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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
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tiger_zhou 2024-08-30 18:08:14 +08:00
parent 13baeda0a0
commit cf3d38a2f5
13 changed files with 1488 additions and 1288 deletions
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15
api/simulation.go
View File

@ -243,13 +243,14 @@ func addTrain(c *gin.Context) {
panic(sys_error.New("列车编号不能小于0，大于255")) panic(sys_error.New("列车编号不能小于0，大于255"))
} }
rsp := &state_proto.TrainState{ 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,
TrainLoad: req.TrainLoad, TrainLoad: req.TrainLoad,
TrainMaxSpeed: req.TrainMaxSpeed, TrainMaxSpeed: req.TrainMaxSpeed,
TrainMaxAcc: req.TrainMaxAcc, TrainMaxAcc: req.TrainMaxAcc,
TrainMaxBrake: req.TrainMaxBrake, TrainMaxBrake: req.TrainMaxBrake,
TrainEmergencyBrake: req.TrainEmergencyBrake,
//HeadOffset: 93211, //HeadOffset: 93211,
DevicePort: req.DevicePort, DevicePort: req.DevicePort,
TrainRunUp: req.RunDirection, TrainRunUp: req.RunDirection,

211
dto/data_proto/stationLayoutGraphics.pb.go
View File

@ -5293,11 +5293,12 @@ type Train struct {
TrainSets string `protobuf:"bytes,6,opt,name=trainSets,proto3" json:"trainSets,omitempty"` // 编组 TrainSets string `protobuf:"bytes,6,opt,name=trainSets,proto3" json:"trainSets,omitempty"` // 编组
DynamicConfig *common_proto.TrainDynamicConfig `protobuf:"bytes,7,opt,name=dynamicConfig,proto3" json:"dynamicConfig,omitempty"` //动力学参数 DynamicConfig *common_proto.TrainDynamicConfig `protobuf:"bytes,7,opt,name=dynamicConfig,proto3" json:"dynamicConfig,omitempty"` //动力学参数
// string trainControlMapCode = 8; // string trainControlMapCode = 8;
TrainControlMapId int32 `protobuf:"varint,9,opt,name=trainControlMapId,proto3" json:"trainControlMapId,omitempty"` TrainControlMapId int32 `protobuf:"varint,9,opt,name=trainControlMapId,proto3" json:"trainControlMapId,omitempty"`
TrainLoad int32 `protobuf:"varint,10,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"` //列车载荷(吨) 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) 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) 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() { func (x *Train) Reset() {
@ -5402,6 +5403,13 @@ func (x *Train) GetTrainMaxBrake() float32 {
return 0 return 0
} }
func (x *Train) GetTrainEmergencyBrake() float32 {
if x != nil {
return x.TrainEmergencyBrake
}
return 0
}
// 其他线 // 其他线
type OtherLine struct { type OtherLine struct {
state protoimpl.MessageState state protoimpl.MessageState
@ -6766,7 +6774,7 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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@ -6793,100 +6801,103 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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} }
var ( var (

11
dto/simulation.go
View File

@ -71,11 +71,12 @@ type AddTrainReqDtoNew struct {
//车头所在link内的偏移量，单位为mm //车头所在link内的偏移量，单位为mm
HeadOffset int64 `json:"headOffset" form:"headOffset"` HeadOffset int64 `json:"headOffset" form:"headOffset"`
//列车长度 //列车长度
TrainLength int64 `json:"trainLength" from:"trainLength"` TrainLength int64 `json:"trainLength" from:"trainLength"`
TrainLoad int32 `json:"trainLoad" from:"trainLoad"` TrainLoad int32 `json:"trainLoad" from:"trainLoad"`
TrainMaxSpeed float32 `json:"trainMaxSpeed" from:"trainMaxSpeed"` TrainMaxSpeed float32 `json:"trainMaxSpeed" from:"trainMaxSpeed"`
TrainMaxAcc float32 `json:"trainMaxAcc" from:"trainMaxAcc"` TrainMaxAcc float32 `json:"trainMaxAcc" from:"trainMaxAcc"`
TrainMaxBrake float32 `json:"trainMaxBrake" from:"trainMaxBrake"` TrainMaxBrake float32 `json:"trainMaxBrake" from:"trainMaxBrake"`
TrainEmergencyBrake float32 `json:"trainEmergencyBrake" from:"trainEmergencyBrake"`
// 场景ID // 场景ID
MapId int32 `json:"mapId" from:"mapId"` MapId int32 `json:"mapId" from:"mapId"`
WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"` WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"`

2200
dto/state_proto/device_state.pb.go
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File diff suppressed because it is too large Load Diff

