Merge branch 'develop' into local-test

.gitea/workflows/CI_local_test.yaml

@@ -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)

api/simulation.go

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

bin/acc_conn-example.go

@@ -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)
+	}
+
+}

bin/config/example.yml

@@ -0,0 +1,3 @@
+acc:
+  remoteIp: "127.0.0.1"
+  remotePort: 1234

bin/config/example_config.go

@@ -0,0 +1,9 @@
+package config
+
+type ExampleConfig struct {
+	Acc acc
+}
+type acc struct {
+	RemoteIp   string
+	RemotePort int
+}

dto/common_proto/common_data.pb.go

@@ -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"`

dto/data_proto/stationLayoutGraphics.pb.go

@@ -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

dto/request_proto/request.pb.go

@@ -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{
 	0x52, 0x05, 0x66, 0x6f, 0x72, 0x63, 0x65, 0x12, 0x28, 0x0a, 0x05, 0x66, 0x61, 0x75, 0x6c, 0x74,
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 	0x6f, 0x6c, 0x12, 0x22, 0x0a, 0x0c, 0x73, 0x69, 0x6d, 0x75, 0x6c, 0x61, 0x74, 0x69, 0x6f, 0x6e,
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@@ -2429,59 +2478,62 @@ var file_request_proto_rawDesc = []byte{
 	0x56, 0x45, 0x52, 0x5f, 0x4b, 0x45, 0x59, 0x5f, 0x53, 0x57, 0x49, 0x54, 0x43, 0x48, 0x10, 0x01,
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+	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 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
+	(TrainControl_Direction)(0),             // 11: request.TrainControl.Direction
-	(Ckm_Force)(0),                          // 12: request.Ckm.Force
+	(Ckm_Operation)(0),                      // 12: request.Ckm.Operation
-	(Ckm_Fault)(0),                          // 13: request.Ckm.Fault
+	(Ckm_Force)(0),                          // 13: request.Ckm.Force
-	(Xcj_Operation)(0),                      // 14: request.Xcj.Operation
+	(Ckm_Fault)(0),                          // 14: request.Ckm.Fault
-	(Xcj_Fault)(0),                          // 15: request.Xcj.Fault
+	(Xcj_Operation)(0),                      // 15: request.Xcj.Operation
-	(*Relay)(nil),                           // 16: request.Relay
+	(Xcj_Fault)(0),                          // 16: request.Xcj.Fault
-	(*RelayOperationReq)(nil),               // 17: request.RelayOperationReq
+	(*Relay)(nil),                           // 17: request.Relay
-	(*Points)(nil),                          // 18: request.Points
+	(*RelayOperationReq)(nil),               // 18: request.RelayOperationReq
-	(*PointsOperationReq)(nil),              // 19: request.PointsOperationReq
+	(*Points)(nil),                          // 19: request.Points
-	(*PointsParam)(nil),                     // 20: request.PointsParam
+	(*PointsOperationReq)(nil),              // 20: request.PointsOperationReq
-	(*Signal)(nil),                          // 21: request.Signal
+	(*PointsParam)(nil),                     // 21: request.PointsParam
-	(*SignalOperationReq)(nil),              // 22: request.SignalOperationReq
+	(*Signal)(nil),                          // 22: request.Signal
-	(*SignalParam)(nil),                     // 23: request.SignalParam
+	(*SignalOperationReq)(nil),              // 23: request.SignalOperationReq
-	(*Section)(nil),                         // 24: request.Section
+	(*SignalParam)(nil),                     // 24: request.SignalParam
-	(*SectionOperationReq)(nil),             // 25: request.SectionOperationReq
+	(*Section)(nil),                         // 25: request.Section
-	(*SectionParam)(nil),                    // 26: request.SectionParam
+	(*SectionOperationReq)(nil),             // 26: request.SectionOperationReq
-	(*Psd)(nil),                             // 27: request.Psd
+	(*SectionParam)(nil),                    // 27: request.SectionParam
-	(*PsdOperationReq)(nil),                 // 28: request.PsdOperationReq
+	(*Psd)(nil),                             // 28: request.Psd
-	(*PsdParam)(nil),                        // 29: request.PsdParam
+	(*PsdOperationReq)(nil),                 // 29: request.PsdOperationReq
-	(*TrainControl)(nil),                    // 30: request.TrainControl
+	(*PsdParam)(nil),                        // 30: request.PsdParam
-	(*CkmOperationReq)(nil),                 // 31: request.CkmOperationReq
+	(*TrainControl)(nil),                    // 31: request.TrainControl
-	(*Ckm)(nil),                             // 32: request.Ckm
+	(*CkmOperationReq)(nil),                 // 32: request.CkmOperationReq
-	(*CkmParam)(nil),                        // 33: request.CkmParam
+	(*Ckm)(nil),                             // 33: request.Ckm
-	(*XcjOperationReq)(nil),                 // 34: request.XcjOperationReq
+	(*CkmParam)(nil),                        // 34: request.CkmParam
-	(*Xcj)(nil),                             // 35: request.Xcj
+	(*XcjOperationReq)(nil),                 // 35: request.XcjOperationReq
-	(*XcjParam)(nil),                        // 36: request.XcjParam
+	(*Xcj)(nil),                             // 36: request.Xcj
-	(*TrainControl_EmergentButton)(nil),     // 37: request.TrainControl.EmergentButton
+	(*XcjParam)(nil),                        // 37: request.XcjParam
-	(*TrainControl_DriverKeySwitch)(nil),    // 38: request.TrainControl.DriverKeySwitch
+	(*TrainControl_EmergentButton)(nil),     // 38: request.TrainControl.EmergentButton
-	(*TrainControl_DirectionKeySwitch)(nil), // 39: request.TrainControl.DirectionKeySwitch
+	(*TrainControl_DriverKeySwitch)(nil),    // 39: request.TrainControl.DriverKeySwitch
-	(*TrainControl_PushHandler)(nil),        // 40: request.TrainControl.PushHandler
+	(*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, // 15: request.TrainControl.button:type_name -> request.TrainControl.EmergentButton
-	38, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch
+	39, // 16: request.TrainControl.driverKey:type_name -> request.TrainControl.DriverKeySwitch
-	39, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch
+	40, // 17: request.TrainControl.dirKey:type_name -> request.TrainControl.DirectionKeySwitch
-	40, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler
+	41, // 18: request.TrainControl.handler:type_name -> request.TrainControl.PushHandler
-	11, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation
+	12, // 19: request.CkmOperationReq.operation:type_name -> request.Ckm.Operation
-	33, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam
+	34, // 20: request.CkmOperationReq.param:type_name -> request.CkmParam
-	12, // 21: request.CkmParam.force:type_name -> request.Ckm.Force
+	13, // 21: request.CkmParam.force:type_name -> request.Ckm.Force
-	13, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault
+	14, // 22: request.CkmParam.fault:type_name -> request.Ckm.Fault
-	14, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation
+	15, // 23: request.XcjOperationReq.operation:type_name -> request.Xcj.Operation
-	36, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam
+	37, // 24: request.XcjOperationReq.param:type_name -> request.XcjParam
-	15, // 25: request.XcjParam.fault:type_name -> request.Xcj.Fault
+	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,

