switch
+		} //for
+		//将数据包按ID3即0x80+offset由小到大排序
+		sort.SliceStable(dms, func(i, j int) bool {
+			return dms[i].CanId.ID3 < dms[j].CanId.ID3
+		})
+		//有数据帧，但是不足16帧
+		if len(dms) > 0 {
+			if len(dms) != 16 {
+				slog.Warn("接收到数据帧，但数据帧数量不足16帧")
+			} else {
+				slog.Warn("接收到数据帧，但数据帧数量不足16帧111111")
+			}
+		}
+
+	} else {
+		slog.Warn("从cannet接收数据，未满足条件‘len(cfs) > 0 && len(cfs)%13 == 0‘", "len(cfs)", len(cfs), "16:", hex.EncodeToString(cfs))
+	}
+}
+func recive() {
+	fmt.Println("11111111111111111")
+	_ = udp.NewServer(fmt.Sprintf(":%d", 4196), handleCanetFrames)
+}
+func testSpeed(client udp.UdpClient, speed float32) {
+
+	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
+	ac := message.ElectricMachinery{Speed: speed, WheelDiameter: 800, IsBack: false}
 	var index int64
 	for {
-		err := client.Send(ac.Encode())
+		data := ac.Encode()
+		//fmt.Println(hex.EncodeToString(data))
+		err := client.Send(data)
 		index++
 		if index%10 == 0 {
-			slog.Info(fmt.Sprintf("发送数据,时间戳:%v,发送次数:%v", time.Now().Unix(), index))
+			slog.Info(fmt.Sprintf("发送speed数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
+			ac = message.ElectricMachinery{Speed: 0, WheelDiameter: 800, IsBack: false}
+			client.Send(ac.Encode())
+			break
 		}
 
 		if err != nil {
@@ -57,5 +126,27 @@ func testAcc() {
 		}
 		time.Sleep(time.Millisecond * 200)
 	}
+}
+
+// 加速度计
+func testAcc(client udp.UdpClient, acc float32) {
+
+	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+	ac := message.Accelerometer{Acc: acc}
+	var index int64
+	for {
+		data := ac.Encode()
+		//fmt.Println(hex.EncodeToString(data))
+		err := client.Send(data)
+		index++
+		if index%10 == 0 {
+			slog.Info(fmt.Sprintf("发送acc数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
+		}
+
+		if err != nil {
+			slog.Error("发送数据失败", "err", err)
+		}
+		time.Sleep(time.Millisecond * 500)
+	}
 
 }

bin/config/example.yml

@@ -1,3 +1,6 @@
 acc:
-  remoteIp: "127.0.0.1"
+  remoteIp: "192.168.1.201"
-  remotePort: 1234
+  remotePort: 4196
+speed:
+  remoteIp: "192.168.1.200"
+  remotePort: 4196

bin/config/example_config.go

@@ -1,9 +1,14 @@
 package config
 
 type ExampleConfig struct {
-	Acc acc
+	Acc   acc
+	Speed speed
 }
 type acc struct {
 	RemoteIp   string
 	RemotePort int
 }
+type speed struct {
+	RemoteIp   string
+	RemotePort int
+}

third_party/acc/acc_server_test.go

@@ -5,6 +5,7 @@ import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
+	"math"
 	"testing"
 )
 
