joylink/rts-sim-testing-service
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Merge branch 'develop' into local-test

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This commit is contained in:
thesai 2024-05-23 16:35:01 +08:00
commit c700a78613
31 changed files with 1773 additions and 1093 deletions
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2
.gitea/workflows/CI_local_test.yaml
View File

@ -51,7 +51,7 @@ jobs:
script: |
docker rm -f rts-sim-testing-service || echo "rts-sim-testing-service not exist"
docker pull gitea.joylink.club/joylink/rts-sim-testing-service:local-test
docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -p 4000:4000 -v /usr/local/joylink/logs/bjrtsts:/logs/bjrtsts gitea.joylink.club/joylink/rts-sim-testing-service:local-test rts-sim-testing-service -config test_local
docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -p 4000:4000/udp -v /usr/local/joylink/logs/bjrtsts:/logs/bjrtsts gitea.joylink.club/joylink/rts-sim-testing-service:local-test rts-sim-testing-service -config test_local
- name: 清理tag为none的镜像
run: |
docker rmi $(docker images --filter "dangling=true" -q)

15
api/simulation.go
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@ -239,15 +239,20 @@ func addTrain(c *gin.Context) {
if req.TrainId < 0 || req.TrainId >= 255 {
panic(sys_error.New("列车编号不能小于0，大于255"))
}
if req.TrainSpeed < 0 || req.TrainSpeed > 90 {
panic(sys_error.New("列车编号不能小于0，大于255"))
}
rsp := &state_proto.TrainState{
Id: fmt.Sprintf("%v", req.TrainId),
HeadDeviceId: req.Id,
HeadOffset: req.HeadOffset,
DevicePort: req.DevicePort,
RunDirection: req.RunDirection,
Id: fmt.Sprintf("%v", req.TrainId),
HeadDeviceId: req.Id,
HeadOffset: req.HeadOffset,
DevicePort: req.DevicePort,
TrainRunUp: req.RunDirection,
//RunDirection: req.RunDirection,
TrainLength: req.TrainLength,
WheelDiameter: req.WheelDiameter,
Speed: req.TrainSpeed,
Show: true,
ConnState: &state_proto.TrainConnState{TrainControlMapId: req.TrainControlMapId, Conn: false, ConnType: state_proto.TrainConnState_NONE},
}
var err *sys_error.BusinessError = memory.AddTrainStateNew(simulation,

61
bin/acc_conn-example.go Normal file
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@ -0,0 +1,61 @@
package main
import (
"fmt"
"github.com/spf13/viper"
"joylink.club/bj-rtsts-server/bin/config"
"joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/udp"
"log/slog"
"time"
)
const config_name = "example"
var exampleConfig config.ExampleConfig
func initConfig() {
cnf := viper.New()
cnf.SetConfigName(config_name)
cnf.SetConfigType("yml")
cnf.AddConfigPath("./config/")
cnf.AddConfigPath(".")
err := cnf.ReadInConfig()
if err != nil {
panic(fmt.Errorf("读取配置文件错误: %w", err))
}
err = cnf.Unmarshal(&exampleConfig)
if err != nil {
panic(fmt.Errorf("解析配置文件错误: %w", err))
}
slog.Info("成功加载配置", "config", exampleConfig)
}
func main() {
initConfig()
testAcc()
}
func testAcc() {
var client udp.UdpClient
defer func() {
if client != nil {
client.Close()
}
slog.Info("连接关闭")
}()
client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
ac := message.Accelerometer{Acc: 1}
var index int64
for {
err := client.Send(ac.Encode())
index++
if index%10 == 0 {
slog.Info(fmt.Sprintf("发送数据,时间戳:%v,发送次数:%v", time.Now().Unix(), index))
}
if err != nil {
slog.Error("发送数据失败", "err", err)
}
time.Sleep(time.Millisecond * 200)
}
}

3
bin/config/example.yml Normal file
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@ -0,0 +1,3 @@
acc:
remoteIp: "127.0.0.1"
remotePort: 1234

9
bin/config/example_config.go Normal file
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@ -0,0 +1,9 @@
package config
type ExampleConfig struct {
Acc acc
}
type acc struct {
RemoteIp string
RemotePort int
}

6
dto/common_proto/common_data.pb.go
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@ -236,7 +236,7 @@ type TrainEndsState struct {
SpeedSensorEnableB bool `protobuf:"varint,2,opt,name=speedSensorEnableB,proto3" json:"speedSensorEnableB,omitempty"`
// 雷达是否有效
RadarEnable bool `protobuf:"varint,3,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"`
// 雷达测速差值（米/秒）
// 雷达测速差值（千米/小时）
RadarCheckSpeedDiff float32 `protobuf:"fixed32,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"`
// 雷达检测时间(秒)
RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"`
@ -246,9 +246,9 @@ type TrainEndsState struct {
AccCheckSpeedDiff float32 `protobuf:"fixed32,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"`
// 加速度持续时间
AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"`
// 速传速度输出（米/秒）
// 速传速度输出（千米/小时）
AccOutSpeed int32 `protobuf:"varint,9,opt,name=accOutSpeed,proto3" json:"accOutSpeed,omitempty"`
// 雷达速度输出（米/秒）
// 雷达速度输出（千米/小时）
RadarOutSpeed int32 `protobuf:"varint,10,opt,name=radarOutSpeed,proto3" json:"radarOutSpeed,omitempty"`
// 记录雷达设置检测时间的时间点，用于计算周期内的数字
RadarCheckTimeOverAt int64 `protobuf:"varint,11,opt,name=radarCheckTimeOverAt,proto3" json:"radarCheckTimeOverAt,omitempty"`

2
dto/data_proto/stationLayoutGraphics.pb.go
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@ -927,7 +927,7 @@ type RtssGraphicStorage struct {
TrackSections []*TrackSection `protobuf:"bytes,28,rep,name=trackSections,proto3" json:"trackSections,omitempty"` //轨道区段
TrackLogicSections []*TrackLogicSection `protobuf:"bytes,29,rep,name=trackLogicSections,proto3" json:"trackLogicSections,omitempty"` //轨道逻辑区段
// UniqueIdType UniqueIdPrefix = 30;//设备唯一编码--前缀
UniqueIdPrefix *UniqueIdOfStationLayout `protobuf:"bytes,31,opt,name=UniqueIdPrefix,proto3" json:"UniqueIdPrefix,omitempty"` //设备唯一编码--前缀
UniqueIdPrefix *UniqueIdOfStationLayout `protobuf:"bytes,31,opt,name=UniqueIdPrefix,proto3" json:"UniqueIdPrefix,omitempty"` //地图唯一信息
KilometerConvertList []*KilometerConvert `protobuf:"bytes,32,rep,name=kilometerConvertList,proto3" json:"kilometerConvertList,omitempty"` //公里标转换列表
ScreenDoors []*ScreenDoor `protobuf:"bytes,33,rep,name=screenDoors,proto3" json:"screenDoors,omitempty"`
StationRelateDeviceList []*StationRelateDevice `protobuf:"bytes,34,rep,name=stationRelateDeviceList,proto3" json:"stationRelateDeviceList,omitempty"` // 关联设备列表

