Merge branch 'master' of https://git.code.tencent.com/beijing-rtss-test/bj-rtsts-server-go

# Conflicts:
#	ats/verify/simulation/simulation_manage.go
#	ats/verify/simulation/wayside/memory/wayside_memory_map.go

ats/verify/simulation/simulation_manage.go

@@ -4,8 +4,6 @@ import (
 	"net"
 	"strings"
 
-	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/model/device"
-
 	"fmt"
 	"net/http"
 	"strconv"
@@ -199,8 +197,9 @@ func dynamicsRun(verifySimulation *memory.VerifySimulation) {
 
 func buildLineBaseInfo(vs *memory.VerifyStructure) *dynamics.LineBaseInfo {
 	var links []*dynamics.Link
-	for _, modeller := range vs.LinkModelMap {
+	var slopes []*dynamics.Slope
-		link := modeller.(*device.LinkModel)
+	var curves []*dynamics.Curve
+	for _, link := range vs.LinkModelMap {
 		id, _ := strconv.Atoi(link.Index)
 		var aTurnoutId int
 		if link.ARelatedSwitchRef.SwitchDevice != nil {
@@ -219,9 +218,31 @@ func buildLineBaseInfo(vs *memory.VerifyStructure) *dynamics.LineBaseInfo {
 			BRelTurnoutPoint: link.BRelatedSwitchRef.Port.Name(),
 		})
 	}
+	for _, slope := range vs.SlopeModelMap {
+		id, _ := strconv.Atoi(slope.Index)
+		slopes = append(slopes, &dynamics.Slope{
+			ID:              int32(id),
+			StartLinkId:     slope.StartLinkIndex,
+			StartLinkOffset: slope.StartLinkOffset,
+			EndLinkId:       slope.EndLinkIndex,
+			EndLinkOffset:   slope.EndLinkOffset,
+			DegreeTrig:      slope.DegreeTrig,
+		})
+	}
+	for _, curve := range vs.CurveModelMap {
+		id, _ := strconv.Atoi(curve.Index)
+		curves = append(curves, &dynamics.Curve{
+			ID:              int32(id),
+			StartLinkId:     curve.StartLinkIndex,
+			StartLinkOffset: curve.StartLinkOffset,
+			EndLinkId:       curve.EndLinkIndex,
+			EndLinkOffset:   curve.EndLinkOffset,
+			Curvature:       curve.Curvature,
+		})
+	}
 	return &dynamics.LineBaseInfo{
 		LinkList:  links,
-		SlopeList: nil,
+		SlopeList: slopes,
-		CurveList: nil,
+		CurveList: curves,
 	}
 }

ats/verify/simulation/wayside/memory/wayside_memory_map.go

@@ -23,7 +23,7 @@ import (
 // 仿真存储集合 ID
 var graphicDataMap sync.Map
 
-// 轨旁仿真模型结构,注意：这里的key 为 Index！！！
+// VerifyStructure 轨旁仿真模型结构
 type VerifyStructure struct {
 	//计轴检测点设备模型集合,key为索引编号
 	AxlePointDeviceModelMap map[string]face.AxlePointDeviceModeller
@@ -40,19 +40,28 @@ type VerifyStructure struct {
 	//信号机模型集合,key为索引编号
 	SignalDeviceModelMap map[string]face.SignalDeviceModeller
 	//Link模型集合，key为索引编号
-	LinkModelMap map[int32]face.DeviceModeller
+	LinkModelMap map[int32]*device.LinkModel
+	//坡度模型集合，key为id
+	SlopeModelMap map[string]*section.SlopeModel
+	//曲线模型集合，key为id
+	CurveModelMap map[string]*section.CurveModel
+	//点模型集合，key为id
+	PointMap map[string]*device.PointModel
 }
 
-// 设备地图ID对应map结构体(建立关系时便于查找使用)，注意：这里的key 为 Common.Id ！！！
+// GraphicInfoMapStructure 设备地图ID对应map结构体(建立关系时便于查找使用)
 type GraphicInfoMapStructure struct {
 	AxlePointMap       map[string]*graphicData.AxleCounting
 	TurnoutMap         map[string]*graphicData.Turnout
-	LinkMap            map[string]*graphicData.SectionLink
+	SectionLinkMap     map[string]*graphicData.SectionLink
 	AxleSectionMap     map[string]*graphicData.AxleCountingSection
 	PhysicalSectionMap map[string]*graphicData.Section
 	LogicSectionMap    map[string]*graphicData.LogicSection
 	SignalMap          map[string]*graphicData.Signal
-	CalcLinkMap        map[string]*graphicData.CalculateLink
+	//key-index
+	CalcLinkMap map[int32]*graphicData.CalculateLink
+	//设备在link上的位置。key-设备id
+	DevicePositionMap map[string]*ref.DevicePosition
 }
 
