Merge branch 'master' of https://git.code.tencent.com/beijing-rtss-test/bj-rtsts-server-go

config/config.go

@@ -71,6 +71,7 @@ type ThridPartyConfig struct {
 	Interlocks        []InterlockConfig       `json:"interlock" description:"联锁配置"`
 	RsspAxleCfgs      []RsspAxleConfig        `json:"rsspAxleCfgs" description:"所有联锁集中站计轴RSSP-I配置"`
 	ElectricMachinery ElectricMachineryConfig `json:"electricMachinery" description:"电机配置"`
+	BtmCanet          BtmCanetConfig          `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
 }
 type DynamicsConfig struct {
 	Ip                 string `json:"ip" description:"IP配置"`
@@ -99,6 +100,14 @@ type ElectricMachineryConfig struct {
 	Open       bool   `json:"open" description:"是否开启"`
 }
 
+// BtmCanetConfig BTM CANET网关设备配置
+type BtmCanetConfig struct {
+	LocalUdpPort  int    `json:"localUdpPort" description:"本机监听接收UDP端口"`
+	RemoteIp      string `json:"remoteIp" description:"CANET设备IP配置"`
+	RemoteUdpPort int    `json:"remoteUdpPort" description:"CANET设备UDP端口"`
+	Open          bool   `json:"open" description:"是否开启"`
+}
+
 // RsspAxleConfig 计轴区段与联锁安全通信配置
 type RsspAxleConfig struct {
 	Open               bool       `json:"open" description:"是否开启"`

third_party/can_btm/balise_btm.go

@@ -2,17 +2,29 @@ package can_btm
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
-	"joylink.club/ecs"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
 	"joylink.club/rtsssimulation/fi"
 	"log/slog"
 	"sort"
+	"sync"
+	"time"
 )
 
+//使用：当有多个虚拟车时，同一时刻只有一个虚拟车与CANET关联
+
+// BtmCanetManager BTM CANET 管理器
+type BtmCanetManager interface {
+	memory.VerifyEvn
+	//GetBtmCanetConfig 获取CANET配置信息
+	GetBtmCanetConfig() config.BtmCanetConfig
+}
+
 // btm与canet(网口-CAN口转换器)
 type btmCanetClient struct {
-	w ecs.World
+	bcm BtmCanetManager
 	//udp server
 	udpServer udp.UdpServer
 	//udp client
@@ -23,28 +35,61 @@ type btmCanetClient struct {
 	remoteUdpPort int
 	//udp 远程ip
 	remoteIp string
-	//该CANET关联的唯一列车的id
-	trainId string
-	//车载ATP系统当前时间ms
-	atpSystemTime uint32
 	//最近一次车载ATP系统查询帧序号
 	atpReqSn byte
-	//最近一次车载ATP系统查询帧CRC16校验结果
+	//最近一次车载ATP系统查询帧CRC16校验结果,true-校验通过
 	atpReqCrc16Check bool
+	//btm系统时间,每次接收到ATP查询请求帧时同步一次时间
+	btmTime btmClock
+	//数据流水号
+	dsn byte
+	//重发的数据
+	resendData *resendData
 }
-type BtmCanetClient interface {
+type btmClock struct {
-	Start()
+	btmTk uint32    //与ATP系统同步的时间ms
-	Stop()
+	sysTk time.Time //本地系统时间
-	TrainId() string
 }
 
