列车驾驶ato牵引，制动初始版,添加列车紧急制动属性，添加ato开关门指示灯

api/simulation.go

@@ -250,6 +250,7 @@ func addTrain(c *gin.Context) {
 		TrainMaxSpeed:       req.TrainMaxSpeed,
 		TrainMaxAcc:         req.TrainMaxAcc,
 		TrainMaxBrake:       req.TrainMaxBrake,
+		TrainEmergencyBrake: req.TrainEmergencyBrake,
 		//HeadOffset: 93211,
 		DevicePort: req.DevicePort,
 		TrainRunUp: req.RunDirection,

dto/data_proto/stationLayoutGraphics.pb.go

@@ -5297,7 +5297,8 @@ type Train struct {
 	TrainLoad           int32   `protobuf:"varint,10,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"`                      //列车载荷(吨)
 	TrainMaxSpeed       float32 `protobuf:"fixed32,11,opt,name=trainMaxSpeed,proto3" json:"trainMaxSpeed,omitempty"`             //列车最大速度(km/h)
 	TrainMaxAcc         float32 `protobuf:"fixed32,12,opt,name=trainMaxAcc,proto3" json:"trainMaxAcc,omitempty"`                 //列车最大加速度(m/s^2)
-	TrainMaxBrake     float32 `protobuf:"fixed32,13,opt,name=trainMaxBrake,proto3" json:"trainMaxBrake,omitempty"` //列车最大减速度(m/s^2)
+	TrainMaxBrake       float32 `protobuf:"fixed32,13,opt,name=trainMaxBrake,proto3" json:"trainMaxBrake,omitempty"`             //列车常用最大减速度(m/s^2)
+	TrainEmergencyBrake float32 `protobuf:"fixed32,14,opt,name=TrainEmergencyBrake,proto3" json:"TrainEmergencyBrake,omitempty"` //列车紧急减速度(m/s^2)
 }
 
 func (x *Train) Reset() {
@@ -5402,6 +5403,13 @@ func (x *Train) GetTrainMaxBrake() float32 {
 	return 0
 }
 