go.mod

@@ -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/crypto v0.19.0 // indirect
-	golang.org/x/net v0.19.0 // indirect
+	golang.org/x/net v0.21.0 // indirect
-	golang.org/x/sys v0.15.0 // 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

go.sum

@@ -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 v0.21.0 h1:cxxEReu+iFbA5RrHfRGxJOh8tXZKDywuehneoeBeyn8=
-github.com/eclipse/paho.golang v0.12.0/go.mod h1:TSDCUivu9JnoR9Hl+H7sQMcHkejWH2/xKK1NJGtLbIE=
+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 v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
-github.com/gorilla/websocket v1.5.0/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+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 v0.19.0 h1:ENy+Az/9Y1vSrlrvBSyna3PITt4tiZLf7sgCjZBX7Wo=
-golang.org/x/crypto v0.16.0/go.mod h1:gCAAfMLgwOJRpTjQ2zCCt2OcSfYMTeZVSRtQlPC7Nq4=
+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 v0.21.0 h1:AQyQV4dYCvJ7vGmJyKki9+PBdyvhkSd8EIx/qb0AYv4=
-golang.org/x/net v0.19.0/go.mod h1:CfAk/cbD4CthTvqiEl8NpboMuiuOYsAr/7NOjZJtv1U=
+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 v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y=
-golang.org/x/sys v0.15.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
+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=