275
dto/request_proto/request.pb.go
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@ -587,6 +587,55 @@ func (TrainControl_TrainControlType) EnumDescriptor() ([]byte, []int) {
return file_request_proto_rawDescGZIP(), []int{14, 0}
}
type TrainControl_Direction int32
const (
TrainControl_BACKWARD TrainControl_Direction = 0 //后退
TrainControl_FORWARD TrainControl_Direction = 1 //前进
TrainControl_NEUTRALWARD TrainControl_Direction = 2 //中位
)
// Enum value maps for TrainControl_Direction.
var (
TrainControl_Direction_name = map[int32]string{
0: "BACKWARD",
1: "FORWARD",
2: "NEUTRALWARD",
}
TrainControl_Direction_value = map[string]int32{
"BACKWARD": 0,
"FORWARD": 1,
"NEUTRALWARD": 2,
}
)
func (x TrainControl_Direction) Enum() *TrainControl_Direction {
p := new(TrainControl_Direction)
*p = x
return p
}
func (x TrainControl_Direction) String() string {
return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
}
func (TrainControl_Direction) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[11].Descriptor()
}
func (TrainControl_Direction) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[11]
}
func (x TrainControl_Direction) Number() protoreflect.EnumNumber {
return protoreflect.EnumNumber(x)
}
// Deprecated: Use TrainControl_Direction.Descriptor instead.
func (TrainControl_Direction) EnumDescriptor() ([]byte, []int) {
return file_request_proto_rawDescGZIP(), []int{14, 1}
}
type Ckm_Operation int32
const (
@ -617,11 +666,11 @@ func (x Ckm_Operation) String() string {
}
func (Ckm_Operation) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[11].Descriptor()
return file_request_proto_enumTypes[12].Descriptor()
}
func (Ckm_Operation) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[11]
return &file_request_proto_enumTypes[12]
}
func (x Ckm_Operation) Number() protoreflect.EnumNumber {
@ -666,11 +715,11 @@ func (x Ckm_Force) String() string {
}
func (Ckm_Force) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[12].Descriptor()
return file_request_proto_enumTypes[13].Descriptor()
}
func (Ckm_Force) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[12]
return &file_request_proto_enumTypes[13]
}
func (x Ckm_Force) Number() protoreflect.EnumNumber {
@ -712,11 +761,11 @@ func (x Ckm_Fault) String() string {
}
func (Ckm_Fault) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[13].Descriptor()
return file_request_proto_enumTypes[14].Descriptor()
}
func (Ckm_Fault) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[13]
return &file_request_proto_enumTypes[14]
}
func (x Ckm_Fault) Number() protoreflect.EnumNumber {
@ -758,11 +807,11 @@ func (x Xcj_Operation) String() string {
}
func (Xcj_Operation) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[14].Descriptor()
return file_request_proto_enumTypes[15].Descriptor()
}
func (Xcj_Operation) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[14]
return &file_request_proto_enumTypes[15]
}
func (x Xcj_Operation) Number() protoreflect.EnumNumber {
@ -804,11 +853,11 @@ func (x Xcj_Fault) String() string {
}
func (Xcj_Fault) Descriptor() protoreflect.EnumDescriptor {
return file_request_proto_enumTypes[15].Descriptor()
return file_request_proto_enumTypes[16].Descriptor()
}
func (Xcj_Fault) Type() protoreflect.EnumType {
return &file_request_proto_enumTypes[15]
return &file_request_proto_enumTypes[16]
}
func (x Xcj_Fault) Number() protoreflect.EnumNumber {
@ -2386,7 +2435,7 @@ var file_request_proto_rawDesc = []byte{
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@ -2429,59 +2478,62 @@ var file_request_proto_rawDesc = []byte{
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}
var (
@ -2496,7 +2548,7 @@ func file_request_proto_rawDescGZIP() []byte {
return file_request_proto_rawDescData
}
var file_request_proto_enumTypes = make([]protoimpl.EnumInfo, 16)
var file_request_proto_enumTypes = make([]protoimpl.EnumInfo, 17)
var file_request_proto_msgTypes = make([]protoimpl.MessageInfo, 25)
var file_request_proto_goTypes = []interface{}{
(Relay_Operation)(0), // 0: request.Relay.Operation
@ -2510,64 +2562,65 @@ var file_request_proto_goTypes = []interface{}{
(Psd_Force)(0), // 8: request.Psd.Force
(Psd_Fault)(0), // 9: request.Psd.Fault
(TrainControl_TrainControlType)(0), // 10: request.TrainControl.TrainControlType
(Ckm_Operation)(0), // 11: request.Ckm.Operation
(Ckm_Force)(0), // 12: request.Ckm.Force
(Ckm_Fault)(0), // 13: request.Ckm.Fault
(Xcj_Operation)(0), // 14: request.Xcj.Operation
(Xcj_Fault)(0), // 15: request.Xcj.Fault
(*Relay)(nil), // 16: request.Relay
(*RelayOperationReq)(nil), // 17: request.RelayOperationReq
(*Points)(nil), // 18: request.Points
(*PointsOperationReq)(nil), // 19: request.PointsOperationReq
(*PointsParam)(nil), // 20: request.PointsParam
(*Signal)(nil), // 21: request.Signal
(*SignalOperationReq)(nil), // 22: request.SignalOperationReq
(*SignalParam)(nil), // 23: request.SignalParam
(*Section)(nil), // 24: request.Section
(*SectionOperationReq)(nil), // 25: request.SectionOperationReq
(*SectionParam)(nil), // 26: request.SectionParam
(*Psd)(nil), // 27: request.Psd
(*PsdOperationReq)(nil), // 28: request.PsdOperationReq
(*PsdParam)(nil), // 29: request.PsdParam
(*TrainControl)(nil), // 30: request.TrainControl
(*CkmOperationReq)(nil), // 31: request.CkmOperationReq
(*Ckm)(nil), // 32: request.Ckm
(*CkmParam)(nil), // 33: request.CkmParam
