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添加UDP网络延时记录器

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动力学和半实物接口添加UDP网络监控功能
This commit is contained in:
walker 2024-01-22 13:10:10 +08:00
parent f97df40b5a
commit 62b44a0cc6
18 changed files with 1623 additions and 1114 deletions
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2
bj-rtss-message

@ -1 +1 @@
Subproject commit f9f2cabf35774b9be45afd6474a4d40f32a7da36
Subproject commit 3a30efc9fe949cd5ab9898073f00a093716f279e

643
dto/data_proto/stationLayoutGraphics.pb.go
View File

@ -3214,7 +3214,7 @@ type Transponder struct {
Type Transponder_TransponderTypeEnum `protobuf:"varint,9,opt,name=type,proto3,enum=graphicData.Transponder_TransponderTypeEnum" json:"type,omitempty"` //应答器类型
CentralizedStations []uint32 `protobuf:"varint,10,rep,packed,name=centralizedStations,proto3" json:"centralizedStations,omitempty"` // 集中站Id列表
FixedTelegram string `protobuf:"bytes,11,opt,name=fixedTelegram,proto3" json:"fixedTelegram,omitempty"` //应答器固定报文
UserTelegram string `protobuf:"bytes,12,opt,name=userTelegram,proto3" json:"userTelegram,omitempty"` //应答器用户报文
FixedUserTelegram string `protobuf:"bytes,12,opt,name=fixedUserTelegram,proto3" json:"fixedUserTelegram,omitempty"` //应答器固定用户报文
}
func (x *Transponder) Reset() {
@ -3305,9 +3305,9 @@ func (x *Transponder) GetFixedTelegram() string {
return ""
}
func (x *Transponder) GetUserTelegram() string {
func (x *Transponder) GetFixedUserTelegram() string {
if x != nil {
return x.UserTelegram
return x.FixedUserTelegram
}
return ""
}
@ -5778,7 +5778,7 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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@ -5805,341 +5805,342 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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0x6f, 0x33,
}
var (

1355
dto/state_proto/device_state.pb.go
View File

File diff suppressed because it is too large Load Diff

2
example/mock_train_service/main.go
View File

@ -22,7 +22,7 @@ var ti = &ReceiveTrainInfo{
var trainRun bool
var IP = net.IPv4(192, 168, 3, 7)
var SendIP = net.IPv4(192, 168, 3, 233)
var SendIP = net.IPv4(192, 168, 3, 7)
func main() {
listen, err := net.ListenUDP("udp", &net.UDPAddr{

3
main.go
View File

@ -10,8 +10,6 @@ import (
"joylink.club/bj-rtsts-server/docs"
"joylink.club/bj-rtsts-server/middleware"
"joylink.club/bj-rtsts-server/mqtt"
"joylink.club/bj-rtsts-server/third_party"
)
// @title CBTC测试系统API
@ -28,7 +26,6 @@ import (
func main() {
engine := InitServer()
mqtt.Startup(mqtt.NewMqttOptions(config.Config.Messaging.Mqtt.Address, config.Config.Messaging.Mqtt.Username, config.Config.Messaging.Mqtt.Password))
third_party.Init()
authMiddleware := middleware.InitGinJwtMiddleware()
router := engine.Group("/api")
api.InitUserRouter(router, authMiddleware)

2
rtss_simulation

@ -1 +1 @@
Subproject commit ba95c8bdefed2ba5803a222c55bdd33b40e47f12
Subproject commit d94a8335dcffbb44d7d865d8b7200da335e2241f

