From 509d06e39e3cf3f303301454ce3bfaa1e1affef1 Mon Sep 17 00:00:00 2001 From: thesai <1021828630@qq.com> Date: Mon, 13 May 2024 13:17:16 +0800 Subject: [PATCH 1/5] =?UTF-8?q?[=E6=96=B0=E5=A2=9E]=E5=A2=9E=E5=8A=A0GJ?= =?UTF-8?q?=E7=BB=A7=E7=94=B5=E5=99=A8=E7=9B=B8=E5=85=B3=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- message_server/sfp_ms.go | 8 ++ rts-sim-module | 2 +- .../interlock/beijing11/beijing11_const.go | 23 ++++ third_party/interlock/beijing11/interlock.go | 126 ++++++++++++++++++ third_party/interlock/beijing11/msg.go | 86 ++++++++++++ .../interlock/{ => beijing12}/interlock.go | 3 +- ts/test_simulation_manage.go | 6 +- 7 files changed, 249 insertions(+), 5 deletions(-) create mode 100644 third_party/interlock/beijing11/beijing11_const.go create mode 100644 third_party/interlock/beijing11/interlock.go create mode 100644 third_party/interlock/beijing11/msg.go rename third_party/interlock/{ => beijing12}/interlock.go (98%) diff --git a/message_server/sfp_ms.go b/message_server/sfp_ms.go index 4b1a1e5..1a581f0 100644 --- a/message_server/sfp_ms.go +++ b/message_server/sfp_ms.go @@ -293,6 +293,14 @@ func handlerSectionState(w ecs.World, uid string) *state_proto.SectionState { } } return sectionState + } else if entry.HasComponent(component.TrackCircuitType) { //轨道电路 + sectionState := &state_proto.SectionState{ + Occupied: component.BitStateType.Get(component.TrackCircuitType.Get(entry).GJ).Val, + AxleFault: false, + AxleDrst: false, + AxlePdrst: false, + } + return sectionState } return nil } diff --git a/rts-sim-module b/rts-sim-module index 8ccd46a..90003ec 160000 --- a/rts-sim-module +++ b/rts-sim-module @@ -1 +1 @@ -Subproject commit 8ccd46aa6c97a933fd12c7b308da929115c9aa8e +Subproject commit 90003ec9429c7db26c43dd381277800d0dfd35fa diff --git a/third_party/interlock/beijing11/beijing11_const.go b/third_party/interlock/beijing11/beijing11_const.go new file mode 100644 index 0000000..32b2e06 --- /dev/null +++ b/third_party/interlock/beijing11/beijing11_const.go @@ -0,0 +1,23 @@ +package beijing11 + +var ( + FrameHead byte = 0x0E //帧头 + FrameTail byte = 0x0E //帧尾 + ControlWord = controlWord{ + HeartBeat: 0x00, + ReadRegister: 0x01, + WriteRegister: 0x02, + Response: 0x03, + Upstream: 0x06, + DownStream: 0x07, + } +) + +type controlWord struct { + HeartBeat byte //心跳 + ReadRegister byte //读寄存器 + WriteRegister byte //写寄存器 + Response byte //回复 + Upstream byte //上行流数据 + DownStream byte //下行流数据 +} diff --git a/third_party/interlock/beijing11/interlock.go b/third_party/interlock/beijing11/interlock.go new file mode 100644 index 0000000..d699cb5 --- /dev/null +++ b/third_party/interlock/beijing11/interlock.go @@ -0,0 +1,126 @@ +// Package beijing11 北京11号线联锁通信 +package beijing11 + +import ( + "fmt" + "joylink.club/bj-rtsts-server/config" + "joylink.club/bj-rtsts-server/third_party/udp" + "log/slog" + "sync" +) + +var ( + initMutex = sync.Mutex{} + interlockMap = make(map[string]*InterlockProxy) + logTag = "[北京11号线联锁通信]" +) + +func GetInstant(c *config.InterlockConfig, msgManager MsgManager) *InterlockProxy { + initMutex.Lock() + defer initMutex.Unlock() + if interlockMap[c.Code] == nil { + interlockMap[c.Code] = &InterlockProxy{runConfig: c, msgManager: msgManager} + } + return interlockMap[c.Code] +} + +type MsgManager interface { + HandleReadRegisterMsg(req *ReadRegisterReq) (*ReadRegisterRes, error) + HandleWriteRegisterMsg(req *WriteRegisterReq) error + HandleDownstreamMsg(data []byte) error + CollectUpstreamMsg() []byte +} + +type msgManager struct { +} + +type InterlockProxy struct { + runConfig *config.InterlockConfig //联锁通信配置 + msgManager MsgManager //消息获取与处理接口0 + client udp.UdpClient //向上位机发送数据的UDP客户端 + server udp.UdpServer //接收上位机数据的UDP服务端 + running bool //此服务正在运行的标志 +} + +func (i *InterlockProxy) Start() { + if i.runConfig == nil || i.runConfig.Ip == "" || !i.runConfig.Open { + return + } + if i.running { + panic("启动联锁消息服务错误: 存在正在运行的任务") + } + //UDP通信设施 + i.server = udp.NewServer(fmt.Sprintf(":%d", i.runConfig.LocalPort), i.handleUpperData) + err := i.server.Listen() + if err != nil { + panic("启动联锁消息服务错误：无法启动UDP服务") + } + i.running = true + i.client = udp.NewClient(fmt.Sprintf("%v:%v", i.runConfig.Ip, i.runConfig.RemotePort)) +} + +// 处理来自上位机的数据 +func (i *InterlockProxy) handleUpperData(data []byte) { + baseData := &BaseStruct{} + err := baseData.Decode(data) + if err != nil { + slog.Error(logTag + "数据解析出错：" + err.Error()) + return + } + switch baseData.ControlWord { + case ControlWord.ReadRegister: + req := &ReadRegisterReq{} + err := req.Decode(baseData.Data) + if err != nil { + slog.Error(logTag + "读寄存器数据解析出错：" + err.Error()) + return + } + res, err := i.msgManager.HandleReadRegisterMsg(req) + if err != nil { + slog.Error(logTag + "读寄存器数据处理出错：" + err.Error()) + return + } + resData := &BaseStruct{ + ID: baseData.ID, + ControlWord: ControlWord.Response, + Data: res.Encode(), + } + i.SendToUpper(resData.Encode()) + case ControlWord.WriteRegister: + req := &WriteRegisterReq{} + err := req.Decode(baseData.Data) + if err != nil { + slog.Error(logTag + "写寄存器数据解析出错：" + err.Error()) + return + } + err = i.msgManager.HandleWriteRegisterMsg(req) + if err != nil { + slog.Error(logTag + "写寄存器数据处理出错：" + err.Error()) + return + } + case ControlWord.DownStream: + err = i.msgManager.HandleDownstreamMsg(baseData.Data) + if err != nil { + slog.Error(logTag + "下行数据处理出错：" + err.Error()) + return + } + } +} + +func (i *InterlockProxy) SendToUpper(data []byte) { + err := i.client.Send(data) + slog.Error(logTag + "向上位机发送数据失败：" + err.Error()) +} + +func (i *InterlockProxy) Stop() { + initMutex.Lock() + defer initMutex.Unlock() + delete(interlockMap, i.runConfig.Code) + if i.client != nil { + i.client.Close() + } + if i.server != nil { + i.server.Close() + } + i.running = false +} diff --git a/third_party/interlock/beijing11/msg.go b/third_party/interlock/beijing11/msg.go new file mode 100644 index 0000000..72f5d15 --- /dev/null +++ b/third_party/interlock/beijing11/msg.go @@ -0,0 +1,86 @@ +package beijing11 + +import ( + "encoding/binary" + "fmt" + "hash/crc32" + "joylink.club/bj-rtsts-server/sys_error" +) + +type BaseStruct struct { + ID byte + ControlWord byte + Data []byte +} + +func (m *BaseStruct) Decode(buf []byte) error { + if buf[0] != FrameHead { + return sys_error.New(logTag + "帧头不正确：" + fmt.Sprintf("%02X", buf[0])) + } + if buf[len(buf)-1] != FrameTail { + return sys_error.New(logTag + "帧尾不正确：" + fmt.Sprintf("%02X", buf[len(buf)-1])) + } + crc := crc32.ChecksumIEEE(buf[1 : len(buf)-5]) + if crc != binary.BigEndian.Uint32(buf[len(buf)-5:len(buf)-1]) { + return sys_error.New(logTag + "CRC校验失败") + } + m.ID = buf[1] + m.ControlWord = buf[2] + m.Data = buf[5 : len(buf)-5] + return nil +} + +func (m *BaseStruct) Encode() []byte { + var data []byte + data = append(data, FrameHead) + data = append(data, m.ID) + data = append(data, m.ControlWord) + data = binary.BigEndian.AppendUint16(data, uint16(len(m.Data))) + data = append(data, m.Data...) + crc := crc32.ChecksumIEEE(data[1:]) + data = binary.BigEndian.AppendUint32(data, crc) + data = append(data, FrameTail) + return data +} + +type ReadRegisterReq struct { + RegisterAddr []uint16 //寄存器地址 +} + +func (r *ReadRegisterReq) Decode(buf []byte) error { + if len(buf)%2 != 0 { + return sys_error.New(logTag + "读寄存器数据字节长度不是2的倍数") + } + for i := 0; i < len(buf); i += 2 { + r.RegisterAddr = append(r.RegisterAddr, binary.BigEndian.Uint16(buf[i:i+2])) + } + return nil +} + +type ReadRegisterRes struct { + RegisterData [][]byte //寄存器数据 +} + +func (r *ReadRegisterRes) Encode() []byte { + var data []byte + for _, datum := range r.RegisterData { + data = append(data, datum...) + } + return data +} + +type WriteRegisterReq struct { + RegisterAddr []uint16 //寄存器地址 + RegisterData [][]byte //寄存器数据 +} + +func (w *WriteRegisterReq) Decode(buf []byte) error { + if len(buf)%6 != 0 { + return sys_error.New(logTag + "写寄存器数据字节长度不是6的倍数") + } + for i := 0; i < len(buf); i += 6 { + w.RegisterAddr = append(w.RegisterAddr, binary.BigEndian.Uint16(buf[i:i+2])) + w.RegisterData = append(w.RegisterData, buf[i+2:i+6]) + } + return nil +} diff --git a/third_party/interlock/interlock.go b/third_party/interlock/beijing12/interlock.go similarity index 98% rename from third_party/interlock/interlock.go rename to third_party/interlock/beijing12/interlock.go index 857fda7..e190cb8 100644 --- a/third_party/interlock/interlock.go +++ b/third_party/interlock/beijing12/interlock.go @@ -1,4 +1,5 @@ -package interlock +// Package beijing12 北京12号线联锁通信 +package beijing12 import ( "context" diff --git a/ts/test_simulation_manage.go b/ts/test_simulation_manage.go index 9815469..2d6cd34 100644 --- a/ts/test_simulation_manage.go +++ b/ts/test_simulation_manage.go @@ -3,6 +3,7 @@ package ts import ( "fmt" "joylink.club/bj-rtsts-server/third_party/acc" + "joylink.club/bj-rtsts-server/third_party/interlock/beijing12" "joylink.club/bj-rtsts-server/third_party/radar" "joylink.club/bj-rtsts-server/third_party/train_pc_sim" "log/slog" @@ -20,7 +21,6 @@ import ( "joylink.club/bj-rtsts-server/mqtt" "joylink.club/bj-rtsts-server/sys_error" "joylink.club/bj-rtsts-server/third_party/dynamics" - "joylink.club/bj-rtsts-server/third_party/interlock" "joylink.club/bj-rtsts-server/third_party/semi_physical_train" "joylink.club/bj-rtsts-server/ts/simulation/wayside/memory" @@ -120,7 +120,7 @@ func runThirdParty(s *memory.VerifySimulation) error { semi_physical_train.Default().Start(s) // 联锁启动 for _, c := range s.GetInterlockCodes() { - interlock.Default(c).Start(s) + beijing12.Default(c).Start(s) } // 计轴RSSP启动 axle_device.StartLineAllRsspAxleServices(s) @@ -149,7 +149,7 @@ func stopThirdParty(s *memory.VerifySimulation) { semi_physical_train.Default().Stop() // 联锁启动 for _, c := range s.GetInterlockCodes() { - interlock.Default(c).Stop() + beijing12.Default(c).Stop() } //计轴RSSP启动销毁 axle_device.StopLineAllRsspAxleServices() From 59520435d22234dfd58f0780b288932f4639d77b Mon Sep 17 00:00:00 2001 From: thesai <1021828630@qq.com> Date: Thu, 16 May 2024 21:19:53 +0800 Subject: [PATCH 2/5] =?UTF-8?q?[=E6=96=B0=E5=A2=9E]=E5=8C=BA=E6=AE=B5?= =?UTF-8?q?=E3=80=81Link=E3=80=81=E8=BF=90=E8=90=A5=E6=96=B9=E5=90=91/?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E4=B9=8B=E9=97=B4=E4=BA=92=E7=9B=B8=E8=BD=AC?= =?UTF-8?q?