(*XcjOperationReq)(nil), // 34: request.XcjOperationReq
(*Xcj)(nil), // 35: request.Xcj
(*XcjParam)(nil), // 36: request.XcjParam
(*TrainControl_EmergentButton)(nil), // 37: request.TrainControl.EmergentButton
(*TrainControl_DriverKeySwitch)(nil), // 38: request.TrainControl.DriverKeySwitch
(*TrainControl_DirectionKeySwitch)(nil), // 39: request.TrainControl.DirectionKeySwitch
(*TrainControl_PushHandler)(nil), // 40: request.TrainControl.PushHandler
(TrainControl_Direction)(0), // 11: request.TrainControl.Direction
(Ckm_Operation)(0), // 12: request.Ckm.Operation
(Ckm_Force)(0), // 13: request.Ckm.Force
(Ckm_Fault)(0), // 14: request.Ckm.Fault
(Xcj_Operation)(0), // 15: request.Xcj.Operation
(Xcj_Fault)(0), // 16: request.Xcj.Fault
(*Relay)(nil), // 17: request.Relay
(*RelayOperationReq)(nil), // 18: request.RelayOperationReq
(*Points)(nil), // 19: request.Points
(*PointsOperationReq)(nil), // 20: request.PointsOperationReq
(*PointsParam)(nil), // 21: request.PointsParam
(*Signal)(nil), // 22: request.Signal
(*SignalOperationReq)(nil), // 23: request.SignalOperationReq
(*SignalParam)(nil), // 24: request.SignalParam
(*Section)(nil), // 25: request.Section
(*SectionOperationReq)(nil), // 26: request.SectionOperationReq
(*SectionParam)(nil), // 27: request.SectionParam
(*Psd)(nil), // 28: request.Psd
(*PsdOperationReq)(nil), // 29: request.PsdOperationReq
(*PsdParam)(nil), // 30: request.PsdParam
(*TrainControl)(nil), // 31: request.TrainControl
(*CkmOperationReq)(nil), // 32: request.CkmOperationReq
(*Ckm)(nil), // 33: request.Ckm
(*CkmParam)(nil), // 34: request.CkmParam
(*XcjOperationReq)(nil), // 35: request.XcjOperationReq
(*Xcj)(nil), // 36: request.Xcj
(*XcjParam)(nil), // 37: request.XcjParam
(*TrainControl_EmergentButton)(nil), // 38: request.TrainControl.EmergentButton
(*TrainControl_DriverKeySwitch)(nil), // 39: request.TrainControl.DriverKeySwitch
(*TrainControl_DirectionKeySwitch)(nil), // 40: request.TrainControl.DirectionKeySwitch
(*TrainControl_PushHandler)(nil), // 41: request.TrainControl.PushHandler
}
var file_request_proto_depIdxs = []int32{
0, // 0: request.RelayOperationReq.operation:type_name -> request.Relay.Operation
1, // 1: request.PointsOperationReq.operation:type_name -> request.Points.Operation
20, // 2: request.PointsOperationReq.param:type_name -> request.PointsParam
21, // 2: request.PointsOperationReq.param:type_name -> request.PointsParam
2, // 3: request.PointsParam.forcePosition:type_name -> request.Points.Force
3, // 4: request.SignalOperationReq.operation:type_name -> request.Signal.Operation
23, // 5: request.SignalOperationReq.param:type_name -> request.SignalParam
24, // 5: request.SignalOperationReq.param:type_name -> request.SignalParam
5, // 6: request.SignalParam.force:type_name -> request.Signal.Force
4, // 7: request.SignalParam.dsList:type_name -> request.Signal.DS
6, // 8: request.SectionOperationReq.operation:type_name -> request.Section.Operation
26, // 9: request.SectionOperationReq.param:type_name -> request.SectionParam
27, // 9: request.SectionOperationReq.param:type_name -> request.SectionParam
7, // 10: request.PsdOperationReq.operation:type_name -> request.Psd.Operation
29, // 11: request.PsdOperationReq.param:type_name -> request.PsdParam
30, // 11: request.PsdOperationReq.param:type_name -> request.PsdParam
8, // 12: request.PsdParam.force:type_name -> request.Psd.Force
9, // 13: request.PsdParam.fault:type_name -> request.Psd.Fault
10, // 14: request.TrainControl.controlType:type_name -> request.TrainControl.TrainControlType
37, // 15: request.TrainControl.button:type_name -> request.TrainControl.EmergentButton
38, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch
39, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch
40, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler
11, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation
33, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam
12, // 21: request.CkmParam.force:type_name -> request.Ckm.Force
13, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault
14, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation
36, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam
15, // 25: request.XcjParam.fault:type_name -> request.Xcj.Fault
38, // 15: request.TrainControl.button:type_name -> request.TrainControl.EmergentButton
39, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch
40, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch
41, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler
12, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation
34, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam
13, // 21: request.CkmParam.force:type_name -> request.Ckm.Force
14, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault
15, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation
37, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam
16, // 25: request.XcjParam.fault:type_name -> request.Xcj.Fault
26, // [26:26] is the sub-list for method output_type
26, // [26:26] is the sub-list for method input_type
26, // [26:26] is the sub-list for extension type_name
@ -2887,7 +2940,7 @@ func file_request_proto_init() {
File: protoimpl.DescBuilder{
GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
RawDescriptor: file_request_proto_rawDesc,
NumEnums: 16,
NumEnums: 17,
NumMessages: 25,
NumExtensions: 0,
NumServices: 0,