42
dto/trainManage.go
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@ -17,15 +17,16 @@ type TrainInfoReqDto struct {
} }
type TrainInfoDto struct { type TrainInfoDto struct {
Id int32 `json:"id" form:"id"` Id int32 `json:"id" form:"id"`
Name string `json:"name" form:"name"` Name string `json:"name" form:"name"`
TrainModel int32 `json:"train_model" form:"train_model"` TrainModel int32 `json:"train_model" form:"train_model"`
CarriageLength int32 `json:"carriage_length" form:"carriage_length"` CarriageLength int32 `json:"carriage_length" form:"carriage_length"`
TotalLength int32 `json:"total_length" form:"total_length"` TotalLength int32 `json:"total_length" form:"total_length"`
TrainLoad int32 `json:"train_load" form:"train_load"` TrainLoad int32 `json:"train_load" form:"train_load"`
TrainMaxSpeed float32 `json:"train_max_speed" form:"train_max_speed"` TrainMaxSpeed float32 `json:"train_max_speed" form:"train_max_speed"`
TrainMaxAcc float32 `json:"train_max_acc" form:"train_max_acc"` TrainMaxAcc float32 `json:"train_max_acc" form:"train_max_acc"`
TrainMaxBrake float32 `json:"train_max_brake" form:"train_max_brake"` 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"` //MinDiameter int32 `json:"min_diameter" form:"min_diameter"`
//MaxDiameter int32 `json:"max_diameter" form:"max_diameter"` //MaxDiameter int32 `json:"max_diameter" form:"max_diameter"`
TrainSets string `json:"train_sets" form:"train_sets"` TrainSets string `json:"train_sets" form:"train_sets"`
@ -57,17 +58,18 @@ func ConvertDtoFromTrain(t *PublishedDto) *TrainInfoDto {
message := &data_proto.Train{} message := &data_proto.Train{}
proto.Unmarshal(t.Proto, message) proto.Unmarshal(t.Proto, message)
return &TrainInfoDto{ return &TrainInfoDto{
Id: t.ID, Id: t.ID,
Name: t.Name, Name: t.Name,
Description: t.Note, Description: t.Note,
TrainModel: int32(message.TrainModel), TrainModel: int32(message.TrainModel),
CarriageLength: message.CarriageLength, CarriageLength: message.CarriageLength,
TotalLength: message.TotalLength, TotalLength: message.TotalLength,
TrainControlMapId: message.TrainControlMapId, TrainControlMapId: message.TrainControlMapId,
TrainLoad: message.TrainLoad, TrainLoad: message.TrainLoad,
TrainMaxSpeed: message.TrainMaxSpeed, TrainMaxSpeed: message.TrainMaxSpeed,
TrainMaxAcc: message.TrainMaxAcc, TrainMaxAcc: message.TrainMaxAcc,
TrainMaxBrake: message.TrainMaxBrake, TrainMaxBrake: message.TrainMaxBrake,
TrainEmergencyBrake: message.TrainEmergencyBrake,
//TrainControlMapCode: message.TrainControlMapCode, //TrainControlMapCode: message.TrainControlMapCode,
//MinDiameter: message.MinDiameter, //MinDiameter: message.MinDiameter,
//MaxDiameter: message.MaxDiameter, //MaxDiameter: message.MaxDiameter,

8
message_server/train_control_ms.go
View File

@ -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}) lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LocalAtpControl})
case memory.LIGHT_ATOFCZSD: case memory.LIGHT_ATOFCZSD:
lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LightAtoSend}) 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: default:
lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: light.Val}) lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: light.Val})
} }

2
rts-sim-testing-message

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

17
service/trainManage.go
View File

@ -79,14 +79,15 @@ func TrainConfigToProtoConvert(t *dto.ConfigTrainData) *common_proto.TrainDynami
// 转成列车proto // 转成列车proto
func convertTrainDtoToProto(t *dto.TrainInfoDto) []byte { func convertTrainDtoToProto(t *dto.TrainInfoDto) []byte {
message := &data_proto.Train{ message := &data_proto.Train{
TrainModel: data_proto.Train_TrainModel(t.TrainModel), TrainModel: data_proto.Train_TrainModel(t.TrainModel),
CarriageLength: t.CarriageLength, CarriageLength: t.CarriageLength,
TotalLength: t.TotalLength, TotalLength: t.TotalLength,
TrainControlMapId: t.TrainControlMapId, TrainControlMapId: t.TrainControlMapId,
TrainMaxSpeed: t.TrainMaxSpeed, TrainMaxSpeed: t.TrainMaxSpeed,
TrainLoad: t.TrainLoad, TrainLoad: t.TrainLoad,
TrainMaxAcc: t.TrainMaxAcc, TrainMaxAcc: t.TrainMaxAcc,
TrainMaxBrake: t.TrainMaxBrake, TrainMaxBrake: t.TrainMaxBrake,
TrainEmergencyBrake: t.TrainEmergencyBrake,
//TrainControlMapCode: t.TrainControlMapCode, //TrainControlMapCode: t.TrainControlMapCode,
//MinDiameter: t.MinDiameter, //MinDiameter: t.MinDiameter,
//MaxDiameter: t.MaxDiameter, //MaxDiameter: t.MaxDiameter,