+func (x *Train) GetTrainEmergencyBrake() float32 {
+	if x != nil {
+		return x.TrainEmergencyBrake
+	}
+	return 0
+}
+
 // 其他线
 type OtherLine struct {
 	state         protoimpl.MessageState
@@ -6766,7 +6774,7 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
 	0x49, 0x64, 0x73, 0x12, 0x2e, 0x0a, 0x12, 0x63, 0x65, 0x6e, 0x74, 0x72, 0x61, 0x6c, 0x69, 0x7a,
 	0x65, 0x64, 0x53, 0x74, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x18, 0x04, 0x20, 0x01, 0x28, 0x0d, 0x52,
 	0x12, 0x63, 0x65, 0x6e, 0x74, 0x72, 0x61, 0x6c, 0x69, 0x7a, 0x65, 0x64, 0x53, 0x74, 0x61, 0x74,
-	0x69, 0x6f, 0x6e, 0x22, 0xd4, 0x03, 0x0a, 0x05, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x12, 0x3d, 0x0a,
+	0x69, 0x6f, 0x6e, 0x22, 0x86, 0x04, 0x0a, 0x05, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x12, 0x3d, 0x0a,
 	0x0a, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x4d, 0x6f, 0x64, 0x65, 0x6c, 0x18, 0x01, 0x20, 0x01, 0x28,
 	0x0e, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e,
 	0x54, 0x72, 0x61, 0x69, 0x6e, 0x2e, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x4d, 0x6f, 0x64, 0x65, 0x6c,
@@ -6793,100 +6801,103 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
 	0x72, 0x61, 0x69, 0x6e, 0x4d, 0x61, 0x78, 0x41, 0x63, 0x63, 0x12, 0x24, 0x0a, 0x0d, 0x74, 0x72,
 	0x61, 0x69, 0x6e, 0x4d, 0x61, 0x78, 0x42, 0x72, 0x61, 0x6b, 0x65, 0x18, 0x0d, 0x20, 0x01, 0x28,
 	0x02, 0x52, 0x0d, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x4d, 0x61, 0x78, 0x42, 0x72, 0x61, 0x6b, 0x65,
-	0x22, 0x28, 0x0a, 0x0a, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x4d, 0x6f, 0x64, 0x65, 0x6c, 0x12, 0x05,
+	0x12, 0x30, 0x0a, 0x13, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x45, 0x6d, 0x65, 0x72, 0x67, 0x65, 0x6e,
-	0x0a, 0x01, 0x41, 0x10, 0x00, 0x12, 0x05, 0x0a, 0x01, 0x42, 0x10, 0x01, 0x12, 0x05, 0x0a, 0x01,
+	0x63, 0x79, 0x42, 0x72, 0x61, 0x6b, 0x65, 0x18, 0x0e, 0x20, 0x01, 0x28, 0x02, 0x52, 0x13, 0x54,
-	0x43, 0x10, 0x02, 0x12, 0x05, 0x0a, 0x01, 0x44, 0x10, 0x03, 0x22, 0x31, 0x0a, 0x09, 0x4f, 0x74,
+	0x72, 0x61, 0x69, 0x6e, 0x45, 0x6d, 0x65, 0x72, 0x67, 0x65, 0x6e, 0x63, 0x79, 0x42, 0x72, 0x61,
-	0x68, 0x65, 0x72, 0x4c, 0x69, 0x6e, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6e, 0x61, 0x6d, 0x65, 0x18,
+	0x6b, 0x65, 0x22, 0x28, 0x0a, 0x0a, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x4d, 0x6f, 0x64, 0x65, 0x6c,
-	0x01, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x6e, 0x61, 0x6d, 0x65, 0x12, 0x10, 0x0a, 0x03, 0x69,
+	0x12, 0x05, 0x0a, 0x01, 0x41, 0x10, 0x00, 0x12, 0x05, 0x0a, 0x01, 0x42, 0x10, 0x01, 0x12, 0x05,
-	0x64, 0x73, 0x18, 0x03, 0x20, 0x03, 0x28, 0x0d, 0x52, 0x03, 0x69, 0x64, 0x73, 0x22, 0x38, 0x0a,
+	0x0a, 0x01, 0x43, 0x10, 0x02, 0x12, 0x05, 0x0a, 0x01, 0x44, 0x10, 0x03, 0x22, 0x31, 0x0a, 0x09,
-	0x10, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74,
+	0x4f, 0x74, 0x68, 0x65, 0x72, 0x4c, 0x69, 0x6e, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6e, 0x61, 0x6d,
-	0x61, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x02, 0x69,
+	0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x6e, 0x61, 0x6d, 0x65, 0x12, 0x10, 0x0a,
-	0x64, 0x12, 0x14, 0x0a, 0x05, 0x69, 0x6e, 0x64, 0x65, 0x78, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0d,
+	0x03, 0x69, 0x64, 0x73, 0x18, 0x03, 0x20, 0x03, 0x28, 0x0d, 0x52, 0x03, 0x69, 0x64, 0x73, 0x22,
-	0x52, 0x05, 0x69, 0x6e, 0x64, 0x65, 0x78, 0x22, 0x87, 0x06, 0x0a, 0x0b, 0x4c, 0x69, 0x61, 0x6e,
+	0x38, 0x0a, 0x10, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44,
-	0x53, 0x75, 0x6f, 0x44, 0x61, 0x74, 0x61, 0x12, 0x39, 0x0a, 0x08, 0x73, 0x74, 0x61, 0x74, 0x69,
+	0x61, 0x74, 0x61, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52,
-	0x6f, 0x6e, 0x73, 0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70,
+	0x02, 0x69, 0x64, 0x12, 0x14, 0x0a, 0x05, 0x69, 0x6e, 0x64, 0x65, 0x78, 0x18, 0x02, 0x20, 0x01,
-	0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49,
+	0x28, 0x0d, 0x52, 0x05, 0x69, 0x6e, 0x64, 0x65, 0x78, 0x22, 0x87, 0x06, 0x0a, 0x0b, 0x4c, 0x69,
-	0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x08, 0x73, 0x74, 0x61, 0x74, 0x69, 0x6f,
+	0x61, 0x6e, 0x53, 0x75, 0x6f, 0x44, 0x61, 0x74, 0x61, 0x12, 0x39, 0x0a, 0x08, 0x73, 0x74, 0x61,
-	0x6e, 0x73, 0x12, 0x37, 0x0a, 0x07, 0x73, 0x77, 0x69, 0x74, 0x63, 0x68, 0x73, 0x18, 0x02, 0x20,
+	0x74, 0x69, 0x6f, 0x6e, 0x73, 0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72,
-	0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74,
+	0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75,
-	0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61,
+	0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x08, 0x73, 0x74, 0x61, 0x74,
-	0x74, 0x61, 0x52, 0x07, 0x73, 0x77, 0x69, 0x74, 0x63, 0x68, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x73,
+	0x69, 0x6f, 0x6e, 0x73, 0x12, 0x37, 0x0a, 0x07, 0x73, 0x77, 0x69, 0x74, 0x63, 0x68, 0x73, 0x18,
-	0x63, 0x72, 0x65, 0x65, 0x6e, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x18, 0x03, 0x20, 0x03, 0x28, 0x0b,
+	0x02, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44,
-	0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c,
+	0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78,
-	0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52,
+	0x44, 0x61, 0x74, 0x61, 0x52, 0x07, 0x73, 0x77, 0x69, 0x74, 0x63, 0x68, 0x73, 0x12, 0x3f, 0x0a,
-	0x0b, 0x73, 0x63, 0x72, 0x65, 0x65, 0x6e, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x12, 0x37, 0x0a, 0x07,
+	0x0b, 0x73, 0x63, 0x72, 0x65, 0x65, 0x6e, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x18, 0x03, 0x20, 0x03,
-	0x73, 0x69, 0x67, 0x6e, 0x61, 0x6c, 0x73, 0x18, 0x04, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e,
+	0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61,
-	0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e,
+	0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74,
-	0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x07, 0x73, 0x69,
+	0x61, 0x52, 0x0b, 0x73, 0x63, 0x72, 0x65, 0x65, 0x6e, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x12, 0x37,
-	0x67, 0x6e, 0x61, 0x6c, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x66, 0x6c, 0x6f, 0x6f, 0x64, 0x47, 0x61,
+	0x0a, 0x07, 0x73, 0x69, 0x67, 0x6e, 0x61, 0x6c, 0x73, 0x18, 0x04, 0x20, 0x03, 0x28, 0x0b, 0x32,
-	0x74, 0x65, 0x73, 0x18, 0x06, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70,
+	0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69,
-	0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49,