 // 计算link、物理区段、道岔相互转换时用到的结构体
@@ -74,18 +83,21 @@ func PublishMapVerifyStructure(graphic *model.PublishedGi) *VerifyStructure {
 		PhysicalSectionModelMap: make(map[string]face.PhysicalSectionModeller),
 		LogicalSectionModelMap:  make(map[string]face.LogicalSectionModeller),
 		SignalDeviceModelMap:    make(map[string]face.SignalDeviceModeller),
-		LinkModelMap:            make(map[int32]face.DeviceModeller),
+		LinkModelMap:            make(map[int32]*device.LinkModel),
+		SlopeModelMap:           make(map[string]*section.SlopeModel),
+		CurveModelMap:           make(map[string]*section.CurveModel),
+		PointMap:                make(map[string]*device.PointModel),
 	}
 	// 地图数据转为map存储，建立关系时方便使用
 	graphicInfoMap := &GraphicInfoMapStructure{
 		AxlePointMap:       make(map[string]*graphicData.AxleCounting),
 		TurnoutMap:         make(map[string]*graphicData.Turnout),
-		LinkMap:            make(map[string]*graphicData.SectionLink),
+		SectionLinkMap:     make(map[string]*graphicData.SectionLink),
 		AxleSectionMap:     make(map[string]*graphicData.AxleCountingSection),
 		PhysicalSectionMap: make(map[string]*graphicData.Section),
 		LogicSectionMap:    make(map[string]*graphicData.LogicSection),
 		SignalMap:          make(map[string]*graphicData.Signal),
-		CalcLinkMap:        make(map[string]*graphicData.CalculateLink),
+		CalcLinkMap:        make(map[int32]*graphicData.CalculateLink),
 	}
 	graphicStorage := &graphicData.RtssGraphicStorage{}
 	proto.Unmarshal(graphic.Proto, graphicStorage)
@@ -137,8 +149,7 @@ func sectionMapToLink(vm *VerifyStructure, id string, offset int64, runDirection
 	var linkId int32
 	// 获取计轴信息
 	axlePointPositionMap := make(map[string]*ref.DevicePosition)
-	for k, v := range vm.LinkModelMap {
+	for k, lm := range vm.LinkModelMap {
-		lm := v.(*device.LinkModel)
 		for _, p := range lm.DevicePositions {
 			_, ok := p.Device.(*device.AxlePointDeviceModel)
 			if ok && sectionModel.AxlePoints[p.Device.GetIndex()] != nil {
@@ -192,8 +203,7 @@ func turnoutMapToLink(vm *VerifyStructure, id string, port string, offset int64,
 	var linkId int32
 	var isStart bool
 Outter:
-	for i, v := range vm.LinkModelMap {
+	for i, lm := range vm.LinkModelMap {
-		lm := v.(*device.LinkModel)
 		linkId = i
 		if lm.ARelatedSwitchRef.SwitchDevice.GetIndex() == turnoutModel.Index && lm.ARelatedSwitchRef.Port.Name() == port {
 			isStart = true
@@ -238,11 +248,10 @@ Outter:
 // 根据linkID和link相对偏移量返回区段，道岔偏移量
 // 设备ID、端口、偏移量、上下行
 func QueryDeviceByCalcLink(vm *VerifyStructure, id int32, offset int64, up, defaultRunDirection bool) (string, string, int64, bool) {
-	lm := vm.LinkModelMap[id]
+	linkModel := vm.LinkModelMap[id]
-	if lm == nil {
+	if linkModel == nil {
 		panic(dto.ErrorDto{Code: dto.DataNotExist, Message: fmt.Sprintf("未找到link【%d】", id)})
 	}
-	linkModel := lm.(*device.LinkModel)
 	if offset > int64(linkModel.Length) {
 		panic(dto.ErrorDto{Code: dto.DataNotExist, Message: fmt.Sprintf("偏移超出link范围【%d】", id)})
 	}
@@ -345,26 +354,111 @@ func initGraphicStructure(graphicData *graphicData.RtssGraphicStorage, verifyStr
 	initGraphicLogicSections(graphicData.LogicSections, verifyStructure, graphicDataMap)
 	// 初始化信号机信息
 	initGraphicSignal(graphicData.Signals, verifyStructure, graphicDataMap)
-	// 初始化计算link数据
-	initCalcLink(graphicData.CalculateLink, verifyStructure, graphicDataMap)
 	// 初始化Link信息
-	initLink(graphicData.CalculateLink, verifyStructure, graphicDataMap, graphicData)
+	initLinks(graphicData.CalculateLink, verifyStructure, graphicDataMap)
+	// 初始化坡度和曲线端点
+	initPoints(graphicData, verifyStructure, graphicDataMap)
+	// 初始化坡度
+	initSlopes(graphicData.Slopes, verifyStructure, graphicDataMap)
+	// 初始化曲线
+	initCurves(graphicData.Curvatures, verifyStructure, graphicDataMap)
 }
 