4
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -381,7 +381,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
connState = tpapi.ThirdPartyState_Broken connState = tpapi.ThirdPartyState_Broken
} }
trainClient.updateState(connState) trainClient.updateState(connState)
s1, _ := d.pluseSpeed(train) s1, speed := d.pluseSpeed(train)
runDir := uint16(2) runDir := uint16(2)
if train.VobcState.DirectionForward { if train.VobcState.DirectionForward {
runDir = 1 runDir = 1
@ -390,7 +390,7 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
data := trainClient.speedPlace.Encode(runDir, s1, disPluse) data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data} bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
dataCode := bm.Encode() 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) err := trainClient.tcpClient.Send(dataCode)
if err != nil { 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))) 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)))

39
ts/simulation/wayside/memory/train_tcc_graphic.go
View File

@ -32,21 +32,25 @@ const (
JX = "JX" //检修按钮 JX = "JX" //检修按钮
XM = "XM" //休眠按钮 XM = "XM" //休眠按钮
LIGHT_JJZD = JJZD LIGHT_JJZD = JJZD
LIGHT_QQY = "QQY" //切牵引指示灯 LIGHT_QQY = "QQY" //切牵引指示灯
LIGHT_JSSJH = "JSSJH" // 驾驶室激活 LIGHT_JSSJH = "JSSJH" // 驾驶室激活
LIGHT_TFZDHJ = "TFZDHJ" //停放制动缓解 LIGHT_TFZDHJ = "TFZDHJ" //停放制动缓解
LIGHT_QYYX = "QYYX" // 牵引有效 LIGHT_QYYX = "QYYX" // 牵引有效
LIGHT_ZDYX = "ZDYX" //制动有效 LIGHT_ZDYX = "ZDYX" //制动有效
LIGHT_TFZDSJ = "TFZDSJ" //停放制动施加 LIGHT_TFZDSJ = "TFZDSJ" //停放制动施加
LIGHT_CYZD = "CYZD" //常用制动 LIGHT_CYZD = "CYZD" //常用制动
LIGHT_ZDGL = "ZDGL" //制动隔离 LIGHT_ZDGL = "ZDGL" //制动隔离
LIGHT_LSXH = "LSXH" //零速信号 LIGHT_LSXH = "LSXH" //零速信号
LIGHT_ZMYX = "ZMYX" //左门允许 LIGHT_ZMYX = "ZMYX" //左门允许
LIGHT_YMYX = "YMYX" //右门允许 LIGHT_YMYX = "YMYX" //右门允许
LIGHT_ZFZSD = "ZFZSD" //折返指示灯 LIGHT_ZFZSD = "ZFZSD" //折返指示灯
LIGHT_BDATPKC = "BDATPKC" //本段atp控车 LIGHT_BDATPKC = "BDATPKC" //本段atp控车
LIGHT_ATOFCZSD = "ATOFCZSD" //ato发车指示灯 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 // 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 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, AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true,
ConfirmBtn: true, AtpPowerOnBtn: true, DoorModeMM: true, ConfirmBtn: true, AtpPowerOnBtn: true, DoorModeMM: true,
} }

10
ts/simulation/wayside/memory/wayside_memory_train.go
View File

@ -25,11 +25,11 @@ const (
//列车总质量(吨) //列车总质量(吨)
DEFULAT_TRAIN_LOAD = 160 DEFULAT_TRAIN_LOAD = 160
//通号最大制动力是-1.21 //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 //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 tl = DEFULAT_TRAIN_LOAD * 100
} }
vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp) vobc, _ := initTrainVobc(int64(tl), status.TrainRunUp, status.TrainMaxBrake)
status.VobcState = vobc status.VobcState = vobc
status.Tcc = initTrainTcc(vs) status.Tcc = initTrainTcc(vs)
@ -481,7 +481,7 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
vobc.TractionStatus = false vobc.TractionStatus = false
vobc.BrakingStatus = true vobc.BrakingStatus = true
vobc.TractionForce = 0 vobc.TractionForce = 0
vobc.BrakeForce = int64(DEFAULT_BRAKE_FORCE * 100) vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainMaxBrake) / 1000 * 100
} }
train.Show = false train.Show = false