+	0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x07,
-	0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x66, 0x6c, 0x6f, 0x6f, 0x64, 0x47,
+	0x73, 0x69, 0x67, 0x6e, 0x61, 0x6c, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x66, 0x6c, 0x6f, 0x6f, 0x64,
-	0x61, 0x74, 0x65, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x73, 0x70, 0x6b, 0x73, 0x53, 0x77, 0x69, 0x74,
+	0x47, 0x61, 0x74, 0x65, 0x73, 0x18, 0x06, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72,
-	0x63, 0x68, 0x73, 0x18, 0x07, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70,
+	0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75,
-	0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49,
+	0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x66, 0x6c, 0x6f, 0x6f,
-	0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x73, 0x70, 0x6b, 0x73, 0x53, 0x77,
+	0x64, 0x47, 0x61, 0x74, 0x65, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x73, 0x70, 0x6b, 0x73, 0x53, 0x77,
-	0x69, 0x74, 0x63, 0x68, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x67, 0x61, 0x72, 0x61, 0x67, 0x65, 0x44,
+	0x69, 0x74, 0x63, 0x68, 0x73, 0x18, 0x07, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72,
-	0x6f, 0x6f, 0x72, 0x73, 0x18, 0x08, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61,
+	0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75,
-	0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f,
+	0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x73, 0x70, 0x6b, 0x73,
-	0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x67, 0x61, 0x72, 0x61, 0x67,
+	0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x67, 0x61, 0x72, 0x61, 0x67,
-	0x65, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x63, 0x61, 0x72, 0x57, 0x61, 0x73,
+	0x65, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x18, 0x08, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67,
-	0x68, 0x69, 0x6e, 0x67, 0x18, 0x09, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61,
+	0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53,
-	0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f,
+	0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x67, 0x61, 0x72,
-	0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x63, 0x61, 0x72, 0x57, 0x61,
+	0x61, 0x67, 0x65, 0x44, 0x6f, 0x6f, 0x72, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x63, 0x61, 0x72, 0x57,
-	0x73, 0x68, 0x69, 0x6e, 0x67, 0x12, 0x3d, 0x0a, 0x0a, 0x65, 0x73, 0x62, 0x42, 0x75, 0x74, 0x74,
+	0x61, 0x73, 0x68, 0x69, 0x6e, 0x67, 0x18, 0x09, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67,
-	0x6f, 0x6e, 0x73, 0x18, 0x0a, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70,
+	0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53,
-	0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49,
+	0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x63, 0x61, 0x72,
-	0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x65, 0x73, 0x62, 0x42, 0x75, 0x74,
+	0x57, 0x61, 0x73, 0x68, 0x69, 0x6e, 0x67, 0x12, 0x3d, 0x0a, 0x0a, 0x65, 0x73, 0x62, 0x42, 0x75,
-	0x74, 0x6f, 0x6e, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x68, 0x6f, 0x6c, 0x64, 0x42, 0x75, 0x74, 0x74,
+	0x74, 0x74, 0x6f, 0x6e, 0x73, 0x18, 0x0a, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72,
-	0x6f, 0x6e, 0x73, 0x18, 0x0b, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70,
+	0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75,
-	0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49,
+	0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x65, 0x73, 0x62, 0x42,
-	0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x68, 0x6f, 0x6c, 0x64, 0x42, 0x75,
+	0x75, 0x74, 0x74, 0x6f, 0x6e, 0x73, 0x12, 0x3f, 0x0a, 0x0b, 0x68, 0x6f, 0x6c, 0x64, 0x42, 0x75,
-	0x74, 0x74, 0x6f, 0x6e, 0x73, 0x12, 0x4b, 0x0a, 0x11, 0x75, 0x6e, 0x61, 0x74, 0x74, 0x65, 0x6e,
+	0x74, 0x74, 0x6f, 0x6e, 0x73, 0x18, 0x0b, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72,
-	0x67, 0x65, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x73, 0x18, 0x0c, 0x20, 0x03, 0x28, 0x0b,
+	0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75,
-	0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c,
+	0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0b, 0x68, 0x6f, 0x6c, 0x64,
-	0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52,
+	0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x73, 0x12, 0x4b, 0x0a, 0x11, 0x75, 0x6e, 0x61, 0x74, 0x74,
-	0x11, 0x75, 0x6e, 0x61, 0x74, 0x74, 0x65, 0x6e, 0x67, 0x65, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f,
+	0x65, 0x6e, 0x67, 0x65, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x73, 0x18, 0x0c, 0x20, 0x03,
-	0x6e, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x61, 0x63, 0x53, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x73,
+	0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61,
-	0x18, 0x0d, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63,
+	0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65, 0x78, 0x44, 0x61, 0x74,
-	0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e, 0x64, 0x65,
+	0x61, 0x52, 0x11, 0x75, 0x6e, 0x61, 0x74, 0x74, 0x65, 0x6e, 0x67, 0x65, 0x64, 0x42, 0x75, 0x74,
-	0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x61, 0x63, 0x53, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e,
+	0x74, 0x6f, 0x6e, 0x73, 0x12, 0x3d, 0x0a, 0x0a, 0x61, 0x63, 0x53, 0x65, 0x63, 0x74, 0x69, 0x6f,
-	0x73, 0x22, 0x87, 0x01, 0x0a, 0x10, 0x55, 0x6e, 0x61, 0x74, 0x74, 0x65, 0x6e, 0x67, 0x65, 0x64,
+	0x6e, 0x73, 0x18, 0x0d, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x1d, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68,
-	0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x12, 0x2f, 0x0a, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e,
+	0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4c, 0x69, 0x61, 0x6e, 0x53, 0x75, 0x6f, 0x49, 0x6e,
-	0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x17, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63,
+	0x64, 0x65, 0x78, 0x44, 0x61, 0x74, 0x61, 0x52, 0x0a, 0x61, 0x63, 0x53, 0x65, 0x63, 0x74, 0x69,
-	0x44, 0x61, 0x74, 0x61, 0x2e, 0x43, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x49, 0x6e, 0x66, 0x6f, 0x52,
+	0x6f, 0x6e, 0x73, 0x22, 0x87, 0x01, 0x0a, 0x10, 0x55, 0x6e, 0x61, 0x74, 0x74, 0x65, 0x6e, 0x67,
-	0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x12, 0x12, 0x0a, 0x04, 0x63, 0x6f, 0x64, 0x65, 0x18,
+	0x65, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x12, 0x2f, 0x0a, 0x06, 0x63, 0x6f, 0x6d, 0x6d,
