列车控制连接版本记录1

api/simulation.go

@@ -246,8 +246,9 @@ func addTrain(c *gin.Context) {
 		Id:           fmt.Sprintf("%v", req.TrainId),
 		HeadDeviceId: req.Id,
 		HeadOffset:   req.HeadOffset,
-		DevicePort:   req.DevicePort,
+		//HeadOffset: 93211,
-		TrainRunUp:   req.RunDirection,
+		DevicePort: req.DevicePort,
+		TrainRunUp: req.RunDirection,
 		//RunDirection:  req.RunDirection,
 		TrainLength:   req.TrainLength,
 		WheelDiameter: req.WheelDiameter,

bin/acc_conn-example.go

@@ -1,7 +1,6 @@
 package main
 
 import (
-	"encoding/binary"
 	"encoding/hex"
 	"fmt"
 	"github.com/spf13/viper"
@@ -79,11 +78,6 @@ func initTrainPc() {
 	//sendBtm()
 }
 
-const (
-	e1 = 0x1e
-	aa = 0x17
-)
-
 func createOrRemoveTrain() {
 	msgs := make([]*message.TrainPcSimBaseMessage, 0)
 	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_CREATE_REMOVE})
@@ -146,45 +140,10 @@ func circleSendTrainMockData() {
 		time.Sleep(time.Millisecond * 1000)
 	}
 }
-func sendBtm() {
+
-	source := "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"
-	data, _ := hex.DecodeString(source)
-	trainpcClient.Send(data)
-}
-func circleSendTrainSpeedPlace() {
-	for {
-		data := make([]byte, 0)
-		data = binary.BigEndian.AppendUint16(data, uint16(2))
-		//data = binary.BigEndian.AppendUint16(data, uint16(1))
-		//data = binary.BigEndian.AppendUint16(data, uint16(0))
-		//data = binary.BigEndian.AppendUint16(data, uint16(0))
-		//data = binary.BigEndian.AppendUint32(data, uint32(940))
-		//data = binary.BigEndian.AppendUint32(data, uint32(940))
-		data = binary.BigEndian.AppendUint32(data, uint32(0))
-		data = binary.BigEndian.AppendUint32(data, uint32(0))
-		data = binary.BigEndian.AppendUint32(data, uint32(940))
-		data = binary.BigEndian.AppendUint32(data, uint32(940))
-		now := time.Now().UTC()
-		sec := now.Unix()
-		data = binary.BigEndian.AppendUint32(data, uint32(27797))
-		data = binary.BigEndian.AppendUint16(data, uint16(now.UnixMilli()-sec*1000))
-		ss := "eb011d000200000000000000000000000000000000000017af0299ffff"
-		data, _ = hex.DecodeString(ss)
-		//bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
-		//dataCode := bm.Encode()
-		//fmt.Println(fmt.Sprintf("发送列车位置信息:%v", hex.EncodeToString(data)))
-		trainpcClient.Send(data)
-		//dd := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{3, 0}}
-		//trainpcClient.Send(dd.Encode())
-		time.Sleep(time.Millisecond * 80)
-	}
-}
 func trainPcDataHandle(n int, data []byte) {
 	hexData := hex.EncodeToString(data[:n])
 	slog.Info(fmt.Sprintf("列车pc仿真接口长度:%v,实际长度:%v,接受数据:%v", len(data), n, hexData))
-	//source := "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"
-	//data2, _ := hex.DecodeString(source)
-	//trainpcClient.Send(data2)
 
 }
 func trainPcConnErr(err error) {

config/dev.yml

@@ -6,8 +6,8 @@ server:
 # 数据源
 datasource:
   # 数据库访问url
-#  dsn: root:root@tcp(127.0.0.1:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
+  dsn: root:root@tcp(127.0.0.1:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
-  dsn: root:joylink0503@tcp(192.168.33.233:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
+#  dsn: root:joylink0503@tcp(192.168.33.233:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
 
 # 日志配置
 logging:
@@ -33,7 +33,7 @@ logging:
 # 消息配置
 messaging:
   mqtt:
-#    address: tcp://127.0.0.1:1883
+    address: tcp://127.0.0.1:1883
-    address: tcp://192.168.33.233:1883
+#    address: tcp://192.168.33.233:1883
     username: rtsts_service
     password: joylink@0503

dto/data_proto/stationLayoutGraphics.pb.go

@@ -3222,8 +3222,8 @@ type Transponder struct {
 	FixedTelegram       string                          `protobuf:"bytes,11,opt,name=fixedTelegram,proto3" json:"fixedTelegram,omitempty"`                                //应答器固定报文
 	FixedUserTelegram   string                          `protobuf:"bytes,12,opt,name=fixedUserTelegram,proto3" json:"fixedUserTelegram,omitempty"`                        //应答器固定用户报文
 	OriginalCode        string                          `protobuf:"bytes,13,opt,name=originalCode,proto3" json:"originalCode,omitempty"`                                  //应答器原编号（厂商提供数据编号）
-	LeuIndex            uint32                          `protobuf:"varint,14,opt,name=leuIndex,proto3" json:"leuIndex,omitempty"`                                         //LEU索引
+	LeuIndex            uint32                          `protobuf:"varint,14,opt,name=leuIndex,proto3" json:"leuIndex,omitempty"`                                         //应答器所属LEU的索引
-	LeuInsideIndex      uint32                          `protobuf:"varint,15,opt,name=leuInsideIndex,proto3" json:"leuInsideIndex,omitempty"`                             // LEU内部索引
+	LeuInsideIndex      uint32                          `protobuf:"varint,15,opt,name=leuInsideIndex,proto3" json:"leuInsideIndex,omitempty"`                             // 应答器在LEU内部的索引
 }
 
 func (x *Transponder) Reset() {

rts-sim-module

@@ -1 +1 @@
-Subproject commit 3182e867c12d73bd4c75182459d3b9fae670653c
+Subproject commit 5f95106870ba0cc1e75766698c3dbee74c45b39f