go.work.sum

@@ -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=

message_server/sfp_ms.go

@@ -293,6 +293,14 @@ func handlerSectionState(w ecs.World, uid string) *state_proto.SectionState {
 			}
 		}
 		return sectionState
+	} else if entry.HasComponent(component.TrackCircuitType) { //轨道电路
+		sectionState := &state_proto.SectionState{
+			Occupied:  component.BitStateType.Get(component.TrackCircuitType.Get(entry).GJ).Val,
+			AxleFault: false,
+			AxleDrst:  false,
+			AxlePdrst: false,
+		}
+		return sectionState
 	}
 	return nil
 }
@@ -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,
+		Id:                   v.Id,
-		Up:               v.Up,
+		Up:                   v.Up,
-		InitialSpeed:     v.Speed,
+		InitialSpeed:         v.Speed,
-		TrainLength:      v.TrainLength,
+		TrainLength:          v.TrainLength,
-		Show:             v.Show,
+		Show:                 v.Show,
-		HeadDeviceId:     v.HeadDeviceId,
+		HeadDeviceId:         v.HeadDeviceId,
-		HeadOffset:       v.HeadOffset,
+		HeadOffset:           v.HeadOffset,
-		DevicePort:       v.DevicePort,
+		DevicePort:           v.DevicePort,
-		PointTo:          v.PointTo,
+		DriftTo:              v.DriftTo,
-		RunDirection:     v.RunDirection,
+		TrainRunUp:           v.TrainRunUp,
-		HeadDirection:    v.HeadDirection,
+		TrainActiveDirection: v.TrainActiveDirection,
-		TrainKilometer:   v.TrainKilometer,
+		TrainKilometer:       v.TrainKilometer,
-		ControlDelayTime: v.ControlDelayTime,
+		ControlDelayTime:     v.ControlDelayTime,
-		WheelDiameter:    v.WheelDiameter,
+		WheelDiameter:        v.WheelDiameter,
 		// 动力学
 		DynamicHeartbeat:     v.DynamicState.Heartbeat,
 		HeadLinkId:           v.DynamicState.HeadLinkId,

mqtt/client.go

@@ -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)

mqtt/config.go

@@ -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
 }

rts-sim-module

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

rts-sim-testing-message

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

third_party/dynamics/dynamics.go

@@ -133,6 +133,7 @@ func (d *dynamics) requestStartSimulation(base *message.LineBaseInfo) error {
 	}
 	url := d.buildUrl("/api/start/")
 	data, _ := json.Marshal(base)
+	fmt.Println(string(data))
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
 		return sys_error.New("动力学开始仿真请求发送错误", err)
@@ -171,6 +172,7 @@ func (d *dynamics) RequestAddTrain(info *message.InitTrainInfo) error {
 	}
 	url := d.buildUrl("/api/aerodynamics/init/train/")
 	data, _ := json.Marshal(info)
+	fmt.Println(string(data))
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
 		return fmt.Errorf("动力学添加列车请求异常: %v", err)

third_party/interlock/beijing11/beijing11_const.go

@@ -0,0 +1,23 @@
+package beijing11
+
+var (
+	FrameHead   byte = 0x0E //帧头
+	FrameTail   byte = 0x0E //帧尾
+	ControlWord      = controlWord{
+		HeartBeat:     0x00,
+		ReadRegister:  0x01,
+		WriteRegister: 0x02,
+		Response:      0x03,
+		Upstream:      0x06,
+		DownStream:    0x07,
+	}
+)
+
+type controlWord struct {
+	HeartBeat     byte //心跳
+	ReadRegister  byte //读寄存器
+	WriteRegister byte //写寄存器
+	Response      byte //回复
+	Upstream      byte //上行流数据
+	DownStream    byte //下行流数据
+}