-	0x02, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x63, 0x6f, 0x64, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x66,
+	0x6f, 0x6e, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x17, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68,
-	0x6c, 0x69, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04, 0x66, 0x6c, 0x69, 0x70, 0x12,
+	0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x43, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x49, 0x6e, 0x66,
-	0x1a, 0x0a, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x18, 0x04, 0x20, 0x01, 0x28,
+	0x6f, 0x52, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x12, 0x12, 0x0a, 0x04, 0x63, 0x6f, 0x64,
-	0x0d, 0x52, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x22, 0x81, 0x01, 0x0a, 0x0a,
+	0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x63, 0x6f, 0x64, 0x65, 0x12, 0x12, 0x0a,
-	0x48, 0x6f, 0x6c, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x12, 0x2f, 0x0a, 0x06, 0x63, 0x6f,
+	0x04, 0x66, 0x6c, 0x69, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04, 0x66, 0x6c, 0x69,
-	0x6d, 0x6d, 0x6f, 0x6e, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x17, 0x2e, 0x67, 0x72, 0x61,
+	0x70, 0x12, 0x1a, 0x0a, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x18, 0x04, 0x20,
-	0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x43, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x49,
+	0x01, 0x28, 0x0d, 0x52, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x22, 0x81, 0x01,
-	0x6e, 0x66, 0x6f, 0x52, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x12, 0x12, 0x0a, 0x04, 0x63,
+	0x0a, 0x0a, 0x48, 0x6f, 0x6c, 0x64, 0x42, 0x75, 0x74, 0x74, 0x6f, 0x6e, 0x12, 0x2f, 0x0a, 0x06,
-	0x6f, 0x64, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x63, 0x6f, 0x64, 0x65, 0x12,
+	0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x17, 0x2e, 0x67,
-	0x12, 0x0a, 0x04, 0x66, 0x6c, 0x69, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04, 0x66,
+	0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x43, 0x6f, 0x6d, 0x6d, 0x6f,
-	0x6c, 0x69, 0x70, 0x12, 0x1a, 0x0a, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x18,
+	0x6e, 0x49, 0x6e, 0x66, 0x6f, 0x52, 0x06, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x12, 0x12, 0x0a,
-	0x04, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e, 0x64, 0x22,
+	0x04, 0x63, 0x6f, 0x64, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x63, 0x6f, 0x64,
-	0x8e, 0x01, 0x0a, 0x18, 0x4b, 0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74, 0x65, 0x72, 0x4d, 0x61, 0x72,
+	0x65, 0x12, 0x12, 0x0a, 0x04, 0x66, 0x6c, 0x69, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52,
-	0x6b, 0x43, 0x61, 0x6c, 0x69, 0x62, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x12, 0x38, 0x0a, 0x08,
+	0x04, 0x66, 0x6c, 0x69, 0x70, 0x12, 0x1a, 0x0a, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e,
-	0x61, 0x63, 0x74, 0x75, 0x61, 0x6c, 0x4b, 0x6d, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1c,
+	0x64, 0x18, 0x04, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x08, 0x72, 0x65, 0x66, 0x53, 0x74, 0x61, 0x6e,
-	0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4b, 0x69, 0x6c,
+	0x64, 0x22, 0x8e, 0x01, 0x0a, 0x18, 0x4b, 0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74, 0x65, 0x72, 0x4d,
-	0x6f, 0x6d, 0x65, 0x74, 0x65, 0x72, 0x53, 0x79, 0x73, 0x74, 0x65, 0x6d, 0x52, 0x08, 0x61, 0x63,
+	0x61, 0x72, 0x6b, 0x43, 0x61, 0x6c, 0x69, 0x62, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x12, 0x38,
-	0x74, 0x75, 0x61, 0x6c, 0x4b, 0x6d, 0x12, 0x38, 0x0a, 0x08, 0x64, 0x65, 0x73, 0x69, 0x67, 0x6e,
+	0x0a, 0x08, 0x61, 0x63, 0x74, 0x75, 0x61, 0x6c, 0x4b, 0x6d, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b,
-	0x4b, 0x6d, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1c, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68,
+	0x32, 0x1c, 0x2e, 0x67, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4b,
-	0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4b, 0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74, 0x65, 0x72,
+	0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74, 0x65, 0x72, 0x53, 0x79, 0x73, 0x74, 0x65, 0x6d, 0x52, 0x08,
-	0x53, 0x79, 0x73, 0x74, 0x65, 0x6d, 0x52, 0x08, 0x64, 0x65, 0x73, 0x69, 0x67, 0x6e, 0x4b, 0x6d,
+	0x61, 0x63, 0x74, 0x75, 0x61, 0x6c, 0x4b, 0x6d, 0x12, 0x38, 0x0a, 0x08, 0x64, 0x65, 0x73, 0x69,
-	0x2a, 0x1d, 0x0a, 0x09, 0x44, 0x69, 0x72, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x12, 0x06, 0x0a,
+	0x67, 0x6e, 0x4b, 0x6d, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1c, 0x2e, 0x67, 0x72, 0x61,
-	0x02, 0x55, 0x50, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x44, 0x4f, 0x57, 0x4e, 0x10, 0x01, 0x42,
+	0x70, 0x68, 0x69, 0x63, 0x44, 0x61, 0x74, 0x61, 0x2e, 0x4b, 0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74,
-	0x69, 0x0a, 0x25, 0x63, 0x6c, 0x75, 0x62, 0x2e, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e,
+	0x65, 0x72, 0x53, 0x79, 0x73, 0x74, 0x65, 0x6d, 0x52, 0x08, 0x64, 0x65, 0x73, 0x69, 0x67, 0x6e,
-	0x62, 0x6a, 0x72, 0x74, 0x73, 0x73, 0x2e, 0x61, 0x74, 0x73, 0x2e, 0x76, 0x65, 0x72, 0x69, 0x66,
+	0x4b, 0x6d, 0x2a, 0x1d, 0x0a, 0x09, 0x44, 0x69, 0x72, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x12,
-	0x79, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x73, 0x42, 0x13, 0x4c, 0x61, 0x79, 0x6f, 0x75, 0x74,
+	0x06, 0x0a, 0x02, 0x55, 0x50, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x44, 0x4f, 0x57, 0x4e, 0x10,
-	0x47, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x73, 0x50, 0x72, 0x6f, 0x74, 0x6f, 0x5a, 0x2b, 0x6a,
+	0x01, 0x42, 0x69, 0x0a, 0x25, 0x63, 0x6c, 0x75, 0x62, 0x2e, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e,
-	0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72,
+	0x6b, 0x2e, 0x62, 0x6a, 0x72, 0x74, 0x73, 0x73, 0x2e, 0x61, 0x74, 0x73, 0x2e, 0x76, 0x65, 0x72,
-	0x74, 0x73, 0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f,
+	0x69, 0x66, 0x79, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x73, 0x42, 0x13, 0x4c, 0x61, 0x79, 0x6f,
-	0x64, 0x61, 0x74, 0x61, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74,
+	0x75, 0x74, 0x47, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x73, 0x50, 0x72, 0x6f, 0x74, 0x6f, 0x5a,
-	0x6f, 0x33,
+	0x2b, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a,
+	0x2d, 0x72, 0x74, 0x73, 0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74,
+	0x6f, 0x2f, 0x64, 0x61, 0x74, 0x61, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72,
+	0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (

dto/simulation.go

@@ -76,6 +76,7 @@ type AddTrainReqDtoNew struct {
 	TrainMaxSpeed       float32 `json:"trainMaxSpeed" from:"trainMaxSpeed"`
 	TrainMaxAcc         float32 `json:"trainMaxAcc" from:"trainMaxAcc"`
 	TrainMaxBrake       float32 `json:"trainMaxBrake" from:"trainMaxBrake"`
+	TrainEmergencyBrake float32 `json:"trainEmergencyBrake" from:"trainEmergencyBrake"`
 	// 场景ID
 	MapId         int32 `json:"mapId" from:"mapId"`
 	WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"`

dto/trainManage.go

@@ -26,6 +26,7 @@ type TrainInfoDto struct {
 	TrainMaxSpeed       float32 `json:"train_max_speed" form:"train_max_speed"`
 	TrainMaxAcc         float32 `json:"train_max_acc" form:"train_max_acc"`
 	TrainMaxBrake       float32 `json:"train_max_brake" form:"train_max_brake"`
+	TrainEmergencyBrake float32 `json:"train_emergency_brake" form:"train_emergency_brake"`
 	//MinDiameter     int32            `json:"min_diameter" form:"min_diameter"`
 	//MaxDiameter     int32            `json:"max_diameter" form:"max_diameter"`
 	TrainSets       string           `json:"train_sets" form:"train_sets"`
@@ -68,6 +69,7 @@ func ConvertDtoFromTrain(t *PublishedDto) *TrainInfoDto {
 		TrainMaxSpeed:       message.TrainMaxSpeed,
 		TrainMaxAcc:         message.TrainMaxAcc,
 		TrainMaxBrake:       message.TrainMaxBrake,
+		TrainEmergencyBrake: message.TrainEmergencyBrake,
 		//TrainControlMapCode: message.TrainControlMapCode,
 		//MinDiameter:     message.MinDiameter,
 		//MaxDiameter:     message.MaxDiameter,

message_server/train_control_ms.go

@@ -63,6 +63,14 @@ func NewTrainControlMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask
 					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LocalAtpControl})
 				case memory.LIGHT_ATOFCZSD:
 					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LightAtoSend})
+				case memory.LIGHT_ATO_OPEN_LEFT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoOpenLeftDoor})
+				case memory.LIGHT_ATO_OPEN_RIGHT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoOpenRightDoor})
+				case memory.LIGHT_ATO_CLOSE_LEFT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoCloseLeftDoor})
+				case memory.LIGHT_ATO_CLOSE_RIGHT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoCloseRightDoor})
 				default:
 					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: light.Val})
 				}

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 67d7d79c5a50880b61be05d98184209422f15f1b
+Subproject commit 7629f290ea612d4ce368c40d4cf793dffc4b21ec

service/trainManage.go

@@ -87,6 +87,7 @@ func convertTrainDtoToProto(t *dto.TrainInfoDto) []byte {
 		TrainLoad:           t.TrainLoad,
 		TrainMaxAcc:         t.TrainMaxAcc,
 		TrainMaxBrake:       t.TrainMaxBrake,
+		TrainEmergencyBrake: t.TrainEmergencyBrake,
 		//TrainControlMapCode: t.TrainControlMapCode,
 		//MinDiameter:    t.MinDiameter,
 		//MaxDiameter:    t.MaxDiameter,

third_party/train_pc_sim/train_pc_sim.go

@@ -381,7 +381,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 					connState = tpapi.ThirdPartyState_Broken
 				}
 				trainClient.updateState(connState)
-				s1, _ := d.pluseSpeed(train)
+				s1, speed := d.pluseSpeed(train)
 				runDir := uint16(2)
 				if train.VobcState.DirectionForward {
 					runDir = 1
@@ -390,7 +390,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
 				data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
 				bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
 				dataCode := bm.Encode()
-				//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
+				slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
 				err := trainClient.tcpClient.Send(dataCode)
 				if err != nil {
 					slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -47,6 +47,10 @@ const (
 	LIGHT_ZFZSD                = "ZFZSD"    //折返指示灯
 	LIGHT_BDATPKC              = "BDATPKC"  //本段atp控车
 	LIGHT_ATOFCZSD             = "ATOFCZSD" //ato发车指示灯
+	LIGHT_ATO_OPEN_LEFT_DOOR   = "ATOKZM"   //ato 开左门
+	LIGHT_ATO_OPEN_RIGHT_DOOR  = "ATOKYM"   //ato 开右门
+	LIGHT_ATO_CLOSE_LEFT_DOOR  = "ATOGZM"   //ato 关左门
+	LIGHT_ATO_CLOSE_RIGHT_DOOR = "ATOGYM"   //ato 关右门
 )
 
 // 获取列车控制图形数据
@@ -102,8 +106,9 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3
 	return nil, false
 }
 
-func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) {
+func initTrainVobc(trainLoad int64, trainIsUp bool, maxBrake float32) (*state_proto.TrainVobcState, uint32) {
-	vobc := &state_proto.TrainVobcState{TrainLoad: trainLoad, BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE * 100, DirectionForward: true,
+	brake := trainBraking(int32(trainLoad), 100, maxBrake) / 1000 * 10
+	vobc := &state_proto.TrainVobcState{TrainLoad: trainLoad, BrakingStatus: true, BrakeForce: brake, DirectionForward: true,
 		AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true,
 		ConfirmBtn: true, AtpPowerOnBtn: true, DoorModeMM: true,
 	}