19
ts/simulation/wayside/memory/wayside_simulation.go
View File

@ -14,6 +14,7 @@ import (
"joylink.club/bj-rtsts-server/third_party/message" "joylink.club/bj-rtsts-server/third_party/message"
"joylink.club/bj-rtsts-server/third_party/radar" "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/semi_physical_train"
"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
"joylink.club/ecs" "joylink.club/ecs"
"joylink.club/rtsssimulation/component" "joylink.club/rtsssimulation/component"
"joylink.club/rtsssimulation/entity" "joylink.club/rtsssimulation/entity"
@ -263,9 +264,25 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
trainState := UpdateTrainStateByDynamics(s, trainId, info) trainState := UpdateTrainStateByDynamics(s, trainId, info)
vs := train.VobcState vs := train.VobcState
if vs.Ato { 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 { } 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 vs.TractionForce = f / 1000 * 100
} }

198
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -15,7 +15,6 @@ import (
train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim" train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
"log/slog" "log/slog"
"math" "math"
"strings"
"time" "time"
) )
@ -41,7 +40,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
var baseMsg []message.TrainPcSimBaseMessage = nil var baseMsg []message.TrainPcSimBaseMessage = nil
if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON { 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 { } else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
baseMsg = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData) baseMsg = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
train_pc_sim.Default().SendDriverActive(sta) train_pc_sim.Default().SendDriverActive(sta)
@ -56,11 +55,11 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
if vobc.TractionSafetyCircuit { if vobc.TractionSafetyCircuit {
panic(sys_error.New("牵引切除，不能进行列车控制")) 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 { } else if ct.ControlType == request_proto.TrainControl_TRAIN_DOOR_MODE_CHANGE {
baseMsg = trainDoorModeChangeHandle(vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData) 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 { if graphicBtn, ok := findTrainTccGraphicDataButton(tccGraphic, deviceId); ok {
btn := buttonMap[graphicBtn.Code] btn := train.Tcc.Buttons[graphicBtn.Code]
if btn == nil { if btn == nil {
slog.Error("未找到对应的车载摁钮code:", graphicBtn.Code, "设备id:", deviceId) slog.Error("未找到对应的车载摁钮code:", graphicBtn.Code, "设备id:", deviceId)
return nil return nil
} }
vobc := train.VobcState
switch graphicBtn.Code { switch graphicBtn.Code {
case JJZD: // 紧急制动 case JJZD: // 紧急制动
return controlEBBtn(vobc, active, btn) return controlEBBtn(train, active, btn)
case ATPQCKG: //atp切除 case ATPQCKG: //atp切除
return controlAtpBtn(vobc, active, btn) return controlAtpBtn(vobc, active, btn)
case KZM, KYM: //开左门按钮 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 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 case ZF: //折返按钮
return controlReverseBtn(vobc, active, btn) return controlReverseBtn(vobc, active, btn)
@ -134,16 +133,17 @@ func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*
} }
// 应急摁钮 // 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 { if !active {
return nil return nil
} }
tccBtn.Passed = active tccBtn.Passed = active
vobc := train.VobcState
vobc.TractionStatus = false vobc.TractionStatus = false
vobc.EmergencyBrakingStatus = true vobc.EmergencyBrakingStatus = true
vobc.TractionForce = 0 vobc.TractionForce = 0
vobc.BrakeForce = trainBraking(vobc.TrainLoad, 100) / 1000 * 100 vobc.BrakeForce = trainBraking(train.TrainLoad, 100, train.TrainEmergencyBrake) / 1000 * 100
vobc.BrakingStatus = true vobc.BrakingStatus = true
return []message.TrainPcSimBaseMessage{ return []message.TrainPcSimBaseMessage{
{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}}, {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 tccBtn.Passed = active
return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATP_CUT, status}}} 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) status := message.IsTrue(active)
tccBtn.Passed = active if onbtn {
tccBtn.Passed = active
}
var doorAct byte = message.CLOSE_LEFT_DOOR var doorAct byte = message.CLOSE_LEFT_DOOR
var doorState byte = message.LEFT_DOOR_STATE var doorState byte = message.LEFT_DOOR_STATE
msg := make([]message.TrainPcSimBaseMessage, 0) msg := make([]message.TrainPcSimBaseMessage, 0)
@ -184,18 +187,21 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *
} }
// 开车门 // 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) status := message.IsTrue(active)
msg := make([]message.TrainPcSimBaseMessage, 0) msg := make([]message.TrainPcSimBaseMessage, 0)
tccBtn.Passed = active if onbtn {
