列车12号线操控调整

dto/common_proto/common_data.pb.go

@@ -64,7 +64,8 @@ type TrainDynamicConfig struct {
 	StopSign int32 `protobuf:"varint,17,opt,name=stopSign,proto3" json:"stopSign,omitempty"`
 	// 前溜/后溜（m/s）默认0
 	Slide     float32 `protobuf:"fixed32,18,opt,name=slide,proto3" json:"slide,omitempty"`
-	TrainLoad int32   `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"` //列车载荷
+	TrainLoad int32   `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"` //列车载荷(吨)
+	MaxSpeed  float32 `protobuf:"fixed32,20,opt,name=maxSpeed,proto3" json:"maxSpeed,omitempty"`
 }
 
 func (x *TrainDynamicConfig) Reset() {
@@ -225,6 +226,13 @@ func (x *TrainDynamicConfig) GetTrainLoad() int32 {
 	return 0
 }
 
+func (x *TrainDynamicConfig) GetMaxSpeed() float32 {
+	if x != nil {
+		return x.MaxSpeed
+	}
+	return 0
+}
+
 // 列车一端的状态
 type TrainEndsState struct {
 	state         protoimpl.MessageState
@@ -376,7 +384,7 @@ var File_common_data_proto protoreflect.FileDescriptor
 
 var file_common_data_proto_rawDesc = []byte{
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@@ -416,43 +424,45 @@ var file_common_data_proto_rawDesc = []byte{
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 }
 
 var (

dto/simulation.go

@@ -130,6 +130,7 @@ type ConfigTrainData struct {
 	IdlingR   float32 `json:"idlingR"`   // 空转冲击率(m/s) 默认0
 	IdlingD   int32   `json:"idlingD"`   // 空转持续时间s 默认0
 	TrainLoad int32   `json:"trainLoad"` // 列车载重 默认 16000
+	MaxSpeed  float32 `json:"maxSpeed"`  //列车最大时速
 	//TrainEndsA             ConfigTrainEnds `json:"TrainEndsA"`             // 车辆A端
 	//TrainEndsB             ConfigTrainEnds `json:"TrainEndsB"`             // 车辆B端
 }

dto/trainManage.go

@@ -45,7 +45,7 @@ func TrainConfigToDtoConvert(dc *common_proto.TrainDynamicConfig) *ConfigTrainDa
 			CurveResistanceParamR1: dc.CurveResistanceParamR1, CurveResistanceParamR2: dc.CurveResistanceParamR2, CurveResistanceParamR3: dc.CurveResistanceParamR3,
 			CurveResistanceParamR4: dc.CurveResistanceParamR4, RevolvingMassParam: dc.RevolvingMassParam,
 			Jump: dc.Jump, SlipA: dc.SlipA, SlipR: dc.SlipR, SlipD: dc.SlipD, Slide: dc.Slide, IdlingA: dc.IdlingA, IdlingR: dc.IdlingR, IdlingD: dc.IdlingD, StopSign: dc.StopSign,
-			TrainLoad: dc.TrainLoad,
+			TrainLoad: dc.TrainLoad, MaxSpeed: dc.MaxSpeed,
 		}
 	}
 	return nil

message_server/train_control_ms.go

@@ -61,7 +61,8 @@ func NewTrainControlMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask
 					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.TurnbackStatus})
 				case memory.LIGHT_BDATPKC:
 					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})
 				default:
 					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: light.Val})
 				}

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 30019273c5bb79fa29caab241bb89bd13d238fd9
+Subproject commit 67d7d79c5a50880b61be05d98184209422f15f1b

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -13,6 +13,7 @@ const (
 	JJZD   = "JJZD"   //紧急停车
 	QHFXKZ = "QHFXKZ" //驾驶方向
 	QYSB   = "QYSB"   //牵引制动手柄
+	ATOQD  = "ATOQD"  //ato 启动
 