=E6=8D=A2=E7=9A=84=E5=87=BD=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- rts-sim-module | 2 +- rts-sim-testing-message | 2 +- .../memory/wayside_memory_dir_transfer.go | 101 ++++++++++++++++++ .../wayside/memory/wayside_memory_map.go | 6 +- .../wayside/memory/wayside_memory_train.go | 2 +- 5 files changed, 107 insertions(+), 6 deletions(-) create mode 100644 ts/simulation/wayside/memory/wayside_memory_dir_transfer.go diff --git a/rts-sim-module b/rts-sim-module index 90003ec..a613ac1 160000 --- a/rts-sim-module +++ b/rts-sim-module @@ -1 +1 @@ -Subproject commit 90003ec9429c7db26c43dd381277800d0dfd35fa +Subproject commit a613ac109bd53528c867975d5fc6493c00d99fc2 diff --git a/rts-sim-testing-message b/rts-sim-testing-message index e4c55ea..6d3ff56 160000 --- a/rts-sim-testing-message +++ b/rts-sim-testing-message @@ -1 +1 @@ -Subproject commit e4c55ea4b6f9f5f875d59fc5bba51fc21bc8ef97 +Subproject commit 6d3ff5644ebaad3ed1e7e6c03fcfb0f9a3427af0 diff --git a/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go new file mode 100644 index 0000000..49a68a1 --- /dev/null +++ b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go @@ -0,0 +1,101 @@ +package memory + +import ( + "errors" + "fmt" + "joylink.club/rtsssimulation/repository" + "joylink.club/rtsssimulation/util/number" +) + +// LinkRadialToSectionRadialAndOperationDir Link射线转区段射线+运营方向 +func LinkRadialToSectionRadialAndOperationDir(repo *repository.Repository, linkPosition *repository.LinkPosition, toBig bool) (sr *SectionRadial, up bool, err error) { + link := linkPosition.Link() + offset := linkPosition.Offset() + if offset > link.Length() { + return nil, false, errors.New(fmt.Sprintf("%d超出%s范围", offset, linkPosition.String())) + } + for _, section := range link.GetAllPhysicalSection() { + for _, linkRange := range section.LinkRanges() { + if linkRange.Link() != link { + continue + } + if linkRange.Start() < offset && offset < linkRange.End() { + sectionOffset := number.Abs(offset - section.ALinkPosition().Offset()) + toB := toBig && section.BLinkPosition().Offset() > section.ALinkPosition().Offset() + sr = &SectionRadial{ + Section: section, + Offset: sectionOffset, + ToB: toB, + } + break + } + } + } + if sr == nil { + return nil, false, errors.New(fmt.Sprintf("%s未找到对应的区段", linkPosition.String())) + } + aKm := convertRepoBaseKm(repo, sr.Section.AKilometer()) + bKm := convertRepoBaseKm(repo, sr.Section.BKilometer()) + up = sr.ToB && bKm.Value > aKm.Value + err = nil + return +} + +// SectionRadialToLinkRadial 区段射线转Link射线 +func SectionRadialToLinkRadial(sectionRadial *SectionRadial) (linkPosition *repository.LinkPosition, toBig bool) { + toBig = SectionDirToLinkDir(sectionRadial.Section, sectionRadial.ToB) + var offset int64 + if sectionRadial.ToB == toBig { //section与link偏移变化趋势相同 + offset = sectionRadial.Section.ALinkPosition().Offset() + sectionRadial.Offset + } else { + offset = sectionRadial.Section.BLinkPosition().Offset() - sectionRadial.Offset + } + linkPosition = repository.NewLinkPosition(sectionRadial.Section.ALinkPosition().Link(), offset) + return +} + +// OperationRadialToLinkRadial 运营射线转Link射线 +func OperationRadialToLinkRadial(repo *repository.Repository, section *repository.PhysicalSection, offset int64, up bool) (linkPosition *repository.LinkPosition, toBig bool) { + toB := OperationDirToSectionDir(repo, section, up) + return SectionRadialToLinkRadial(&SectionRadial{ + Section: section, + Offset: offset, + ToB: toB, + }) +} + +// SectionDirToLinkDir 区段方向转Link方向 +func SectionDirToLinkDir(section *repository.PhysicalSection, toB bool) (toBig bool) { + aOffset := section.ALinkPosition().Offset() + bOffset := section.BLinkPosition().Offset() + toBig = toB && bOffset > aOffset + return +} + +// SectionDirToOperationDir 区段方向转运营方向 +func SectionDirToOperationDir(repo *repository.Repository, section *repository.PhysicalSection, toB bool) (up bool) { + aKm := convertRepoBaseKm(repo, section.AKilometer()) + bKm := convertRepoBaseKm(repo, section.BKilometer()) + return toB && bKm.Value > aKm.Value +} + +// OperationDirToSectionDir 运营方向转区段方向 +func OperationDirToSectionDir(repo *repository.Repository, section *repository.PhysicalSection, up bool) (toB bool) { + aKm := convertRepoBaseKm(repo, section.AKilometer()) + bKm := convertRepoBaseKm(repo, section.BKilometer()) + return up && bKm.Value > aKm.Value +} + +// OperationDirToLinkDir 运营方向转Link方向 +func OperationDirToLinkDir(repo *repository.Repository, section *repository.PhysicalSection, up bool) (toBig bool) { + toB := OperationDirToSectionDir(repo, section, up) + return SectionDirToLinkDir(section, toB) +} + +// SectionRadial 区段射线。包含一个区段位置+方向 +// 加这个结构体只是因为上面函数返回值过多 +type SectionRadial struct { + Section *repository.PhysicalSection + Offset int64 + ToB bool +} diff --git a/ts/simulation/wayside/memory/wayside_memory_map.go b/ts/simulation/wayside/memory/wayside_memory_map.go index 079c483..84032ef 100644 --- a/ts/simulation/wayside/memory/wayside_memory_map.go +++ b/ts/simulation/wayside/memory/wayside_memory_map.go @@ -243,7 +243,7 @@ func findCalcLinkIdAndOffset(sim *VerifySimulation, link *repository.Link, offse } // 没有找到连接信息，说明已经到尽头找不到位置 if nextLink == nil { - err = sys_error.New(fmt.Sprintf("未找到对应的link信息, linkId=%s, offset=%d", link.Id(), offset)) + err = sys_error.New(fmt.Sprintf("未找到对应的link信息, linkId=%s, Offset=%d", link.Id(), offset)) return } // 下个link偏移 @@ -297,7 +297,7 @@ func getTurnoutNextPort(sim *VerifySimulation, turnoutId string, port string) (n return } -// 计算link offset 在道岔上的位置 +// 计算link Offset 在道岔上的位置 // 入参：仿真Repository、link、是否从A端开始、link偏移量、link运行方向 // 输出：设备Id、设备所在端口、设备偏移量、公里标信息（地图主坐标系） func calcTurnoutOffset(repo *repository.Repository, link *repository.Link, isA bool, offset int64, up bool) ( @@ -328,7 +328,7 @@ func calcTurnoutOffset(repo *repository.Repository, link *repository.Link, isA b return } -// 计算link