-func initLink(links []*graphicData.CalculateLink, vs *VerifyStructure, dataMap *GraphicInfoMapStructure, data *graphicData.RtssGraphicStorage) {
+func initCurves(curves []*graphicData.Curvature, vs *VerifyStructure, dataMap *GraphicInfoMapStructure) {
-	axleTurnoutIdMap := make(map[string]face.AxlePointDeviceModeller)
+	for _, curve := range curves {
+		startDp := dataMap.DevicePositionMap[curve.RefDeviceId[0]]
+		endDp := dataMap.DevicePositionMap[curve.RefDeviceId[1]]
+		startIndex, _ := strconv.Atoi(startDp.Device.GetIndex())
+		endIndex, _ := strconv.Atoi(endDp.Device.GetIndex())
+		vs.CurveModelMap[curve.Common.Id] = &section.CurveModel{
+			DeviceModel: face.DeviceModel{
+				GraphicId: curve.GetCommon().GetId(),
+				Index:     curve.GetCommon().GetId(),
+			},
+			StartLinkIndex:  int32(startIndex),
+			StartLinkOffset: startDp.Offset,
+			EndLinkIndex:    int32(endIndex),
+			EndLinkOffset:   endDp.Offset,
+			Curvature:       curve.CurvatureNumber,
+		}
+	}
+}
+
+func initSlopes(slopes []*graphicData.Slope, vs *VerifyStructure, dataMap *GraphicInfoMapStructure) {
+	for _, slope := range slopes {
+		startDp := dataMap.DevicePositionMap[slope.RefDeviceId[0]]
+		endDp := dataMap.DevicePositionMap[slope.RefDeviceId[1]]
+		startIndex, _ := strconv.Atoi(startDp.Device.GetIndex())
+		endIndex, _ := strconv.Atoi(endDp.Device.GetIndex())
+		vs.SlopeModelMap[slope.Common.Id] = &section.SlopeModel{
+			DeviceModel: face.DeviceModel{
+				GraphicId: slope.GetCommon().GetId(),
+				Index:     slope.GetCommon().GetId(),
+			},
+			StartLinkIndex:  int32(startIndex),
+			StartLinkOffset: startDp.Offset,
+			EndLinkIndex:    int32(endIndex),
+			EndLinkOffset:   endDp.Offset,
+			DegreeTrig:      slope.SlopeNumber,
+		}
+	}
+}
+
+func initPoints(storage *graphicData.RtssGraphicStorage, vs *VerifyStructure, dataMap *GraphicInfoMapStructure) {
+	for _, slopeKm := range storage.SlopeKiloMarker {
+		vs.PointMap[slopeKm.Common.Id] = &device.PointModel{
+			DeviceModel: face.DeviceModel{
+				GraphicId: slopeKm.Common.Id,
+				Index:     slopeKm.Common.Id,
+			},
+			Kms: slopeKm.KilometerSystem,
+		}
+	}
+	for _, curvatureKm := range storage.CurvatureKiloMarker {
+		vs.PointMap[curvatureKm.Common.Id] = &device.PointModel{
+			DeviceModel: face.DeviceModel{
+				GraphicId: curvatureKm.Common.Id,
+				Index:     curvatureKm.Common.Id,
+			},
+			Kms: curvatureKm.KilometerSystem,
+		}
+	}
+}
+
+func initLinks(links []*graphicData.CalculateLink, vs *VerifyStructure, dataMap *GraphicInfoMapStructure) {
+	deviceIdMap := make(map[string]face.DeviceModeller)
 	for _, modeller := range vs.AxlePointDeviceModelMap {
-		axleTurnoutIdMap[modeller.GetGraphicId()] = modeller
+		deviceIdMap[modeller.GetGraphicId()] = modeller
 	}
 	for _, modeller := range vs.SwitchDeviceModelMap {
-		axleTurnoutIdMap[modeller.GetGraphicId()] = modeller
+		deviceIdMap[modeller.GetGraphicId()] = modeller