23
third_party/axle_device/rssp_channel.go vendored
View File

@ -2,10 +2,11 @@ package axle_device
import (
"fmt"
"log/slog"
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/udp"
"log/slog"
)
// 铁路信号安全通信协议实现
@ -48,8 +49,8 @@ func (s *RsspChannel) Init(config *config.RsspConfig) *RsspChannel {
s.config = config
s.rsspTimer = &RsspTimer{t: 0}
s.sn = message.NewRsspSn(1)
s.ch1Ts = message.NewRsspLFSR(message.RsspTsC1, 32, s.config.SID1, false)
s.ch2Ts = message.NewRsspLFSR(message.RsspTsC2, 32, s.config.SID2, false)
s.ch1Ts = message.NewRsspLFSR(message.RSSP_I_C1_TS, 32, s.config.SID1, false)
s.ch2Ts = message.NewRsspLFSR(message.RSSP_I_C2_TS, 32, s.config.SID2, false)
return s
}
@ -178,11 +179,11 @@ func (s *RsspChannel) handleRsspRsd(rsd *message.RsspRsd) {
return
}
//SVC校验
c1Crc32 := message.RsspC1Crc32(rsd.Sad)
c1SidTs := c1Crc32 ^ rsd.Svc1 ^ message.SCW_C1 //T(n)
c1Crc32 := message.Rssp_I_Crc32C1(rsd.Sad)
c1SidTs := c1Crc32 ^ rsd.Svc1 ^ message.RSSP_I_C1_SCW //T(n)
//
c2Crc32 := message.RsspC2Crc32(rsd.Sad)
c2SidTs := c2Crc32 ^ rsd.Svc2 ^ message.SCW_C2 //T(n)
c2Crc32 := message.Rssp_I_Crc32C2(rsd.Sad)
c2SidTs := c2Crc32 ^ rsd.Svc2 ^ message.RSSP_I_C2_SCW //T(n)
//todo ... SVC校验待完善
_ = c1SidTs
_ = c2SidTs
@ -291,11 +292,11 @@ func (s *RsspChannel) SendUserData(userData []byte) {
rsd.Sn = s.sn.Get()
rsd.Sdl = uint16(len(userData) + 8)
//安全校验通道SVC_1
crc_c1 := message.RsspC1Crc32(userData)
rsd.Svc1 = s.createSvcCode(crc_c1, s.config.SID1, s.ch1Ts.Get(), message.SCW_C1)
crc_c1 := message.Rssp_I_Crc32C1(userData)
rsd.Svc1 = s.createSvcCode(crc_c1, s.config.SID1, s.ch1Ts.Get(), message.RSSP_I_C1_SCW)
//安全校验通道SVC_2
crc_c2 := message.RsspC2Crc32(userData)
rsd.Svc1 = s.createSvcCode(crc_c2, s.config.SID2, s.ch2Ts.Get(), message.SCW_C2)
crc_c2 := message.Rssp_I_Crc32C2(userData)
rsd.Svc1 = s.createSvcCode(crc_c2, s.config.SID2, s.ch2Ts.Get(), message.RSSP_I_C2_SCW)
rsd.Sad = userData
//
rsspPack := rsd.Encode()

27
third_party/dynamics/dynamics.go vendored
View File

@ -14,6 +14,7 @@ import (
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/sys_error"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/tpapi"
"joylink.club/bj-rtsts-server/third_party/udp"
)
@ -26,6 +27,7 @@ type DynamicsMessageManager interface {
// 动力学接口
type Dynamics interface {
tpapi.ThirdPartyApiService
// 请求添加列车
RequestAddTrain(info *message.InitTrainInfo) error
// 请求移除列车
@ -44,20 +46,34 @@ type Dynamics interface {
var _default Dynamics
var initMutex sync.Mutex
const Interval = 15
func Default() Dynamics {
initMutex.Lock()
defer initMutex.Unlock()
if _default == nil {
_default = &dynamics{}
_default = &dynamics{
ThirdPartyApiService: tpapi.NewThirdPartyApiService(),
udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) {
if err != nil {
_default.UpdateState(tpapi.ThirdPartyState_Broken)
} else {
_default.UpdateState(tpapi.ThirdPartyState_Normal)
}
}),
}
}
return _default
}
type dynamics struct {
tpapi.ThirdPartyApiService
trainInfoUdpServer udp.UdpServer
turnoutStateUdpClient udp.UdpClient
trainControlUdpClient udp.UdpClient
udpDelayRecorder *tpapi.UdpDelayRecorder
baseUrl string
httpClient *http.Client
manager DynamicsMessageManager
@ -67,6 +83,7 @@ type dynamics struct {
// 解码列车信息并处理
func (d *dynamics) handleDynamicsTrainInfo(b []byte) {
d.udpDelayRecorder.RecordInterval()
trainInfo := &message.DynamicsTrainInfo{}
err := trainInfo.Decode(b)
if err != nil {
@ -176,10 +193,10 @@ func (d *dynamics) TrainOperationConfig(req *message.TrainOperationConfig) error
data, _ := json.Marshal(req)
url := d.buildUrl("/api/config")
resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
defer resp.Body.Close()
if err != nil {
return fmt.Errorf("动力学移除列车请求异常: %v", err)
}
defer resp.Body.Close()
var bodyData []byte
_, err = resp.Body.Read(bodyData)
if err != nil {
@ -210,6 +227,8 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
ctx, cancle := context.WithCancel(context.Background())
go d.sendTurnoutStateTask(ctx)
d.turnoutTaskCancel = cancle
d.UpdateState(tpapi.ThirdPartyState_Normal)
d.udpDelayRecorder.Start()
return nil
}
@ -236,7 +255,8 @@ func (d *dynamics) initDynamicsRunRepository() error {
func (d *dynamics) Stop() {
initMutex.Lock()
defer initMutex.Unlock()
_default = nil
// 停止网络监听
d.udpDelayRecorder.Stop()
if d.httpClient != nil {
d.requestStopSimulation()
d.httpClient = nil
@ -254,6 +274,7 @@ func (d *dynamics) Stop() {
d.turnoutTaskCancel()
}
d.manager = nil
d.UpdateState(tpapi.ThirdPartyState_Closed)
}
const (