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 0c2a7613104f859e83091d1f6379e6e2fa1990ad
+Subproject commit fd4d5ee6384611ac8f9002c558e954bb65acdaed

third_party/can_btm/balise_btm.go

@@ -55,33 +55,62 @@ type btmCanetClient struct {
 	baliseDetector *BaliseDetector
 }
 
-func (s *btmCanetClient) GetState() state_proto.BTMState {
+func (s *btmCanetClient) FindNotSendState() (state_proto.BTMState, bool) {
+	s.baliseDetector.eqLock.Lock()
+	defer s.baliseDetector.eqLock.Unlock()
 	detector := s.baliseDetector
+	for _, info := range detector.eq {
+		if info != nil && !info.IsSend {
+			info.IsSend = true
+			return s.getStateFromDeta(info, uint32(detector.baliseCounter), uint32(detector.messageCounter), detector.aboveBalise), true
 
+		}
+
+	}
+	return state_proto.BTMState{}, false
+}
+
+/*
+	func (s *btmCanetClient) GetAllData() {
+		detector := s.baliseDetector
+		for _, info := range detector.eq {
+			slog.Info("获取应答器信息 id:%v,是否发送:%v", info.BaliseId)
+		}
+	}
+*/
+func (s *btmCanetClient) getStateFromDeta(info *BtmAntennaScanningBaliseInfo, bc, mc uint32, aboveBalise bool) state_proto.BTMState {
 	var telegram string
 	var tel128 string
-	info := detector.eq[len(detector.eq)-1]
+	var dis int64
+	var baliseId string
+
 	if /*detector.aboveBalise &&*/ info != nil && len(info.telegram) != 0 {
 		telegram = fmt.Sprintf("%X", info.telegram)
 		tel128 = fmt.Sprintf("%X", info.telegram128)
+		dis = info.Distance
+		baliseId = info.BaliseId
 	} else {
 		telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
 		tel128 = strings.Repeat("00", balise_const.TelegramByteLen)
 	}
-	var dis int64
+
-	if info != nil {
-		dis = info.Distance
-	}
 	return state_proto.BTMState{
+		BaliseId:         baliseId,
 		DataSerialNumber: uint32(s.dsn),
-		BaliseCount:      uint32(detector.baliseCounter),
+		BaliseCount:      bc,
-		MessageCounter:   uint32(detector.messageCounter),
+		MessageCounter:   mc,
 		Telegram:         telegram,
 		Telegram128:      tel128,
 		Distance:         dis,
-		AboveBalise:      detector.aboveBalise,
+		AboveBalise:      aboveBalise,
 	}
 }
+func (s *btmCanetClient) GetState() state_proto.BTMState {
+	detector := s.baliseDetector
+	info := detector.eq[len(detector.eq)-1]
+	return s.getStateFromDeta(info, uint32(detector.baliseCounter), uint32(detector.messageCounter), detector.aboveBalise)
+
+}
 
 type BtmClock struct {
 	BtmTk uint32    //与ATP系统同步的时间ms
@@ -100,6 +129,8 @@ type BtmCanetClient interface {
 	HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo)
 	//获取BTM显示状态 + btm最新的状态
 	GetState() state_proto.BTMState
+	//GetAllData()
+	FindNotSendState() (state_proto.BTMState, bool)
 }
 
 var (
@@ -121,7 +152,16 @@ func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state
 	//slog.Debug(h.String())
 	wd := entity.GetWorldData(w)
 	repo := wd.Repo
-	s.baliseDetector.detect(wd, repo, h, vobcBtm)
+
+	//s.baliseDetector.detect(wd, repo, h, vobcBtm)
+	h2 := &TrainHeadPositionInfo{
+		TrainId:      h.TrainId,
+		Up:           h.Up,
+		Link:         h.OldLink,
+		LinkOffset:   h.OldLinkOffset,
+		Speed:        h.Speed,
+		Acceleration: h.Acceleration}
+	s.baliseDetector.detect2(wd, repo, h, h2, vobcBtm)
 }
 func (s *btmCanetClient) Start(bcm BtmCanetManager) {
 	s.bcm = bcm
@@ -154,6 +194,9 @@ func (s *btmCanetClient) Stop() {
 		s.udpClient.Close()
 		s.udpClient = nil
 	}
+	for d := range s.baliseDetector.eq {
+		s.baliseDetector.eq[d] = nil
+	}
 }
 func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
 	defer func() {

third_party/can_btm/balise_detection.go

@@ -2,12 +2,14 @@ package can_btm
 
 import (
 	"fmt"
+	uuid2 "github.com/google/uuid"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/btm_vobc"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/fi"
 	"joylink.club/rtsssimulation/repository"
 	"joylink.club/rtsssimulation/repository/model/proto"
+	"log/slog"
 	"math"
 	"sort"
 	"sync"
@@ -28,6 +30,7 @@ type BtmAntennaRunningInfo struct {
 }
 
 const (
+	//BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
 	BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
 )
 