offset 在区段上的位置 +// 计算link Offset 在区段上的位置 // 入参：仿真Repository、link、link偏移量、link运行方向 // 输出：设备Id、设备所在端口、设备偏移量、公里标信息（地图主坐标系） func calcSectionOffset(repo *repository.Repository, link *repository.Link, offset int64, up bool) ( diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index a72e1f8..2d5a55e 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -301,7 +301,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1)) } runDirection, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up) - //slog.Debug("处理动力学转换后的消息", "number", info.Number, "Link", info.Link, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo) + //slog.Debug("处理动力学转换后的消息", "number", info.Number, "Link", info.Link, "车头位置", id, "偏移", Offset, "是否上行", runDirection, "是否ab", pointTo) // 车尾相对车头link的偏移量 calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up) tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up) From b3270c59214112a103d79384b2a4704fa9487b09 Mon Sep 17 00:00:00 2001 From: thesai <1021828630@qq.com> Date: Fri, 17 May 2024 14:38:14 +0800 Subject: [PATCH 3/5] =?UTF-8?q?[=E4=BF=AE=E6=94=B9]=E5=8C=BA=E6=AE=B5?= =?UTF-8?q?=E3=80=81Link=E3=80=81=E8=BF=90=E8=90=A5=E6=96=B9=E5=90=91/?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E4=B9=8B=E9=97=B4=E4=BA=92=E7=9B=B8=E8=BD=AC?= =?UTF-8?q?=E6=8D=A2=E7=9A=84=E5=87=BD=E6=95=B0=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- rts-sim-module | 2 +- .../memory/wayside_memory_dir_transfer.go | 58 +++++++++++++------ 2 files changed, 42 insertions(+), 18 deletions(-) diff --git a/rts-sim-module b/rts-sim-module index a613ac1..468cc78 160000 --- a/rts-sim-module +++ b/rts-sim-module @@ -1 +1 @@ -Subproject commit a613ac109bd53528c867975d5fc6493c00d99fc2 +Subproject commit 468cc7896408951a5627777aa862a58716642317 diff --git a/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go index 49a68a1..3f16c9b 100644 --- a/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go +++ b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go @@ -7,36 +7,52 @@ import ( "joylink.club/rtsssimulation/util/number" ) -// LinkRadialToSectionRadialAndOperationDir Link射线转区段射线+运营方向 -func LinkRadialToSectionRadialAndOperationDir(repo *repository.Repository, linkPosition *repository.LinkPosition, toBig bool) (sr *SectionRadial, up bool, err error) { +// LinkRadialToDeviceRadial Link射线转设备（道岔/区段）射线 +func LinkRadialToDeviceRadial(repo *repository.Repository, linkPosition *repository.LinkPosition, toBig bool) (sr *DeviceRadial, err error) { link := linkPosition.Link() offset := linkPosition.Offset() if offset > link.Length() { - return nil, false, errors.New(fmt.Sprintf("%d超出%s范围", offset, linkPosition.String())) + return nil, errors.New(fmt.Sprintf("%d超出%s范围", offset, linkPosition.String())) } - for _, section := range link.GetAllPhysicalSection() { + //先遍历所有的非道岔计轴区段 + for _, section := range link.PhysicalSections() { for _, linkRange := range section.LinkRanges() { if linkRange.Link() != link { continue } - if linkRange.Start() < offset && offset < linkRange.End() { + if linkRange.Start() <= offset && offset <= linkRange.End() { sectionOffset := number.Abs(offset - section.ALinkPosition().Offset()) toB := toBig && section.BLinkPosition().Offset() > section.ALinkPosition().Offset() - sr = &SectionRadial{ - Section: section, - Offset: sectionOffset, - ToB: toB, + aKm := convertRepoBaseKm(repo, section.AKilometer()) + bKm := convertRepoBaseKm(repo, section.BKilometer()) + runDirection := toB == (bKm.Value > aKm.Value) + sr = &DeviceRadial{ + DeviceId: section.Id(), + Offset: sectionOffset, + PointTo: toB, + RunDirection: runDirection, } break } } } - if sr == nil { - return nil, false, errors.New(fmt.Sprintf("%s未找到对应的区段", linkPosition.String())) + if sr != nil { + return sr, nil + } + //Link位置不在非道岔计轴区段上 + aLinkPosition := link.ARelation().Turnout().FindLinkPositionByPort(link.ARelation().Port()) + if aLinkPosition.Offset() >= offset { //LinkPosition在A端道岔范围内 + pointTo := !toBig + portKm := convertRepoBaseKm(repo, link.ARelation().Turnout().GetTurnoutKm(link.ARelation().Port())) + km := convertRepoBaseKm(repo, link.ARelation().Turnout().Km()) + runDir := pointTo == (km.Value > portKm.Value) + sr = &DeviceRadial{ + DeviceId: link.ARelation().Turnout().Id(), + Offset: offset, + PointTo: !toBig, + RunDirection: runDir, + } } - aKm := convertRepoBaseKm(repo, sr.Section.AKilometer()) - bKm := convertRepoBaseKm(repo, sr.Section.BKilometer()) - up = sr.ToB && bKm.Value > aKm.Value err = nil return } @@ -68,7 +84,7 @@ func OperationRadialToLinkRadial(repo *repository.Repository, section *repositor func SectionDirToLinkDir(section *repository.PhysicalSection, toB bool) (toBig bool) { aOffset := section.ALinkPosition().Offset() bOffset := section.BLinkPosition().Offset() - toBig = toB && bOffset > aOffset + toBig = toB == (bOffset > aOffset) return } @@ -76,14 +92,14 @@ func SectionDirToLinkDir(section *repository.PhysicalSection, toB bool) (toBig b func SectionDirToOperationDir(repo *repository.Repository, section *repository.PhysicalSection, toB bool) (up bool) { aKm := convertRepoBaseKm(repo, section.AKilometer()) bKm := convertRepoBaseKm(repo, section.BKilometer()) - return toB && bKm.Value > aKm.Value + return toB == (bKm.Value > aKm.Value) } // OperationDirToSectionDir 运营方向转区段方向 func OperationDirToSectionDir(repo *repository.Repository, section *repository.PhysicalSection, up bool) (toB bool) { aKm := convertRepoBaseKm(repo, section.AKilometer()) bKm := convertRepoBaseKm(repo, section.BKilometer()) - return up && bKm.Value > aKm.Value + return up == (bKm.Value > aKm.Value) } // OperationDirToLinkDir 运营方向转Link方向 @@ -99,3 +115,11 @@ type SectionRadial struct { Offset int64 ToB bool } + +// DeviceRadial 设备射线，包含一个设备位置+方向 +type DeviceRadial struct { + DeviceId string //区段或道岔 + Offset int64 //在设备上的偏移量 + PointTo bool //与TrainState结构体中同义。