5
third_party/example/rssp/main.go vendored
View File

@ -2,14 +2,15 @@ package main
import (
"fmt"
"time"
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/third_party/example/rssp/ci"
"joylink.club/bj-rtsts-server/third_party/message"
"time"
)
func main() {
message.InitRsspCrcTable()
// message.InitRsspCrcTable()
ci.InitCiServerCodePoints()
//
cfg := &config.RsspAxleConfig{}

4
third_party/message/can_atp_req.go vendored
View File

@ -145,7 +145,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
} else {
return false
}
crc16 := calculateAtpReqCrc16(timeArr)
crc16 := Can_Crc16(timeArr)
t1 := uint32(timeArr[0])
t2 := uint32(timeArr[1])
t3 := uint32(timeArr[2])
@ -211,7 +211,7 @@ func (f *AtpRequestFrame) Encode() *CanetFrame {
bits.AddByte(timeByte)
}
//crc
crc16 := calculateAtpReqCrc16(timeArr)
crc16 := Can_Crc16(timeArr)
bits.AddByte(byte(crc16 >> 8))
bits.AddByte(byte(crc16))
//

6
third_party/message/can_btm_rsp.go vendored
View File

@ -44,7 +44,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
var crc32AData []byte
crc32AData = append(crc32AData, msg...)
crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
dtA.Crc32A = calculateDataRspCrc32A(crc32AData) //CRC32A的校验范围是：报文+时间戳A
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
}
@ -55,7 +55,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
var crc32BData []byte
crc32BData = append(crc32BData, msg...)
crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
dtB.Crc32B = calculateDataRspCrc32B(crc32BData) //CRC32B的校验范围是：报文+时间戳B
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
}
@ -80,7 +80,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
crc32cData = append(crc32cData, dtBCf.CanData...)
crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
//
end.Crc32C = calculateDataRspCrc32C(crc32cData)
end.Crc32C = Can_Crc32(crc32cData)
//
endCf := end.Encode()
//

77
third_party/message/can_bus.go vendored
View File

@ -1,5 +1,7 @@
package message
import "github.com/snksoft/crc"
/////////////////////CAN串行总线 bit 流处理 ////////////////////////
// CanBits 可以在CAN总线上传输的bit流
@ -199,42 +201,55 @@ const (
///////////////////// CRC ////////////////////////
const (
CAN_CRC16_ATPREQ = 0x11021
CAN_CRC32 = 0x04C11DB7
)
// const (
// CAN_CRC16_ATPREQ = 0x11021
// CAN_CRC32 = 0x04C11DB7
// )
var (
crc16AtpReqTable []uint32 = nil
crc32CanTable []uint32 = nil
CAN_CRC16 = crc.CCITT
CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: true, ReflectOut: true, FinalXor: 0xFFFFFFFF}
)
func CreateCanCrcTable() {
if crc16AtpReqTable == nil {
crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
}
if crc32CanTable == nil {
crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
}
}
func calculateAtpReqCrc16(data []byte) uint16 {
crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
return uint16(crc)
}
func calculateCanCrc32(data []byte) uint32 {
crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
return crc
func Can_Crc16(data []byte) uint16 {
return uint16(crc.CalculateCRC(CAN_CRC16, data))
}
// CRC32A的校验范围是：报文+时间戳A
func calculateDataRspCrc32A(data []byte) uint32 {
return calculateCanCrc32(data)
func Can_Crc32(data []byte) uint32 {
return uint32(crc.CalculateCRC(CAN_CRC32, data))
}
// CRC32B的校验范围是：报文+时间戳B
func calculateDataRspCrc32B(data []byte) uint32 {
return calculateCanCrc32(data)
}
func calculateDataRspCrc32C(data []byte) uint32 {
return calculateCanCrc32(data)
}
// var (
// crc16AtpReqTable []uint32 = nil
// crc32CanTable []uint32 = nil
// )
// func CreateCanCrcTable() {
// if crc16AtpReqTable == nil {
// crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
// }
// if crc32CanTable == nil {
// crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
// }
// }
// func calculateAtpReqCrc16(data []byte) uint16 {
// crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
// return uint16(crc)
// }
// func calculateCanCrc32(data []byte) uint32 {
// crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
// return crc
// }
// // CRC32A的校验范围是：报文+时间戳A
// func calculateDataRspCrc32A(data []byte) uint32 {
// return calculateCanCrc32(data)
// }
// // CRC32B的校验范围是：报文+时间戳B
// func calculateDataRspCrc32B(data []byte) uint32 {
// return calculateCanCrc32(data)
// }
// func calculateDataRspCrc32C(data []byte) uint32 {
// return calculateCanCrc32(data)
// }