third_party/interlock/beijing11/interlock.go

@@ -0,0 +1,126 @@
+// Package beijing11 北京11号线联锁通信
+package beijing11
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
+	"sync"
+)
+
+var (
+	initMutex    = sync.Mutex{}
+	interlockMap = make(map[string]*InterlockProxy)
+	logTag       = "[北京11号线联锁通信]"
+)
+
+func GetInstant(c *config.InterlockConfig, msgManager MsgManager) *InterlockProxy {
+	initMutex.Lock()
+	defer initMutex.Unlock()
+	if interlockMap[c.Code] == nil {
+		interlockMap[c.Code] = &InterlockProxy{runConfig: c, msgManager: msgManager}
+	}
+	return interlockMap[c.Code]
+}
+
+type MsgManager interface {
+	HandleReadRegisterMsg(req *ReadRegisterReq) (*ReadRegisterRes, error)
+	HandleWriteRegisterMsg(req *WriteRegisterReq) error
+	HandleDownstreamMsg(data []byte) error
+	CollectUpstreamMsg() []byte
+}
+
+type msgManager struct {
+}
+
+type InterlockProxy struct {
+	runConfig  *config.InterlockConfig //联锁通信配置
+	msgManager MsgManager              //消息获取与处理接口0
+	client     udp.UdpClient           //向上位机发送数据的UDP客户端
+	server     udp.UdpServer           //接收上位机数据的UDP服务端
+	running    bool                    //此服务正在运行的标志
+}
+
+func (i *InterlockProxy) Start() {
+	if i.runConfig == nil || i.runConfig.Ip == "" || !i.runConfig.Open {
+		return
+	}
+	if i.running {
+		panic("启动联锁消息服务错误: 存在正在运行的任务")
+	}
+	//UDP通信设施
+	i.server = udp.NewServer(fmt.Sprintf(":%d", i.runConfig.LocalPort), i.handleUpperData)
+	err := i.server.Listen()
+	if err != nil {
+		panic("启动联锁消息服务错误：无法启动UDP服务")
+	}
+	i.running = true
+	i.client = udp.NewClient(fmt.Sprintf("%v:%v", i.runConfig.Ip, i.runConfig.RemotePort))
+}
+
+// 处理来自上位机的数据
+func (i *InterlockProxy) handleUpperData(data []byte) {
+	baseData := &BaseStruct{}
+	err := baseData.Decode(data)
+	if err != nil {
+		slog.Error(logTag + "数据解析出错：" + err.Error())
+		return
+	}
+	switch baseData.ControlWord {
+	case ControlWord.ReadRegister:
+		req := &ReadRegisterReq{}
+		err := req.Decode(baseData.Data)
+		if err != nil {
+			slog.Error(logTag + "读寄存器数据解析出错：" + err.Error())
+			return
+		}
+		res, err := i.msgManager.HandleReadRegisterMsg(req)
+		if err != nil {
+			slog.Error(logTag + "读寄存器数据处理出错：" + err.Error())
+			return
+		}
+		resData := &BaseStruct{
+			ID:          baseData.ID,
+			ControlWord: ControlWord.Response,
+			Data:        res.Encode(),
+		}
+		i.SendToUpper(resData.Encode())
+	case ControlWord.WriteRegister:
+		req := &WriteRegisterReq{}
+		err := req.Decode(baseData.Data)
+		if err != nil {
+			slog.Error(logTag + "写寄存器数据解析出错：" + err.Error())
+			return
+		}
+		err = i.msgManager.HandleWriteRegisterMsg(req)
+		if err != nil {
+			slog.Error(logTag + "写寄存器数据处理出错：" + err.Error())
+			return
+		}
+	case ControlWord.DownStream:
+		err = i.msgManager.HandleDownstreamMsg(baseData.Data)
+		if err != nil {
+			slog.Error(logTag + "下行数据处理出错：" + err.Error())
+			return
+		}
+	}
+}
+
+func (i *InterlockProxy) SendToUpper(data []byte) {
+	err := i.client.Send(data)
+	slog.Error(logTag + "向上位机发送数据失败：" + err.Error())
+}
+
+func (i *InterlockProxy) Stop() {
+	initMutex.Lock()
+	defer initMutex.Unlock()
+	delete(interlockMap, i.runConfig.Code)
+	if i.client != nil {
+		i.client.Close()
+	}
+	if i.server != nil {
+		i.server.Close()
+	}
+	i.running = false
+}

third_party/interlock/beijing11/msg.go

@@ -0,0 +1,86 @@
+package beijing11
+
+import (
+	"encoding/binary"
+	"fmt"
+	"hash/crc32"
+	"joylink.club/bj-rtsts-server/sys_error"
+)
+
+type BaseStruct struct {
+	ID          byte
+	ControlWord byte
+	Data        []byte
+}
+
+func (m *BaseStruct) Decode(buf []byte) error {
+	if buf[0] != FrameHead {
+		return sys_error.New(logTag + "帧头不正确：" + fmt.Sprintf("%02X", buf[0]))
+	}
+	if buf[len(buf)-1] != FrameTail {
+		return sys_error.New(logTag + "帧尾不正确：" + fmt.Sprintf("%02X", buf[len(buf)-1]))
+	}
+	crc := crc32.ChecksumIEEE(buf[1 : len(buf)-5])
+	if crc != binary.BigEndian.Uint32(buf[len(buf)-5:len(buf)-1]) {
+		return sys_error.New(logTag + "CRC校验失败")
+	}
+	m.ID = buf[1]
+	m.ControlWord = buf[2]
+	m.Data = buf[5 : len(buf)-5]
+	return nil
+}
+
+func (m *BaseStruct) Encode() []byte {
+	var data []byte
+	data = append(data, FrameHead)
+	data = append(data, m.ID)
+	data = append(data, m.ControlWord)
+	data = binary.BigEndian.AppendUint16(data, uint16(len(m.Data)))
+	data = append(data, m.Data...)
+	crc := crc32.ChecksumIEEE(data[1:])
+	data = binary.BigEndian.AppendUint32(data, crc)
+	data = append(data, FrameTail)
+	return data
+}
+
+type ReadRegisterReq struct {
+	RegisterAddr []uint16 //寄存器地址
+}
+
+func (r *ReadRegisterReq) Decode(buf []byte) error {
+	if len(buf)%2 != 0 {
+		return sys_error.New(logTag + "读寄存器数据字节长度不是2的倍数")
+	}
+	for i := 0; i < len(buf); i += 2 {
+		r.RegisterAddr = append(r.RegisterAddr, binary.BigEndian.Uint16(buf[i:i+2]))
+	}
+	return nil
+}
+
+type ReadRegisterRes struct {
+	RegisterData [][]byte //寄存器数据
+}
+
+func (r *ReadRegisterRes) Encode() []byte {
+	var data []byte
+	for _, datum := range r.RegisterData {
+		data = append(data, datum...)
+	}
+	return data
+}
+
+type WriteRegisterReq struct {
+	RegisterAddr []uint16 //寄存器地址
+	RegisterData [][]byte //寄存器数据
+}
+
+func (w *WriteRegisterReq) Decode(buf []byte) error {
+	if len(buf)%6 != 0 {
+		return sys_error.New(logTag + "写寄存器数据字节长度不是6的倍数")
+	}
+	for i := 0; i < len(buf); i += 6 {
+		w.RegisterAddr = append(w.RegisterAddr, binary.BigEndian.Uint16(buf[i:i+2]))
+		w.RegisterData = append(w.RegisterData, buf[i+2:i+6])
+	}
+	return nil
+}