@@ -26,3 +27,302 @@ func handle(d []byte) {
 		fmt.Println("接受数据:", string(jsonD))
 	}
 }
+func TestAcc(t *testing.T) {
+	d2, d1, d0 := encodeAcc(6.742071875)
+	a := decode2Acc(d2, d1, d0)
+	fmt.Println(a)
+}
+
+const G = 9.80665
+
+func encodeAcc(a float32) (d2, d1, d0 byte) {
+	d2 = 0
+	d1 = 0
+	d0 = 0
+	x := a / G
+	fmt.Println(x)
+	v := uint32(0)
+	for i := 17; i >= 0; i-- {
+		t := float32(1.0 / math.Pow(2, float64(17-i)))
+		if t > x {
+			continue
+		} else {
+			v |= 1 << i
+			x -= t
+		}
+	}
+	fmt.Printf("%b, %b\n", v, v<<6)
+	v <<= 6
+	d0 = byte(v)
+	d1 = byte(v >> 8)
+	d2 = byte(v >> 16)
+	fmt.Printf("%b, %b, %b\n", d2, d1, d0)
+	return
+}
+
+func decode2Acc(d2, d1, d0 byte) float32 {
+	v := uint32(d2)<<10 | uint32(d1)<<2 | uint32(d0>>6)
+	fmt.Printf("%b\n", v)
+	x := float32(0)
+	for i := 17; i >= 0; i-- {
+		if v&(1<<i) != 0 {
+			t := float32(1.0 / math.Pow(2, float64(17-i)))
+			x += t
+		}
+	}
+	fmt.Println(x)
+	return x * G
+}
+
+func setBit(b uint32, bitNum uint32, value uint32) uint32 {
+	if value != 0 && value != 1 {
+		panic("value must be 0 or 1")
+	}
+	mask := uint32(1 << bitNum) // 创建掩码
+	b &= ^(mask)                // 清除位
+	b |= (mask & (value << bitNum))
+
+	return b
+}
+func setBit2(b byte, bitNum int, value byte) byte {
+	if value != 0 && value != 1 {
+		panic("value must be 0 or 1")
+	}
+	mask := byte(1 << uint(bitNum)) // 创建掩码
+	b &= ^(mask)                    // 清除位
+	b |= (mask & (value << uint(bitNum)))
+	return b
+}
+
+func encode(accSpeed float32) (d2, d1, d0 byte) {
+	//var accCode uint32 = math.Float32bits(accSpeed) >> 8
+	var accCode uint32 = 0
+	var sum float32 = accSpeed
+	for i := 17; i >= 0; i-- {
+		flag := float32(1 / math.Pow(2, float64(17-i)))
+		//更改对应bit位数据
+		if flag > sum {
+			//大于加速度，设置对应的bit为0
+			accCode = setBit(accCode, uint32(i), 0)
+		} else {
+			//设置对应的bit位1
+			accCode = setBit(accCode, uint32(i), 1)
+			sum = sum - flag
+		}
+		fmt.Println(i, flag, fmt.Sprintf("%032b", accCode), sum)
+	}
+	accCode = accCode << 8       //数据向左移动8位,取后3个字节
+	d2 = byte(accCode >> 16)     //取出d2数据
+	d1 = byte(accCode >> 8 << 8) // & 0xff //取出d1
+	d0 = byte(accCode << 20)     //& 0xf //取出d0高2位
+
+	//d2 = byte(accCode >> 16)     //取出d2数据
+	//d1 = byte(accCode << 8 >> 8) //取出d1
+	//d0 = byte(accCode << 16)     //取出d0高2位
+
+	return d2, d1, d0
+}
+func decode(d2, d1, d0 byte) float32 {
+	accCode := uint32(d2)<<16 | uint32(d1)<<8 | uint32(d0)>>4
+
+	// 因为编码时进行了左移8位的操作，所以这里需要右移回来
+	accCode >>= 8
+
+	// 重建浮点数
+	var accSpeed float32
+	for i := 0; i <= 17; i++ {
+		bitValue := accCode & (1 << uint32(i))
+		if bitValue != 0 {
+			// 如果该位为1，则累加相应的值到accSpeed
+			accSpeed += float32(1 / math.Pow(2, float64(17-i)))
+		}
+	}
+
+	return accSpeed
+}
+func TestAccSpeed(t *testing.T) {
+
+	speed := float32(0.54 / G)
+	fmt.Println("输入acc加速度g", speed)
+	d2, d1, d0 := encode(speed)
+	decode(d2, d1, d0)
+	accSpeed := decode(d2, d1, d0)
+	fmt.Println("输出速度:", accSpeed*G, "加速度:", accSpeed)
+}
+
+func TestCode66(t *testing.T) {
+	var accSpeed float32 = 0.44 / 9.8
+	fmt.Println(accSpeed)
+	//生成4字节返回数据
+	var accCode uint32 = 0
+	var sum float32 = 0
+	for i := 16; i >= 0; i-- {
+		flag := float32(1 / math.Pow(2, float64(17-i)))
+		//更改对应bit位数据
+		if flag > accSpeed {
+			//大于加速度，设置对应的bit为0
+			accCode = setBit(accCode, uint32(i), 0)
+		} else {
+			//设置对应的bit位1
+			accCode = setBit(accCode, uint32(i), 1)
+			if sum+flag > accSpeed {
+				//累加和超过accCode停止
+				break
+			}
+			sum = sum + flag
+		}
+		fmt.Println(i, flag, fmt.Sprintf("%b", accCode), sum)
+	}
+	//因为获取但是18位数据，这里向左移动14位（获取之前设置的bit数据）
+	fmt.Println(fmt.Sprintf("%032b", accCode))
+	fmt.Println(math.Float32frombits(accCode&0xffffc000) / 0x80000000)
+	accCode = accCode << 14
+	fmt.Println(fmt.Sprintf("%032b", accCode))