1622
dto/state_proto/device_state.pb.go
View File

File diff suppressed because it is too large Load Diff

12
go.mod
View File

@ -4,7 +4,8 @@ go 1.21
require (
github.com/appleboy/gin-jwt/v2 v2.9.1
github.com/eclipse/paho.golang v0.12.0
//github.com/eclipse/paho.golang v0.12.0
github.com/eclipse/paho.golang v0.21.0
github.com/gin-contrib/cors v1.4.0
github.com/golang/protobuf v1.5.3
github.com/google/uuid v1.4.0
@ -40,7 +41,7 @@ require (
github.com/go-sql-driver/mysql v1.7.0 // indirect
github.com/goburrow/serial v0.1.0 // indirect
github.com/golang-jwt/jwt/v4 v4.4.3 // indirect
github.com/gorilla/websocket v1.5.0 // indirect
github.com/gorilla/websocket v1.5.1 // indirect
github.com/jinzhu/inflection v1.0.0 // indirect
github.com/jinzhu/now v1.1.5 // indirect
github.com/josharian/intern v1.0.0 // indirect
@ -54,7 +55,6 @@ require (
go.uber.org/multierr v1.9.0 // indirect
golang.org/x/exp v0.0.0-20230905200255-921286631fa9 // indirect
golang.org/x/mod v0.12.0 // indirect
golang.org/x/sync v0.5.0 // indirect
golang.org/x/tools v0.13.0 // indirect
gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
gorm.io/datatypes v1.1.1-0.20230130040222-c43177d3cf8c // indirect
@ -92,9 +92,9 @@ require (
github.com/twitchyliquid64/golang-asm v0.15.1 // indirect
github.com/ugorji/go/codec v1.2.11 // indirect
golang.org/x/arch v0.3.0 // indirect
golang.org/x/crypto v0.16.0 // indirect
golang.org/x/net v0.19.0 // indirect
golang.org/x/sys v0.15.0 // indirect
golang.org/x/crypto v0.19.0 // indirect
golang.org/x/net v0.21.0 // indirect
golang.org/x/sys v0.17.0 // indirect
golang.org/x/text v0.14.0 // indirect
google.golang.org/protobuf v1.32.0
gopkg.in/ini.v1 v1.67.0 // indirect

20
go.sum
View File

@ -17,8 +17,8 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/eclipse/paho.golang v0.12.0 h1:EXQFJbJklDnUqW6lyAknMWRhM2NgpHxwrrL8riUmp3Q=
github.com/eclipse/paho.golang v0.12.0/go.mod h1:TSDCUivu9JnoR9Hl+H7sQMcHkejWH2/xKK1NJGtLbIE=
github.com/eclipse/paho.golang v0.21.0 h1:cxxEReu+iFbA5RrHfRGxJOh8tXZKDywuehneoeBeyn8=
github.com/eclipse/paho.golang v0.21.0/go.mod h1:GHF6vy7SvDbDHBguaUpfuBkEB5G6j0zKxMG4gbh6QRQ=
github.com/frankban/quicktest v1.14.6 h1:7Xjx+VpznH+oBnejlPUj8oUpdxnVs4f8XU8WnHkI4W8=
github.com/frankban/quicktest v1.14.6/go.mod h1:4ptaffx2x8+WTWXmUCuVU6aPUX1/Mz7zb5vbUoiM6w0=
github.com/fsnotify/fsnotify v1.7.0 h1:8JEhPFa5W2WU7YfeZzPNqzMP6Lwt7L2715Ggo0nosvA=
@ -85,8 +85,8 @@ github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeN
github.com/google/gofuzz v1.0.0/go.mod h1:dBl0BpW6vV/+mYPU4Po3pmUjxk6FQPldtuIdl/M65Eg=
github.com/google/uuid v1.4.0 h1:MtMxsa51/r9yyhkyLsVeVt0B+BGQZzpQiTQ4eHZ8bc4=
github.com/google/uuid v1.4.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
github.com/gorilla/websocket v1.5.0 h1:PPwGk2jz7EePpoHN/+ClbZu8SPxiqlu12wZP/3sWmnc=
github.com/gorilla/websocket v1.5.0/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
github.com/gorilla/websocket v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
github.com/gorilla/websocket v1.5.1/go.mod h1:x3kM2JMyaluk02fnUJpQuwD2dCS5NDG2ZHL0uE0tcaY=
github.com/hashicorp/hcl v1.0.0 h1:0Anlzjpi4vEasTeNFn2mLJgTSwt0+6sfsiTG8qcWGx4=
github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ=
github.com/jackc/chunkreader/v2 v2.0.1 h1:i+RDz65UE+mmpjTfyz0MoVTnzeYxroil2G82ki7MGG8=
@ -237,8 +237,8 @@ golang.org/x/crypto v0.0.0-20210711020723-a769d52b0f97/go.mod h1:GvvjBRRGRdwPK5y
golang.org/x/crypto v0.0.0-20210921155107-089bfa567519/go.mod h1:GvvjBRRGRdwPK5ydBHafDWAxML/pGHZbMvKqRZ5+Abc=
golang.org/x/crypto v0.0.0-20211215153901-e495a2d5b3d3/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4=
golang.org/x/crypto v0.4.0/go.mod h1:3quD/ATkf6oY+rnes5c3ExXTbLc8mueNue5/DoinL80=
golang.org/x/crypto v0.16.0 h1:mMMrFzRSCF0GvB7Ne27XVtVAaXLrPmgPC7/v0tkwHaY=
golang.org/x/crypto v0.16.0/go.mod h1:gCAAfMLgwOJRpTjQ2zCCt2OcSfYMTeZVSRtQlPC7Nq4=
golang.org/x/crypto v0.19.0 h1:ENy+Az/9Y1vSrlrvBSyna3PITt4tiZLf7sgCjZBX7Wo=
golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU=
golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g=
golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k=
golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4=
@ -251,8 +251,8 @@ golang.org/x/net v0.0.0-20220722155237-a158d28d115b/go.mod h1:XRhObCWvk6IyKnWLug
golang.org/x/net v0.3.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
golang.org/x/net v0.4.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
golang.org/x/net v0.7.0/go.mod h1:2Tu9+aMcznHK/AK1HMvgo6xiTLG5rD5rZLDS+rp2Bjs=
golang.org/x/net v0.19.0 h1:zTwKpTd2XuCqf8huc7Fo2iSy+4RHPd10s4KzeTnVr1c=
golang.org/x/net v0.19.0/go.mod h1:CfAk/cbD4CthTvqiEl8NpboMuiuOYsAr/7NOjZJtv1U=
golang.org/x/net v0.21.0 h1:AQyQV4dYCvJ7vGmJyKki9+PBdyvhkSd8EIx/qb0AYv4=
golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44=
golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.5.0 h1:60k92dhOjHxJkrqnwsfl8KuaHbn/5dl0lUPUklKo3qE=
@ -270,8 +270,8 @@ golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBc
golang.org/x/sys v0.3.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
golang.org/x/sys v0.5.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
golang.org/x/sys v0.15.0 h1:h48lPFYpsTvQJZF4EKyI4aLHaev3CxivZmv7yZig9pc=
golang.org/x/sys v0.15.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y=
golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
golang.org/x/term v0.3.0/go.mod h1:q750SLmJuPmVoN1blW3UFBPREJfb1KmY3vwxfr+nFDA=