@@ -46,6 +49,7 @@ type BtmAntennaScanningBaliseInfo struct {
 	telegram128 []byte                 //应答器报文
 	Distance    int64                  //BTM天线中心到应答器的距离，mm
 	BaliseType  proto.Transponder_Type //应答器类型
+	IsSend      bool
 }
 
 // BaliseDetector 车载BTM天线，应答器探测器
@@ -76,6 +80,85 @@ func (t *BaliseDetector) tryRebind(th *TrainHeadPositionInfo) {
 	}
 }
 
+func (t *BaliseDetector) detect2(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
+	t.tryRebind(th)
+
+	//BTM天线中心点运行信息
+	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
+	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
+	var startBalises []*repository.Transponder
+	var endBalises []*repository.Transponder
+	startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
+	//endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
+	/*	if th.Up {
+			startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
+			endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
+		} else {
+			startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi2.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)
+			endBalises = t.searchBalisesFromBetweenLinkPosition(repo, !th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
+		}*/
+
+	balises := make([]*repository.Transponder, 0)
+	for _, balise := range startBalises {
+		find := false
+		for _, transponder := range balises {
+			if transponder.Id() == balise.Id() {
+				find = true
+				break
+			}
+		}
+		if !find {
+			balises = append(balises, balise)
+			//slog.Info(fmt.Sprintf("start baliseId:%v,Distance:%v,up:%v", balise.Id(), balise.LinkPosition(), curAntennaRi.Up))
+		}
+	}
+	for _, balise := range endBalises {
+		find := false
+		for _, transponder := range balises {
+			if transponder.Id() == balise.Id() {
+				find = true
+				break
+			}
+		}
+		if !find {
+			//slog.Info(fmt.Sprintf("end baliseId:%v,Distance:%v,up:%v", balise.Id(), balise.LinkPosition(), curAntennaRi.Up))
+			balises = append(balises, balise)
+		}
+	}
+	if len(balises) > 0 {
+		balise := balises[0]
+		baliseInfo := &BtmAntennaScanningBaliseInfo{BaliseId: balise.Id(), BaliseType: balise.BaliseType()}
+		uuid := uuid2.NewString()
+		for _, transponder := range balises {
+			slog.Info(fmt.Sprintf("uid :%v,baliseId:%v,Distance:%v,up:%v", uuid, transponder.Id(), baliseInfo.Distance, curAntennaRi.Up))
+
+		}
+		telegram, utel := t.rcvTelegram(wd, balise.Id())
+		if t.addExpectedBalise(baliseInfo) {
+			t.baliseCounterAdd1() //应答器计数器
+			if len(telegram) > 0 {
+				baliseInfo.telegram = utel
+				baliseInfo.telegram128 = telegram
+				t.baliseMessageCounterAdd1() //报文计数器
+			}
+		}
+		t.aboveBalise = true
+	} else {
+		t.aboveBalise = false
+	}
+
+	/*	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, &TrainHeadPositionInfo{TrainId: th.TrainId,
+			Up:           !th.Up,
+			Link:         th.Link,
+			LinkOffset:   th.LinkOffset,
+			Speed:        th.Speed,
+			Acceleration: th.Acceleration})
+		curExpect2 := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi2)
+		if curExpect2 != nil && curExpect2.Distance > 20 {
+			btm_vobc.Default().UpdateTrainLeave(vobcBtm, curExpect2.BaliseId, curTime.UnixMilli())
+		}*/
+}
+
 func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
 	t.tryRebind(th)
 	//if !t.powerAmplifierSwitch { //天线功率放大器未开启，不进行探测
@@ -88,7 +171,9 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 	curExpect := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi)
 
 	if curExpect != nil && curExpect.Time.UnixMilli()-curTime.UnixMilli() < 20 { //20ms
+		//if curExpect != nil && curExpect.Distance < 80 { //20ms
 		//slog.Debug("将要激活应答器", "BaliseId", curExpect.BaliseId, "ActiveTime", dt)
+		//slog.Info(fmt.Sprintf("baliseId:%v,Distance:%v,up:%v", curExpect.BaliseId, curExpect.Distance, curAntennaRi.Up))
 		telegram, utel := t.rcvTelegram(wd, curExpect.BaliseId)
 