-func NewBtmCanetClient(trainId string, remoteIp string, remoteUdpPort int, localUdpPort int) BtmCanetClient {
+// 获取以btmTk为基准的当前时间ms
-	return &btmCanetClient{trainId: trainId, remoteIp: remoteIp, remoteUdpPort: remoteUdpPort, localUdpPort: localUdpPort}
+func (c *btmClock) tkNow() uint32 {
+	return c.btmTk + uint32(time.Now().UnixMilli()-c.sysTk.UnixMilli())
 }
-func (s *btmCanetClient) TrainId() string {
+
-	return s.trainId
+type BtmCanetClient interface {
+	Start(bcm BtmCanetManager)
+	Stop()
 }
-func (s *btmCanetClient) Start() {
+
+var (
+	btmClientLocker sync.Mutex
+	btmClient       BtmCanetClient
+)
+
+func Default() BtmCanetClient {
+	btmClientLocker.Lock()
+	defer btmClientLocker.Unlock()
+	if btmClient == nil {
+		btmClient = &btmCanetClient{}
+	}
+	return btmClient
+}
+
+func (s *btmCanetClient) Start(bcm BtmCanetManager) {
+	s.bcm = bcm
+	cfg := s.bcm.GetBtmCanetConfig()
+	//测试用
+	cfg.Open = true
+	cfg.RemoteUdpPort = 5555
+	cfg.RemoteIp = "192.168.3.5"
+	cfg.LocalUdpPort = 6666
+	//
+	if !cfg.Open {
+		return
+	}
+	s.localUdpPort = cfg.LocalUdpPort
+	s.remoteIp = cfg.RemoteIp
+	s.remoteUdpPort = cfg.RemoteUdpPort
 	//
 	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCanetFrames)
 	s.udpServer.Listen()
@@ -55,9 +100,11 @@ func (s *btmCanetClient) Start() {
 func (s *btmCanetClient) Stop() {
 	if s.udpServer != nil {
 		s.udpServer.Close()
+		s.udpServer = nil
 	}
 	if s.udpClient != nil {
 		s.udpClient.Close()
+		s.udpClient = nil
 	}
 }
 func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
@@ -114,34 +161,80 @@ func (s *btmCanetClient) dealWithAptReq(f *message.CanetFrame) {
 		return
 	}
 	//处理查询请求
-	slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
+	//slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
 	//
-	s.atpSystemTime = atpReq.Time
+	s.btmTime.btmTk = atpReq.Time
+	s.btmTime.sysTk = time.Now()
 	s.atpReqSn = atpReq.FId.ID4
 	s.atpReqCrc16Check = atpReq.Crc16CheckOk
-	se := fi.TrainBalisePowerAmplifierSwitch(s.w, s.trainId, atpReq.PowerAmplifierTurnOn)
+	se := fi.TrainBalisePowerAmplifierSwitch(s.bcm.EvnWorld(), atpReq.PowerAmplifierTurnOn)
 	if se != nil {
-		slog.Warn(fmt.Sprintf("列车[%s]车载BTM功率放大器开关控制异常[%s]", s.trainId, se.Error()))
+		slog.Warn(fmt.Sprintf("列车车载BTM功率放大器开关控制异常[%s]", se.Error()))
 	}
+	//ATP 是否要求BTM 重发上一应答器报文
+	isResendRequest := atpReq.ResendRequest == 2 //0b10
+	s.rspToAtp(isResendRequest)
 }
 