8
third_party/message/rssp.go vendored
View File

@ -62,7 +62,7 @@ func RsspPackCrc16Check(pack []byte) bool {
}
//
pack16 := binary.LittleEndian.Uint16(pack[len(pack)-2:])
crc16 := RsspCrc16(pack[:len(pack)-2])
crc16 := Rssp_I_Crc16(pack[:len(pack)-2])
//
return crc16 == pack16
}
@ -104,7 +104,7 @@ func (r *RsspRsd) Encode() []byte {
//用户数据包
data = append(data, r.Sad...)
//报文尾-CRC16
r.Crc16 = RsspCrc16(data)
r.Crc16 = Rssp_I_Crc16(data)
data = binary.LittleEndian.AppendUint16(data, r.Crc16)
//
return data
@ -156,7 +156,7 @@ func (r *RsspSse) Encode() []byte {
data = binary.LittleEndian.AppendUint32(data, r.SeqEnq1)
data = binary.LittleEndian.AppendUint32(data, r.SeqEnq2)
//报文尾-CRC16
r.Crc16 = RsspCrc16(data)
r.Crc16 = Rssp_I_Crc16(data)
data = binary.LittleEndian.AppendUint16(data, r.Crc16)
return data
}
@ -207,7 +207,7 @@ func (r *RsspSsr) Encode() []byte {
data = binary.LittleEndian.AppendUint32(data, r.Tic2)
data = append(data, r.Dvn)
//报文尾-CRC16
r.Crc16 = RsspCrc16(data)
r.Crc16 = Rssp_I_Crc16(data)
data = binary.LittleEndian.AppendUint16(data, r.Crc16)
return data
}

