列车11号线btm调整

api/simulation.go

@@ -96,6 +96,7 @@ func createByProjectId(c *gin.Context) {
 	if len(mapInfos) == 0 {
 		panic(sys_error.New("测试启动失败,项目未关联发布图"))
 	}
+
 	var mapIds []int32
 	for _, mapInfo := range mapInfos {
 		if mapInfo.Type == data_proto.PictureType_value[data_proto.PictureType_TrainData.String()] {
@@ -251,6 +252,7 @@ func addTrain(c *gin.Context) {
 		TrainMaxAcc:         req.TrainMaxAcc,
 		TrainMaxBrake:       req.TrainMaxBrake,
 		TrainEmergencyBrake: req.TrainEmergencyBrake,
+		ProjectCode:         simulation.ProjectCode,
 		//HeadOffset: 93211,
 		DevicePort: req.DevicePort,
 		TrainRunUp: req.RunDirection,

bin/acc_conn-example.go

@@ -152,8 +152,8 @@ func trainPcConnErr(err error) {
 func main() {
 
 	initConfig()
-	//initBtmTest()
+	initBtmTest()
-	initTrainPc()
+	//initTrainPc()
 	//initAccTest()
 	//initSpeedTest()
 
@@ -168,9 +168,9 @@ func sendPacket(lifeNum uint32, autoId byte) {
 	userMsg, _ := hex.DecodeString(testUserBtmMsg)
 
 	msg := &message.BtmVobcMessage{FontTtl: 2, BtmStatus: 0x00, DecodeTime: 10, BackTtl: 2, BtmMsg: userMsg, ResponseTime: 10,
-		VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: message.GetAutoMessageId()}
+		VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId} /*MsgSerial: message.GetAutoMessageId()*/}
 	sendData := msg.Encode()
-	fmt.Println("发送btm vobc len:", len(sendData), "报文:", hex.EncodeToString(sendData), "报文序列号:", msg.MsgSerial)
+	//fmt.Println("发送btm vobc len:", len(sendData), "报文:", hex.EncodeToString(sendData), "报文序列号:", msg.MsgSerial)
 	time.Sleep(time.Millisecond * 100)
 	err := btmCli.Send(sendData)
 	if err != nil {
@@ -194,9 +194,9 @@ func sendPacketFree(lifeNum uint32, autoId byte, msgs byte) {
 	}
 	msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
 		//FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: newMsg}
-		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: message.GetAutoMessageId()}
+		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId} /* MsgSerial: message.GetAutoMessageId()*/}
 	sendData2 := msg2.Encode()
-	fmt.Println("发送btm vobc 空报文:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
+	//fmt.Println("发送btm vobc 空报文:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
 	time.Sleep(time.Millisecond * 100)
 	err := btmCli.Send(sendData2)
 	if err != nil {
@@ -207,15 +207,15 @@ func sendPacketFree(lifeNum uint32, autoId byte, msgs byte) {
 func RequestFramePackets(req *message.BtmVobcReq, vobcLife uint32) {
 	//fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
 	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
-		fmt.Println("000000000000000000000000000")
+		//fmt.Println("000000000000000000000000000")
 		sendPacketFree(vobcLife, req.AutoIdFrame, req.MessageSerial)
 	} else if req.FrameStatus == message.REQ_FRAME_STATUS_OK {
 		//帧正确，删除之前发送的数据
-		fmt.Println("11111111111111111111")
+		//fmt.Println("11111111111111111111")
 
 	} else if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
 		//帧不正确 重新发送2次，如果2次后仍然不正确，则删除之前发送的数据
-		fmt.Println("22222222222222222")
+		///**/fmt.Println("22222222222222222")
 	}
 }
 
