From c50b1b640de6dfdd014616228ad0b1fe741e24b6 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Tue, 27 Aug 2024 11:58:08 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=97=E8=BD=A6=E6=93=8D=E6=8E=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- dto/state_proto/device_state.pb.go | 1158 +++++++++-------- rts-sim-testing-message | 2 +- third_party/can_btm/balise_detection.go | 8 +- third_party/dynamics/dynamics.go | 12 + .../wayside/memory/train_tcc_graphic.go | 5 +- .../wayside/memory/wayside_memory_train.go | 14 +- .../wayside/memory/wayside_simulation.go | 7 + .../memory/wayside_simulation_train_pc.go | 176 +-- 8 files changed, 696 insertions(+), 686 deletions(-) diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go index e2bc170..b4385cf 100644 --- a/dto/state_proto/device_state.pb.go +++ b/dto/state_proto/device_state.pb.go @@ -1960,7 +1960,10 @@ type TrainVobcState struct { // 驾驶室激活 LightDriverActive bool `protobuf:"varint,81,opt,name=lightDriverActive,proto3" json:"lightDriverActive,omitempty"` // 列车连接半实物是否初始化 - TrainConnInitComplate bool `protobuf:"varint,82,opt,name=trainConnInitComplate,proto3" json:"trainConnInitComplate,omitempty"` // request.TrainControl.Direction historyDir = 76; //历史行驶方向，用于列车操控时，方向旋钮更改方向时使用，不在前端显示 + TrainConnInitComplate bool `protobuf:"varint,82,opt,name=trainConnInitComplate,proto3" json:"trainConnInitComplate,omitempty"` + // ato关右门 + AtoCloseRightDoor bool `protobuf:"varint,83,opt,name=atoCloseRightDoor,proto3" json:"atoCloseRightDoor,omitempty"` + TractionPower int32 `protobuf:"varint,84,opt,name=tractionPower,proto3" json:"tractionPower,omitempty"` //牵引功率 } func (x *TrainVobcState) Reset() { @@ -2541,6 +2544,20 @@ func (x *TrainVobcState) GetTrainConnInitComplate() bool { return false } +func (x *TrainVobcState) GetAtoCloseRightDoor() bool { + if x != nil { + return x.AtoCloseRightDoor + } + return false +} + +func (x *TrainVobcState) GetTractionPower() int32 { + if x != nil { + return x.TractionPower + } + return 0 +} + // 发给前端的列车状态 type TrainMapState struct { state protoimpl.MessageState @@ -6037,7 +6054,7 @@ var file_device_state_proto_rawDesc = []byte{ 0x74, 0x69, 0x6f, 0x6e, 0x18, 0x16, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0c, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x12, 0x22, 0x0a, 0x0c, 0x44, 0x69, 0x73, 0x70, 0x6c, 0x61, 0x63, 0x65, 0x6d, 0x65, 0x6e, 0x74, 0x18, 0x17, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0c, - 0x44, 0x69, 0x73, 0x70, 0x6c, 0x61, 0x63, 0x65, 0x6d, 0x65, 0x6e, 0x74, 0x22, 0xf4, 0x18, 0x0a, + 0x44, 0x69, 0x73, 0x70, 0x6c, 0x61, 0x63, 0x65, 0x6d, 0x65, 0x6e, 0x74, 0x22, 0xc8, 0x19, 0x0a, 0x0e, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x56, 0x6f, 0x62, 0x63, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x1e, 0x0a, 0x0a, 0x6c, 0x69, 0x66, 0x65, 0x53, 0x69, 0x67, 0x6e, 0x61, 0x6c, 0x18, 0x01, 0x20, 0x01, 0x28, 0x05, 0x52, 0x0a, 0x6c, 0x69, 0x66, 0x65, 0x53, 0x69, 0x67, 0x6e, 0x61, 0x6c, 0x12, @@ -6237,583 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a/rts-sim-testing-message +++ b/rts-sim-testing-message @@ -1 +1 @@ -Subproject commit 94413167c079aaa7aa9717a0e4a6281a21c49244 +Subproject commit 30019273c5bb79fa29caab241bb89bd13d238fd9 diff --git a/third_party/can_btm/balise_detection.go b/third_party/can_btm/balise_detection.go index 2d59737..8ce6f08 100644 --- a/third_party/can_btm/balise_detection.go +++ b/third_party/can_btm/balise_detection.go @@ -85,9 +85,14 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th) //目前车头 curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头 var startBalises []*repository.Transponder + if th.Link != th2.Link { + startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi.LinkOffset) + } else { + startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset) + } //startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, th2.LinkOffset, th.LinkOffset) - startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset) + //startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset) balises := make([]*repository.Transponder, 0) for _, balise := range startBalises { @@ -108,7 +113,6 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep //slog.Info(fmt.Sprintf("-----------------id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)) telegram, utel := t.rcvTelegram(wd, balise.Id()) if t.addNewExpectedBalise(balise, btmCache, telegram, utel) { - //slog.Info(fmt.Sprintf("+++++++++++++id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset)) } } diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go index 512d837..a55b804 100644 --- a/third_party/dynamics/dynamics.go +++ b/third_party/dynamics/dynamics.go @@ -265,6 +265,18 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error { d.udpDelayRecorder.Start() return nil } +func (d *dynamics) trainControl(ctx context.Context) { + for { + + select { + case <-ctx.Done(): + return + default: + + time.Sleep(time.Second * 5) + } + } +} // 初始化客户端、服务等信息 func (d *dynamics) initDynamics() error { diff --git a/ts/simulation/wayside/memory/train_tcc_graphic.go b/ts/simulation/wayside/memory/train_tcc_graphic.go index d1e30f1..d9c7e0f 100644 --- a/ts/simulation/wayside/memory/train_tcc_graphic.go +++ b/ts/simulation/wayside/memory/train_tcc_graphic.go @@ -101,7 +101,7 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3 func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) { vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE * 100, DirectionForward: true, - AllDoorClose: true, ObstacleCheckBtn: true /*RightDoorCloseCommand: true, LeftDoorCloseCommand: true,*/, BrakeHeavyFault: true, AtpCutSwitch: true, + AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true, ConfirmBtn: true, AtpPowerOnBtn: true, DoorModeMM: true, } var trainActDir uint32 = 0 @@ -134,11 +134,10 @@ func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState { for _, b := range tccGI.TccButtons { btn := &state_proto.TrainControlState_ControlButton{Id: b.Common.Id, Passed: false} switch b.Code { - case ATPQCKG /*GZM, GYM,*/, ZAWTGJC, ZDZGZ, ATPSD, MSQR: + case ATPQCKG, ZAWTGJC, ZDZGZ, ATPSD, MSQR: btn.Passed = true } btns[b.Code] = btn - //btns = append(btns, btn) } tcc.Buttons = btns for _, b := range tccGI.TccHandles { diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 6a4096b..67520e8 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -25,16 +25,15 @@ const ( //列车总质量(吨) DEFULAT_TRAIN_LOAD = 160 //通号最大制动力是-1.21 - DEFAULT_BRAKE_FORCE = DEFULAT_TRAIN_LOAD * 1000 * 1.21 / 1000 + //DEFAULT_BRAKE_FORCE = DEFULAT_TRAIN_LOAD * 1000 * 1.21 / 1000 + DEFAULT_BRAKE_FORCE = 1.21 //通号最大加速度是0.97 - DEFAULT_TRAIN_TRACTION = DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 //千牛 - DEFAULT_TRAIN_WORK = 2880 * 1000 - DEFAULT_TRAIN_STARTED_SPEED = 0.003 + DEFAULT_TRAIN_TRACTION_ACC2 = DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 //千牛 + DEFAULT_TRAIN_TRACTION_ACC = 0.97 //千牛 + TRAIN_MAX_TRACTION_POWER = 2880 * 1000 + DEFAULT_TRAIN_STARTED_SPEED float32 = 5.5555556 //列车起步速度单位 米/秒 ) -func culTrainTractionF(sta *state_proto.TrainState) { - -} func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig { return &message.TrainOperationConfig{TrainIndex: trainId, Length: int(trainLen), DavisParamA: configTrainData.DavisParamA, DavisParamB: configTrainData.DavisParamB, @@ -371,7 +370,6 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000 sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000 sta.DynamicState.Speed = speedParse(info.Speed) - sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1) sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2) sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1) diff --git a/ts/simulation/wayside/memory/wayside_simulation.go b/ts/simulation/wayside/memory/wayside_simulation.go index 825a116..e0ddaa5 100644 --- a/ts/simulation/wayside/memory/wayside_simulation.go +++ b/ts/simulation/wayside/memory/wayside_simulation.go @@ -261,6 +261,12 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn train := t.