361
third_party/message/rssp_code.go vendored
View File

@ -1,206 +1,233 @@
package message
import "github.com/snksoft/crc"
//rssp 协议中crc校验，查表法实现
// Crc16Table G(x)=X16+X11+X4+1，计算初始值为0
var crc16Table []uint32 = nil
var crc32C1Table []uint32 = nil
var crc32C2Table []uint32 = nil
// // Crc16Table G(x)=X16+X11+X4+1，计算初始值为0
// var crc16Table []uint32 = nil
// var crc32C1Table []uint32 = nil
// var crc32C2Table []uint32 = nil
const ( //CRC生成多项式
RsspCrc16GX uint32 = 0b1_0000_1000_0001_0001 //生成多项式 G(X)=X16+X11+X4+1
RsspCrc32C1 uint32 = 0x100d4e63 //安全通道1 CRC32生成多项式
RsspCrc32C2 uint32 = 0x8ce56011 //安全通道1 CRC32生成多项式
)
const ( //时间戳生成多项式
RsspTsC1 uint32 = 0x0fc22f87
RsspTsC2 uint32 = 0xc3e887e1
)
const (
SCW_C1 = uint32(0xae390b5a) //SCW常
SCW_C2 = uint32(0xc103589c) //SCW常
// SCW常量
RSSP_I_C1_SCW uint32 = 0xae390b5a
RSSP_I_C2_SCW uint32 = 0xc103589c
//时间戳生成多项式
RSSP_I_C1_TS uint32 = 0x0fc22f87
RSSP_I_C2_TS uint32 = 0xc3e887e1
)
// InitRsspCrcTable 初始化RSSP协议中需要的CRC表
func InitRsspCrcTable() {
if crc16Table == nil {
crc16Table = CreateCrcTable(RsspCrc16GX, 16, false)
}
if crc32C1Table == nil {
crc32C1Table = CreateCrcTable(RsspCrc32C1, 32, false)
}
if crc32C2Table == nil {
crc32C2Table = CreateCrcTable(RsspCrc32C2, 32, false)
}
}
func RsspCrc16(data []byte) uint16 {
return uint16(CrcTableBased(data, 16, 0, false, false, 0, crc16Table))
}
func RsspC1Crc32(data []byte) uint32 {
return CrcTableBased(data, 32, 0, false, false, 0, crc32C1Table)
}
func RsspC2Crc32(data []byte) uint32 {
return CrcTableBased(data, 32, 0, false, false, 0, crc32C2Table)
var (
// crc16多项式为G(x)=X16+X11+X4+1
RSSP_I_CRC16 = &crc.Parameters{Width: 16, Polynomial: 0x0811, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
// 通道1 crc32多项式为0x100d4e63
RSSP_I_C1_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x100d4e63, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
// 通道2 crc32多项式为0x8ce56011
RSSP_I_C2_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x8ce56011, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
)
// Rssp_I_Crc16计算
func Rssp_I_Crc16(data []byte) uint16 {
return uint16(crc.CalculateCRC(RSSP_I_CRC16, data))
}
// CreateCrcTable 创建CRC表，支持8、16、32位
func CreateCrcTable(polynomial uint32, width int, input_reflected bool) []uint32 {
var table = make([]uint32, 0, 256)
for bt := 0x00; bt <= 0xff; bt++ {
table = append(table, lookup(uint32(bt), polynomial, width, input_reflected))
}
return table
// 通道1的crc32
func Rssp_I_Crc32C1(data []byte) uint32 {
return uint32(crc.CalculateCRC(RSSP_I_C1_CRC32, data))
}
// 通道2的crc32
func Rssp_I_Crc32C2(data []byte) uint32 {
return uint32(crc.CalculateCRC(RSSP_I_C2_CRC32, data))
}
// const ( //CRC生成多项式
// RsspCrc16GX uint32 = 0b1_0000_1000_0001_0001 //生成多项式 G(X)=X16+X11+X4+1
// RsspCrc32C1 uint32 = 0x100d4e63 //安全通道1 CRC32生成多项式
// RsspCrc32C2 uint32 = 0x8ce56011 //安全通道1 CRC32生成多项式
// )
// // InitRsspCrcTable 初始化RSSP协议中需要的CRC表
// func InitRsspCrcTable() {
// if crc16Table == nil {
// crc16Table = CreateCrcTable(RsspCrc16GX, 16, false)
// }
// if crc32C1Table == nil {
// crc32C1Table = CreateCrcTable(RsspCrc32C1, 32, false)
// }
// if crc32C2Table == nil {
// crc32C2Table = CreateCrcTable(RsspCrc32C2, 32, false)
// }
// }
// func RsspCrc16(data []byte) uint16 {
// return uint16(CrcTableBased(data, 16, 0, false, false, 0, crc16Table))
// }
// func RsspC1Crc32(data []byte) uint32 {
// return CrcTableBased(data, 32, 0, false, false, 0, crc32C1Table)
// }
// func RsspC2Crc32(data []byte) uint32 {
// return CrcTableBased(data, 32, 0, false, false, 0, crc32C2Table)
// }
// // CreateCrcTable 创建CRC表，支持8、16、32位
// func CreateCrcTable(polynomial uint32, width int, input_reflected bool) []uint32 {
// var table = make([]uint32, 0, 256)
// for bt := 0x00; bt <= 0xff; bt++ {
// table = append(table, lookup(uint32(bt), polynomial, width, input_reflected))
// }
// return table
// }
/////////////////////////////////////////////////////////////////////////////
// 反转(0b00001010->0b01010000)
func reflect(data uint32, width int) uint32 {
var register1 uint32 = 0
var significant_mask uint32 = 0xffffffff >> (32 - width)
var register_msb_mask uint32 = 1 << (width - 1)
var register_lsb_mask uint32 = 1
// // 反转(0b00001010->0b01010000)
// func reflect(data uint32, width int) uint32 {
// var register1 uint32 = 0
// var significant_mask uint32 = 0xffffffff >> (32 - width)
// var register_msb_mask uint32 = 1 << (width - 1)
// var register_lsb_mask uint32 = 1
for i := 0; i < width; i++ {
need_or := (data>>i)&register_lsb_mask == register_lsb_mask
if need_or {
register1 |= register_msb_mask >> i
}
}
return register1 & significant_mask
}
// for i := 0; i < width; i++ {
// need_or := (data>>i)&register_lsb_mask == register_lsb_mask
// if need_or {
// register1 |= register_msb_mask >> i
// }
// }
// return register1 & significant_mask
// }
// 计算单个数值的crc
func lookup(data uint32,
polynomial uint32,
width int,
input_reflected bool) uint32 {
var register1 uint32 = 0
var significant_mask uint32 = 0xffffffff >> (32 - width)
var register_msb_mask uint32 = 1 << (width - 1)
var register_lsb_mask uint32 = 1
var byte_msb_mask uint32 = 0x80
var byte_lsb_mask uint32 = 1
// // 计算单个数值的crc
// func lookup(data uint32,
// polynomial uint32,
// width int,
// input_reflected bool) uint32 {
// var register1 uint32 = 0
// var significant_mask uint32 = 0xffffffff >> (32 - width)
// var register_msb_mask uint32 = 1 << (width - 1)
// var register_lsb_mask uint32 = 1
// var byte_msb_mask uint32 = 0x80
// var byte_lsb_mask uint32 = 1