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -25,11 +25,11 @@ const (
 	//列车总质量(吨)
 	DEFULAT_TRAIN_LOAD = 160
 	//通号最大制动力是-1.21
-	DEFAULT_BRAKE_FORCE = 1.21
+	//DEFAULT_BRAKE_FORCE = 1.21
 	//通号最大加速度是0.97
-	DEFAULT_TRAIN_TRACTION_ACC = 0.97 //加速度
+	//DEFAULT_TRAIN_TRACTION_ACC = 0.97 //加速度
 
-	DEFAULT_TRAIN_STARTED_SPEED float64 = 80 / 3.6 //列车起步速度单位 米/秒
+	//DEFAULT_TRAIN_STARTED_SPEED float64 = 80 / 3.6 //列车起步速度单位 米/秒
 
 )
 
@@ -103,7 +103,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 		tl = DEFULAT_TRAIN_LOAD * 100
 	}
 
-	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp)
+	vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp, status.TrainMaxBrake)
 	status.VobcState = vobc
 
 	status.Tcc = initTrainTcc(vs)
@@ -481,7 +481,7 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
 		vobc.TractionStatus = false
 		vobc.BrakingStatus = true
 		vobc.TractionForce = 0
-		vobc.BrakeForce = int64(DEFAULT_BRAKE_FORCE * 100)
+		vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainMaxBrake) / 1000 * 100
 	}
 	train.Show = false
 

ts/simulation/wayside/memory/wayside_simulation.go

@@ -14,6 +14,7 @@ import (
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/radar"
 	"joylink.club/bj-rtsts-server/third_party/semi_physical_train"
+	"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"joylink.club/ecs"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/entity"
@@ -263,9 +264,25 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
 	trainState := UpdateTrainStateByDynamics(s, trainId, info)
 	vs := train.VobcState
 	if vs.Ato {
+		trainAtoControlTractionAndBrake(train)
+		var msgs []message.TrainPcSimBaseMessage
+		if vs.AtoOpenRightDoor || vs.AtoOpenLeftDoor {
+			btn := train.Tcc.Buttons[KZM]
+			if vs.AtoOpenRightDoor {
+				btn = train.Tcc.Buttons[KYM]
+			}
+			msgs = controlDoorOpenBtn(train.VobcState, true, btn, vs.AtoOpenLeftDoor, false)
+		} else if vs.AtoCloseRightDoor || vs.AtoCloseLeftDoor {
+			btn := train.Tcc.Buttons[GZM]
+			if vs.AtoCloseRightDoor {
+				btn = train.Tcc.Buttons[GYM]
+			}
+			msgs = controlDoorCloseBtn(train.VobcState, true, btn, vs.AtoOpenLeftDoor, false)
+		}
+		train_pc_sim.Default().SendTrainControlMsg(train, msgs)
 
 	} else if vs.TractionStatus {
-		f := trainTractionPower(vs.TrainLoad, train.Tcc.PushHandler.Val, trainState.DynamicState.Speed)
+		f := trainTractionPower(train.TrainLoad, train.Tcc.PushHandler.Val, trainState.DynamicState.Speed, train.TrainMaxAcc, train.TrainMaxSpeed)
 		vs.TractionForce = f / 1000 * 100
 	}
 

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -15,7 +15,6 @@ import (
 	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"math"
-	"strings"
 	"time"
 )
 
@@ -41,7 +40,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 
 	var baseMsg []message.TrainPcSimBaseMessage = nil
 	if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
-		baseMsg = trainControlButton(vobc, tcc.Buttons, ct.DeviceId, ct.ControlButton.Active, tccGraphicData)
+		baseMsg = trainControlButton(sta, ct.DeviceId, ct.ControlButton.Active, tccGraphicData)
 	} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
 		baseMsg = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
 		train_pc_sim.Default().SendDriverActive(sta)
@@ -56,11 +55,11 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 		if vobc.TractionSafetyCircuit {
 			panic(sys_error.New("牵引切除，不能进行列车控制"))
 		}
-		oldTraction := sta.VobcState.TractionForce
+		//oldTraction := sta.VobcState.TractionForce
-		oldBrakeForce := sta.VobcState.BrakeForce
+		//oldBrakeForce := sta.VobcState.BrakeForce
-		isTraction := ct.Handler.Val > 0 //是否制动
+		//isTraction := ct.Handler.Val > 0 //是否制动
-		baseMsg = trainControlHandle(sta.DynamicState.Speed, vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
+		baseMsg = trainControlHandle(sta, ct.Handler, ct.DeviceId, tccGraphicData)
-		train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
+		//train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
 	} else if ct.ControlType == request_proto.TrainControl_TRAIN_DOOR_MODE_CHANGE {
 		baseMsg = trainDoorModeChangeHandle(vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData)
 	}
@@ -81,25 +80,25 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 	}
 }
 
-func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*state_proto.TrainControlState_ControlButton, deviceId uint32, active bool, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
+func trainControlButton(train *state_proto.TrainState, deviceId uint32, active bool, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
 
 	if graphicBtn, ok := findTrainTccGraphicDataButton(tccGraphic, deviceId); ok {
-		btn := buttonMap[graphicBtn.Code]
+		btn := train.Tcc.Buttons[graphicBtn.Code]
 		if btn == nil {
 			slog.Error("未找到对应的车载摁钮code:", graphicBtn.Code, "设备id:", deviceId)
 			return nil
 		}
-
+		vobc := train.VobcState
 		switch graphicBtn.Code {
 		case JJZD: // 紧急制动
-			return controlEBBtn(vobc, active, btn)
+			return controlEBBtn(train, active, btn)
 		case ATPQCKG: //atp切除
 			return controlAtpBtn(vobc, active, btn)
 		case KZM, KYM: //开左门按钮
-			return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM)
+			return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM, true)
 
 		case GZM, GYM: //关左门按钮
-			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM)
+			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM, true)
 
 		case ZF: //折返按钮
 			return controlReverseBtn(vobc, active, btn)
@@ -134,16 +133,17 @@ func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*
 }
 