5
go.work.sum
View File

@ -176,6 +176,7 @@ github.com/gogo/protobuf v1.3.2 h1:Ov1cvc58UF3b5XjBnZv7+opcTcQFZebYjWzi34vdm4Q=
github.com/gogo/protobuf v1.3.2/go.mod h1:P1XiOD3dCwIKUDQYPy72D8LYyHL2YPYrpS2s69NZV8Q=
github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da h1:oI5xCqsCo564l8iNU+DwB5epxmsaqB+rhGL0m5jtYqE=
github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
github.com/google/gofuzz v1.0.0 h1:A8PeW59pxE9IoFRqBp37U+mSNaQoZ46F1f0f863XSXw=
github.com/google/s2a-go v0.1.7 h1:60BLSyTrOV4/haCDW4zb1guZItoSq8foHCXrAnjBo/o=
github.com/google/s2a-go v0.1.7/go.mod h1:50CgR4k1jNlWBu4UfS4AcfhVe1r6pdZPygJ3R8F0Qdw=
@ -267,10 +268,14 @@ golang.org/x/image v0.1.0 h1:r8Oj8ZA2Xy12/b5KZYj3tuv7NG/fBz3TwQVvpJ9l8Rk=
golang.org/x/image v0.1.0/go.mod h1:iyPr49SD/G/TBxYVB/9RRtGUT5eNbo2u4NamWeQcD5c=
golang.org/x/mobile v0.0.0-20221012134814-c746ac228303 h1:K4fp1rDuJBz0FCPAWzIJwnzwNEM7S6yobdZzMrZ/Zws=
golang.org/x/mobile v0.0.0-20221012134814-c746ac228303/go.mod h1:M32cGdzp91A8Ex9qQtyZinr19EYxzkFqDjW2oyHzTDQ=
golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg=
golang.org/x/net v0.17.0/go.mod h1:NxSsAGuq816PNPmqtQdLE42eU2Fs7NoRIZrHJAlaCOE=
golang.org/x/oauth2 v0.15.0 h1:s8pnnxNVzjWyrvYdFUQq5llS1PX2zhPXmccZv99h7uQ=
golang.org/x/oauth2 v0.15.0/go.mod h1:q48ptWNTY5XWf+JNten23lcvHpLJ0ZSxF5ttTHKVCAM=
golang.org/x/term v0.15.0 h1:y/Oo/a/q3IXu26lQgl04j/gjuBDOBlx7X6Om1j2CPW4=
golang.org/x/term v0.15.0/go.mod h1:BDl952bC7+uMoWR75FIrCDx79TPU9oHkTZ9yRbYOrX0=
golang.org/x/term v0.17.0 h1:mkTF7LCd6WGJNL3K1Ad7kwxNfYAW6a8a8QqtMblp/4U=
golang.org/x/term v0.17.0/go.mod h1:lLRBjIVuehSbZlaOtGMbcMncT+aqLLLmKrsjNrUguwk=
golang.org/x/time v0.5.0 h1:o7cqy6amK/52YcAKIPlM3a+Fpj35zvRj2TP+e1xFSfk=
golang.org/x/time v0.5.0/go.mod h1:3BpzKBy/shNhVucY/MWOyx10tF3SFh9QdLuxbVysPQM=
golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 h1:H2TDz8ibqkAF6YGhCdN3jS9O0/s90v0rJh3X/OLHEUk=

36
message_server/sfp_ms.go
View File

@ -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
}
@ -435,20 +443,20 @@ func collectTrainStates(vs *memory.VerifySimulation) ([]*state_proto.TrainMapSta
func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
t := &state_proto.TrainMapState{
Id: v.Id,
Up: v.Up,
InitialSpeed: v.Speed,
TrainLength: v.TrainLength,
Show: v.Show,
HeadDeviceId: v.HeadDeviceId,
HeadOffset: v.HeadOffset,
DevicePort: v.DevicePort,
PointTo: v.PointTo,
RunDirection: v.RunDirection,
HeadDirection: v.HeadDirection,
TrainKilometer: v.TrainKilometer,
ControlDelayTime: v.ControlDelayTime,
WheelDiameter: v.WheelDiameter,
Id: v.Id,
Up: v.Up,
InitialSpeed: v.Speed,
TrainLength: v.TrainLength,
Show: v.Show,
HeadDeviceId: v.HeadDeviceId,
HeadOffset: v.HeadOffset,
DevicePort: v.DevicePort,
DriftTo: v.DriftTo,
TrainRunUp: v.TrainRunUp,
TrainActiveDirection: v.TrainActiveDirection,
TrainKilometer: v.TrainKilometer,
ControlDelayTime: v.ControlDelayTime,
WheelDiameter: v.WheelDiameter,
// 动力学
DynamicHeartbeat: v.DynamicState.Heartbeat,
HeadLinkId: v.DynamicState.HeadLinkId,

21
mqtt/client.go
View File

@ -29,10 +29,15 @@ func Startup(cmc *MqttOptions) error {
if err != nil {
return err
}
cm, err := autopaho.NewConnection(context.Background(), *cc)
ctx := context.Background()
cm, err := autopaho.NewConnection(ctx, *cc)
if err != nil {
return err
}
//添加等待连接，如果连接失败，则等待重连
if err = cm.AwaitConnection(ctx); err != nil {
panic(err)
}
mqttClient = &MqttClient{cc: cc, cm: cm}
return nil
}
@ -90,6 +95,20 @@ func (client *MqttClient) pub(topic string, data protoreflect.ProtoMessage) erro
return err
}
// 订阅mqtt服务
/*func subHandle(p *paho.Publish) {
fmt.Println(fmt.Sprintf("%v-%v"), hex.EncodeToString(p.Payload), len(p.Payload))
}
func (client *MqttClient) SubSimulationState(simulationId string) (*paho.Suback, error) {
topIc := GetStateTopic(simulationId)
_, err2 := client.cm.Subscribe(context.Background(), &paho.Subscribe{Subscriptions: []paho.SubscribeOptions{{Topic: topIc, QoS: 0}}})
if err2 != nil {
fmt.Println(err2)
}
client.cc.Router.RegisterHandler(topIc, subHandle)
return nil, nil
}*/
// 发送仿真状态数据
func (client *MqttClient) PubSimulationState(simulationId string, msg *state_proto.SimulationStatus) error {
return client.pub(GetStateTopic(simulationId), msg)