if input_reflected {
polynomial = reflect(polynomial, width)
}
// if input_reflected {
// polynomial = reflect(polynomial, width)
// }
for i := 0; i < 1+(width/8); i++ {
var byteData uint32 = 0
// for i := 0; i < 1+(width/8); i++ {
// var byteData uint32 = 0
if i < 1 {
byteData = data
}
// if i < 1 {
// byteData = data
// }
for j := 0; j < 8; j++ {
need_xor := false
// for j := 0; j < 8; j++ {
// need_xor := false
if input_reflected {
need_xor = (register1 & register_lsb_mask) == register_lsb_mask
register1 >>= 1
// if input_reflected {
// need_xor = (register1 & register_lsb_mask) == register_lsb_mask
// register1 >>= 1
need_or := (byteData & byte_lsb_mask) == byte_lsb_mask
byteData >>= 1
// need_or := (byteData & byte_lsb_mask) == byte_lsb_mask
// byteData >>= 1
if need_or {
register1 |= register_msb_mask
}
} else {
need_xor = (register1 & register_msb_mask) == register_msb_mask
register1 <<= 1
// if need_or {
// register1 |= register_msb_mask
// }
// } else {
// need_xor = (register1 & register_msb_mask) == register_msb_mask
// register1 <<= 1
need_or := (byteData & byte_msb_mask) == byte_msb_mask
byteData <<= 1
// need_or := (byteData & byte_msb_mask) == byte_msb_mask
// byteData <<= 1
if need_or {
register1 |= register_lsb_mask
}
}
// if need_or {
// register1 |= register_lsb_mask
// }
// }
if need_xor {
register1 ^= polynomial
}
}
}
return register1 & significant_mask
}
// if need_xor {
// register1 ^= polynomial
// }
// }
// }
// return register1 & significant_mask
// }
// CrcTableBased 查表法计算字节数组的crc
func CrcTableBased(
data []byte,
width int,
initial_value uint32,
input_reflected bool,
result_reflected bool,
final_xor_value uint32,
table []uint32) uint32 {
//
length := len(data)
var register1 uint32 = initial_value
var significant_mask uint32 = 0xffffffff >> (32 - width)
var register_lsb_mask uint32 = 0xff
// // CrcTableBased 查表法计算字节数组的crc
// func CrcTableBased(
// data []byte,
// width int,
// initial_value uint32,
// input_reflected bool,
// result_reflected bool,
// final_xor_value uint32,
// table []uint32) uint32 {
// //
// length := len(data)
// var register1 uint32 = initial_value
// var significant_mask uint32 = 0xffffffff >> (32 - width)
// var register_lsb_mask uint32 = 0xff
if input_reflected {
register1 = reflect(register1, width)
}
// if input_reflected {
// register1 = reflect(register1, width)
// }
for i := 0; i < length; i++ {
var byteData = uint32(data[i])
var shift_out uint32 = 0
// for i := 0; i < length; i++ {
// var byteData = uint32(data[i])
// var shift_out uint32 = 0
if input_reflected {
shift_out = register1 & register_lsb_mask
register1 = (register1 >> 8) ^ table[shift_out^byteData]
} else {
shift_out = (register1 >> (width - 8)) & register_lsb_mask
register1 = (register1 << 8) ^ table[shift_out^byteData]
}
}
// if input_reflected {
// shift_out = register1 & register_lsb_mask
// register1 = (register1 >> 8) ^ table[shift_out^byteData]
// } else {
// shift_out = (register1 >> (width - 8)) & register_lsb_mask
// register1 = (register1 << 8) ^ table[shift_out^byteData]
// }
// }
if input_reflected != result_reflected {
register1 = reflect(register1, width)
}
return (register1 ^ final_xor_value) & significant_mask
}
// if input_reflected != result_reflected {
// register1 = reflect(register1, width)
// }
// return (register1 ^ final_xor_value) & significant_mask
// }
func Crc(data []byte,
polynomial uint32,
width int,
initial_value uint32,
input_reflected bool,
result_reflected bool,
final_xor_value uint32) uint32 {
length := len(data)
var register1 uint32 = initial_value
var significant_mask uint32 = 0xffffffff >> (32 - width)
var register_lsb_mask uint32 = 0xff
// func Crc(data []byte,
// polynomial uint32,
// width int,
// initial_value uint32,
// input_reflected bool,
// result_reflected bool,
// final_xor_value uint32) uint32 {
// length := len(data)
// var register1 uint32 = initial_value
// var significant_mask uint32 = 0xffffffff >> (32 - width)
// var register_lsb_mask uint32 = 0xff
if input_reflected {
register1 = reflect(register1, width)
}
// if input_reflected {
// register1 = reflect(register1, width)
// }
for i := 0; i < length; i++ {
var byteData uint32 = uint32(data[i])
var shift_out uint32 = 0
var value uint32 = 0
// for i := 0; i < length; i++ {
// var byteData uint32 = uint32(data[i])
// var shift_out uint32 = 0
// var value uint32 = 0
if input_reflected {
shift_out = register1 & register_lsb_mask
value = lookup(shift_out^byteData, polynomial, width, input_reflected)
register1 = (register1 >> 8) ^ value
} else {
shift_out = (register1 >> (width - 8)) & register_lsb_mask
value = lookup(shift_out^byteData, polynomial, width, input_reflected)
register1 = (register1 << 8) ^ value
}
}
// if input_reflected {
// shift_out = register1 & register_lsb_mask
// value = lookup(shift_out^byteData, polynomial, width, input_reflected)
// register1 = (register1 >> 8) ^ value
// } else {
// shift_out = (register1 >> (width - 8)) & register_lsb_mask
// value = lookup(shift_out^byteData, polynomial, width, input_reflected)
// register1 = (register1 << 8) ^ value
// }
// }
if input_reflected != result_reflected {
register1 = reflect(register1, width)
}
return (register1 ^ final_xor_value) & significant_mask
}
// if input_reflected != result_reflected {
// register1 = reflect(register1, width)
// }
// return (register1 ^ final_xor_value) & significant_mask
// }
//////////////////////////LFSR//////////////////////////////