 		if curExpect.Distance <= 50 {
@@ -101,7 +186,6 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 				curExpect.telegram = utel
 				curExpect.telegram128 = telegram
 				t.baliseMessageCounterAdd1() //报文计数器
-
 			}
 		}
 		//BTM天线即将经过应答器
@@ -165,10 +249,17 @@ func (t *BaliseDetector) addExpectedBalise(curExpect *BtmAntennaScanningBaliseIn
 	//	}
 	//}
 	//检查是否已经记录过
-	eq := t.eq[len(t.eq)-1]
+
-	if eq != nil && eq.BaliseId == curExpect.BaliseId {
+	for _, tt := range t.eq {
-		return false
+		if tt != nil && tt.BaliseId == curExpect.BaliseId {
+			return false
+		}
 	}
+
+	/*	eq := t.eq[len(t.eq)-1]
+		if eq != nil && eq.BaliseId == curExpect.BaliseId {
+			return false
+		}*/
 	//左移
 	for i := 1; i < len(t.eq); i++ {
 		t.eq[i-1] = t.eq[i]
@@ -210,7 +301,9 @@ func (t *BaliseDetector) timeScanNearestBalise(curTime time.Time, wd *component.
 		curAc := float64(ba.Acceleration)
 		s := float64(expectedBalise.Distance) / 1000
 		st, ok := t.calculateBtmAntennaScanNextBaliseTime(curTime, curV, curAc, s)
+
 		if ok {
+
 			return &BtmAntennaScanningBaliseInfo{BaliseId: expectedBalise.BaliseId, Time: st, Distance: expectedBalise.Distance, BaliseType: expectedBalise.BaliseType}
 		}
 	}
@@ -284,6 +377,43 @@ func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData,
 	return nil
 }
 
+func (t *BaliseDetector) searchBalisesFromBetweenLinkPosition(repo *repository.Repository, up bool, linkId string, fromOffset int64, toOffset int64) []*repository.Transponder {
+	rs := repo.ResponderListByLink(linkId)
+	balises := make([]*repository.Transponder, 0)
+	if up {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[i].LinkPosition().Offset() < rs[j].LinkPosition().Offset()
+		})
+		for _, r := range rs {
+			if r.LinkPosition().Offset() >= fromOffset && r.LinkPosition().Offset() <= toOffset {
+				//slog.Info(fmt.Sprintf("up  id:%v,offset:%v,from:%v,to:%v", r.Id(), r.LinkPosition().Offset(), fromOffset, toOffset))
+				balises = append(balises, r)
+			}
+		}
+	} else {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
+		})
+		//cha := int64(math.Abs(float64(toOffset - fromOffset)))
+
+		for _, r := range rs {
+			/*if r.LinkPosition().Offset() <= fromOffset && r.LinkPosition().Offset() >= toOffset {
+
+				balises = append(balises, r)
+			}*/
+			if r.LinkPosition().Offset() <= toOffset {
+				cha := int64(math.Abs(float64(toOffset - fromOffset)))
+				cha2 := int64(math.Abs(float64(toOffset - r.LinkPosition().Offset())))
+				if cha2 <= cha {
+					balises = append(balises, r)
+				}
+
+			}
+		}
+	}
+	return balises
+}
+
 // up-在轨道上的搜索方向
 func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Repository, linkId string, up bool, fromOffset int64) []*repository.Transponder {
 	rs := repo.ResponderListByLink(linkId)
@@ -302,6 +432,7 @@ func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Reposito
 			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
 		})
 		for i, r := range rs {
+			//slog.Info(fmt.Sprintf("id:%v,offset:%v,from:%v", r.Id(), r.LinkPosition().Offset(), fromOffset))
 			if r.LinkPosition().Offset() <= fromOffset {
 				return rs[i:]
 			}

third_party/dynamics/dynamics.go

@@ -318,7 +318,7 @@ func (d *dynamics) Stop() {
 const (
 	// 道岔消息发送间隔,单位ms
 	TurnoutMessageSendInterval      = 50
-	TrainControlMessageSendInterval = 15
+	TrainControlMessageSendInterval = 10
 )
 
 var turnoutStateLifeSignal uint16 //道岔消息生命信号

third_party/message/train_pc_sim_message.go

@@ -4,6 +4,7 @@ import (
 	"bytes"
 	"encoding/binary"
 	"fmt"
+	"math"
 	"strconv"
 	"time"
 )
@@ -121,21 +122,60 @@ func AtpLowPowerByte(d byte) bool {
 
 // 列车速度位置报告
 type TrainSpeedPlaceReportMsg struct {
-	PulseCount1 uint32
+	PulseCount1  float32
-	PulseCount2 uint32
+	PulseCount2  float32
+	Pp1          float32
+	Pp2          float32
+	HistoryCount float32
+	Tmp          bool
+	PcCount      float32
 }
 