tccBtn.Passed = active
}
var doorAct byte = message.LEFT_OPEN_DOOR var doorAct byte = message.LEFT_OPEN_DOOR
var doorState byte = message.LEFT_DOOR_STATE var doorState byte = message.LEFT_DOOR_STATE
if isLeft { if isLeft {
vobc.LeftDoorOpenCommand = active vobc.LeftDoorOpenCommand = active
vobc.LeftDoorCloseCommand = false //vobc.LeftDoorCloseCommand = false
} else { } else {
vobc.RightDoorOpenCommand = active vobc.RightDoorOpenCommand = active
vobc.RightDoorCloseCommand = false //vobc.RightDoorCloseCommand = false
doorAct = message.OPEN_RIGHT_DOOR doorAct = message.OPEN_RIGHT_DOOR
doorState = message.RIGHT_DOOR_STATE doorState = message.RIGHT_DOOR_STATE
} }
@ -433,55 +439,110 @@ func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_prot
return msg 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 //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) n := int64(math.Abs(float64(handleVal)) / 100 * totalPower)
return n 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%))) //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 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 { if speedM > sp {
return 0 return 0
} }
f := float64(m) * (acc * (1 - speedM/sp)) f := float64(m) * (acc * (1 - speedM/sp))
return int64(f) 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 // 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) _, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
if !find { if !find {
slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId) slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
return nil return nil
} }
tcc := train.Tcc
vobc := train.VobcState
jjzdBtn := tcc.Buttons[JJZD] jjzdBtn := tcc.Buttons[JJZD]
vobc.TractionStatus = false vobc.TractionStatus = false
vobc.TractionForce = 0 vobc.TractionForce = 0
vobc.BrakingStatus = false vobc.BrakingStatus = false
vobc.BrakeForce = 0 vobc.BrakeForce = 0
vobc.MaintainBrakeStatus = false vobc.MaintainBrakeStatus = false
notBreak := byte(0) var notBreak byte = 0
var zeroState byte = 0 var zeroState byte = 0
var brakeState byte = 0 var brakeState byte = 0
//var traction byte = 0 //var traction byte = 0
if request.Val > 0 { if request.Val > 0 {
vobc.TractionStatus = true 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 notBreak = 1
//traction = 1 //traction = 1
} else if request.Val < 0 { } else if request.Val < 0 {
vobc.BrakingStatus = true 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 vobc.EmergencyBrakingStatus = false
jjzdBtn.Passed = false jjzdBtn.Passed = false
brakeState = 1 brakeState = 1
@ -561,11 +622,11 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
} }
if state == 0 { if state == 0 {
jjzdBtn := tcc.Buttons[JJZD] jjzdBtn := tcc.Buttons[JJZD]
ebTce := controlEBBtn(vobc, true, jjzdBtn) ebTce := controlEBBtn(train, true, jjzdBtn)
tce = append(tce, ebTce...) tce = append(tce, ebTce...)
} else if message.GetBit(data1, 0) == 0 { } else if message.GetBit(data1, 0) == 0 {
jjzdBtn := tcc.Buttons[JJZD] jjzdBtn := tcc.Buttons[JJZD]
ebTce := controlEBBtn(vobc, true, jjzdBtn) ebTce := controlEBBtn(train, true, jjzdBtn)
tce = append(tce, ebTce...) 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.OUTER_EMERGENCY_BRAKE, state}})
tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}}) tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
@ -594,52 +655,41 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
train_pc_sim.Default().SendTrainControlMsg(train, tce) train_pc_sim.Default().SendTrainControlMsg(train, tce)
//return initResult //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 { 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: 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 // 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) { 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 { for i, d := range data {
dd := &strings.Builder{}
for j := 0; j < 8; j++ {
dd.WriteString(fmt.Sprintf(" bit%v val:%v , ", j, message.GetBit(d, uint(j))))
}
slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
dd := &strings.Builder{}
for j := 0; j < 8; j++ {
dd.WriteString(fmt.Sprintf(" bit%v val:%v , ", j, message.GetBit(d, uint(j))))
} }
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]) s.reportTrainMockInitMsg(train, data[4], data[1])
vobc := train.VobcState vobc := train.VobcState
trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc) trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
@ -647,7 +697,9 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.Tra
trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc) trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc) trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc) trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
if vobc.Ato {
vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
}
//return initResult //return initResult
} }