+	fmt.Println(float32(accCode) / 0x80000000)
+}
+func TestCode5(t *testing.T) {
+
+	var accSpeed float32 = (0.54 / 9.8) * 2
+	bbc := math.Float32bits(accSpeed)
+	fmt.Println(accSpeed, bbc, fmt.Sprintf("%08b", bbc), float32(bbc))
+	d2 := byte(bbc) & 0xFF
+	d1 := byte((bbc << 8) & 0xFF)
+	d0 := byte((bbc << 16) & 0xFF)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	result := (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+
+	fmt.Println(fmt.Sprintf("%08b", result), float32(result)/float32(0xFFFFFF), math.Float32frombits(result))
+	//arr := []byte{d2, d1, d0}
+	//var sum float32 = 0
+	//isBreak := false
+	//index := 1
+	//for i := 0; i < len(arr); i++ {
+	//	d := arr[i]
+	//
+	//}
+	/*	for i := 22; i >= 0; i-- {
+		d := float32(1 / math.Pow(2, float64(17-i)))
+		if isBreak {
+			result = setBit(result, uint32(i), 1)
+
+		} else {
+			if d > accSpeed {
+				result = setBit(result, uint32(i), 0)
+			} else if d < accSpeed {
+				result = setBit(result, uint32(i), 1)
+				if sum+d > accSpeed {
+					isBreak = true
+					//break
+				} else {
+					sum += d
+				}
+			}
+		}
+
+		fmt.Println(i, i, d, "--------", fmt.Sprintf("%8b", result), result, sum)
+	}*/
+	//aas := math.Float32frombits(result)
+	//fmt.Println(aas)
+	result = result & 0xffffc000
+	fmt.Println(result, float32(result)/dd, fmt.Sprintf("%08b", result))
+	fmt.Println(math.Float32frombits(result) / dd)
+}
+func TestCode3(t *testing.T) {
+	var accSpeed float32 = 0.54 / 9.8
+	bbc := math.Float32bits(accSpeed)
+	fmt.Println(accSpeed, bbc, fmt.Sprintf("%08b", math.Float32bits(accSpeed)))
+
+	d2 := byte(bbc) & 0xFF
+	d1 := byte((bbc << 8) & 0xFF)
+	d0 := byte((bbc << 16) & 0xFF)
+	//result := (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+
+	//d0 := byte(bbc & 0xFF)
+	// 提取 D1 字节
+	//d1 := byte((bbc >> 8) & 0xFF)
+	// 提取 D2 字节
+	//d2 := byte((bbc >> 16) & 0xFF)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	fmt.Println("----------------------------")
+	d2 = setBit2(d2, 7, 0)
+	d2 = setBit2(d2, 6, 0)
+	d2 = setBit2(d2, 5, 0)
+	d2 = setBit2(d2, 4, 0)
+	d2 = setBit2(d2, 3, 0)
+	d2 = setBit2(d2, 2, 0)
+	d2 = setBit2(d2, 1, 0)
+	d2 = setBit2(d2, 0, 1)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	var result uint32
+
+	//arr := []byte{d2, d1, d0}
+	//buf := bytes.NewBuffer(arr)
+	//binary.Read(buf, binary.BigEndian, &result)
+	result = (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+	aas := math.Float32frombits(result)
+	fmt.Println(aas)
+	result = result & 0xffffc000
+	fmt.Println(result, fmt.Sprintf("%08b", result))
+	fmt.Println(aas / dd)
+
+}
+
+func TestCode2(t *testing.T) {
+	var accSpeed float32 = 0.54 / 9.8
+	fmt.Println(accSpeed)
+	var acc uint32 = math.Float32bits(0)
+	var sum float32 = 0
+	bit := 13
+	for i := 16; i >= 1; i-- {
+		d := float32(1 / math.Pow(2, float64(17-i)))
+		if d > accSpeed {
+			acc = setBit(acc, uint32(i+bit), 0)
+		} else if d < accSpeed {
+			acc = setBit(acc, uint32(i+bit), 1)
+			if sum+d > accSpeed {
+				break
+			} else {
+				sum += d
+			}
+		}
+		fmt.Println(i, i+bit, d, "--------", fmt.Sprintf("%8b", acc), acc, sum)
+	}
+
+	//d2 := byte(acc >> 24)
+	//d1 := byte((acc << 8) >> 24)
+	//d0 := byte((bbc << 16) >> 24)
+	//arr := []byte{d2, d1, 0, 0}
+	//u3 := binary.BigEndian.Uint32(arr)
+	u3 := acc & 0xffffc000
+	fmt.Println(u3, sum)
+	aas := math.Float32frombits(u3) / 0x80000000
+	fmt.Println(aas)
+}
+
+const dd = 0x80000000
+
+func encodeDecimal(decimal float64) ([]byte, []byte) {
+	// 将小数转换为二进制形式
+	binary := fmt.Sprintf("%.15f", decimal)
+
+	// 提取二进制小数部分
+	binaryDecimal := binary[2:]
+
+	// 左对齐并添加零
+	paddedBinaryDecimal := fmt.Sprintf("%015s", binaryDecimal)
+
+	// 将二进制小数转换为字节数组
+	d2 := []byte(paddedBinaryDecimal[:8])
+	d1 := []byte(paddedBinaryDecimal[8:])
+
+	return d2, d1
+}