 func (tp *TrainSpeedPlaceReportMsg) ParsePulseCount1(s1, s2 uint32) {
-	tp.PulseCount1 += s1
+	//tp.PulseCount1 += tp.HistoryCount
-	tp.PulseCount2 += s2
+	//tp.PulseCount2 += tp.HistoryCount
+
+	tp.PulseCount1 += float32(s1) * 200 / math.Pi / 840
+	tp.PulseCount2 += float32(s2) * 200 / math.Pi / 840
+	//tp.HistoryCount += s1
 }
-func (tp *TrainSpeedPlaceReportMsg) Encode(runDir bool, s1, s2 uint32) []byte {
+func (tp *TrainSpeedPlaceReportMsg) ParsePulseCut(s1, s2 float32) {
+	/*	if s1 == 0 || s2 == 0 {
+		tp.PulseCount1 = tp.HistoryCount
+		tp.PulseCount2 = tp.HistoryCount
+		return
+	}*/
+	tp.HistoryCount += s1
+	d1 := tp.PulseCount1 - s1
+	if d1 <= 0 {
+		d1 = 0
+	}
+	d2 := tp.PulseCount1 - s2
+	if d2 <= 0 {
+		d2 = 0
+	}
+	tp.PulseCount1 = d1
+	tp.PulseCount2 = d2
+}
+
+func (tp *TrainSpeedPlaceReportMsg) Encode(runDir uint16, s1, s2 uint32) []byte {
 	data := make([]byte, 0)
-	data = binary.BigEndian.AppendUint16(data, uint16(IsTrue(runDir)))
+
+	data = binary.BigEndian.AppendUint16(data, runDir)
+
 	data = binary.BigEndian.AppendUint32(data, s1)
 	data = binary.BigEndian.AppendUint32(data, s2)
-	data = binary.BigEndian.AppendUint32(data, tp.PulseCount1)
+	//data = binary.BigEndian.AppendUint32(data, math.Float32bits(s1))
-	data = binary.BigEndian.AppendUint32(data, tp.PulseCount2)
+	//data = binary.BigEndian.AppendUint32(data, math.Float32bits(s2))
+	tp.PcCount = tp.PulseCount1 * 200 / math.Pi / float32(840)
+
+	//data = binary.BigEndian.AppendUint32(data, tp.PcCount)
+	//data = binary.BigEndian.AppendUint32(data, tp.PcCount)
+	data = binary.BigEndian.AppendUint32(data, math.Float32bits(tp.PcCount))
+	data = binary.BigEndian.AppendUint32(data, math.Float32bits(tp.PcCount))
+
+	//data = binary.BigEndian.AppendUint32(data, uint32(float32(tp.PulseCount1)*200/math.Pi/840))
+	//data = binary.BigEndian.AppendUint32(data, uint32(float32(tp.PulseCount2)*200/math.Pi/840))
 	now := time.Now().UTC()
 	// 将时间转换为毫秒
 	millis := now.UnixNano() / int64(time.Millisecond)

third_party/train_pc_sim/train_pc_sim.go

@@ -37,7 +37,7 @@ type TrainPcSim interface {
 	SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool)
 	//发送应答器信息数据
 	SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte)
-	SendBaliseData2(train *state_proto.TrainState, msgType byte, data []string)
+
 	//发布列车控制的相关事件
 	//PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)
 
@@ -51,6 +51,7 @@ type TrainPcSim interface {
 	ResetPluseCount(sta *state_proto.TrainState)
 	//FindAllThirdPartState() []tpapi.ThirdPartyApiService
 	DsnAddAndReturn() byte
+	ResetPlusePlace(sta *state_proto.TrainState)
 }
 
 type TrainPcSimManage interface {
@@ -137,44 +138,97 @@ func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService
 	return services
 }
 
+// 速度(单位mm/s)对应的脉冲数：速度*200/pi/840；
+// 里程（单位mm）对应的脉冲：总里程*200/pi/840
 func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
 	s1 := speedMeter * 1000
 	pluseCountData := s1 * 200 / math.Pi / float32(wheelDiameter)
 
 	return uint32(pluseCountData)
 }
+func (d *trainPcSimService) ResetPlusePlace(sta *state_proto.TrainState) {
+	defer initLock.Unlock()
+	initLock.Lock()
+	if sd, err := d.findTrainConn(sta); err == nil {
+		/*if !sd.speedPlace.Tmp {
+
+		} else {
+			sd.speedPlace.Tmp = false
+		}*/
+		if sd.speedPlace.Tmp {
+			//sd.speedPlace.PulseCount1 = sd.speedPlace.HistoryCount
+			//sd.speedPlace.PulseCount2 = sd.speedPlace.HistoryCount
+			//sd.speedPlace.Tmp = false
+		}
+		//sd.speedPlace.HistoryCount = 0
+		//slog.Info(fmt.Sprintf(" p1:%v,p2:%v,h:%v", sd.speedPlace.PulseCount1, sd.speedPlace.PulseCount2, sd.speedPlace.HistoryCount))
+		//sd.speedPlace.Tmp = true
+
+	}
+}
 func (d *trainPcSimService) ResetPluseCount(sta *state_proto.TrainState) {
+	defer initLock.Unlock()
+	initLock.Lock()
 	if sd, err := d.findTrainConn(sta); err == nil {
 		sd.speedPlace.PulseCount1 = 0
 		sd.speedPlace.PulseCount2 = 0
+
 	}
 
+}
+func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, float32) {
+	defer initLock.Unlock()
+	initLock.Lock()
+	var sum float32 = 0
+	pcLen := len(sta.PluseCount.PulseCount3)
+	if pcLen == 0 {
+		return 0, 0
+	}
+	for _, f := range sta.PluseCount.PulseCount3 {
+		sum += f
+	}
+	d.TrainPluseCountReset(sta)
+	speed := sum / float32(pcLen)
+	return pluseCountSpeed(sta.WheelDiameter, speed), speed
+
 }
 func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
 	defer initLock.Unlock()
 	initLock.Lock()
+	if sd, err := d.findTrainConn(sta); err == nil {
+		sd.speedPlace.PulseCount1 += float32(sta.DynamicState.Displacement)
+		sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1
+	}
+
 	if sta.TrainRunUp {
 		if sta.TrainEndsA.SpeedSensorEnableA {
+
 			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
+			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
 		}
 		if sta.TrainEndsA.SpeedSensorEnableB {
 			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
+			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
 		}
 	} else {
 		if sta.TrainEndsB.SpeedSensorEnableA {
 			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
+			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
 		}
 		if sta.TrainEndsB.SpeedSensorEnableB {
 			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
+			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
 		}
 	}
 }
 