@@ -224,7 +224,7 @@ var vobcNumLife uint32 = 0
 
 func handleBtmVobcFrames(cfs []byte) {
 
-	fmt.Println(fmt.Sprintf("收到源数据:%v ,请求帧时间:%v ,vobcLife:%v", hex.EncodeToString(cfs), time.Now().UnixMilli()-btmReceiveTime, vobcNumLife))
+	fmt.Println(fmt.Sprintf("收到源数据:%v ,数据长度:%v", hex.EncodeToString(cfs), len(cfs)))
 	frameType, dataText, err := message.BtmVobcDecode(cfs)
 	if err != nil {
 		return
@@ -241,11 +241,11 @@ func handleBtmVobcFrames(cfs []byte) {
 		if vobcNumLife <= 0 {
 			return
 		} else {
-			fmt.Println(fmt.Sprintf("准备发送vobcLife:%v", vobcNumLife))
+			//fmt.Println(fmt.Sprintf("准备发送vobcLife:%v", vobcNumLife))
 		}
 		req := &message.BtmVobcReq{}
 		req.Decode(dataText)
-		fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
+		//fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
 		if time.Now().UnixMilli()-btmReceiveTime > 20*1000 {
 			idCommand := &message.BtmVobcIdCommand{}
 			idCommand.Decode(dataText)

config/dev.yml

@@ -6,8 +6,8 @@ server:
 # 数据源
 datasource:
   # 数据库访问url
-#  dsn: root:root@tcp(127.0.0.1:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
+  dsn: root:root@tcp(127.0.0.1:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
-  dsn: root:joylink0503@tcp(192.168.33.233:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
+#  dsn: root:joylink0503@tcp(192.168.33.233:3306)/bj-rtss?charset=utf8mb4&parseTime=true&loc=UTC
 
 # 日志配置
 logging:
@@ -33,7 +33,7 @@ logging:
 # 消息配置
 messaging:
   mqtt:
-#    address: tcp://127.0.0.1:1883
+    address: tcp://127.0.0.1:1883
-    address: tcp://192.168.33.233:1883
+#    address: tcp://192.168.33.233:1883
     username: rtsts_service
     password: joylink@0503

message_server/sfp_ms.go

@@ -528,8 +528,8 @@ func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 		TailDeviceId:           v.TailDeviceId,
 		TailOffset:             v.TailOffset,
 		TailDevicePort:         v.TailDevicePort,
-		BtmState:               v.BtmState,
+		//BtmState:               v.BtmState,
-		ConnState:              v.ConnState,
+		ConnState: v.ConnState,
 	}
 	convertDynamicConfig(v.TrainDynamicConfig, t.TrainDynamicConfig)
 	convertDynamicConfig(v.TrainEndsA, t.TrainEndsA)

rts-sim-module

@@ -1 +1 @@
-Subproject commit a94fdb12f720a5d9bbf57b1916e8ba5990130e6e
+Subproject commit 693576459c8875f7fd82c84df1cd39d4487be65d

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 7629f290ea612d4ce368c40d4cf793dffc4b21ec
+Subproject commit 3d7da35731be5af7bb126c276b4f9486c1f68e3a