区段：A->B，道岔：->岔心 + RunDirection bool //与TrainState结构体中同义。公里标 上行：小 -> 大，下行：大 -> 小 +} From 37799cd2c9ac3634b9b6c7c47de869aa8e1beae3 Mon Sep 17 00:00:00 2001 From: thesai <1021828630@qq.com> Date: Fri, 17 May 2024 14:39:26 +0800 Subject: [PATCH 4/5] =?UTF-8?q?[=E4=BF=AE=E6=94=B9]=E5=8C=BA=E6=AE=B5?= =?UTF-8?q?=E3=80=81Link=E3=80=81=E8=BF=90=E8=90=A5=E6=96=B9=E5=90=91/?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E4=B9=8B=E9=97=B4=E4=BA=92=E7=9B=B8=E8=BD=AC?= =?UTF-8?q?=E6=8D=A2=E7=9A=84=E5=87=BD=E6=95=B0=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ts/simulation/wayside/memory/wayside_memory_dir_transfer.go | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go index 3f16c9b..d8e18b2 100644 --- a/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go +++ b/ts/simulation/wayside/memory/wayside_memory_dir_transfer.go @@ -22,7 +22,7 @@ func LinkRadialToDeviceRadial(repo *repository.Repository, linkPosition *reposit } if linkRange.Start() <= offset && offset <= linkRange.End() { sectionOffset := number.Abs(offset - section.ALinkPosition().Offset()) - toB := toBig && section.BLinkPosition().Offset() > section.ALinkPosition().Offset() + toB := toBig == (section.BLinkPosition().Offset() > section.ALinkPosition().Offset()) aKm := convertRepoBaseKm(repo, section.AKilometer()) bKm := convertRepoBaseKm(repo, section.BKilometer()) runDirection := toB == (bKm.Value > aKm.Value) From 11a14b2ef62b0e9e71f9d8012b91f8d6d614a25f Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Mon, 20 May 2024 15:21:22 +0800 Subject: [PATCH 5/5] =?UTF-8?q?=E5=88=97=E8=BD=A6=E6=BF=80=E6=B4=BB?= =?UTF-8?q?=E6=96=B9=E5=90=91=E8=B0=83=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- api/simulation.go | 15 +- dto/state_proto/device_state.pb.go | 1591 +++++++++-------- message_server/sfp_ms.go | 28 +- rts-sim-testing-message | 2 +- third_party/dynamics/dynamics.go | 2 + third_party/message/dynamics.go | 19 +- third_party/train_pc_sim/train_pc_sim.go | 2 +- .../wayside/memory/train_tcc_graphic.go | 14 + .../wayside/memory/wayside_memory_train.go | 142 +- .../memory/wayside_simulation_train_pc.go | 16 +- 10 files changed, 954 insertions(+), 877 deletions(-) diff --git a/api/simulation.go b/api/simulation.go index f5887af..8f265be 100644 --- a/api/simulation.go +++ b/api/simulation.go @@ -239,15 +239,20 @@ func addTrain(c *gin.Context) { if req.TrainId < 0 || req.TrainId >= 255 { panic(sys_error.New("列车编号不能小于0，大于255")) } + if req.TrainSpeed < 0 || req.TrainSpeed > 90 { + panic(sys_error.New("列车编号不能小于0，大于255")) + } rsp := &state_proto.TrainState{ - Id: fmt.Sprintf("%v", req.TrainId), - HeadDeviceId: req.Id, - HeadOffset: req.HeadOffset, - DevicePort: req.DevicePort, - RunDirection: req.RunDirection, + Id: fmt.Sprintf("%v", req.TrainId), + HeadDeviceId: req.Id, + HeadOffset: req.HeadOffset, + DevicePort: req.DevicePort, + TrainRunUp: req.RunDirection, + //RunDirection: req.RunDirection, TrainLength: req.TrainLength, WheelDiameter: req.WheelDiameter, Speed: req.TrainSpeed, + Show: true, ConnState: &state_proto.TrainConnState{TrainControlMapId: req.TrainControlMapId, Conn: false, ConnType: state_proto.TrainConnState_NONE}, } var err *sys_error.BusinessError = memory.AddTrainStateNew(simulation, diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go index ef1de40..639ecf9 100644 --- a/dto/state_proto/device_state.pb.go +++ b/dto/state_proto/device_state.pb.go @@ -984,12 +984,12 @@ type TrainState struct { HeadOffset int64 `protobuf:"varint,7,opt,name=headOffset,proto3" json:"headOffset,omitempty"` // 设备端口 DevicePort string `protobuf:"bytes,8,opt,name=devicePort,proto3" json:"devicePort,omitempty"` - // 运行方向指向(区段：A-B,道岔：-> 岔心) - PointTo bool `protobuf:"varint,9,opt,name=pointTo,proto3" json:"pointTo,omitempty"` - // 运行上下行（公里标 上行：小 -> 大，下行：大 -> 小） - RunDirection bool `protobuf:"varint,10,opt,name=runDirection,proto3" json:"runDirection,omitempty"` - // 列车车头方向 - HeadDirection bool `protobuf:"varint,11,opt,name=headDirection,proto3" json:"headDirection,omitempty"` + // 位移方向指向(区段：A-B,道岔：-> 岔心) + DriftTo bool `protobuf:"varint,9,opt,name=driftTo,proto3" json:"driftTo,omitempty"` + // 列车运营上下行（公里标 上行：小 -> 大，下行：大 -> 小） + TrainRunUp bool `protobuf:"varint,10,opt,name=trainRunUp,proto3" json:"trainRunUp,omitempty"` + // 列车车头方向 0=未激活，1= 大 -> 小,2= 小 -> 大 + TrainActiveDirection uint32 `protobuf:"varint,11,opt,name=trainActiveDirection,proto3" json:"trainActiveDirection,omitempty"` // 动力学信息 DynamicState *TrainDynamicState `protobuf:"bytes,12,opt,name=dynamicState,proto3" json:"dynamicState,omitempty"` // 半实物信息 @@ -1107,25 +1107,25 @@ func (x *TrainState) GetDevicePort() string { return "" } -func (x *TrainState) GetPointTo() bool { +func (x *TrainState) GetDriftTo() bool { if x != nil { - return x.PointTo + return x.DriftTo } return false } -func (x *TrainState) GetRunDirection() bool { +func (x *TrainState) GetTrainRunUp() bool { if x != nil { - return x.RunDirection + return