9
mqtt/config.go
View File

@ -22,6 +22,7 @@ type MqttOptions struct {
KeepAlive uint16 // 保活时间间隔,单位s,默认为60
ConnectRetryDelay uint16 // 连接重试延时,单位s,默认为3
ConnectTimeout uint16 // 连接操作超时,单位s,默认为3
route *paho.StandardRouter
}
func NewMqttOptions(address, username, password string) *MqttOptions {
@ -53,6 +54,7 @@ func (c *MqttOptions) tryInto() (*autopaho.ClientConfig, error) {
if c.ConnectTimeout == 0 {
c.ConnectTimeout = 3
}
router := paho.NewStandardRouter()
cc := &autopaho.ClientConfig{
BrokerUrls: []*url.URL{
addr,
@ -73,8 +75,15 @@ func (c *MqttOptions) tryInto() (*autopaho.ClientConfig, error) {
OnServerDisconnect: func(d *paho.Disconnect) {
fmt.Printf("%s 连接断开; reason code: %d,properties: %v\n", c.ClientId, d.ReasonCode, d.Properties)
},
//添加订阅路由功能，以支持订阅
OnPublishReceived: []func(paho.PublishReceived) (bool, error){
func(pr paho.PublishReceived) (bool, error) {
router.Route(pr.Packet.Packet())
return true, nil // we assume that the router handles all messages (todo: amend router API)
}},
},
}
cc.SetUsernamePassword(c.Username, []byte(c.Password))
c.route = router
return cc, nil
}

2
rts-sim-module

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

2
rts-sim-testing-message

@ -1 +1 @@
Subproject commit 121134778a38df672562fd8d1acb1482a327702f
Subproject commit aac1484a6f64cc43146cabd89784b92c933a0298

2
third_party/dynamics/dynamics.go vendored
View File

@ -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)

23
third_party/interlock/beijing11/beijing11_const.go vendored Normal file
View File

@ -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
}

126
third_party/interlock/beijing11/interlock.go vendored Normal file
View File

@ -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
}

86
third_party/interlock/beijing11/msg.go vendored Normal file
View File

@ -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
}

11
third_party/interlock/interlock.go → third_party/interlock/beijing12/interlock.go vendored
View File

@ -1,4 +1,5 @@
package interlock
// Package beijing12 北京12号线联锁通信
package beijing12
import (
"context"
@ -52,6 +53,7 @@ type interlockProxy struct {
// 驱动信息进行转发
func (i *interlockProxy) handleDriverInfo(b []byte) {
slog.Info("收到联锁驱动继电器数据：", fmt.Sprintf("%x", b))
handler := i.manager
if handler != nil {
handler.HandleInterlockDriverInfo(i.runConfig.Code, b)
@ -100,7 +102,12 @@ func (i *interlockProxy) collectInfoStateTask(ctx context.Context) {
if collectInfoState != nil {
serialNumber++
collectInfoState.SetSerialNumber(serialNumber)
i.sendCollectUdpClient.SendMsg(collectInfoState)
err := i.sendCollectUdpClient.SendMsg(collectInfoState)
if err != nil {
slog.Error("向联锁发送继电器状态失败:", err)
} else {
slog.Error("向联锁发送继电器数据成功：", fmt.Sprintf("%x", collectInfoState.Encode()))
}
}
time.Sleep(time.Millisecond * InterlockMessageSendInterval)
}

22
third_party/message/dynamics.go vendored
View File

@ -3,6 +3,7 @@ package message
import (
"encoding/binary"
"math"
"time"
)
type DynamicsTurnoutInfo struct {
@ -77,7 +78,10 @@ type DynamicsTrainInfo struct {
//此次计算所使用的半实物消息的生命信号
VobcLifeSignal uint16
//位移（mm）
Displacement uint16
Displacement uint16
TrainActToMax bool
TrainActToMin bool
UpdateTime int64
}
// 解析动力学的列车信息
@ -89,8 +93,19 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error {
t.LinkOffset = binary.BigEndian.Uint32(buf[8:12])
t.Slope = binary.BigEndian.Uint16(buf[12:14])
b := buf[14]
t.UpSlope = (b & (1 << 7)) != 0
t.Up = (b & (1 << 6)) != 0
t.UpSlope = IsTrueForByte(GetBit(b, 7))
t.Up = IsTrueForByte(GetBit(b, 6))
t.TrainActToMax = IsTrueForByte(GetBit(b, 4))
t.TrainActToMin = IsTrueForByte(GetBit(b, 5))
//t.UpSlope = (b & (1 << 7)) != 0
//t.Up = (b & (1 << 6)) != 0
//t.TrainActToMax = (b & (1 << 5)) != 0
//t.TrainActToMin = (b & (1 << 4)) != 0
//t.TrainActToMax = (b & (1 << 4)) != 0
//t.TrainActToMin = (b & (1 << 5)) != 0
t.TotalResistance = int32(binary.BigEndian.Uint32(buf[16:20]))
t.AirResistance = int32(binary.BigEndian.Uint32(buf[20:24]))
t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[24:28]))
@ -105,5 +120,6 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error {
t.Acceleration = math.Float32frombits(binary.BigEndian.Uint32(buf[60:64]))
t.VobcLifeSignal = binary.BigEndian.Uint16(buf[64:66])
t.Displacement = binary.BigEndian.Uint16(buf[66:68])
t.UpdateTime = time.Now().UnixMilli()
return nil
}

1
third_party/message/train_control.go vendored
View File

@ -29,6 +29,7 @@ func (r *TrainControlMsg) Encode() []byte {
if !r.FromVobc {
ls := r.ControlInfo.LifeSignal
r.ControlInfo.LifeSignal = ls + 1
r.ControlInfo.UpdateTime = time.Now().UnixMilli()
}
//data := make([]byte, 0)
//data = binary.BigEndian.AppendUint16(data, uint16(r.ControlInfo.LifeSignal))

2
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -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

32
ts/simulation/wayside/memory/train_tcc_graphic.go
View File

@ -6,6 +6,14 @@ import (
"joylink.club/bj-rtsts-server/third_party/message"
)
const (
SKQYS1 = "SKQYS1" //驾驶端1
SKQYS2 = "SKQYS2" //驾驶端2
JJZD = "JJZD" //紧急停车
QHFXKZ = "QHFXKZ" //驾驶方向
QYSB = "QYSB" //牵引制动手柄
)
// 获取列车控制图形数据
func findTrainTccGraphicData(vs *VerifySimulation) *data_proto.TccGraphicStorage {
var tccGI *data_proto.TccGraphicStorage
@ -51,6 +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
@ -64,12 +86,12 @@ func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlSt
tcc := &state_proto.TrainControlState{}
if tccGI != nil {
for _, b := range tccGI.TccButtons {
if b.Code == "JJZD" {
if b.Code == JJZD {
tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: b.Common.Id, Passed: false}
}
}
for _, b := range tccGI.TccHandles {
if b.Code == "QYSB" {
if b.Code == QYSB {
tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: b.Common.Id, Val: 0}
}
}
@ -77,12 +99,14 @@ func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlSt
for _, b := range tccGI.TccKeys {
if b.GetType() == data_proto.TccKey_driverControllerActivationClint {
val := false
if b.Code == "SKQYS1" {
if b.Code == SKQYS1 && runDir {
val = true
} else if b.Code == SKQYS2 && !runDir {
val = true
}
ds = append(ds, &state_proto.TrainControlState_DriverKeySwitch{Id: b.Common.Id, Val: val})
} else if b.GetType() == data_proto.TccKey_frontAndRearDirectionalControl {
tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: b.Common.Id, Val: uint32(message.IsTrue(runDir))}
tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: b.Common.Id, Val: uint32(message.IsTrue(true))}
}
}
tcc.DriverKey = ds

