列车控制修复“测速测距”失败问题调整
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tiger_zhou
parent
bedb2bf413
commit
6a0a47083f
52
third_party/message/train_pc_sim_message.go
vendored
52
third_party/message/train_pc_sim_message.go
vendored
@ -4,7 +4,6 @@ import (
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"bytes"
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"encoding/binary"
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"fmt"
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"math"
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"strconv"
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"time"
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)
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@ -124,64 +123,19 @@ func AtpLowPowerByte(d byte) bool {
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type TrainSpeedPlaceReportMsg struct {
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PulseCount1 float32
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PulseCount2 float32
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Pp1 float32
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Pp2 float32
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HistoryCount float32
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Tmp bool
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PcCount float32
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}
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func (tp *TrainSpeedPlaceReportMsg) ParsePulseCount1(s1, s2 uint32) {
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//tp.PulseCount1 += tp.HistoryCount
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//tp.PulseCount2 += tp.HistoryCount
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tp.PulseCount1 += float32(s1) * 200 / math.Pi / 840
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tp.PulseCount2 += float32(s2) * 200 / math.Pi / 840
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//tp.HistoryCount += s1
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}
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func (tp *TrainSpeedPlaceReportMsg) ParsePulseCut(s1, s2 float32) {
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/* if s1 == 0 || s2 == 0 {
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tp.PulseCount1 = tp.HistoryCount
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tp.PulseCount2 = tp.HistoryCount
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return
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}*/
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tp.HistoryCount += s1
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d1 := tp.PulseCount1 - s1
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if d1 <= 0 {
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d1 = 0
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}
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d2 := tp.PulseCount1 - s2
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if d2 <= 0 {
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d2 = 0
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}
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tp.PulseCount1 = d1
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tp.PulseCount2 = d2
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}
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func (tp *TrainSpeedPlaceReportMsg) Encode(runDir uint16, s1 uint32) []byte {
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func (tp *TrainSpeedPlaceReportMsg) Encode(runDir uint16, s1, runRange uint32) []byte {
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data := make([]byte, 0)
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data = binary.BigEndian.AppendUint16(data, runDir)
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data = binary.BigEndian.AppendUint32(data, s1)
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data = binary.BigEndian.AppendUint32(data, s1)
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tp.PcCount = tp.PulseCount1 * 200 / math.Pi / float32(840)
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data = binary.BigEndian.AppendUint32(data, uint32(tp.PcCount))
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data = binary.BigEndian.AppendUint32(data, uint32(tp.PcCount))
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data = binary.BigEndian.AppendUint32(data, runRange)
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data = binary.BigEndian.AppendUint32(data, runRange)
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/*now := time.Now().UTC()
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// 将时间转换为毫秒
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millis := now.UnixNano() / int64(time.Millisecond)
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millisStr := strconv.Itoa(int(millis))
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strs := []rune(millisStr)
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sec := now.Unix()
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millisStr2 := strconv.Itoa(int(sec))
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strs2 := []rune(millisStr2)
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dd, _ := strconv.Atoi(string(strs2[5:]))
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mm, _ := strconv.Atoi(string(strs[len(strs)-3:]))*/
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sec, ms := tp.time()
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data = binary.BigEndian.AppendUint32(data, sec)
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data = binary.BigEndian.AppendUint16(data, ms)
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40
third_party/train_pc_sim/train_pc_sim.go
vendored
40
third_party/train_pc_sim/train_pc_sim.go
vendored
@ -48,8 +48,7 @@ type TrainPcSim interface {
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CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
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// TrainPluseCount 计算列车脉冲
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TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
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//ResetPluseCount(sta *state_proto.TrainState)
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//FindAllThirdPartState() []tpapi.ThirdPartyApiService
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DsnAddAndReturn() byte
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}
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@ -74,7 +73,8 @@ type TrainPcSimManage interface {
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type trainPcSimService struct {
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state tpapi.ThirdPartyApiServiceState
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newPcSimclientMap map[string]*TrainPcReciverData
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cancleContext context.CancelFunc
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cancleContextFun context.CancelFunc
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context context.Context
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trainPcSimManage TrainPcSimManage
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configs []config.VehiclePCSimConfig
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btmDsn uint8
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@ -140,8 +140,8 @@ func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService
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// 速度(单位mm/s)对应的脉冲数：速度*200/pi/840；
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// 里程（单位mm）对应的脉冲：总里程*200/pi/840
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func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
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s1 := speedMeter * 1000
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pluseCountData := s1 * 200 / math.Pi / float32(wheelDiameter)
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pluseCountData := speedMeter * 200 / math.Pi / float32(wheelDiameter)
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return uint32(pluseCountData)
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}
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@ -158,12 +158,18 @@ func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, flo
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}
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d.TrainPluseCountReset(sta)
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speed := sum / float32(pcLen)
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return pluseCountSpeed(sta.WheelDiameter, speed), speed
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return pluseCountSpeed(sta.WheelDiameter, speed*1000), speed
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}
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func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
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defer initLock.Unlock()
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initLock.Lock()
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select {
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case <-d.context.Done():
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return
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default:
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}
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if sd, err := d.findTrainConn(sta); err == nil {
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sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
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sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1
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@ -279,7 +285,8 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
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d.configs = configs
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ctx, ctxFun := context.WithCancel(context.Background())
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d.cancleContext = ctxFun
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d.cancleContextFun = ctxFun
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d.context = ctx
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d.trainPcSimManage = pcSimManage
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go d.sendTrainLocationAndSpeedTask(ctx)
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}
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@ -288,9 +295,9 @@ func (d *trainPcSimService) Stop() {
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for _, data := range d.newPcSimclientMap {
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data.updateState(tpapi.ThirdPartyState_Closed)
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}
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if d.cancleContext != nil {
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d.cancleContext()
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d.cancleContext = nil
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if d.cancleContextFun != nil {
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d.cancleContextFun()
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d.cancleContextFun = nil
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}
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d.newCloseAllConn()
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}
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@ -322,13 +329,13 @@ func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, i
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func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
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msgs := make([]message.TrainPcSimBaseMessage, 0)
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sendMsg := make([]byte, 0)
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if isCreate {
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rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
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train.PluseCount = &state_proto.SensorSpeedPulseCount{}
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rd.train = train
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tcc := train.Tcc
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tcc.LineInitTimeStamp12 = 0
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tcc.Line12ConnErr = false
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if isCreate {
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tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
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msgs = append(msgs, tmpMsgs...)
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE}) //门模式
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@ -336,7 +343,7 @@ func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto
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} else {
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train.VobcState.Tc1Active = false
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train.VobcState.Tc2Active = false
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tcc := train.Tcc
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for _, key := range tcc.DriverKey {
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key.Val = false
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}
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@ -377,17 +384,16 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
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connState = tpapi.ThirdPartyState_Broken
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}
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trainClient.updateState(connState)
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s1, speed := d.pluseSpeed(train)
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s1, _ := d.pluseSpeed(train)
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runDir := uint16(2)
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if train.Tcc.DirKey.Val == 1 {
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runDir = 1
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}
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data := trainClient.speedPlace.Encode(runDir, s1)
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disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
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data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
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bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
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dataCode := bm.Encode()
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slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,累计脉冲:%v,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PcCount, hex.EncodeToString(dataCode)))
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//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
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err := trainClient.tcpClient.Send(dataCode)
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if err != nil {
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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)))
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