24
third_party/semi_physical_train/semi_physical_train.go vendored
View File

@ -6,11 +6,13 @@ import (
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/tpapi"
"joylink.club/bj-rtsts-server/third_party/udp"
)
// 半实物仿真列车通信接口
type SemiPhysicalTrain interface {
tpapi.ThirdPartyApiService
// 启动半实物仿真消息处理
Start(manager SemiPhysicalMessageManager)
// 停止半实物仿真消息处理
@ -27,14 +29,18 @@ type SemiPhysicalMessageManager interface {
}
type semiPhysicalTrainImpl struct {
tpapi.ThirdPartyApiService
trainControlUdpServer udp.UdpServer
trainSpeedInfoUdpClient udp.UdpClient
udpDelayRecorder *tpapi.UdpDelayRecorder
manager SemiPhysicalMessageManager
runConfig *config.VobcConfig
}
func (s *semiPhysicalTrainImpl) handleTrainControlMsg(b []byte) {
s.udpDelayRecorder.RecordInterval()
handler := s.manager
if handler != nil {
handler.HandleSemiPhysicalTrainControlMsg(b)
@ -55,12 +61,14 @@ func (s *semiPhysicalTrainImpl) Start(manager SemiPhysicalMessageManager) {
// 初始化客户端、服务端
s.initSemiPhysical()
s.manager = manager
s.UpdateState(tpapi.ThirdPartyState_Normal)
s.udpDelayRecorder.Start()
}
func (s *semiPhysicalTrainImpl) Stop() {
initMutex.Lock()
defer initMutex.Unlock()
_default = nil
s.udpDelayRecorder.Stop()
if s.trainControlUdpServer != nil {
s.trainControlUdpServer.Close()
}
@ -68,6 +76,7 @@ func (s *semiPhysicalTrainImpl) Stop() {
s.trainSpeedInfoUdpClient.Close()
}
s.manager = nil
s.UpdateState(tpapi.ThirdPartyState_Closed)
}
func (s *semiPhysicalTrainImpl) SendTrainControlMessage(info *message.DynamicsTrainInfo) {
@ -85,11 +94,22 @@ func (s *semiPhysicalTrainImpl) initSemiPhysical() {
var _default SemiPhysicalTrain
var initMutex sync.Mutex
const Interval int = 20
func Default() SemiPhysicalTrain {
initMutex.Lock()
defer initMutex.Unlock()
if _default == nil {
_default = &semiPhysicalTrainImpl{}
_default = &semiPhysicalTrainImpl{
ThirdPartyApiService: tpapi.NewThirdPartyApiService(),
udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) {
if err != nil {
_default.UpdateState(tpapi.ThirdPartyState_Broken)
} else {
_default.UpdateState(tpapi.ThirdPartyState_Normal)
}
}),
}
}
return _default
}

24
third_party/third_party.go vendored
View File

@ -1,8 +1,24 @@
package third_party
import "joylink.club/bj-rtsts-server/third_party/message"
import (
"joylink.club/bj-rtsts-server/dto/state_proto"
"joylink.club/bj-rtsts-server/third_party/dynamics"
"joylink.club/bj-rtsts-server/third_party/tpapi"
)
func Init() {
message.InitRsspCrcTable()
message.CreateCanCrcTable()
func GetRunningServiceStates(t state_proto.SimulationThirdPartyApiService_Type) *state_proto.SimulationThirdPartyApiService {
ss := &state_proto.SimulationThirdPartyApiService{}
switch dynamics.Default().State() {
case tpapi.ThirdPartyState_Normal:
ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
Type: state_proto.SimulationThirdPartyApiService_Dynamics,
State: state_proto.SimulationThirdPartyApiService_Normal,
})
case tpapi.ThirdPartyState_Broken:
ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
Type: state_proto.SimulationThirdPartyApiService_Dynamics,
State: state_proto.SimulationThirdPartyApiService_Error,
})
}
return ss
}