 	}
+	for _, pointModel := range vs.PointMap {
+		deviceIdMap[pointModel.GetGraphicId()] = pointModel
+	}
+
 	for _, link := range links {
-		sectionLinkMap := make(map[string]*graphicData.RelatedRef)
+		linkModel := &device.LinkModel{
+			DeviceModel: face.DeviceModel{
+				GraphicId: link.Common.Id,
+				Index:     strconv.Itoa(int(link.Index)),
+			},
+			Length: link.Length,
+			ARelatedSwitchRef: ref.SwitchRef{
+				SwitchDevice: deviceIdMap[link.ARelatedRef.Id],
+				Port:         face.GetPortEnum(int8(link.ARelatedRef.DevicePort)),
+			},
+			BRelatedSwitchRef: ref.SwitchRef{
+				SwitchDevice: deviceIdMap[link.BRelatedRef.Id],
+				Port:         face.GetPortEnum(int8(link.BRelatedRef.DevicePort)),
+			},
+		}
+		vs.LinkModelMap[link.Index] = linkModel
+		dataMap.CalcLinkMap[link.Index] = link
 		//构建DevicePosition（DP）切片(暂时仅计轴和道岔）
 		var dps []*ref.DevicePosition
 		for _, dp := range link.DevicePositions {
-			modeller := axleTurnoutIdMap[dp.DeviceId]
+			modeller := deviceIdMap[dp.DeviceId]
 			if modeller == nil {
 				continue
 			}
@@ -372,51 +466,17 @@ func initLink(links []*graphicData.CalculateLink, vs *VerifyStructure, dataMap *
 				Device: modeller,
 				Offset: dp.Offset,
 			})
+			dataMap.DevicePositionMap[dp.DeviceId] = &ref.DevicePosition{
+				Device: linkModel,
+				Offset: dp.Offset,
+			}
 		}
 		//对DP切片按Offset排序
 		sort.Slice(dps, func(i, j int) bool {
 			return dps[i].Offset < dps[j].Offset
 		})
-		//构建SectionLinkMap
+		//赋值
-		for i := 1; i < len(dps); i++ {
+		linkModel.DevicePositions = dps
-			a := dps[i-1]
-			b := dps[i]
-			aId := a.Device.GetGraphicId()
-			bId := b.Device.GetGraphicId()
-			for _, sl := range data.SectionLinks {
-				if aId == sl.ASimRef.Id && bId == sl.BSimRef.Id {
-					sectionLinkMap[aId] = &graphicData.RelatedRef{
-						DeviceType: 0,                           //这个字段用不到，所以随便赋值
-						Id:         strconv.Itoa(int(sl.Index)), //因为发给前端的是索引，所以这里用索引
-						DevicePort: 0,
-					}
-				} else if aId == sl.BSimRef.Id && bId == sl.ASimRef.Id {
-					sectionLinkMap[aId] = &graphicData.RelatedRef{
-						DeviceType: 0,                           //这个字段用不到，所以随便赋值
-						Id:         strconv.Itoa(int(sl.Index)), //因为发给前端的是索引，所以这里用索引
-						DevicePort: 1,
-					}
-				}
-			}
-		}
-
-		vs.LinkModelMap[link.Index] = &device.LinkModel{
-			DeviceModel: face.DeviceModel{
-				GraphicId: link.Common.Id,
-				Index:     strconv.Itoa(int(link.Index)),
-			},
-			Length: link.Length,
-			ARelatedSwitchRef: ref.SwitchRef{
-				SwitchDevice: axleTurnoutIdMap[link.ARelatedRef.Id],
-				Port:         face.GetPortEnum(int8(link.ARelatedRef.DevicePort)),
-			},
-			BRelatedSwitchRef: ref.SwitchRef{
-				SwitchDevice: axleTurnoutIdMap[link.BRelatedRef.Id],
-				Port:         face.GetPortEnum(int8(link.BRelatedRef.DevicePort)),
-			},
-			DevicePositions: dps,
-			SectionLinkMap:  sectionLinkMap,
-		}
 	}
 }
 
