Merge branch 'develop' into local-test

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,
+		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,

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
 }
@@ -443,9 +451,9 @@ func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 		HeadDeviceId:         v.HeadDeviceId,
 		HeadOffset:           v.HeadOffset,
 		DevicePort:           v.DevicePort,
-		PointTo:          v.PointTo,
+		DriftTo:              v.DriftTo,
-		RunDirection:     v.RunDirection,
+		TrainRunUp:           v.TrainRunUp,
-		HeadDirection:    v.HeadDirection,
+		TrainActiveDirection: v.TrainActiveDirection,
 		TrainKilometer:       v.TrainKilometer,
 		ControlDelayTime:     v.ControlDelayTime,
 		WheelDiameter:        v.WheelDiameter,

rts-sim-module

@@ -1 +1 @@
-Subproject commit 8ccd46aa6c97a933fd12c7b308da929115c9aa8e
+Subproject commit 468cc7896408951a5627777aa862a58716642317

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit e4c55ea4b6f9f5f875d59fc5bba51fc21bc8ef97
+Subproject commit aac1484a6f64cc43146cabd89784b92c933a0298

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)

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
+}

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
+}

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
+}

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"

third_party/message/dynamics.go

@@ -78,6 +78,8 @@ type DynamicsTrainInfo struct {
 	VobcLifeSignal uint16
 	//位移（mm）
 	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.UpSlope = IsTrueForByte(GetBit(b, 7))
-	t.Up = (b & (1 << 6)) != 0
+	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]))

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

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

ts/simulation/wayside/memory/wayside_memory_dir_transfer.go

@@ -0,0 +1,125 @@
+package memory
+
+import (
+	"errors"
+	"fmt"
+	"joylink.club/rtsssimulation/repository"
+	"joylink.club/rtsssimulation/util/number"
+)
+
+// 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, errors.New(fmt.Sprintf("%d超出%s范围", offset, linkPosition.String()))
+	}
+	//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() {
+				sectionOffset := number.Abs(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)
+				sr = &DeviceRadial{
+					DeviceId:     section.Id(),
+					Offset:       sectionOffset,
+					PointTo:      toB,
+					RunDirection: runDirection,
+				}
+				break
+			}
+		}
+	}
+	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,
+		}
+	}
+	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
+}
+
+// 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
+}

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) (

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
@@ -98,15 +98,13 @@ 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 {
+	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
-		status.VobcState.Tc1Active = true
+	status.VobcState = vobc
-	} else {
+
-		status.VobcState.Tc2Active = true
+	//status.TrainActiveDirection = trainActDir
-	}
+
-	status.Tcc = initTrainTcc(vs, status.RunDirection)
+	status.Tcc = initTrainTcc(vs, status.TrainRunUp)
 
 	slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
 	linkIdInt, _ := strconv.Atoi(linkId)
@@ -116,6 +114,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 		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
+	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
-	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
 	// 修改world中的列车位置
-	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
+	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
-		TrainId:        trainId,
+	//修改列车激活方向
-		Up:             info.Up,
+	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
-		Len:            info.Len,
+
-		HeadLink:       outLinkId,
-		HeadLinkOffset: uint32(outLinkOffset),
-		TailLink:       tailLinkId,
-		TailLinkOffset: uint32(tailLinkOffset),
-	})
 	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 {

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 {

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()