third_party/interlock/beijing12/interlock.go

@@ -1,4 +1,5 @@
-package interlock
+// Package beijing12 北京12号线联锁通信
+package beijing12
 
 import (
 	"context"
@@ -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)
 	}

third_party/message/dynamics.go

@@ -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.UpSlope = IsTrueForByte(GetBit(b, 7))
-	t.Up = (b & (1 << 6)) != 0
+	t.Up = IsTrueForByte(GetBit(b, 6))
+	t.TrainActToMax = IsTrueForByte(GetBit(b, 4))
+	t.TrainActToMin = IsTrueForByte(GetBit(b, 5))
+
+	//t.UpSlope = (b & (1 << 7)) != 0
+	//t.Up = (b & (1 << 6)) != 0
+	//t.TrainActToMax = (b & (1 << 5)) != 0
+	//t.TrainActToMin = (b & (1 << 4)) != 0
+
+	//t.TrainActToMax = (b & (1 << 4)) != 0
+	//t.TrainActToMin = (b & (1 << 5)) != 0
+
 	t.TotalResistance = int32(binary.BigEndian.Uint32(buf[16:20]))
 	t.AirResistance = int32(binary.BigEndian.Uint32(buf[20:24]))
 	t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[24:28]))
@@ -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
 }

third_party/message/train_control.go

@@ -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))

third_party/train_pc_sim/train_pc_sim.go

@@ -186,7 +186,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 
 			s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
 			d.speedPlace.ParsePulseCount1(s1, s2)
-			data := d.speedPlace.Encode(train.RunDirection, s1, s2)
+			data := d.speedPlace.Encode(train.TrainRunUp, s1, s2)
 			bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data}
 			train.PluseCount.PulseCount1 = 0
 			train.PluseCount.PulseCount2 = 0

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -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