 // 应急摁钮
-func controlEBBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
+func controlEBBtn(train *state_proto.TrainState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
 	if !active {
 		return nil
 	}
 	tccBtn.Passed = active
+	vobc := train.VobcState
 	vobc.TractionStatus = false
 	vobc.EmergencyBrakingStatus = true
 	vobc.TractionForce = 0
 
-	vobc.BrakeForce = trainBraking(vobc.TrainLoad, 100) / 1000 * 100
+	vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainEmergencyBrake) / 1000 * 100
 	vobc.BrakingStatus = true
 	return []message.TrainPcSimBaseMessage{
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}},
@@ -161,9 +161,12 @@ func controlAtpBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_
 	tccBtn.Passed = active
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATP_CUT, status}}}
 }
-func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool) []message.TrainPcSimBaseMessage {
+func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool, onbtn bool) []message.TrainPcSimBaseMessage {
 	status := message.IsTrue(active)
+	if onbtn {
 		tccBtn.Passed = active
+
+	}
 	var doorAct byte = message.CLOSE_LEFT_DOOR
 	var doorState byte = message.LEFT_DOOR_STATE
 	msg := make([]message.TrainPcSimBaseMessage, 0)
@@ -184,18 +187,21 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *
 }
 
 // 开车门
-func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool) []message.TrainPcSimBaseMessage {
+func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton, isLeft bool, onbtn bool) []message.TrainPcSimBaseMessage {
 	status := message.IsTrue(active)
 	msg := make([]message.TrainPcSimBaseMessage, 0)
+	if onbtn {
 		tccBtn.Passed = active
+
+	}
 	var doorAct byte = message.LEFT_OPEN_DOOR
 	var doorState byte = message.LEFT_DOOR_STATE
 	if isLeft {
 		vobc.LeftDoorOpenCommand = active
-		vobc.LeftDoorCloseCommand = false
+		//vobc.LeftDoorCloseCommand = false
 	} else {
 		vobc.RightDoorOpenCommand = active
-		vobc.RightDoorCloseCommand = false
+		//vobc.RightDoorCloseCommand = false
 		doorAct = message.OPEN_RIGHT_DOOR
 		doorState = message.RIGHT_DOOR_STATE
 	}
@@ -433,55 +439,110 @@ func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_prot
 	return msg
 }
 
-func trainBraking(trainLoad int64, handleVal int32) int64 {
+func trainBraking(trainLoad int32, handleVal int32, brakePower float32) int64 {
-	tl := trainLoad * 10 //列车初始化已经 * 100，再*10 就是对应的kg
+	tl := trainLoad * 1000 //列车初始化已经 * 100，再*10 就是对应的kg
 	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
-	totalPower := float64(tl) * DEFAULT_BRAKE_FORCE
+	totalPower := float64(tl) * float64(brakePower)
 	n := int64(math.Abs(float64(handleVal)) / 100 * totalPower)
 	return n
 }
 
-func trainTractionPower(trainLoad int64, handleVal int32, speedKM int32) int64 {
+func trainTractionPower(trainLoad int32, handleVal int32, speedKM int32, trainMaxAcc, trainMaxSpeed float32) int64 {
 	//f(牛) = m(质量) * (加速度* 牵引杆%* (1 - 速度（米/秒）/(最大速度（米/秒） * 牵引杆%)))
 	//
-	m := trainLoad * 10
+	m := trainLoad * 1000
 	speedM := float64(speedKM) / 3.6 / 100
-	acc := math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_TRACTION_ACC
+	acc := math.Abs(float64(handleVal)) / 100 * float64(trainMaxAcc)
-	sp := math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_STARTED_SPEED
+	sp := math.Abs(float64(handleVal)) / 100 * float64(trainMaxSpeed/3.6)
 	if speedM > sp {
 		return 0
 	}
 	f := float64(m) * (acc * (1 - speedM/sp))
 	return int64(f)
 }
+func trainBrakeAtoStepLevel(trainLoad int32, stepLevel int32, brakePower float32) int64 {
+	tl := trainLoad * 1000 //列车初始化已经 * 100，再*10 就是对应的kg
+	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
+	totalPower := float64(tl) * float64(brakePower)
+	n := totalPower / 7 * float64(stepLevel)
+	return int64(n)
+}
+func trainTractionPowerAtoStepLevel(trainLoad int32, speedKM int32, stepLevel int32, trainMaxAcc, trainMaxSpeed float32) int64 {
+	//f(牛) = m(质量) * (加速度* 牵引杆%* (1 - 速度（米/秒）/(最大速度（米/秒） * 牵引杆%)))
+	//
+	m := trainLoad * 1000
+	sl := float64(stepLevel)
+	speedM := float64(speedKM) / 3.6 / 100
+	acc := float64(trainMaxAcc) / 7 * sl
+	sp := float64(trainMaxSpeed/3.6) / 7 * sl
+	if speedM > sp {
+		return 0
+	}
+	f := float64(m) * (acc * (1 - speedM/sp))
+	return int64(f)
+}
+func trainAtoControlTractionAndBrake(train *state_proto.TrainState) {
+	vs := train.VobcState
+	vs.TractionStatus = false
+	vs.TractionForce = 0
+	vs.BrakingStatus = false
+	vs.BrakeForce = 0
+	vs.MaintainBrakeStatus = false
+	var brakeState byte = 0
+	var notBreak byte = 0
+	if vs.AtoTractionCommandOut && vs.AtoBrakeCommand {
+		f := trainBrakeAtoStepLevel(train.TrainLoad, int32(vs.AtoStepLevel.Number()), train.TrainMaxBrake)
+		vs.BrakeForce = f / 1000 * 100
+		vs.BrakingStatus = true
+		brakeState = 1
+	} else if vs.AtoTractionCommandOut {
+		f := trainTractionPowerAtoStepLevel(train.TrainLoad, train.DynamicState.Speed, int32(vs.AtoStepLevel.Number()), train.TrainMaxAcc, train.TrainMaxSpeed)
+		vs.TractionForce = f / 1000 * 100
+		vs.TractionStatus = true
+		notBreak = 1
+	} else if vs.AtoBrakeCommand {
+		f := trainBrakeAtoStepLevel(train.TrainLoad, int32(vs.AtoStepLevel.Number()), train.TrainMaxBrake)
+		vs.BrakeForce = f / 1000 * 100
+		vs.BrakingStatus = true
+		brakeState = 1
+	}
+	msg := []message.TrainPcSimBaseMessage{
+		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, brakeState}},
+
+		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}},
+	}
+	slog.Info(fmt.Sprintf("列车 id:%v,ato:%v,AtoLevle:%v,牵引:%v,制动:%v,牵引力:%v,制动力%v", train.Id, vs.Ato, vs.AtoStepLevel, vs.AtoTractionCommandOut, vs.AtoBrakeCommand, vs.TractionForce, vs.BrakeForce))
+	train_pc_sim.Default().SendTrainControlMsg(train, msg)
+}
 