third_party/acc/acc_vobc.go

@@ -59,7 +59,9 @@ func (acc *accVobcService) Start(accManager AccVobcManager) {
 }
 
 func (avs *accVobcService) SendAcc(acc *message.Accelerometer) {
+
 	avs.vobcClient.Send(acc.Encode())
+	//avs.vobcClient.Send(acc.BuildCanData())
 }
 func (avs *accVobcService) TrainAccSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
 	if trainState.VobcState.Tc1Active && trainState.TrainEndsA.AccEnable {

third_party/electrical_machinery/electrical_machinery.go

@@ -4,6 +4,7 @@ import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/dto/common_proto"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"log/slog"
 	"sync"
 
 	"joylink.club/bj-rtsts-server/config"
@@ -80,7 +81,7 @@ func (s *electricalMachineryImpl) SendElectricMachineryMessage(emMap map[int]*me
 		if client != nil {
 			err := client.Send(em.Encode())
 			if err != nil {
-				fmt.Println(err)
+				slog.Error(err.Error())
 			}
 		}
 	}

third_party/message/accelerometer.go

@@ -8,6 +8,7 @@ import (
 const (
 	accHeader   = 0xA6
 	uaidDefault = 0x1C
+	G           = 9.80665
 )
 
 type Accelerometer struct {
@@ -21,23 +22,66 @@ const (
 	ReadingMask = 0xFFFFC000 // 屏蔽标志位和编码位
 )
 
+func encodeAcc(a float32) (d2, d1, d0 byte) {
+	d2 = 0
+	d1 = 0
+	d0 = 0
+	x := a / G
+	//fmt.Println(x)
+	v := uint32(0)
+	for i := 17; i >= 0; i-- {
+		t := float32(1.0 / math.Pow(2, float64(17-i)))
+		if t > x {
+			continue
+		} else {
+			v |= 1 << i
+			x -= t
+		}
+	}
+	//fmt.Printf("%b, %b\n", v, v<<6)
+	v <<= 6
+	d0 = byte(v)
+	d1 = byte(v >> 8)
+	d2 = byte(v >> 16)
+	//fmt.Printf("%b, %b, %b\n", d2, d1, d0)
+	return
+}
+
+func decode2Acc(d2, d1, d0 byte) float32 {
+	v := uint32(d2)<<10 | uint32(d1)<<2 | uint32(d0>>6)
+	fmt.Printf("%b\n", v)
+	x := float32(0)
+	for i := 17; i >= 0; i-- {
+		if v&(1<<i) != 0 {
+			t := float32(1.0 / math.Pow(2, float64(17-i)))
+			x += t
+		}
+	}
+	//fmt.Println(x)
+	return x * G
+}
+
+func (acc *Accelerometer) BuildCanData() []byte {
+	accData := acc.Encode()
+	appData := make([]byte, 0)
+	appData = append(appData, accData...)
+	appData = append(appData, byte(0))
+	canId := CanFrameId{ID1: 0xff, ID2: 0xff, ID3: 0xff, ID4: 0xff}
+	canNet := &CanetFrame{FF: false, RTR: false, CanLen: 7, CanId: canId, CanData: appData, IsTrainPcSim: false}
+	return canNet.Encode()
+}
 func (acc *Accelerometer) Encode() []byte {
-	accData := uint32(math.Round(float64(acc.Acc) * float64(FullScaleG)))
+	d2, d1, d0 := encodeAcc(acc.Acc)
-	d2 := byte(accData >> 16)
-	d1 := byte(accData >> 8)
-	D0 := byte(accData) & 0xFF
-	D0 |= byte((accData >> 18) & DataMask)
 	data := make([]byte, 0)
 	data = append(data, accHeader)
 	data = append(data, uaidDefault)
-	data = append(data, D0)
+	data = append(data, d0)
 	data = append(data, d1)
 	data = append(data, d2)
 	data = append(data, acc.Aux)
 	cs := checkSum(data)
 	data = append(data, ^cs+1)
 	return data
-
 }
 