131
third_party/tpapi/service.go vendored Normal file
View File

@ -0,0 +1,131 @@
package tpapi
import (
"context"
"fmt"
"sync"
"time"
)
type ThirdPartyApiServiceState uint32
const (
// 服务未启动
ThirdPartyState_Closed ThirdPartyApiServiceState = iota
// 服务正常
ThirdPartyState_Normal
// 服务异常
ThirdPartyState_Broken
)
// 第三方对接接口服务
type ThirdPartyApiService interface {
// 服务状态
State() ThirdPartyApiServiceState
// 更新状态
UpdateState(state ThirdPartyApiServiceState)
}
func NewThirdPartyApiService() ThirdPartyApiService {
return &thirdPartyApiService{
state: ThirdPartyState_Closed,
}
}
type thirdPartyApiService struct {
state ThirdPartyApiServiceState
}
func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) {
s.state = state
}
func (s *thirdPartyApiService) State() ThirdPartyApiServiceState {
return s.state
}
// UDP通信延时记录
type UdpDelayRecorder struct {
mu sync.Mutex
// 接收消息间隔，单位毫秒
interval int
// 上一次收到消息时刻
lastReceiedTime int64
// 是否发生异常
err error
// 长时间未收到消息或恢复处理回调
handler func(err error)
cancelFunc func()
done chan struct{} // 服务协程退出信号
}
func NewUdpDelayRecorder(interval int, handler func(err error)) *UdpDelayRecorder {
return &UdpDelayRecorder{
interval: interval,
lastReceiedTime: 0,
handler: handler,
}
}
func (r *UdpDelayRecorder) Start() {
r.mu.Lock()
defer r.mu.Unlock()
r.lastReceiedTime = 0
r.err = nil
r.done = make(chan struct{})
ctx, cf := context.WithCancel(context.Background())
r.cancelFunc = cf
go r.checkTimeout(ctx)
}
func (r *UdpDelayRecorder) checkTimeout(ctx context.Context) {
defer close(r.done)
for {
select {
case <-ctx.Done():
return
default:
}
time.Sleep(time.Millisecond * time.Duration(r.interval*2))
lastReceiedTime := r.lastReceiedTime
interval := int(time.Now().UnixMilli() - lastReceiedTime)
if r.err == nil && interval > calUdpTimeout(r.interval) { // 超时故障回调
r.err = fmt.Errorf("UDP通信超时未收到消息,可能网络异常")
if r.handler != nil {
r.handler(r.err)
}
} else if r.err != nil && interval <= r.interval*3 { // 恢复正常回调
r.err = nil
if r.handler != nil {
r.handler(r.err)
}
}
}
}
func (r *UdpDelayRecorder) Stop() {
r.mu.Lock()
defer r.mu.Unlock()
r.cancelFunc()
<-r.done
r.lastReceiedTime = 0
r.err = nil
}
// 记录时间间隔
func (r *UdpDelayRecorder) RecordInterval() {
r.mu.Lock()
defer r.mu.Unlock()
// 记录时间及间隔
r.lastReceiedTime = time.Now().UnixMilli()
}
func calUdpTimeout(interval int) int {
if interval <= 50 {
return interval * 10
} else {
return interval * 5
}
}

40
third_party/udp/udp_server.go vendored
View File

@ -1,6 +1,7 @@
package udp
import (
"context"
"log/slog"
"net"
"runtime/debug"
@ -14,9 +15,10 @@ type UdpServer interface {
type UdpMsgHandler func(b []byte)
type server struct {
addr string
conn *net.UDPConn
handler UdpMsgHandler
addr string
conn *net.UDPConn
handler UdpMsgHandler
cancelFn context.CancelFunc
}
// NewServer creates a new instance of UdpServer.
@ -34,29 +36,37 @@ func (s *server) Listen() {
panic(err)
}
s.conn = conn
ctx, cfn := context.WithCancel(context.Background())
// 启动监听处理
go s.listenAndHandle()
go s.listenAndHandle(ctx)
s.cancelFn = cfn
}
func (s *server) Close() {
err := s.conn.Close()
if err != nil {
slog.Error("udp server close error", "error", err)
}
s.cancelFn()
// err := s.conn.Close()
// if err != nil {
// slog.Error("udp server close error", "error", err)
// }
}
func (s *server) listenAndHandle() {
func (s *server) listenAndHandle(ctx context.Context) {
defer s.conn.Close()
for {
b := make([]byte, 1024)
n, err := s.conn.Read(b)
if err != nil {
slog.Error("udp server read error", err)
select {
case <-ctx.Done():
slog.Info("udp server listen 关闭", "addr", s.addr)
return
default:
}
if n > 0 {
go s.handle(b[0:n])
buf := make([]byte, 1024)
n, _, err := s.conn.ReadFromUDP(buf)
if err != nil {
slog.Error("udp server read error", "addr", s.addr, "error", err)
continue
}
// slog.Debug("udp server handle", "addr", ap.String())
go s.handle(buf[:n])
}
}