 	ATPQCKG = "ATPQCKG" //ATP切除开关
 	KZM     = "KZM"     //开左门按钮
@@ -30,6 +31,7 @@ const (
 	HX      = "HX"    //唤醒按钮
 	JX      = "JX"    //检修按钮
 	XM      = "XM"    //休眠按钮
+
 	LIGHT_JJZD     = JJZD
 	LIGHT_QQY      = "QQY"      //切牵引指示灯
 	LIGHT_JSSJH    = "JSSJH"    // 驾驶室激活
@@ -44,6 +46,7 @@ const (
 	LIGHT_YMYX     = "YMYX"     //右门允许
 	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
 )
 
 // 获取列车控制图形数据

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -25,13 +25,12 @@ const (
 	//列车总质量(吨)
 	DEFULAT_TRAIN_LOAD = 160
 	//通号最大制动力是-1.21
-	//DEFAULT_BRAKE_FORCE = DEFULAT_TRAIN_LOAD * 1000 * 1.21 / 1000
 	DEFAULT_BRAKE_FORCE = 1.21
 	//通号最大加速度是0.97
-	DEFAULT_TRAIN_TRACTION_ACC2         = DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 //千牛
+	DEFAULT_TRAIN_TRACTION_ACC = 0.97 //加速度
-	DEFAULT_TRAIN_TRACTION_ACC          = 0.97                                    //千牛
+
-	TRAIN_MAX_TRACTION_POWER            = 2880 * 1000
+	DEFAULT_TRAIN_STARTED_SPEED float64 = 80 / 3.6 //列车起步速度单位 米/秒
-	DEFAULT_TRAIN_STARTED_SPEED float32 = 5.5555556 //列车起步速度单位 米/秒
+
 )
 
 func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig {

ts/simulation/wayside/memory/wayside_simulation.go

@@ -262,11 +262,13 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
 	// 更新列车状态
 	trainState := UpdateTrainStateByDynamics(s, trainId, info)
 	vs := train.VobcState
-	if vs.TractionStatus {
+	if vs.Ato {
-		//动力学之前是kn * 100 这里*10就是N
+
-		tf := float32(vs.TractionPower) / info.Speed
+	} else if vs.TractionStatus {
-		vs.TractionForce = int64(tf / 10)
+		f := trainTractionPower(vs.TrainLoad, train.Tcc.PushHandler.Val, trainState.DynamicState.Speed)
+		vs.TractionForce = f / 1000 * 100
 	}
+
 	if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
 		semi_physical_train.Default().SendTrainControlMessage(info)
 		electrical_machinery.Default().SendElectricMachineryMessage2(info, trainState)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -15,6 +15,7 @@ import (
 	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"math"
+	"strings"
 	"time"
 )
 
@@ -122,6 +123,8 @@ func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*
 			return controlOverhaulBtn(vobc, active, btn)
 		case XM: //休眠按钮
 			return controlSleepBtn(vobc, active, btn)
+		case ATOQD:
+			return controlAtoSenderBtn(vobc, active, btn)
 		default:
 			return nil
 		}
@@ -136,9 +139,11 @@ func controlEBBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_p
 		return nil
 	}
 	tccBtn.Passed = active
+	vobc.TractionStatus = false
 	vobc.EmergencyBrakingStatus = true
 	vobc.TractionForce = 0
-	vobc.BrakeForce = int64(DEFAULT_BRAKE_FORCE * 100)
+
+	vobc.BrakeForce = trainBraking(vobc.TrainLoad, 100) / 1000 * 100
 	vobc.BrakingStatus = true
 	return []message.TrainPcSimBaseMessage{
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 0}},
@@ -316,7 +321,6 @@ func controlOverhaulBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s
 	tccBtn.Passed = active
 	vobc.OverhaulBtn = active
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OVERHAUL, status}}}
-	//return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATO_SEND_TRAIN, status}}}
 }
 