 func checkSum(data []byte) byte {

third_party/message/electrical_machinery.go

@@ -29,6 +29,7 @@ func (t *ElectricMachinery) Encode() []byte {
 		//b = binary.BigEndian.AppendUint32(b, uint32(rotarySpeed))
 		rotarySpeedData = uint32(rotarySpeed)
 	}
+	//fmt.Println(rotarySpeed, rotarySpeedData)
 	b = binary.BigEndian.AppendUint32(b, rotarySpeedData)
 	crc := chkcrc(b) // crc校验码
 	b = binary.BigEndian.AppendUint16(b, crc)

third_party/train_pc_sim/train_pc_sim.go

@@ -193,6 +193,7 @@ func (d *trainPcSimService) initConn(clientKey string) {
 	fmt.Println(properties[CLIENT_KEY])
 	client2, err := tcp.StartTcpClient(addr, properties, d.reivceData, d.readError)
 	if err != nil {
+		slog.Error("车载pc连接失败 clientKey:", clientKey, "error:", err.Error())
 		d.updateState(tpapi.ThirdPartyState_Broken)
 
 	} else {

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -362,7 +362,7 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(connType state_proto.T
 	//vobc.BrakeQuarantine = message.IsTrueForByte(brakeQuarantine)     //?         //制动隔离
 	//vobc.StopNotAllBrake = message.IsTrueForByte(stopNotAllBrake)     //?          //停放制动缓解
 	trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
-	trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
+	trainPcSimDigitalOutInfoHandleCode31_24(connType, data[1], vobc)
 	trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
 	trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
 	trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
@@ -380,15 +380,20 @@ func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobc
 	vobc.StopNotAllBrake = message.IsTrueForByte(message.GetBit(d, 7))   //?          停放制动缓解
 
 }
-func trainPcSimDigitalOutInfoHandleCode31_24(d byte, vobc *state_proto.TrainVobcState) {
+func trainPcSimDigitalOutInfoHandleCode31_24(connType state_proto.TrainConnState_TrainConnType, d byte, vobc *state_proto.TrainVobcState) {
 	vobc.AtoOpenLeftDoor = message.IsTrueForByte(message.GetBit(d, 0))  //?//ATO开左门
 	vobc.AtoOpenRightDoor = message.IsTrueForByte(message.GetBit(d, 1)) //?//ATO开右门
 	vobc.AtoCloseLeftDoor = message.IsTrueForByte(message.GetBit(d, 2)) //?//ATO关左门
-	vobc.Tc1Active = message.IsTrueForByte(message.GetBit(d, 3))        //驾驶室激活
+	if connType == state_proto.TrainConnState_PC_SIM_A {
-	vobc.NoSpeedSigle = message.IsTrueForByte(message.GetBit(d, 4))     //?//零速信号
+		vobc.Tc1Active = message.IsTrueForByte(message.GetBit(d, 3))
-	vobc.Fam = message.IsTrueForByte(message.GetBit(d, 5))              //FAM模式
+	} else {
-	vobc.Cam = message.IsTrueForByte(message.GetBit(d, 6))              //CAM模式
+		vobc.Tc2Active = message.IsTrueForByte(message.GetBit(d, 3))
-	vobc.TrainStartedLed = message.IsTrueForByte(message.GetBit(d, 7))  //?//列车启动指示灯
+	}
+	//驾驶室激活
+	vobc.NoSpeedSigle = message.IsTrueForByte(message.GetBit(d, 4))    //?//零速信号
+	vobc.Fam = message.IsTrueForByte(message.GetBit(d, 5))             //FAM模式
+	vobc.Cam = message.IsTrueForByte(message.GetBit(d, 6))             //CAM模式
+	vobc.TrainStartedLed = message.IsTrueForByte(message.GetBit(d, 7)) //?//列车启动指示灯
 
 }
 func trainPcSimDigitalOutInfoHandleCode23_16(d byte, vobc *state_proto.TrainVobcState) {