x.TrainRunUp } return false } -func (x *TrainState) GetHeadDirection() bool { +func (x *TrainState) GetTrainActiveDirection() uint32 { if x != nil { - return x.HeadDirection + return x.TrainActiveDirection } - return false + return 0 } func (x *TrainState) GetDynamicState() *TrainDynamicState { @@ -2262,11 +2262,19 @@ type TrainMapState struct { // 设备端口 DevicePort string `protobuf:"bytes,8,opt,name=devicePort,proto3" json:"devicePort,omitempty"` // 运行方向指向(区段：A-B,道岔：-> 岔心) - PointTo bool `protobuf:"varint,9,opt,name=pointTo,proto3" json:"pointTo,omitempty"` + // + // bool pointTo = 9; + DriftTo bool `protobuf:"varint,9,opt,name=driftTo,proto3" json:"driftTo,omitempty"` // 运行上下行（公里标 上行：小 -> 大，下行：大 -> 小） - RunDirection bool `protobuf:"varint,10,opt,name=runDirection,proto3" json:"runDirection,omitempty"` + // + // bool runDirection = 10; + TrainRunUp bool `protobuf:"varint,10,opt,name=trainRunUp,proto3" json:"trainRunUp,omitempty"` // 列车车头方向 - HeadDirection bool `protobuf:"varint,11,opt,name=headDirection,proto3" json:"headDirection,omitempty"` + // + // bool headDirection = 11; + // + // 列车车头方向 0= 均为激活；1=向大，2=向小 + TrainActiveDirection uint32 `protobuf:"varint,11,opt,name=trainActiveDirection,proto3" json:"trainActiveDirection,omitempty"` // 所在公里标 TrainKilometer int64 `protobuf:"varint,12,opt,name=trainKilometer,proto3" json:"trainKilometer,omitempty"` // 控制响应延时 @@ -2477,25 +2485,25 @@ func (x *TrainMapState) GetDevicePort() string { return "" } -func (x *TrainMapState) GetPointTo() bool { +func (x *TrainMapState) GetDriftTo() bool { if x != nil { - return x.PointTo + return x.DriftTo } return false } -func (x *TrainMapState) GetRunDirection() bool { +func (x *TrainMapState) GetTrainRunUp() bool { if x != nil { - return x.RunDirection + return x.TrainRunUp } return false } -func (x *TrainMapState) GetHeadDirection() bool { +func (x *TrainMapState) GetTrainActiveDirection() uint32 { if x != nil { - return x.HeadDirection + return x.TrainActiveDirection } - return false + return 0 } func (x *TrainMapState) GetTrainKilometer() int64 { @@ -5152,7 +5160,7 @@ var file_device_state_proto_rawDesc = []byte{ 0x61, 0x70, 0x49, 0x64, 0x22, 0x2f, 0x0a, 0x0d, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x43, 0x6f, 0x6e, 0x6e, 0x54, 0x79, 0x70, 0x65, 0x12, 0x08, 0x0a, 0x04, 0x4e, 0x4f, 0x4e, 0x45, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x56, 0x4f, 0x42, 0x43, 0x10, 0x01, 0x12, 0x0a, 0x0a, 0x06, 0x50, 0x43, 0x5f, - 0x53, 0x49, 0x4d, 0x10, 0x02, 0x22, 0xa1, 0x08, 0x0a, 0x0a, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x53, + 0x53, 0x49, 0x4d, 0x10, 0x02, 0x22, 0xab, 0x08, 0x0a, 0x0a, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52, 0x02, 0x69, 0x64, 0x12, 0x0e, 0x0a, 0x02, 0x75, 0x70, 0x18, 0x02, 0x20, 0x01, 0x28, 0x08, 0x52, 0x02, 0x75, 0x70, 0x12, 0x14, 0x0a, 0x05, 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HeadOffset: v.HeadOffset, + DevicePort: v.DevicePort, + DriftTo: v.DriftTo, + TrainRunUp: v.TrainRunUp, + TrainActiveDirection: v.TrainActiveDirection, + TrainKilometer: v.TrainKilometer, + ControlDelayTime: v.ControlDelayTime, + WheelDiameter: v.WheelDiameter, // 动力学 DynamicHeartbeat: v.DynamicState.Heartbeat, HeadLinkId: v.DynamicState.HeadLinkId, diff --git a/rts-sim-testing-message b/rts-sim-testing-message index 6d3ff56..aac1484 160000 --- a/rts-sim-testing-message +++ b/rts-sim-testing-message @@ -1 +1 @@ -Subproject commit 6d3ff5644ebaad3ed1e7e6c03fcfb0f9a3427af0 +Subproject commit aac1484a6f64cc43146cabd89784b92c933a0298 diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go index ba6b6cf..375a6f8 100644 --- a/third_party/dynamics/dynamics.go +++ b/third_party/dynamics/dynamics.go @@ -133,6 +133,7 @@ func (d *dynamics) requestStartSimulation(base *message.LineBaseInfo) error { } url := d.buildUrl("/api/start/") data, _ := json.Marshal(base) + fmt.Println(string(data)) resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data)) if err != nil { return sys_error.New("动力学开始仿真请求发送错误", err) @@ -171,6 +172,7 @@ func (d *dynamics) RequestAddTrain(info *message.InitTrainInfo) error { } url := d.buildUrl("/api/aerodynamics/init/train/") data, _ := json.Marshal(info) + fmt.Println(string(data)) resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data)) if err != nil { return fmt.Errorf("动力学添加列车请求异常: %v", err) diff --git a/third_party/message/dynamics.go b/third_party/message/dynamics.go index 2bfd71f..debdce8 100644 --- a/third_party/message/dynamics.go +++ b/third_party/message/dynamics.go @@ -77,7 +77,9 @@ type DynamicsTrainInfo struct { //此次计算所使用的半实物消息的生命信号 VobcLifeSignal uint16 //位移（mm） - Displacement uint16 + Displacement uint16 + TrainActToMax bool + TrainActToMin bool } // 解析动力学的列车信息 @@ -89,8 +91,19 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error { t.LinkOffset = binary.BigEndian.Uint32(buf[8:12]) t.Slope = binary.BigEndian.Uint16(buf[12:14]) b := buf[14] - t.UpSlope = (b & (1 << 7)) != 0 - t.Up = (b & (1 << 6)) != 0 + t.UpSlope = IsTrueForByte(GetBit(b, 7)) + t.Up = IsTrueForByte(GetBit(b, 6)) + t.TrainActToMax = IsTrueForByte(GetBit(b, 4)) + t.TrainActToMin = IsTrueForByte(GetBit(b, 5)) + + //t.UpSlope = (b & (1 << 7)) != 0 + //t.Up = (b & (1 << 6)) != 0 + //t.TrainActToMax = (b & (1 << 5)) != 0 + //t.TrainActToMin = (b & (1 << 4)) != 0 + + //t.TrainActToMax = (b & (1 << 4)) != 0 + //t.TrainActToMin = (b & (1 << 5)) != 0 + t.TotalResistance = int32(binary.BigEndian.Uint32(buf[16:20])) t.AirResistance = int32(binary.BigEndian.Uint32(buf[20:24])) t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[24:28])) diff --git a/third_party/train_pc_sim/train_pc_sim.go b/third_party/train_pc_sim/train_pc_sim.go index e630e6e..0ce20e0 100644 --- a/third_party/train_pc_sim/train_pc_sim.go +++ b/third_party/train_pc_sim/train_pc_sim.go @@ -186,7 +186,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) { s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2 d.speedPlace.ParsePulseCount1(s1, s2) - data := d.speedPlace.Encode(train.RunDirection, s1, s2) + data := d.speedPlace.Encode(train.TrainRunUp, s1, s2) bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data} train.PluseCount.PulseCount1 = 0 train.PluseCount.PulseCount2 = 0 diff --git a/ts/simulation/wayside/memory/train_tcc_graphic.go b/ts/simulation/wayside/memory/train_tcc_graphic.go index f92a0d6..bb92212 100644 --- a/ts/simulation/wayside/memory/train_tcc_graphic.go +++ b/ts/simulation/wayside/memory/train_tcc_graphic.go @@ -59,6 +59,20 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3 return nil, false } +func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) { + vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true} + var trainActDir uint32 = 0 + if trainIsUp { + vobc.Tc1Active = true + trainActDir = 1 + } else { + //vobc.Tc1Active = true + vobc.Tc2Active = true + trainActDir = 2 + } + return vobc, trainActDir +} + // 初始化列车控制数据 func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlState { var tccGI *data_proto.TccGraphicStorage diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 2d5a55e..864e3d6 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -50,11 +50,6 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf return sys_error.New(fmt.Sprintf("列车【%s】已存在", status.Id)) } } - //tcc := createTrainControl(vs) - //status.Tcc = tcc - - // 显示状态 - status.Show = true //向动力学发送初始化请求 trainIndex, _ := strconv.ParseUint(status.Id, 10, 16) slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset) @@ -65,12 +60,16 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf } else { uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{}) } + // 车头所在link、link上的偏移 linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset) // link上的运行方向、设备上的运行方向 - up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.RunDirection) + up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp) + //up, pointTo, _ = QueryDirectionAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp) + //fmt.Println(up2, pointTo2) + // 车头所在公里标 - kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset) + kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.TrainRunUp, status.HeadOffset) // 车尾相对车头link的偏移量 calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up) // 车尾位置 @@ -79,7 +78,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1)) } status.Up = up - status.PointTo = pointTo + status.DriftTo = pointTo status.TrainKilometer = kilometer.Value status.DynamicState = &state_proto.TrainDynamicState{ @@ -87,7 +86,8 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf HeadLinkOffset: loffset, TailLinkId: tailLink, TailLinkOffset: tailLOffset, - RunningUp: up, + RunningUp: status.Up, + //RunningUp: status.TrainRunUp, } status.TailDeviceId = vs.GetComIdByUid(tailDeviceId) status.TailOffset = tailDeviceOffset @@ -98,24 +98,23 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf if tl <= 0 { tl = DEFULAT_TRAIN_LOAD } - status.VobcState = &state_proto.TrainVobcState{TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true} - //status.VobcState.HistoryDir = request_proto.TrainControl_FORWARD - if status.RunDirection { - status.VobcState.Tc1Active = true - } else { - status.VobcState.Tc2Active = true - } - status.Tcc = initTrainTcc(vs, status.RunDirection) + vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp) + status.VobcState = vobc + + //status.TrainActiveDirection = trainActDir + + status.Tcc = initTrainTcc(vs, status.TrainRunUp) slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset) linkIdInt, _ := strconv.Atoi(linkId) err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{ - TrainIndex: uint16(trainIndex), - LinkIndex: uint16(linkIdInt), - LinkOffset: uint32(loffset), - Speed: status.Speed / 3.6, - Up: status.Up, + TrainIndex: uint16(trainIndex), + LinkIndex: uint16(linkIdInt), + LinkOffset: uint32(loffset), + Speed: status.Speed / 3.6, + Up: status.Up, + //Up: status.TrainRunUp, TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData), }) if err != nil { @@ -296,58 +295,42 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime //slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset) inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset) + outLinkId, id, port, outLinkOffset, offset, kilometer, e1 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up) if e1 != nil { panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1)) } + //runDirection 指定的是link方向 + //pointTO 指的是是否ab，或是否到岔心 runDirection, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up) - //slog.Debug("处理动力学转换后的消息", "number", info.Number, "Link", info.Link, "车头位置", id, "偏移", Offset, "是否上行", runDirection, "是否ab", pointTo) + + slog.Debug("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo, "t1Dir:", info.TrainActToMax, "t2Dir:", info.TrainActToMin) + trainHeadActUp := true + if