(*state_proto.TrainState) // 更新列车状态 trainState := UpdateTrainStateByDynamics(s, trainId, info) + vs := train.VobcState + if vs.TractionStatus { + //动力学之前是kn * 100 这里*10就是N + tf := float32(vs.TractionPower) / info.Speed + vs.TractionForce = int64(tf / 10) + } if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC { semi_physical_train.Default().SendTrainControlMessage(info) electrical_machinery.Default().SendElectricMachineryMessage2(info, trainState) @@ -388,6 +394,7 @@ func (s *VerifySimulation) CollectTrainControlState() []message.TrainControlMsg if train.ConnState.Conn == true && train.ConnState.ConnType == state_proto.TrainConnState_VOBC { vobc = true } + //train.DynamicState.Speed cms = append(cms, message.TrainControlMsg{ControlInfo: train.VobcState, TrainId: train.Id, FromVobc: vobc}) return true }) diff --git a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go index 144ae82..a440408 100644 --- a/ts/simulation/wayside/memory/wayside_simulation_train_pc.go +++ b/ts/simulation/wayside/memory/wayside_simulation_train_pc.go @@ -58,7 +58,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) { 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) + baseMsg = trainControlHandle(sta.DynamicState.Speed, vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData) train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta) } else if ct.ControlType == request_proto.TrainControl_TRAIN_DOOR_MODE_CHANGE { baseMsg = trainDoorModeChangeHandle(vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData) @@ -68,20 +68,6 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) { } else { baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DIR_ZERO_FORWARD, 0}}) } - if vobc.LeftDoorOpenCommand || vobc.RightDoorOpenCommand { - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 0}}) - if vobc.LeftDoorOpenCommand { - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, 1}}) - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.RIGHT_DOOR_STATE, 0}}) - } else if vobc.RightDoorOpenCommand { - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, 0}}) - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.RIGHT_DOOR_STATE, 1}}) - } - } - if vobc.LeftDoorCloseCommand && vobc.RightDoorCloseCommand { - baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 1}}) - } - if !vobc.DirectionForward && !vobc.DirectionBackward { vobc.TractionStatus = false vobc.TractionForce = 0 @@ -112,12 +98,8 @@ func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]* return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM) case GZM, GYM: //关左门按钮 - return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == KZM) - //return controlLeftDoorCloseBtn(vobc, active, btn) - //case KYM: //开右门按钮 - // return controlRightDoorBtn(vobc, active, btn) - //case GYM: //关右门按钮 - // return controlRightDoorCloseBtn(vobc, active, btn) + return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM) + case ZF: //折返按钮 return controlReverseBtn(vobc, active, btn) case QZMYX: //强制门允许 @@ -179,6 +161,7 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn * tccBtn.Passed = active var doorAct byte = message.CLOSE_LEFT_DOOR var doorState byte = message.LEFT_DOOR_STATE + msg := make([]message.TrainPcSimBaseMessage, 0) if isLeft { vobc.LeftDoorCloseCommand = active } else { @@ -186,10 +169,13 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn * doorAct = message.CLOSE_RIGHT_DOOR doorState = message.RIGHT_DOOR_STATE } - return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}}, - {Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, 0}}, + msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}}) + if vobc.LeftDoorCloseCommand && vobc.RightDoorCloseCommand { + msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 1}}) } - + msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, 0}}) + //msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, 0}}) + return msg } // 开车门 @@ -201,8 +187,10 @@ func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s var doorState byte = message.LEFT_DOOR_STATE if isLeft { vobc.LeftDoorOpenCommand = active + vobc.LeftDoorCloseCommand = false } else { vobc.RightDoorOpenCommand = active + vobc.RightDoorCloseCommand = false doorAct = message.OPEN_RIGHT_DOOR doorState = message.RIGHT_DOOR_STATE } @@ -214,55 +202,6 @@ func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s return msg } -// 开左门按钮 -func controlLeftDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage { - var status byte = 0 - if active { - status = 1 - } - vobc.LeftDoorOpenCommand = active - tccBtn.Passed = active - return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_OPEN_DOOR, status}}, - {Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, status}}, - } - -} - -// 关左门按钮 -func controlLeftDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage { - var status byte = 0 - if active { - status = 1 - } - vobc.LeftDoorCloseCommand = active - tccBtn.Passed = active - return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_LEFT_DOOR, status}}} - -} - -// 开右门 -func controlRightDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage { - var status byte = 0 - if active { - status = 1 - } - vobc.RightDoorOpenCommand = active - tccBtn.Passed = active - return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OPEN_RIGHT_DOOR, status}}} - -} - -// 关右门按钮 -func controlRightDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage { - var status byte = 0 - if active { - status = 1 - } - vobc.RightDoorCloseCommand = active - tccBtn.Passed = active - return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_RIGHT_DOOR, status}}} -} - // 折返 func controlReverseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage { var status byte = 0 @@ -377,6 +316,7 @@ func controlOverhaulBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s tccBtn.Passed = active vobc.OverhaulBtn = active return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OVERHAUL, status}}} + //return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATO_SEND_TRAIN, status}}} } // 休眠按钮 @@ -480,19 +420,38 @@ func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_prot return msg } +func trainTractionPower(speed int32, traction int64, handleVal int32) int32 { + //速度（V）可以通过初始速度 加上加速度（a）乘以时间（t）来计算，即V=V1+at + acc := float32(math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_TRACTION_ACC) + resultSpeed := DEFAULT_TRAIN_STARTED_SPEED + acc + if speed > 0 { + resultSpeed = float32(speed)/3.6/100 + acc + } + // p=fv + p := float32(traction) * resultSpeed + if p >= TRAIN_MAX_TRACTION_POWER { + return TRAIN_MAX_TRACTION_POWER + } + return int32(p) + +} +func trainBrakingOrTraction(trainLoad int64, handleVal int32, power float64) int64 { + tl := trainLoad * 10 //列车初始化已经 * 100，再*10 就是对应的kg + //F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒² + totalPower := float64(tl) * power / 1000 + //DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 + n := int64(math.Abs(float64(handleVal))/100*totalPower) * 100 + return n +} + // 列车牵引控制 -func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage { +func trainControlHandle(speed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage { _, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId) if !find { slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId) return nil } - /*trainStart := false - if tcc.PushHandler.Val <= 0 { - trainStart = true - } else if tcc.PushHandler.Val > 0 { - }*/ jjzdBtn := tcc.Buttons[JJZD] vobc.TractionStatus = false vobc.TractionForce = 0 @@ -503,14 +462,17 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train var zeroState byte = 0 var brakeState byte = 0 var traction byte = 0 + vobc.TractionPower = 0 if request.Val > 0 { vobc.TractionStatus = true - vobc.TractionForce = int64(float32(request.Val)/100*DEFAULT_TRAIN_TRACTION) * 100 + vobc.TractionForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_TRAIN_TRACTION_ACC) + vobc.TractionPower = trainTractionPower(speed, vobc.TractionForce, request.Val) notBreak = 1 traction = 1 } else if request.Val < 0 { vobc.BrakingStatus = true - vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100 + //vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100 + vobc.BrakeForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_BRAKE_FORCE) vobc.EmergencyBrakingStatus = false jjzdBtn.Passed = false brakeState = 1 @@ -702,7 +664,7 @@ func trainPcSimDigitalOutInfoHandleCode7_0(d byte, vobc *state_proto.TrainVobcSt vobc.EmergencyBrakingStatus = message.AtpLowPowerByte(message.GetBit(d, 3)) //紧急制动 vobc.LeftDoorState = message.IsTrueForByte(message.GetBit(d, 4)) //开左门允许 vobc.RightDoorState = message.IsTrueForByte(message.GetBit(d, 5)) //开右门允许 - vobc.RightDoorCloseCommand = message.IsTrueForByte(message.GetBit(d, 6)) //关右门 + vobc.AtoCloseRightDoor = message.IsTrueForByte(message.GetBit(d, 6)) //ATO关右门 vobc.AllDoorClose = message.IsTrueForByte(message.GetBit(d, 7)) //车门保持关闭 vobc.LightTractionSafetyCircuit = vobc.TractionSafetyCircuit //切牵引 vobc.LightEmergencyBrakingStatus = vobc.EmergencyBrakingStatus //紧急制动 @@ -894,15 +856,15 @@ func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_prot msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_FORWORD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制 msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_BACKWORD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制 } - /*if vs.RightDoorCloseCommand { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_RIGHT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关右门按钮 - } - if vs.LeftDoorCloseCommand { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_LEFT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关左门按钮 - }*/ - if vs.AllDoorClose { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态 - } + /* if vs.RightDoorCloseCommand { + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_RIGHT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关右门按钮 + } + if vs.LeftDoorCloseCommand { + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_LEFT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关左门按钮 + } + if vs.AllDoorClose { + + }*/ if vs.ObstacleCheckBtn { msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.OBSTACLE_CHECK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //障碍物检测按钮 } @@ -922,18 +884,11 @@ func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_prot msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.EMERGENT_HANDLE_DOWN, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下 msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_TRACTION_CUTED, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下 - if vs.DoorModeAA { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AA, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) - } else if vs.DoorModeAM { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) - } else if vs.DoorModeMM { - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_MM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) - } return msgArr } func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage { msgArr := make([]message.TrainPcSimBaseMessage, 0) - + vs := train.VobcState stateArr := s.ObtainTrainDigitalMockDataForStatus(train) msgArr = append(msgArr, stateArr...) @@ -943,11 +898,24 @@ func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainSt msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CONFIRM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性 msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_INTEGRITY, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性 - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.NOT_BREAK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //非制动 - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{38, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //只牵引 - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{40, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //本端机械钩 - msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{41, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //对端机械钩 - + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.NOT_BREAK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //非制动 + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{38, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //只牵引 + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{40, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //本端机械钩 + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{41, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //对端机械钩 + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态 + var modeAA, modeAM, modeMM byte = 0, 0, 0 + if vs.DoorModeAA { + modeAA = 1 + } + if vs.DoorModeAM { + modeAM = 1 + } + if vs.DoorModeMM { + modeMM = 1 + } + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AA, modeAA}, Type: message.SENDER_TRAIN_OUTR_INFO}) + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AM, modeAM}, Type: message.SENDER_TRAIN_OUTR_INFO}) + msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_MM, modeMM}, Type: message.SENDER_TRAIN_OUTR_INFO}) train.BtmState = nil return msgArr }