ts/simulation/wayside/memory/wayside_memory_dir_transfer.go

@@ -0,0 +1,125 @@
+package memory
+
+import (
+	"errors"
+	"fmt"
+	"joylink.club/rtsssimulation/repository"
+	"joylink.club/rtsssimulation/util/number"
+)
+
+// LinkRadialToDeviceRadial Link射线转设备（道岔/区段）射线
+func LinkRadialToDeviceRadial(repo *repository.Repository, linkPosition *repository.LinkPosition, toBig bool) (sr *DeviceRadial, err error) {
+	link := linkPosition.Link()
+	offset := linkPosition.Offset()
+	if offset > link.Length() {
+		return nil, errors.New(fmt.Sprintf("%d超出%s范围", offset, linkPosition.String()))
+	}
+	//先遍历所有的非道岔计轴区段
+	for _, section := range link.PhysicalSections() {
+		for _, linkRange := range section.LinkRanges() {
+			if linkRange.Link() != link {
+				continue
+			}
+			if linkRange.Start() <= offset && offset <= linkRange.End() {
+				sectionOffset := number.Abs(offset - section.ALinkPosition().Offset())
+				toB := toBig == (section.BLinkPosition().Offset() > section.ALinkPosition().Offset())
+				aKm := convertRepoBaseKm(repo, section.AKilometer())
+				bKm := convertRepoBaseKm(repo, section.BKilometer())
+				runDirection := toB == (bKm.Value > aKm.Value)
+				sr = &DeviceRadial{
+					DeviceId:     section.Id(),
+					Offset:       sectionOffset,
+					PointTo:      toB,
+					RunDirection: runDirection,
+				}
+				break
+			}
+		}
+	}
+	if sr != nil {
+		return sr, nil
+	}
+	//Link位置不在非道岔计轴区段上
+	aLinkPosition := link.ARelation().Turnout().FindLinkPositionByPort(link.ARelation().Port())
+	if aLinkPosition.Offset() >= offset { //LinkPosition在A端道岔范围内
+		pointTo := !toBig
+		portKm := convertRepoBaseKm(repo, link.ARelation().Turnout().GetTurnoutKm(link.ARelation().Port()))
+		km := convertRepoBaseKm(repo, link.ARelation().Turnout().Km())
+		runDir := pointTo == (km.Value > portKm.Value)
+		sr = &DeviceRadial{
+			DeviceId:     link.ARelation().Turnout().Id(),
+			Offset:       offset,
+			PointTo:      !toBig,
+			RunDirection: runDir,
+		}
+	}
+	err = nil
+	return
+}
+
+// SectionRadialToLinkRadial 区段射线转Link射线
+func SectionRadialToLinkRadial(sectionRadial *SectionRadial) (linkPosition *repository.LinkPosition, toBig bool) {
+	toBig = SectionDirToLinkDir(sectionRadial.Section, sectionRadial.ToB)
+	var offset int64
+	if sectionRadial.ToB == toBig { //section与link偏移变化趋势相同
+		offset = sectionRadial.Section.ALinkPosition().Offset() + sectionRadial.Offset
+	} else {
+		offset = sectionRadial.Section.BLinkPosition().Offset() - sectionRadial.Offset
+	}
+	linkPosition = repository.NewLinkPosition(sectionRadial.Section.ALinkPosition().Link(), offset)
+	return
+}
+
+// OperationRadialToLinkRadial 运营射线转Link射线
+func OperationRadialToLinkRadial(repo *repository.Repository, section *repository.PhysicalSection, offset int64, up bool) (linkPosition *repository.LinkPosition, toBig bool) {
+	toB := OperationDirToSectionDir(repo, section, up)
+	return SectionRadialToLinkRadial(&SectionRadial{
+		Section: section,
+		Offset:  offset,
+		ToB:     toB,
+	})
+}
+
+// SectionDirToLinkDir 区段方向转Link方向
+func SectionDirToLinkDir(section *repository.PhysicalSection, toB bool) (toBig bool) {
+	aOffset := section.ALinkPosition().Offset()
+	bOffset := section.BLinkPosition().Offset()
+	toBig = toB == (bOffset > aOffset)
+	return
+}
+
+// SectionDirToOperationDir 区段方向转运营方向
+func SectionDirToOperationDir(repo *repository.Repository, section *repository.PhysicalSection, toB bool) (up bool) {
+	aKm := convertRepoBaseKm(repo, section.AKilometer())
+	bKm := convertRepoBaseKm(repo, section.BKilometer())
+	return toB == (bKm.Value > aKm.Value)
+}
+
+// OperationDirToSectionDir 运营方向转区段方向
+func OperationDirToSectionDir(repo *repository.Repository, section *repository.PhysicalSection, up bool) (toB bool) {
+	aKm := convertRepoBaseKm(repo, section.AKilometer())
+	bKm := convertRepoBaseKm(repo, section.BKilometer())
+	return up == (bKm.Value > aKm.Value)
+}
+
+// OperationDirToLinkDir 运营方向转Link方向
+func OperationDirToLinkDir(repo *repository.Repository, section *repository.PhysicalSection, up bool) (toBig bool) {
+	toB := OperationDirToSectionDir(repo, section, up)
+	return SectionDirToLinkDir(section, toB)
+}
+
+// SectionRadial 区段射线。包含一个区段位置+方向
+// 加这个结构体只是因为上面函数返回值过多
+type SectionRadial struct {
+	Section *repository.PhysicalSection
+	Offset  int64
+	ToB     bool
+}
+
+// DeviceRadial 设备射线，包含一个设备位置+方向
+type DeviceRadial struct {
+	DeviceId     string //区段或道岔
+	Offset       int64  //在设备上的偏移量
+	PointTo      bool   //与TrainState结构体中同义。区段：A->B，道岔：->岔心
+	RunDirection bool   //与TrainState结构体中同义。公里标 上行：小 -> 大，下行：大 -> 小
+}

ts/simulation/wayside/memory/wayside_memory_map.go

@@ -243,7 +243,7 @@ func findCalcLinkIdAndOffset(sim *VerifySimulation, link *repository.Link, offse
 	}
 	// 没有找到连接信息，说明已经到尽头找不到位置
 	if nextLink == nil {
-		err = sys_error.New(fmt.Sprintf("未找到对应的link信息, linkId=%s, offset=%d", link.Id(), offset))
+		err = sys_error.New(fmt.Sprintf("未找到对应的link信息, linkId=%s, Offset=%d", link.Id(), offset))
 		return
 	}
 	// 下个link偏移
@@ -297,7 +297,7 @@ func getTurnoutNextPort(sim *VerifySimulation, turnoutId string, port string) (n
 	return
 }
 