info.TrainActToMax || info.TrainActToMin { + if info.TrainActToMin { + trainHeadActUp = false + } + } // 车尾相对车头link的偏移量 - calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up) + //calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up) + calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), trainHeadActUp) tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up) if e2 != nil { panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2)) } //slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort) - // 更新BTM中列车位置信息 - can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{ - TrainId: trainId, - Up: info.Up, - Link: outLinkId, - LinkOffset: outLinkOffset, - Speed: info.Speed, - Acceleration: info.Acceleration, - }) - state := can_btm.Default().GetState() - sta.BtmState = &state + updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset) // 修改world中的列车位置 - fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{ - TrainId: trainId, - Up: info.Up, - Len: info.Len, - HeadLink: outLinkId, - HeadLinkOffset: uint32(outLinkOffset), - TailLink: tailLinkId, - TailLinkOffset: uint32(tailLinkOffset), - }) + handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset) + //修改列车激活方向 + updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp) + sta.HeadDeviceId = vs.GetComIdByUid(id) sta.DevicePort = port sta.HeadOffset = offset - sta.PointTo = pointTo + sta.DriftTo = pointTo sta.TrainKilometer = kilometer.Value - sta.RunDirection = runDirection - //判定车头方向 - sta.HeadDirection = runDirection - if sta.VobcState != nil { - if sta.VobcState.DirectionForward { - sta.HeadDirection = runDirection - } else if sta.VobcState.DirectionBackward { - sta.HeadDirection = !runDirection - } - } - if info.Speed < 0 { - sta.RunDirection = !sta.RunDirection - } + sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId) sta.TailOffset = tailOffset sta.TailDevicePort = tailDevicePort @@ -379,6 +362,47 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess return sta } +func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, id, port string, trainHeadActUp bool) { + sta.TrainActiveDirection = 0 + if info.TrainActToMax || info.TrainActToMin { + _, pointTo2 := QueryDirectionAndABByDevice(vs.Repo, id, port, trainHeadActUp) + pt := pointTo2 + if pt { + sta.TrainActiveDirection = 1 + } else { + sta.TrainActiveDirection = 2 + } + } +} + +// 根据列车位置修改列车应答器 +func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64) { + // 更新BTM中列车位置信息 + can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{ + TrainId: sta.Id, + Up: info.Up, + Link: outLinkId, + LinkOffset: outLinkOffset, + Speed: info.Speed, + Acceleration: info.Acceleration, + }) + state := can_btm.Default().GetState() + sta.BtmState = &state +} + +// 根据动力学修改列车位置 +func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64, tailLinkId string, tailLinkOffset int64) { + fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{ + TrainId: sta.Id, + Up: info.Up, + Len: info.Len, + HeadLink: outLinkId, + HeadLinkOffset: uint32(outLinkOffset), + TailLink: tailLinkId, + TailLinkOffset: uint32(tailLinkOffset), + }) +} + // 接受动力学时间15毫米 const RECEIVE_DYNAMIC_DATA_RATE = 15 @@ -390,7 +414,7 @@ func pluseCount(sta *state_proto.TrainState) { if sta.PluseCount == nil { return } - if sta.RunDirection { + if sta.TrainRunUp { p1 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE)) p2 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE)) if sta.TrainEndsA.SpeedSensorEnableA { diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index 1a0b700..bf6594f 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -41,7 +41,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) { if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON { tce = trainControlEB(vobc, tcc, ct.Button, ct.DeviceId, tccGraphicData) } else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH { - tce = trainControlDriverKey(sta.DynamicState.Speed, vobc, tcc, ct.DriverKey, ct.DeviceId, tccGraphicData) + tce = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData) train_pc_sim.Default().SendDriverActive(sta.ConnState, sta.VobcState) } else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH { tce = trainControlDirKey(sta.DynamicState.Speed, vobc, tcc, ct.DirKey, ct.DeviceId, tccGraphicData) @@ -142,15 +142,17 @@ func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc } // 列车驾驶端激活 -func trainControlDriverKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { +func trainControlDriverKey(train *state_proto.TrainState, request *request_proto.TrainControl_DriverKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent { obj, find := findTrainTccGraphicDataKey(tccGraphic, deviceId) if !find { slog.Error("未找到对应的驾驶端激活设备deviceId:", deviceId) return nil } - if trainSpeed != 0 { + if train.DynamicState.Speed != 0 { panic(sys_error.New("因列车未停稳，不支持此操作")) } + vobc := train.VobcState + tcc := train.Tcc if obj.Code == SKQYS1 { vobc.Tc1Active = request.Val } else if obj.Code == SKQYS2 { @@ -164,6 +166,14 @@ func trainControlDriverKey(trainSpeed int32, vobc *state_proto.TrainVobcState, t } panic(sys_error.New("驾驶端不能同时激活")) } + train.TrainActiveDirection = 0 + if vobc.Tc1Active { + //train.TrainActiveDirection = 1 + train.TrainRunUp = true + } else if vobc.Tc2Active { + //train.TrainActiveDirection = 2 + train.TrainRunUp = false + } var addNew = true for _, k := range tcc.DriverKey { if k.Id == deviceId {