 // 列车牵引控制
-func trainControlHandle(speed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
+func trainControlHandle(train *state_proto.TrainState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
 	_, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
 	if !find {
 		slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
 		return nil
 	}
-
+	tcc := train.Tcc
+	vobc := train.VobcState
 	jjzdBtn := tcc.Buttons[JJZD]
 	vobc.TractionStatus = false
 	vobc.TractionForce = 0
 	vobc.BrakingStatus = false
 	vobc.BrakeForce = 0
 	vobc.MaintainBrakeStatus = false
-	notBreak := byte(0)
+	var notBreak byte = 0
 	var zeroState byte = 0
 	var brakeState byte = 0
 	//var traction byte = 0
 
 	if request.Val > 0 {
 		vobc.TractionStatus = true
-		vobc.TractionForce = trainTractionPower(vobc.TrainLoad, request.Val, speed) / 1000 * 100
+		vobc.TractionForce = trainTractionPower(train.TrainLoad, request.Val, train.DynamicState.Speed, train.TrainMaxAcc, train.TrainMaxSpeed) / 1000 * 100
 		notBreak = 1
 		//traction = 1
 	} else if request.Val < 0 {
 		vobc.BrakingStatus = true
-		vobc.BrakeForce = trainBraking(vobc.TrainLoad, request.Val) / 1000 * 100
+		vobc.BrakeForce = trainBraking(train.TrainLoad, request.Val, train.TrainMaxBrake) / 1000 * 100
 		vobc.EmergencyBrakingStatus = false
 		jjzdBtn.Passed = false
 		brakeState = 1
@@ -561,11 +622,11 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 			}
 			if state == 0 {
 				jjzdBtn := tcc.Buttons[JJZD]
-				ebTce := controlEBBtn(vobc, true, jjzdBtn)
+				ebTce := controlEBBtn(train, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 			} else if message.GetBit(data1, 0) == 0 {
 				jjzdBtn := tcc.Buttons[JJZD]
-				ebTce := controlEBBtn(vobc, true, jjzdBtn)
+				ebTce := controlEBBtn(train, true, jjzdBtn)
 				tce = append(tce, ebTce...)
 				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
 				tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
@@ -594,42 +655,31 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 	train_pc_sim.Default().SendTrainControlMsg(train, tce)
 	//return initResult
 }
-
+func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
-const (
-	ATO_LEVEL_NONE = iota
-	ATO_LEVEL_1
-	ATO_LEVEL_2
-	ATO_LEVEL_3
-	ATO_LEVEL_4
-	ATO_LEVEL_5
-	ATO_LEVEL_6
-	ATO_LEVEL_7
-)
-
-func trainAtoLevel(ato3, ato2, ato1 byte) int32 {
 	switch {
-	case ato3 == 0 && ato2 == 0 && ato1 == 1:
+	case at3 == false && at2 == false && at1 == true:
-		return ATO_LEVEL_1
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_1
-	case ato3 == 0 && ato2 == 1 && ato1 == 1:
+
-		return ATO_LEVEL_2
+	case at3 == false && at2 == true && at1 == true:
-	case ato3 == 0 && ato2 == 1 && ato1 == 0:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_2
-		return ATO_LEVEL_3
+	case at3 == false && at2 == true && at1 == false:
-	case ato3 == 1 && ato2 == 1 && ato1 == 0:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_3
-		return ATO_LEVEL_4
+	case at3 == true && at2 == true && at1 == false:
-	case ato3 == 1 && ato2 == 0 && ato1 == 0:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_4
-		return ATO_LEVEL_5
+	case at3 == true && at2 == false && at1 == false:
-	case ato3 == 1 && ato2 == 0 && ato1 == 1:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_5
-		return ATO_LEVEL_6
+	case at3 == true && at2 == false && at1 == true:
-	case ato3 == 1 && ato2 == 1 && ato1 == 1:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_6
-		return ATO_LEVEL_7
+	case at3 == true && at2 == true && at1 == true:
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_7
 	default:
-		return ATO_LEVEL_NONE
+		return state_proto.TrainVobcState_ATO_STEP_LEVEL_NONE
 	}
 }
 
 // 4.4.1.	车载输出数字量信息报文内容
 func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, data []byte) {
-	slog.Info("开始接受atp输出模拟量==============")
+	/*	slog.Info("开始接受atp输出模拟量==============")
 		for i, d := range data {
 
 			dd := &strings.Builder{}
@@ -639,7 +689,7 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.Tra
 			slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
 
 		}
-	slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee")
+		slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee")*/
 	s.reportTrainMockInitMsg(train, data[4], data[1])
 	vobc := train.VobcState
 	trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
@@ -647,7 +697,9 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.Tra
 	trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
 	trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
 	trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
-
+	if vobc.Ato {
+		vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
+	}
 	//return initResult
 
 }