-// 计算link offset 在道岔上的位置
+// 计算link Offset 在道岔上的位置
 // 入参：仿真Repository、link、是否从A端开始、link偏移量、link运行方向
 // 输出：设备Id、设备所在端口、设备偏移量、公里标信息（地图主坐标系）
 func calcTurnoutOffset(repo *repository.Repository, link *repository.Link, isA bool, offset int64, up bool) (
@@ -328,7 +328,7 @@ func calcTurnoutOffset(repo *repository.Repository, link *repository.Link, isA b
 	return
 }
 
-// 计算link offset 在区段上的位置
+// 计算link Offset 在区段上的位置
 // 入参：仿真Repository、link、link偏移量、link运行方向
 // 输出：设备Id、设备所在端口、设备偏移量、公里标信息（地图主坐标系）
 func calcSectionOffset(repo *repository.Repository, link *repository.Link, offset int64, up bool) (

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -50,11 +50,6 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 			return sys_error.New(fmt.Sprintf("列车【%s】已存在", status.Id))
 		}
 	}
-	//tcc := createTrainControl(vs)
-	//status.Tcc = tcc
-
-	// 显示状态
-	status.Show = true
 	//向动力学发送初始化请求
 	trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
 	slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
@@ -65,12 +60,16 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	} else {
 		uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{})
 	}
+
 	// 车头所在link、link上的偏移
 	linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset)
 	// link上的运行方向、设备上的运行方向
-	up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.RunDirection)
+	up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp)
+	//up, pointTo, _ = QueryDirectionAndABByDevice(vs.Repo, uid, status.DevicePort, status.TrainRunUp)
+	//fmt.Println(up2, pointTo2)
+
 	// 车头所在公里标
-	kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset)
+	kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.TrainRunUp, status.HeadOffset)
 	// 车尾相对车头link的偏移量
 	calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
 	// 车尾位置
@@ -79,7 +78,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 		panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1))
 	}
 	status.Up = up
-	status.PointTo = pointTo
+	status.DriftTo = pointTo
 	status.TrainKilometer = kilometer.Value
 
 	status.DynamicState = &state_proto.TrainDynamicState{
@@ -87,7 +86,8 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 		HeadLinkOffset: loffset,
 		TailLinkId:     tailLink,
 		TailLinkOffset: tailLOffset,
-		RunningUp:      up,
+		RunningUp:      status.Up,
+		//RunningUp: status.TrainRunUp,
 	}
 	status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
 	status.TailOffset = tailDeviceOffset
@@ -98,22 +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 {
+	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
-		status.VobcState.DirectionForward = true
+	status.VobcState = vobc
-	} else {
+
-		status.VobcState.DirectionBackward = true
+	//status.TrainActiveDirection = trainActDir
-	}
+
-	status.Tcc = initTrainTcc(vs, status.RunDirection)
+	status.Tcc = initTrainTcc(vs, status.TrainRunUp)
 