 // 休眠按钮
@@ -329,6 +333,15 @@ func controlSleepBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *stat
 	vobc.SleepBtn = active
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.SLEEP, status}}}
 }
+func controlAtoSenderBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
+	var status byte = 0
+	if active {
+		status = 1
+	}
+	tccBtn.Passed = active
+	vobc.AtoSendTrainBtn = active
+	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATO_SEND_TRAIN, status}}}
+}
 
 // 列车方向
 func trainControlDirKey(trainSpeed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_SwitchKeyChange, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
@@ -395,7 +408,7 @@ func trainControlDriverKey(train *state_proto.TrainState, request *request_proto
 
 }
 func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_SwitchKeyChange, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
-	sk, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
+	sk, find := findTrainTccGraphicDataKey(tccGraphic, deviceId)
 	if !find {
 		slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
 		return nil
@@ -408,42 +421,40 @@ func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_prot
 	switch kl {
 	case request_proto.TrainControl_KL_END:
 		vobc.DoorModeMM = true
-		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AA, 1}})
+		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_MM, 1}})
 	case request_proto.TrainControl_KL_CENTER:
 		vobc.DoorModeAM = true
 		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AM, 1}})
 	case request_proto.TrainControl_KL_FONT:
-		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_MM, 1}})
+		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_MODE_AA, 1}})
 		vobc.DoorModeAA = true
 	}
 	tcc.SwitchKeyMap[sk.Code].Val = request.Val
 	return msg
 }
 
-func trainTractionPower(speed int32, traction int64, handleVal int32) int32 {
+func trainBraking(trainLoad int64, handleVal int32) int64 {
-	//速度（V）可以通过初始速度 加上加速度（a）乘以时间（t）来计算，即V=V1+at
-	acc := float32(math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_TRACTION_ACC)
-	resultSpeed := DEFAULT_TRAIN_STARTED_SPEED + acc
-	if speed > 0 {
-		resultSpeed = float32(speed)/3.6/100 + acc
-	}
-	// p=fv
-	p := float32(traction) * resultSpeed
-	if p >= TRAIN_MAX_TRACTION_POWER {
-		return TRAIN_MAX_TRACTION_POWER
-	}
-	return int32(p)
-
-}
-func trainBrakingOrTraction(trainLoad int64, handleVal int32, power float64) int64 {
 	tl := trainLoad * 10 //列车初始化已经 * 100，再*10 就是对应的kg
 	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
-	totalPower := float64(tl) * power / 1000
+	totalPower := float64(tl) * DEFAULT_BRAKE_FORCE
-	//DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000
+	n := int64(math.Abs(float64(handleVal)) / 100 * totalPower)
-	n := int64(math.Abs(float64(handleVal))/100*totalPower) * 100
 	return n
 }
 
+func trainTractionPower(trainLoad int64, handleVal int32, speedKM int32) 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
+	speedM := float64(speedKM) / 3.6 / 100
+	acc := math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_TRACTION_ACC
+	sp := math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_STARTED_SPEED
+	if speedM > sp {
+		return 0
+	}
+	f := float64(m) * (acc * (1 - speedM/sp))
+	return int64(f)
+}
+
 // 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 {
 	_, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
@@ -461,24 +472,23 @@ func trainControlHandle(speed int32, vobc *state_proto.TrainVobcState, tcc *stat
 	notBreak := byte(0)
 	var zeroState byte = 0
 	var brakeState byte = 0
-	var traction byte = 0
+	//var traction byte = 0
-	vobc.TractionPower = 0
+
 	if request.Val > 0 {
 		vobc.TractionStatus = true
-		vobc.TractionForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_TRAIN_TRACTION_ACC)
+		vobc.TractionForce = trainTractionPower(vobc.TrainLoad, request.Val, speed) / 1000 * 100
-		vobc.TractionPower = trainTractionPower(speed, vobc.TractionForce, request.Val)
 		notBreak = 1
-		traction = 1
+		//traction = 1
 	} else if request.Val < 0 {
 		vobc.BrakingStatus = true
-		//vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100
+		vobc.BrakeForce = trainBraking(vobc.TrainLoad, request.Val) / 1000 * 100
-		vobc.BrakeForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_BRAKE_FORCE)
 		vobc.EmergencyBrakingStatus = false
 		jjzdBtn.Passed = false
 		brakeState = 1
 