 func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
-	defer initLock.Unlock()
+
-	initLock.Lock()
 	sta.PluseCount.PulseCount1 = 0
 	sta.PluseCount.PulseCount2 = 0
+
+	sta.PluseCount.PulseCount3 = make([]float32, 0)
+	sta.PluseCount.PulseCount4 = make([]float32, 0)
 }
 
 func (d *trainPcSimService) newCloseAllConn() {
@@ -261,7 +315,6 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
 	ctx, ctxFun := context.WithCancel(context.Background())
 	d.cancleContext = ctxFun
 	d.trainPcSimManage = pcSimManage
-	//d.connTrainPcSim(ctx)
 	go d.sendTrainLocationAndSpeedTask(ctx)
 }
 
@@ -358,20 +411,37 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 					connState = tpapi.ThirdPartyState_Broken
 				}
 				trainClient.updateState(connState)
-				s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
+				//s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
-				trainClient.speedPlace.ParsePulseCount1(s1, s2)
+				s1, speed := d.pluseSpeed(train)
-				data := trainClient.speedPlace.Encode(train.TrainRunUp, s1, s2)
+				s2 := s1
+				/*jjzdBtn := train.Tcc.Buttons["JJZD"]
+
+				if jjzdBtn.Passed {
+					s1 = 0
+					s2 = 0
+
+				}*/
+
+				//trainClient.speedPlace.ParsePulseCount1(s1, s2)
+
+				//slog.Info(fmt.Sprintf("发送列车up:%v ,s1:%v,s2:%v,c1:%v,c2:%v, h位置消息:%v,eb:%v,tmp:%v", train.TrainRunUp, s1, s2, trainClient.speedPlace.PulseCount2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.HistoryCount, train.VobcState.EmergencyBrakingStatus, trainClient.speedPlace.Tmp))
+				//trainClient.speedPlace.PulseCount1 = uint32(train.DynamicState.Displacement)
+				//trainClient.speedPlace.PulseCount2 = trainClient.speedPlace.PulseCount1
+				runDir := uint16(2)
+				if train.Tcc.DirKey.Val == 1 {
+					runDir = 1
+				}
+				data := trainClient.speedPlace.Encode(runDir, s1, s2)
 				bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
-				d.TrainPluseCountReset(train)
+
 				dataCode := bm.Encode()
-				//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
+				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)))
 				err := trainClient.tcpClient.Send(dataCode)
 				if err != nil {
 					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)))
 				}
 			}
 		}
-
 		time.Sleep(time.Millisecond * 80)
 	}
 }
@@ -489,25 +559,6 @@ func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, tr
 	}
 }
 
-func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgType byte, data []string) {
-	trainClient, trainDataErr := d.findTrainConn(train)
-	if trainDataErr != nil {
-		slog.Error(fmt.Sprintf("发送列车PC仿真应答器信息失败2，未找到列车连接，trainId：%v", train.Id))
-		return
-	}
-	for _, hexData := range data {
-		dd, _ := hex.DecodeString(hexData)
-		msg := &message.TrainPcSimBaseMessage{Type: msgType, Data: dd}
-
-		da := msg.Encode()
-		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
-		err := trainClient.tcpClient.Send(da)
-		if err != nil {
-			slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
-		}
-	}
-}
-
 func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte) {
 	trainClient, trainDataErr := d.findTrainConn(train)
 	if trainDataErr != nil {
@@ -519,7 +570,7 @@ func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgTyp
 	msg.Data = data
 
 	da := msg.Encode()
-	slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%x，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
+	//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%x，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
 	err := trainClient.tcpClient.Send(da)
 	if err != nil {
 		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -24,6 +24,9 @@ import (
 const (
 	DEFULAT_TRAIN_LOAD  = 160
 	DEFAULT_BRAKE_FORCE = 19040
+	DEFAULT_EB          = 13040
+	//DEFAULT_EB = 25000
+	//DEFAULT_EB = 19200
 )
 
 func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig {
@@ -51,7 +54,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	}
 	//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)
+	//slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
 	// 映射link、偏移量、运行方向
 	var uid string
 	if status.DevicePort == "" {
@@ -326,12 +329,23 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 		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)
-	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
 	// 修改world中的列车位置
 	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
 	//修改列车激活方向
 	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
-
+	if sta.OldLinkOffset == 0 {
+		sta.OldLinkOffset = outLinkOffset
+		sta.OldLink = outLinkId
+	}
+	//slog.Info(fmt.Sprintf("old:%v ,new :%v,--:%v", outLinkOffset, sta.OldLinkOffset, pointTo))
+	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
+	//slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v", info.Speed, info.Acceleration))
+	if sta.OldLink != outLinkId {
+		sta.OldLink = outLinkId
+	}
+	if sta.OldLinkOffset != outLinkOffset {
+		sta.OldLinkOffset = outLinkOffset
+	}
 	sta.HeadDeviceId = vs.GetComIdByUid(id)
 	sta.DevicePort = port
 	sta.HeadOffset = offset
@@ -365,6 +379,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	sta.DynamicState.Acceleration = info.Acceleration
 
 	sta.DynamicState.Displacement = int32(info.Displacement)
+	//slog.Info(fmt.Sprintf("动力学返回速度:%v,位移:%v，time:%v", info.Speed, info.Displacement, time.Now().UnixMilli()))
 	pluseCount(sta, info.HeadSpeed1, info.HeadSpeed2, info.TailSpeed1, info.TailSpeed2)
 	return sta
 }
@@ -385,20 +400,41 @@ func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.Dynamic
 	}
 }
 