125
ts/simulation/wayside/memory/wayside_memory_dir_transfer.go Normal file
View File

@ -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
}

6
ts/simulation/wayside/memory/wayside_memory_map.go
View File

@ -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) (

154
ts/simulation/wayside/memory/wayside_memory_train.go
View File

@ -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
@ -98,22 +98,23 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
if tl <= 0 {
tl = DEFULAT_TRAIN_LOAD
}
status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE}
if status.RunDirection {
status.VobcState.DirectionForward = true
} else {
status.VobcState.DirectionBackward = true
}
status.Tcc = initTrainTcc(vs, status.RunDirection)
vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
status.VobcState = vobc
//status.TrainActiveDirection = trainActDir
status.Tcc = initTrainTcc(vs, status.TrainRunUp)
slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
linkIdInt, _ := strconv.Atoi(linkId)
err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
TrainIndex: uint16(trainIndex),
LinkIndex: uint16(linkIdInt),
LinkOffset: uint32(loffset),
Speed: status.Speed / 3.6,
Up: status.Up,
TrainIndex: uint16(trainIndex),
LinkIndex: uint16(linkIdInt),
LinkOffset: uint32(loffset),
Speed: status.Speed / 3.6,
Up: status.Up,
//Up: status.TrainRunUp,
TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData),
})
if err != nil {
@ -290,62 +291,50 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
panic(sys_error.New(fmt.Sprintf("动力学传输数据:列车【%s】不存在", trainId)))
}
sta := data.(*state_proto.TrainState)
if !sta.Show {
return sta
}
delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
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, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo)
slog.Debug("处理动力学转换后的消息", "number", info.Number, "up", info.Up, "Link", info.Link, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo, "t1Dir:", info.TrainActToMax, "t2Dir:", info.TrainActToMin)
trainHeadActUp := true
if info.TrainActToMax || info.TrainActToMin {
if info.TrainActToMin {
trainHeadActUp = false
}
}
// 车尾相对车头link的偏移量
calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
//calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), trainHeadActUp)
tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)
if e2 != nil {
panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2))
}
//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
// 更新BTM中列车位置信息
can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
TrainId: trainId,
Up: info.Up,
Link: outLinkId,
LinkOffset: outLinkOffset,
Speed: info.Speed,
Acceleration: info.Acceleration,
})
state := can_btm.Default().GetState()
sta.BtmState = &state
updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
// 修改world中的列车位置
fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
TrainId: trainId,
Up: info.Up,
Len: info.Len,
HeadLink: outLinkId,
HeadLinkOffset: uint32(outLinkOffset),
TailLink: tailLinkId,
TailLinkOffset: uint32(tailLinkOffset),
})
handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
//修改列车激活方向
updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
sta.HeadDeviceId = vs.GetComIdByUid(id)
sta.DevicePort = port
sta.HeadOffset = offset
sta.PointTo = pointTo
sta.DriftTo = pointTo
sta.TrainKilometer = kilometer.Value
sta.RunDirection = runDirection
//判定车头方向
sta.HeadDirection = runDirection
if sta.VobcState != nil {
if sta.VobcState.DirectionForward {
sta.HeadDirection = runDirection
} else if sta.VobcState.DirectionBackward {
sta.HeadDirection = !runDirection
}
}
if info.Speed < 0 {
sta.RunDirection = !sta.RunDirection
}
sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
sta.TailOffset = tailOffset
sta.TailDevicePort = tailDevicePort
@ -377,6 +366,47 @@ 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
@ -388,7 +418,7 @@ 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 {
@ -437,7 +467,13 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
return err
}
}
if train.VobcState != nil {
vobc := train.VobcState
vobc.TractionStatus = false
vobc.BrakingStatus = true
vobc.TractionForce = 0
vobc.BrakeForce = DEFAULT_BRAKE_FORCE
}
train.Show = false
train.ConnState.ConnType = state_proto.TrainConnState_NONE
return fi.RemoveTrainFromWorld(vs.World, trainId)