 	} else {
 		zeroState = 1
+		brakeState = 1
 	}
 	if tcc.PushHandler == nil {
 		tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId}
@@ -489,7 +499,7 @@ func trainControlHandle(speed int32, vobc *state_proto.TrainVobcState, tcc *stat
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_BRAKE_STATE, brakeState}},
 		/*{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, 1}},*/
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}},
-		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{38, traction}}}
+		/*{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{38, traction}}*/}
 }
 
 func (s *VerifySimulation) GetConnTrain2() []*state_proto.TrainState {
@@ -585,13 +595,51 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 	//return initResult
 }
 
+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:
+		return ATO_LEVEL_1
+	case ato3 == 0 && ato2 == 1 && ato1 == 1:
+		return ATO_LEVEL_2
+	case ato3 == 0 && ato2 == 1 && ato1 == 0:
+		return ATO_LEVEL_3
+	case ato3 == 1 && ato2 == 1 && ato1 == 0:
+		return ATO_LEVEL_4
+	case ato3 == 1 && ato2 == 0 && ato1 == 0:
+		return ATO_LEVEL_5
+	case ato3 == 1 && ato2 == 0 && ato1 == 1:
+		return ATO_LEVEL_6
+	case ato3 == 1 && ato2 == 1 && ato1 == 1:
+		return ATO_LEVEL_7
+	default:
+		return ATO_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 {
-			slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b", i, d))
+
+		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("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee")*/
+		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")
 	s.reportTrainMockInitMsg(train, data[4], data[1])
 	vobc := train.VobcState
 	trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
@@ -640,7 +688,7 @@ func trainPcSimDigitalOutInfoHandleCode23_16(d byte, vobc *state_proto.TrainVobc
 	vobc.AtoLazyCommandOut = message.IsTrueForByte(message.GetBit(d, 2)) //?ATO惰行命令输出
 	vobc.SleepBtn = message.IsTrueForByte(message.GetBit(d, 3))          //?休眠指令
 	vobc.WakeUpBtn = message.IsTrueForByte(message.GetBit(d, 4))         //?唤醒指令
-	vobc.AtoSendTrainBtn = message.IsTrueForByte(message.GetBit(d, 5))   //?ATO发车指示灯
+	vobc.LightAtoSend = message.IsTrueForByte(message.GetBit(d, 5))      //?ATO发车指示灯
 	vobc.TurnbackStatus = message.IsTrueForByte(message.GetBit(d, 6))    //?AR灯命令
 	vobc.AtoAlwaysBrake = message.IsTrueForByte(message.GetBit(d, 7))    //? ATO保持制动
 
@@ -653,7 +701,7 @@ func trainPcSimDigitalOutInfoHandleCode15_8(d byte, vobc *state_proto.TrainVobcS
 	vobc.AtoTractionCommand1 = message.IsTrueForByte(message.GetBit(d, 3))   //?ATO牵引指令1
 	vobc.AtoTractionCommand2 = message.IsTrueForByte(message.GetBit(d, 4))   //?ATO牵引指令2
 	vobc.AtoTractionCommand3 = message.IsTrueForByte(message.GetBit(d, 5))   //?ATO牵引指令3
-	vobc.AtoBrakeCommand = message.IsTrueForByte(message.GetBit(d, 6))       //?ATO制动命令输出
+	vobc.AtoBrakeCommand = message.AtpLowPowerByte(message.GetBit(d, 6))     //?ATO制动命令输出
 	vobc.JumpStatus = message.IsTrueForByte(message.GetBit(d, 7))            //跳跃指令
 
 }