 // BTM发送响应给ATP
 // 当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
 // 当未收到应答器报文时响应：时间同步帧、状态应答帧
-func (s *btmCanetClient) rspToAtp() {
+func (s *btmCanetClient) rspToAtp(isResendRequest bool) {
-	timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
+	//重发上一报文处理
-	timeSyncCf := timeSyncF.Encode().Encode()
+	if isResendRequest && s.resendData != nil && s.resendData.canResend() {
+		s.resendData.countAdd1()
+		s.sendCanetFrame(s.resendData.data)
+		return
+	} else {
+		s.resendData = nil
+	}
+	//BTM状态
 	statusF := message.NewBtmStatusRspFrame(s.atpReqSn)
+	btmStatus, btmStatusErr := fi.FindTrainBaliseBtmStatus(s.bcm.EvnWorld())
+	if btmStatusErr != nil {
+		slog.Debug(fmt.Sprintf("从仿真获取BTM状态失败：%s", btmStatusErr.Error()))
+		return
+	}
+	statusF.AntennaFault = btmStatus.AntennaFault
+	statusF.BaliseCounter = byte(btmStatus.BaliseCounter)
+	statusF.MessageCounter = byte(btmStatus.MessageCounter)
+	statusF.PowerAmplifierOn = btmStatus.PowerAmplifierOn
+	statusF.TkTimeA = s.btmTime.tkNow()
+	statusF.PowerAmplifierFailure = btmStatus.PowerAmplifierFault
+	statusF.DetailedCode = 0
+	if btmStatus.AboveBalise {
+		statusF.DetailedCode = 0x07
+	}
+	statusF.AtpReqCrcCheckWrong = !s.atpReqCrc16Check
+	statusF.Dsn = s.dsn
+	s.dsnAdd1()
+	//
+	baliseTelegram, btSendErr := fi.BaliseTelegramForSend(s.bcm.EvnWorld())
+	if btSendErr != nil {
+		//slog.Debug(btSendErr.Error())
+	}
 	//true-收到应答器报文
-	//todo
+	isRcvTelegram := baliseTelegram != nil
-	isRcvTelegram := false
-
 	if isRcvTelegram { //当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
-		s.sendCanetFrame(timeSyncCf)
+		statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, baliseTelegram.Telegram, false, s.btmTime.tkNow(), s.btmTime.tkNow(), s.btmTime.tkNow())
-
+		if statusDataCfOk {
+			timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
+			timeSyncF.T2 = s.btmTime.btmTk
+			timeSyncF.T3 = s.btmTime.tkNow()
+			s.sendCanetFrame(timeSyncF.Encode().Encode())
+			//
+			s.resendData = newResendData(statusDataCf)
+			s.sendCanetFrame(statusDataCf)
+		} else {
+			slog.Warn("BtmCanetClient应答帧、数据帧编码失败")
+		}
 	} else { //当未收到应答器报文时响应：时间同步帧、状态应答帧
+		timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
+		timeSyncF.T2 = s.btmTime.btmTk
+		timeSyncF.T3 = s.btmTime.tkNow()
+		s.sendCanetFrame(timeSyncF.Encode().Encode())
+		//
 		statusCf := statusF.Encode().Encode()
-		s.sendCanetFrame(timeSyncCf)
 		s.sendCanetFrame(statusCf)
 	}
 }
@@ -150,6 +243,32 @@ func (s *btmCanetClient) rspToAtp() {
 func (s *btmCanetClient) sendCanetFrame(cf []byte) {
 	s.udpClient.Send(cf)
 }
+func (s *btmCanetClient) dsnAdd1() {
+	if s.dsn >= 255 {
+		s.dsn = 0
+	} else {
+		s.dsn++
+	}
+}
+
+// 准备重发的状态应答帧和报文数据帧
+type resendData struct {
+	data  []byte //重发的数据
+	count int    //重发次数
+}
+
+func newResendData(data []byte) *resendData {
+	return &resendData{
+		data:  data,
+		count: 0,
+	}
+}
+func (r *resendData) canResend() bool {
+	return r.count <= 3
+}
+func (r *resendData) countAdd1() {
+	r.count++
+}
 
 //////////////////////////////////////////////////////////////////////////////////////////
 

third_party/message/can_btm_status_rsp.go

@@ -1,5 +1,10 @@
 package message
 
+import (
+	"fmt"
+	"strings"
+)
+
 // BtmStatusRspFrame BTM发往ATP的状态应答帧
 type BtmStatusRspFrame struct {
 	//帧ID
@@ -157,3 +162,18 @@ func (f *BtmStatusRspFrame) Encode() *CanetFrame {
 	cf.CanData = writer.(CanBusData).GetData()
 	return cf
 }
+func (f *BtmStatusRspFrame) String() string {
+	sb := strings.Builder{}
+	sb.WriteString(fmt.Sprintf("BtmStatusRspFrame ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,",
+		f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
+	sb.WriteString(fmt.Sprintf("Dsn = %d", f.Dsn))
+	sb.WriteString(fmt.Sprintf(",BaliseCounter = %d", f.BaliseCounter))
+	sb.WriteString(fmt.Sprintf(",MessageCounter = %d", f.MessageCounter))
+	sb.WriteString(fmt.Sprintf(",PowerAmplifierOn = %t", f.PowerAmplifierOn))
+	sb.WriteString(fmt.Sprintf(",AtpReqCrcCheckWrong = %t", f.AtpReqCrcCheckWrong))
+	sb.WriteString(fmt.Sprintf(",PowerAmplifierFailure = %t", f.PowerAmplifierFailure))
+	sb.WriteString(fmt.Sprintf(",AntennaFault = %t", f.AntennaFault))
+	sb.WriteString(fmt.Sprintf(",DetailedCode = %d", f.DetailedCode))
+	sb.WriteString(fmt.Sprintf(",TkTimeA = %d", f.TkTimeA))
+	return sb.String()
+}