@@ -456,7 +516,7 @@ func initGraphicTurnout(turnouts []*graphicData.Turnout, data *VerifyStructure,
 // 初始化link信息
 func initGraphicLink(links []*graphicData.SectionLink, data *VerifyStructure, graphicDataMap *GraphicInfoMapStructure) {
 	for _, s := range links {
-		graphicDataMap.LinkMap[s.Common.Id] = s
+		graphicDataMap.SectionLinkMap[s.Common.Id] = s
 		id := strconv.Itoa(int(s.Index))
 		data.LinkSectionModelMap[id] = &section.LinkSectionModel{
 			DeviceModel: face.DeviceModel{
@@ -538,10 +598,7 @@ func initGraphicSignal(signals []*graphicData.Signal, data *VerifyStructure, gra
 
 // 初始化计算link数据
 func initCalcLink(calculateLinks []*graphicData.CalculateLink, verifyStructure *VerifyStructure, graphicDataMap *GraphicInfoMapStructure) {
-	for _, l := range calculateLinks {
+
-		id := strconv.Itoa(int(l.Index))
-		graphicDataMap.CalcLinkMap[id] = l
-	}
 }
 
 // 构建设备间的关系
@@ -564,7 +621,7 @@ func buildDeviceRef(graphicData *GraphicInfoMapStructure, verifyStructure *Verif
 
 // 构建link的关联关系（端点间的轨道）
 func buildLinkDeviceRef(mapData *GraphicInfoMapStructure, verifyStructure *VerifyStructure) {
-	for _, v := range mapData.LinkMap {
+	for _, v := range mapData.SectionLinkMap {
 		link := (verifyStructure.LinkSectionModelMap[strconv.Itoa(int(v.Index))]).(*section.LinkSectionModel)
 		// 轨道A端端点
 		linkSimRefBuildCommMethod(v.Common.Id, v.ASimRef, mapData, verifyStructure, func(f face.AxlePointDeviceModeller) {
@@ -625,7 +682,7 @@ func linkRefBuildCommMethod(v *graphicData.SectionLink, mapData *GraphicInfoMapS
 	if r != nil {
 		switch r.DeviceType {
 		case graphicData.RelatedRef_SectionLink:
-			d := mapData.LinkMap[r.Id]
+			d := mapData.SectionLinkMap[r.Id]
 			if d != nil {
 				ls := verifyStructure.LinkSectionModelMap[strconv.Itoa(int(d.Index))]
 				lr(&ref.LinkRef{LinkSection: ls, Port: face.PortEnum(r.DevicePort)})

ats/verify/simulation/wayside/model/device/link_device_model.go

@@ -1,7 +1,6 @@
 package device
 
 import (
-	"joylink.club/bj-rtsts-server/ats/verify/protos/graphicData"
 	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/face"
 	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/model/ref"
 )
@@ -14,8 +13,6 @@ type LinkModel struct {
 	ARelatedSwitchRef ref.SwitchRef
 	//B端连接的道岔端点
 	BRelatedSwitchRef ref.SwitchRef
-	//Link上的设备及位置(将A、B端的道岔也填进来了)(按offset排序)
+	//Link上的设备及位置(包括A、B端的设备)(按offset排序)
 	DevicePositions []*ref.DevicePosition
-	//key-在link上最小偏移量端点设备id，value-SectionLink端点
-	SectionLinkMap map[string]*graphicData.RelatedRef
 }

ats/verify/simulation/wayside/model/device/point.go

@@ -0,0 +1,12 @@
+package device
+
+import (
+	"joylink.club/bj-rtsts-server/ats/verify/protos/graphicData"
+	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/face"
+)
+
+// PointModel 线上某一点（本来是想添加坡度和曲线端点，但是他俩数据没有区别，故合为一个通用概念）
+type PointModel struct {
+	face.DeviceModel
+	Kms []*graphicData.KilometerSystem
+}

ats/verify/simulation/wayside/model/section/curve_model.go

@@ -0,0 +1,13 @@
+package section
+
+import "joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/face"
+
+type CurveModel struct {
+	face.DeviceModel
+	StartLinkIndex  int32
+	StartLinkOffset int32
+	EndLinkIndex    int32
+	EndLinkOffset   int32
+	//曲率(半径)mm
+	Curvature int32
+}

ats/verify/simulation/wayside/model/section/slope_model.go

@@ -0,0 +1,13 @@
+package section
+
+import "joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/face"
+
+type SlopeModel struct {
+	face.DeviceModel
+	StartLinkIndex  int32
+	StartLinkOffset int32
+	EndLinkIndex    int32
+	EndLinkOffset   int32
+	//坡度角的三角函数(应该是sin)*1000
+	DegreeTrig int32
+}

dynamics/udp.go

@@ -19,8 +19,16 @@ func init() {
 		for true {
 			info := <-trainInfoChan
 			for e := handlerList.Front(); e != nil; e = e.Next() {
-				handler := e.Value.(TrainInfoHandler)
+				func() {
-				handler(info)
+					defer func() {
+						r := recover()
+						if r != nil {
+							zap.S().Errorf("列车信息处理函数报错")
+						}
+					}()
+					handler := e.Value.(TrainInfoHandler)
+					handler(info)
+				}()
 			}
 		}
 	}()