+var tmpArr []uint32
+
 // 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
+	//isup := sta.TrainActiveDirection == 1
+
 	can_btm.Default().HandleTrainHeadPositionInfo(vs.World, sta.VobcBtm, &fi.TrainHeadPositionInfo{
-		TrainId:      sta.Id,
+		TrainId:       sta.Id,
-		Up:           info.Up,
+		Up:            info.Up,
-		Link:         outLinkId,
+		Link:          outLinkId,
-		LinkOffset:   outLinkOffset,
+		LinkOffset:    outLinkOffset,
-		Speed:        info.Speed,
+		Speed:         info.Speed,
-		Acceleration: info.Acceleration,
+		Acceleration:  info.Acceleration,
+		OldLinkOffset: sta.OldLinkOffset,
+		OldLink:       sta.OldLink,
 	})
 	state := can_btm.Default().GetState()
-	//fmt.Println(state.Telegram)
+	/*dd, _ := hex.DecodeString(state.Telegram)
-	sta.BtmState = &state
+	crc := message.Can_Crc32(dd)
+	find := false
+	for _, u := range tmpArr {
+		if u == crc {
+			find = true
+			break
+		}
+	}
+	if !find {
+		tmpArr = append(tmpArr, crc)
+		slog.Info(fmt.Sprintf("应答器id:%v ,报文:%v", state.BaliseId, state.Telegram))
+	}*/
+	if sta.BtmState == nil || sta.BtmState.BaliseId != state.BaliseId {
+		sta.BtmState = &state
+	}
+
 }
 
 // 根据动力学修改列车位置

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -4,6 +4,7 @@ import (
 	"encoding/binary"
 	"encoding/hex"
 	"fmt"
+	uuid2 "github.com/google/uuid"
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/data_proto"
@@ -50,13 +51,13 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 		//此处先注释，根据现场调试情况 2024-4-16
 		train_pc_sim.Default().SendTrainDirection(sta, sta.VobcState.DirectionForward, sta.VobcState.DirectionBackward)
 	} else if ct.ControlType == request_proto.TrainControl_HANDLER {
-		if vobc.Tc1Active && vobc.Tc2Active {
+		if !vobc.Tc1Active && !vobc.Tc2Active {
 			panic(sys_error.New("TC1和TC2都未激活不能搬动牵引制动手柄 "))
 		}
+		baseMsg = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
 		oldTraction := sta.VobcState.TractionForce
 		oldBrakeForce := sta.VobcState.BrakeForce
 		isTraction := ct.Handler.Val > 0 //是否制动
-		baseMsg = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
 		train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
 	}
 	if vobc.DirectionForward && vobc.TractionForce == 0 {
@@ -138,7 +139,8 @@ func controlEBBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_p
 	tccBtn.Passed = active
 	vobc.EmergencyBrakingStatus = true
 	vobc.TractionForce = 0
-	vobc.BrakeForce = DEFAULT_BRAKE_FORCE
+	vobc.BrakeForce = DEFAULT_EB
+	vobc.BrakingStatus = true
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}}, {Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, 1}}}
 
 }
@@ -409,20 +411,21 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train
 	vobc.BrakingStatus = false
 	vobc.BrakeForce = 0
 	vobc.MaintainBrakeStatus = false
-
+	notBreak := byte(0)
 	var zeroState byte = 0
 	var brakeState byte = 0
 
 	if request.Val > 0 {
 		vobc.TractionStatus = true
 		vobc.TractionForce = int64(request.Val * 180)
+		notBreak = 1
 
 	} else if request.Val < 0 {
 		vobc.BrakingStatus = true
 		vobc.BrakeForce = int64(-request.Val * 180)
 		vobc.EmergencyBrakingStatus = false
 		jjzdBtn.Passed = false
-		brakeState = 1
+		brakeState = 0
 	} else {
 		zeroState = 1
 	}
@@ -433,7 +436,7 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train
 
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.HANDLE_TO_ZERO, zeroState}},
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, brakeState}},
-		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 1}}}
+		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 1}}, {Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}}}
 }
 
 func (s *VerifySimulation) GetConnTrain2() []*state_proto.TrainState {
@@ -488,17 +491,27 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 	initResult := trainInit
 	if vobc.Tc1Active || vobc.Tc2Active {
 		state := message.GetBit(data1, 3)
+		slog.Info(fmt.Sprintf("接收列车输出数量:%b", data1))
 		if trainInit {
 			if data1 == 0 {
 				tcc.Line12ConnErr = true
-				slog.Warn("接受atp模拟量数据，data[4]=0，模拟断开")
 			}
 			if state == 0 {
-				train_pc_sim.Default().ResetPluseCount(train)
+				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 1}})
+				jjzdBtn := tcc.Buttons[JJZD]
+				ebTce := controlEBBtn(vobc, true, jjzdBtn)
+				tce = append(tce, ebTce...)
+			} else if message.GetBit(data1, 0) == 0 {
+				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
+				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, 0}})
+				//tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{0x38, 0}})
 				jjzdBtn := tcc.Buttons[JJZD]
 				ebTce := controlEBBtn(vobc, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 			}
+			/*else {
+				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, state}})
+			}*/
 		} else {
 			initResult = true
 			if tcc.LineInitTimeStamp12 <= 0 {
@@ -535,6 +548,9 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.Tra
 	trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
 	trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
 	trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
+	/*	if !vobc.EmergencyBrakingStatus {
+		train_pc_sim.Default().ResetPlusePlace(train)
+	}*/
 	return initResult
 