 	slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
 	linkIdInt, _ := strconv.Atoi(linkId)
 	err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
-		TrainIndex:           uint16(trainIndex),
+		TrainIndex: uint16(trainIndex),
-		LinkIndex:            uint16(linkIdInt),
+		LinkIndex:  uint16(linkIdInt),
-		LinkOffset:           uint32(loffset),
+		LinkOffset: uint32(loffset),
-		Speed:                status.Speed / 3.6,
+		Speed:      status.Speed / 3.6,
-		Up:                   status.Up,
+		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
+	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
-	can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
-		TrainId:      trainId,
-		Up:           info.Up,
-		Link:         outLinkId,
-		LinkOffset:   outLinkOffset,
-		Speed:        info.Speed,
-		Acceleration: info.Acceleration,
-	})
-	state := can_btm.Default().GetState()
-	sta.BtmState = &state
 	// 修改world中的列车位置
-	fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
+	handleTrainPositionFromDynamic(vs, info, sta, outLinkId, outLinkOffset, tailLinkId, tailLinkOffset)
-		TrainId:        trainId,
+	//修改列车激活方向
-		Up:             info.Up,
+	updateTrainActiveDirFromDynamic(vs, info, sta, id, port, trainHeadActUp)
-		Len:            info.Len,
+
-		HeadLink:       outLinkId,
-		HeadLinkOffset: uint32(outLinkOffset),
-		TailLink:       tailLinkId,
-		TailLinkOffset: uint32(tailLinkOffset),
-	})
 	sta.HeadDeviceId = vs.GetComIdByUid(id)
 	sta.DevicePort = port
 	sta.HeadOffset = offset
-	sta.PointTo = pointTo
+	sta.DriftTo = pointTo
 	sta.TrainKilometer = kilometer.Value
-	sta.RunDirection = runDirection
+
-	//判定车头方向
-	sta.HeadDirection = runDirection
-	if sta.VobcState != nil {
-		if sta.VobcState.DirectionForward {
-			sta.HeadDirection = runDirection
-		} else if sta.VobcState.DirectionBackward {
-			sta.HeadDirection = !runDirection
-		}
-	}
-	if info.Speed < 0 {
-		sta.RunDirection = !sta.RunDirection
-	}
 	sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
 	sta.TailOffset = tailOffset
 	sta.TailDevicePort = tailDevicePort
@@ -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)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -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 tcc.Ebutton == nil {
-	if trainState.Tcc.Ebutton == nil {
+		tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId}
-		trainState.Tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId, Passed: request.Active}
-	} else {
-		trainState.Tcc.Ebutton.Passed = request.Active
 	}
+	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
+	direction := request_proto.TrainControl_Direction(request.Val)
-	trainState.VobcState.DirectionBackward = false
+	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 {
+	tcc.DirKey.Val = request.Val
-		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
-	}
 	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_FORWORD, Status: message.IsTrue(vobc.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_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 train.DynamicState.Speed != 0 {
-	if obj.Code == "SKQYS1" {
+		panic(sys_error.New("因列车未停稳，不支持此操作"))
-		trainState.VobcState.Tc1Active = request.Val
-	} else if obj.Code == "SKQYS2" {
-		trainState.VobcState.Tc2Active = request.Val
 	}
-	if trainState.VobcState.Tc1Active && trainState.VobcState.Tc2Active {
+	vobc := train.VobcState
-		if obj.Code == "SKQYS1" {
+	tcc := train.Tcc
-			trainState.VobcState.Tc1Active = false
+	if obj.Code == SKQYS1 {
-		} else if obj.Code == "SKQYS2" {
+		vobc.Tc1Active = request.Val
-			trainState.VobcState.Tc2Active = false
+	} 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
 	}
-
+	vobc.TractionStatus = false
-	trainState.VobcState.TractionStatus = false
+	vobc.TractionForce = 0
-	trainState.VobcState.TractionForce = 0
+	vobc.BrakingStatus = false
-	trainState.VobcState.BrakingStatus = false
+	vobc.BrakeForce = 0
-	trainState.VobcState.BrakeForce = 0
+	vobc.MaintainBrakeStatus = false
-	trainState.VobcState.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
+		vobc.TractionStatus = true
-		trainState.VobcState.TractionForce = int64(request.Val * 180)
+		vobc.TractionForce = int64(request.Val * 180)
-		//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
 		tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 0})
 	} else if request.Val < 0 {
-		trainState.VobcState.BrakingStatus = true
+		vobc.BrakingStatus = true
-		trainState.VobcState.BrakeForce = int64(-request.Val * 180)
+		vobc.BrakeForce = int64(-request.Val * 180)
-		//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
+		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 {
+	if tcc.PushHandler == nil {
-		trainState.Tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId, Val: request.Val}
+		tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId}
-	} else {
-		trainState.Tcc.PushHandler.Val = request.Val
 	}
+	tcc.PushHandler.Val = request.Val
 	return tce
 }
 

ts/test_simulation_manage.go

@@ -3,6 +3,7 @@ package ts
 import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/third_party/acc"
+	"joylink.club/bj-rtsts-server/third_party/interlock/beijing12"
 	"joylink.club/bj-rtsts-server/third_party/radar"
 	"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
@@ -20,7 +21,6 @@ import (
 	"joylink.club/bj-rtsts-server/mqtt"
 	"joylink.club/bj-rtsts-server/sys_error"
 	"joylink.club/bj-rtsts-server/third_party/dynamics"
-	"joylink.club/bj-rtsts-server/third_party/interlock"
 	"joylink.club/bj-rtsts-server/third_party/semi_physical_train"
 	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
 
@@ -120,7 +120,7 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	semi_physical_train.Default().Start(s)
 	// 联锁启动
 	for _, c := range s.GetInterlockCodes() {
-		interlock.Default(c).Start(s)
+		beijing12.Default(c).Start(s)
 	}
 	// 计轴RSSP启动
 	axle_device.StartLineAllRsspAxleServices(s)
@@ -149,7 +149,7 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	semi_physical_train.Default().Stop()
 	// 联锁启动
 	for _, c := range s.GetInterlockCodes() {
-		interlock.Default(c).Stop()
+		beijing12.Default(c).Stop()
 	}
 	//计轴RSSP启动销毁
 	axle_device.StopLineAllRsspAxleServices()