third_party/message/can_btm_time_sync_rsp.go

@@ -1,5 +1,10 @@
 package message
 
+import (
+	"fmt"
+	"strings"
+)
+
 // BtmTimeSyncCheckFrame BTM发往ATP的时间校验帧
 type BtmTimeSyncCheckFrame struct {
 	//帧ID
@@ -17,6 +22,7 @@ func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
 	}
 }
+
 func (f *BtmTimeSyncCheckFrame) Decode(cf *CanetFrame) bool {
 	f.FId = cf.CanId
 	//
@@ -100,3 +106,11 @@ func (f *BtmTimeSyncCheckFrame) Encode() *CanetFrame {
 	cf.CanData = writer.(CanBusData).GetData()
 	return cf
 }
+func (f *BtmTimeSyncCheckFrame) String() string {
+	sb := strings.Builder{}
+	sb.WriteString(fmt.Sprintf("BtmTimeSyncCheckFrame ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,",
+		f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
+	sb.WriteString(fmt.Sprintf("T2 = %d", f.T2))
+	sb.WriteString(fmt.Sprintf(",T3 = %d", f.T3))
+	return sb.String()
+}

ts/simulation/wayside/memory/wayside_simulation.go

@@ -147,6 +147,11 @@ func (s *VerifySimulation) GetComIdByUid(uid string) string {
 	}
 	return es[uid].CommonId
 }
+
+// GetBtmCanetConfig 获取CANET配置信息
+func (s *VerifySimulation) GetBtmCanetConfig() config.BtmCanetConfig {
+	return s.runConfig.BtmCanet
+}
 func (s *VerifySimulation) GetLineAllRsspAxleCfgs() []config.RsspAxleConfig {
 	return s.runConfig.RsspAxleCfgs
 }
@@ -502,6 +507,9 @@ func (s *VerifySimulation) GetRunConfigId() int32 {
 	}
 	return s.runConfig.Id
 }
+func (s *VerifySimulation) EvnWorld() ecs.World {
+	return s.World
+}
 
 // 初始化运行资源
 func (s *VerifySimulation) initRepository() error {
@@ -1501,3 +1509,8 @@ func convertToProtoBaliseType(bt graphicData.Transponder_TransponderTypeEnum) pr
 		panic(fmt.Sprintf("graphicData.Transponder_TransponderTypeEnum[%d]无法映射到proto.Transponder_Type", bt))
 	}
 }
+
+// VerifyEvn 测试环境
+type VerifyEvn interface {
+	EvnWorld() ecs.World
+}

ts/test_simulation_manage.go

@@ -2,6 +2,7 @@ package ts
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/can_btm"
 	"log/slog"
 	"runtime"
 	"strconv"
@@ -117,6 +118,8 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	axle_device.StartLineAllRsspAxleServices(s)
 	// 电机UDP启动
 	electrical_machinery.Default().Start(s)
+	// 车载BTM启动
+	can_btm.Default().Start(s)
 	return nil
 }
 
@@ -134,6 +137,9 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	axle_device.StopLineAllRsspAxleServices()
 	// 电机UDP停止
 	electrical_machinery.Default().Stop()
+	// 车载BTM停止
+	can_btm.Default().Stop()
+
 }
 
 func createSimulationId(projectId int32) string {