 }
@@ -674,10 +690,14 @@ func (s *VerifySimulation) TrainPcSimMockInfo(train *state_proto.TrainState, dat
 	train.VobcState.MockInfo = uint32(mockData)
 }
 
+var sendData []uint32
+
 // 4.4.4.	车载输出BTM查询同步帧报文内容（0x04）
 func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []byte) {
 	//time.Sleep(time.Millisecond * 50)
-	slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
+	uuid := uuid2.NewString()
+	ts := time.Now().UnixMilli()
+	//slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧uuid:%v,时间：%v, 报文内容:%v", uuid, ts, hex.EncodeToString(data)))
 	if len(data) < 12 {
 		slog.Error("列车btm查询报文长度错误:", len(data))
 		return
@@ -687,6 +707,7 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 		slog.Warn(fmt.Sprintf("列车暂时未获取到应答器信息,无法进行btm查询列车id:%v", train.Id))
 		return
 	}
+	notSendBtm, ok := can_btm.Default().FindNotSendState()
 	trainAtm := message.NewBtmHeadFrame(data)
 	atpReq := &message.AtpRequestFrame{}
 
@@ -697,14 +718,20 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 
 	cl := clock(atpReq)
 	dsn := train_pc_sim.Default().DsnAddAndReturn()
-	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
+	//btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
+	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, &notSendBtm, atpReq, cl, dsn)
 	//slog.Info(fmt.Sprintf("id1:%x,id2:%x,id3:%x,id4:%x,resendRequest:%v,reqTime:%v,dsn:%v", trainAtm.CanId.ID1, trainAtm.CanId.ID2, trainAtm.CanId.ID3, trainAtm.CanId.ID4, atpReq.ResendRequest, atpReq.Time, dsn))
 	if atpReq.ResendRequest == 2 {
+		slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr:%v", atpReq.String()))
 		//重新发送
-		if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
+		//if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
-			dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
+		if len(notSendBtm.BaliseTelegramForPcSimResend) > 0 {
+			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr111111111:%v", atpReq.String()))
+			//dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
+			dd, _ := hex.DecodeString(notSendBtm.BaliseTelegramForPcSimResend)
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
 		} else {
+			slog.Info(fmt.Sprintf("rrrrrrrrrrrrrrrrr2222222222222:%v", atpReq.String()))
 			timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
 			timeSyncF.T2 = cl.BtmTk
 			timeSyncF.T3 = cl.TkNow()
@@ -714,18 +741,31 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 		}
 	} else {
+
 		timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
 		timeSyncF.T2 = cl.BtmTk
 		timeSyncF.T3 = cl.TkNow()
-		telCount := strings.Count(train.BtmState.Telegram, "00")
+		//telCount := strings.Count(train.BtmState.Telegram, "00")
-		if telCount >= balise_const.UserTelegramByteLen {
+		telCount := strings.Count(notSendBtm.Telegram, "00")
+		//if telCount >= balise_const.UserTelegramByteLen || train.BtmState.IsSend {
+		if !ok && (notSendBtm.Telegram == "" || telCount >= balise_const.UserTelegramByteLen) {
+			//slog.Info(fmt.Sprintf("准备发送无数据应答器id:%v", train.BtmState.BaliseId))
 			queryData := make([]byte, 0)
 			queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
 			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
-		} else {
+			//train.BtmState.IsSend = true
+		} else /*if  !train.BtmState.IsSend*/
+		if !notSendBtm.IsSend {
+			slog.Info(fmt.Sprintf("准备发送应答id:%v,uuid :%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v", notSendBtm.BaliseId, uuid, ts, time.Now().UnixMilli(), notSendBtm.Telegram, notSendBtm.BaliseCount, notSendBtm.MessageCounter))
+			//slog.Info(fmt.Sprintf("准备发送应答id:%v,uuid :%v,消耗时间:%v , 数据:%v", train.BtmState.BaliseId, uuid, ts-time.Now().UnixMilli(), train.BtmState.Telegram))
+			/*	defer func() {
+				train.BtmState.IsSend = true
+			}()*/
 			//有数据
-			aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
+			//aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
+			aliseData, _ := hex.DecodeString(notSendBtm.Telegram)
+
 			stateRepFrame := btmRepFrame.EncodeBtmAtp()
 			statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, cl.BtmTk, cl.BtmTk, cl.BtmTk)
 			if statusDataCfOk {

ts/test_simulation_manage.go

@@ -52,6 +52,7 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun
 	}
 	if !e {
 		verifySimulation, err := memory.CreateSimulation(projectId, mapIds, runConfig)
+
 		if err != nil {
 			return "", err
 		}