168
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -35,96 +35,147 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
panic(sys_error.New("未找到TCC图形数据"))
}
sta := data.(*state_proto.TrainState)
vobc := sta.VobcState
tcc := sta.Tcc
var tce []train_pc_sim.TrainControlEvent = nil
if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
tce = trainControlEB(sta, ct.Button, ct.DeviceId, tccGraphicData)
tce = trainControlEB(vobc, tcc, ct.Button, ct.DeviceId, tccGraphicData)
} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
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, ct.DirKey, ct.DeviceId, tccGraphicData)
tce = trainControlDirKey(sta.DynamicState.Speed, vobc, tcc, ct.DirKey, ct.DeviceId, tccGraphicData)
//此处先注释，根据现场调试情况 2024-4-16
//train_pc_sim.Default().SendTrainDirection(sta.VobcState.DirectionForward, sta.VobcState.DirectionBackward)
} else if ct.ControlType == request_proto.TrainControl_HANDLER {
oldTraction := sta.VobcState.TractionForce
oldBrakeForce := sta.VobcState.BrakeForce
isTraction := ct.Handler.Val > 0 //是否制动
tce = trainControlHandle(sta, ct.Handler, ct.DeviceId, tccGraphicData)
tce = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta.ConnState, sta.VobcState)
}
if !vobc.DirectionForward && !vobc.DirectionBackward {
vobc.TractionStatus = false
vobc.TractionForce = 0
}
if vobc.EmergencyBrakingStatus {
vobc.TractionForce = 0
}
if sta.ConnState.Conn && sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM && tce != nil {
train_pc_sim.Default().PublishTrainControlEvent(tce)
}
}
func trainControlEB(trainState *state_proto.TrainState, request *request_proto.TrainControl_EmergentButton, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
func trainControlEB(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_EmergentButton, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
if !request.Active {
return nil
}
if tcc.Ebutton != nil && tcc.Ebutton.Passed {
return nil
}
_, find := findTrainTccGraphicDataButton(tccGraphic, deviceId)
if !find {
slog.Error("未找到对应的紧急停车摁钮,deviceId:", deviceId)
return nil
}
trainState.VobcState.EmergencyBrakingStatus = request.Active
if trainState.Tcc.Ebutton == nil {
trainState.Tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId, Passed: request.Active}
} else {
trainState.Tcc.Ebutton.Passed = request.Active
if tcc.Ebutton == nil {
tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId}
}
tcc.Ebutton.Passed = request.Active
vobc.EmergencyBrakingStatus = true
vobc.TractionForce = 0
vobc.BrakeForce = DEFAULT_BRAKE_FORCE
return nil
//return []train_pc_sim.TrainControlEvent{{Command: message.KEY_STATE, Status: message.IsTrue(request.Val)}}
}
// 列车方向
func trainControlDirKey(trainState *state_proto.TrainState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_DirectionKeySwitch, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
_, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
if !find {
slog.Error("未找到对应的列车方向键deviceId:", deviceId)
return nil
panic(sys_error.New("未找到对应的列车方向键"))
}
if tcc.DirKey == nil {
tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId}
}
trainState.VobcState.DirectionForward = false
trainState.VobcState.DirectionBackward = false
direction := request_proto.TrainControl_Direction(request.Val)
if trainSpeed > 0 {
panic(sys_error.New("列车未停稳时，不能变更方向"))
}
vobc.DirectionBackward = false
vobc.DirectionForward = false
if direction == request_proto.TrainControl_FORWARD {
vobc.DirectionForward = true
} else if direction == request_proto.TrainControl_BACKWARD {
vobc.DirectionBackward = true
}
/* if direction == request_proto.TrainControl_NEUTRALWARD {
vobc.DirectionBackward = false
vobc.DirectionForward = false
} else if trainSpeed > 0 && direction != vobc.HistoryDir {
tcc.DirKey.Val = uint32(vobc.HistoryDir.Number())
if vobc.HistoryDir == request_proto.TrainControl_FORWARD {
vobc.DirectionForward = true
} else if vobc.HistoryDir == request_proto.TrainControl_BACKWARD {
vobc.DirectionBackward = true
}
panic(sys_error.New("列车未停稳时，不能变更方向"))
}
vobc.DirectionBackward = false
vobc.DirectionForward = false
if direction == request_proto.TrainControl_FORWARD {
vobc.DirectionForward = true
vobc.HistoryDir = request_proto.TrainControl_FORWARD
} else if direction == request_proto.TrainControl_BACKWARD {
vobc.DirectionBackward = true
vobc.HistoryDir = request_proto.TrainControl_BACKWARD
}*/
if request.Val == 1 {
trainState.VobcState.DirectionForward = true
} else if request.Val == 0 {
trainState.VobcState.DirectionBackward = true
}
if trainState.Tcc.DirKey == nil {
trainState.Tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId, Val: request.Val}
} else {
trainState.Tcc.DirKey.Val = request.Val
}
tcc.DirKey.Val = request.Val
tce := make([]train_pc_sim.TrainControlEvent, 0)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(trainState.VobcState.DirectionForward)})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(trainState.VobcState.DirectionBackward)})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: message.IsTrue(vobc.DirectionForward)})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: message.IsTrue(vobc.DirectionBackward)})
return tce
}
// 列车驾驶端激活
func trainControlDriverKey(trainState *state_proto.TrainState, 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 obj.Code == "SKQYS1" {
trainState.VobcState.Tc1Active = request.Val
} else if obj.Code == "SKQYS2" {
trainState.VobcState.Tc2Active = request.Val
if train.DynamicState.Speed != 0 {
panic(sys_error.New("因列车未停稳，不支持此操作"))
}
if trainState.VobcState.Tc1Active && trainState.VobcState.Tc2Active {
if obj.Code == "SKQYS1" {
trainState.VobcState.Tc1Active = false
} else if obj.Code == "SKQYS2" {
trainState.VobcState.Tc2Active = false
vobc := train.VobcState
tcc := train.Tcc
if obj.Code == SKQYS1 {
vobc.Tc1Active = request.Val
} else if obj.Code == SKQYS2 {
vobc.Tc2Active = request.Val
}
if vobc.Tc1Active && vobc.Tc2Active {
if obj.Code == SKQYS1 {
vobc.Tc1Active = false
} else if obj.Code == SKQYS2 {
vobc.Tc2Active = false
}
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 trainState.Tcc.DriverKey {
for _, k := range tcc.DriverKey {
if k.Id == deviceId {
k.Id = deviceId
k.Val = request.Val
@ -133,48 +184,45 @@ func trainControlDriverKey(trainState *state_proto.TrainState, request *request_
}
}
if addNew {
trainState.Tcc.DriverKey = append(trainState.Tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val})
tcc.DriverKey = append(tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val})
}
return []train_pc_sim.TrainControlEvent{{Command: message.KEY_STATE, Status: message.IsTrue(request.Val)}}
}
// 列车牵引控制
func trainControlHandle(trainState *state_proto.TrainState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
_, 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
}
trainState.VobcState.TractionStatus = false
trainState.VobcState.TractionForce = 0
trainState.VobcState.BrakingStatus = false
trainState.VobcState.BrakeForce = 0
trainState.VobcState.MaintainBrakeStatus = false
vobc.TractionStatus = false
vobc.TractionForce = 0
vobc.BrakingStatus = false
vobc.BrakeForce = 0
vobc.MaintainBrakeStatus = false
tce := make([]train_pc_sim.TrainControlEvent, 0)
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 0})
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 0})
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 0})
if request.Val > 0 {
trainState.VobcState.TractionStatus = true
trainState.VobcState.TractionForce = int64(request.Val * 180)
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
vobc.TractionStatus = true
vobc.TractionForce = int64(request.Val * 180)
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 0})
} else if request.Val < 0 {
trainState.VobcState.BrakingStatus = true
trainState.VobcState.BrakeForce = int64(-request.Val * 180)
//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
vobc.BrakingStatus = true
vobc.BrakeForce = int64(-request.Val * 180)
vobc.EmergencyBrakingStatus = false
if tcc.Ebutton != nil {
tcc.Ebutton.Passed = false
}
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1})
} else {
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 1})
}
if trainState.Tcc.PushHandler == nil {
trainState.Tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId, Val: request.Val}
} else {
trainState.Tcc.PushHandler.Val = request.Val
if tcc.PushHandler == nil {
tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId}
}
tcc.PushHandler.Val = request.Val
return tce
}

6
ts/test_simulation_manage.go
View File

@ -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()