third_party/btm_vobc/btm_vobc.go

@@ -1,378 +0,0 @@
-package btm_vobc
-
-import (
-	"context"
-	"encoding/hex"
-	"encoding/json"
-	"fmt"
-	"github.com/google/uuid"
-	"github.com/snksoft/crc"
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/const/balise_const"
-	"joylink.club/bj-rtsts-server/dto/state_proto"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"joylink.club/bj-rtsts-server/third_party/udp"
-	"log/slog"
-	"math"
-	"reflect"
-	"strconv"
-	"time"
-
-	"strings"
-	"sync"
-)
-
-type BtmVobcManage interface {
-	GetBtmVobcConfig() config.BtmVobcConfig
-
-	GetAllTrain() []*state_proto.TrainState
-	GetConnVobcTrain() *state_proto.TrainState
-}
-type BtmVobcService interface {
-	Start(btmVobcManage BtmVobcManage)
-	Stop()
-	SendData(data []byte)
-	AppendBaliseMsgForTrain(vobcBtm *state_proto.VobcBtmState, baliseId string, baliseSource []byte, arriveTime int64)
-	UpdateTrainLeave(vobcBtm *state_proto.VobcBtmState, baliseId string, leaveTime int64)
-	RemoveBaliseFirst(vobcBtm *state_proto.VobcBtmState)
-}
-type BtmVobcClient struct {
-	calFun context.CancelFunc
-	client udp.UdpClient
-	server udp.UdpServer
-	manage BtmVobcManage
-}
-
-var (
-	btmVobcLocker       sync.Mutex
-	btmVobcClient       *BtmVobcClient
-	btmVobcBaliseLocker sync.Mutex
-	//最新接受数据时间
-	reviceTimeStamp int64
-)
-
-func Default() BtmVobcService {
-	defer btmVobcLocker.Unlock()
-	btmVobcLocker.Lock()
-	if btmVobcClient == nil {
-		btmVobcClient = &BtmVobcClient{}
-	}
-	return btmVobcClient
-}
-
-// 缓存列车经过的应答器报文
-func (b *BtmVobcClient) AppendBaliseMsgForTrain(vobcBtm *state_proto.VobcBtmState, baliseId string, baliseSource []byte, arriveTime int64) {
-	defer btmVobcBaliseLocker.Unlock()
-	btmVobcBaliseLocker.Lock()
-	baliseHex := hex.EncodeToString(baliseSource)
-	tel := &state_proto.VobcBtmState_TelegramState{Telegram: baliseHex, BaliseId: baliseId, ArriveTime: arriveTime}
-	if len(vobcBtm.TelegramState) == 0 {
-		vobcBtm.TelegramState = append(vobcBtm.TelegramState, tel)
-	} else {
-		bs := crc.CalculateCRC(crc.CRC32, baliseSource)
-		exists := false
-		for _, d := range vobcBtm.TelegramState {
-			sd, _ := hex.DecodeString(d.Telegram)
-			t := crc.CalculateCRC(crc.CRC32, sd)
-			if t == bs {
-				exists = true
-			}
-		}
-		if !exists {
-			if len(vobcBtm.TelegramState) >= 8 {
-				vobcBtm.TelegramState = append(vobcBtm.TelegramState[1:], tel)
-			} else {
-				vobcBtm.TelegramState = append(vobcBtm.TelegramState, tel)
-			}
-		}
-	}
-}
-func (b *BtmVobcClient) UpdateTrainLeave(vobcBtm *state_proto.VobcBtmState, baliseId string, leaveTime int64) {
-	defer btmVobcBaliseLocker.Unlock()
-	btmVobcBaliseLocker.Lock()
-	if vobcBtm.TelegramState == nil || len(vobcBtm.TelegramState) == 0 {
-		return
-	}
-	for _, bs := range vobcBtm.TelegramState {
-		if bs.BaliseId == baliseId {
-			bs.LeaveTime = leaveTime
-		}
-	}
-}
-
-func (b *BtmVobcClient) RemoveBaliseFirst(vobcBtm *state_proto.VobcBtmState) {
-	defer btmVobcBaliseLocker.Unlock()
-	btmVobcBaliseLocker.Lock()
-
-	if vobcBtm.TelegramState == nil || len(vobcBtm.TelegramState) == 0 {
-		return
-	}
-	vobcBtm.TelegramState = vobcBtm.TelegramState[1:]
-}
-func (b *BtmVobcClient) Start(btmVobcManage BtmVobcManage) {
-	cfg := btmVobcManage.GetBtmVobcConfig()
-	if !cfg.Open {
-		slog.Info("11号线 btm vobc配置未开启...")
-		return
-	}
-	udpServer := udp.NewServer(fmt.Sprintf("%v:%d", cfg.LocalUdpIp, cfg.LocalUdpPort), b.handleBtmVobcFrames)
-	err := udpServer.Listen()
-	if err != nil {
-		slog.Error("11号线 btm VOBC 服务启动失败...")
-		return
-	}
-	//
-	udpClient := udp.NewClient(fmt.Sprintf("%s:%d", cfg.RemoteIp, cfg.RemoteUdpPort))
-	b.manage = btmVobcManage
-	b.server = udpServer
-	b.client = udpClient
-	reviceTimeStamp = time.Now().UnixMilli()
-	ctx, calFun := context.WithCancel(context.Background())
-	b.calFun = calFun
-	go b.checkTrainTTLIsOver(ctx)
-}
-func (b *BtmVobcClient) checkTrainTTLIsOver(ctx context.Context) {
-	defer btmVobcBaliseLocker.Unlock()
-	btmVobcBaliseLocker.Lock()
-	for {
-		select {
-		case <-ctx.Done():
-			return
-		default:
-		}
-		if time.Now().UnixMilli()-reviceTimeStamp < 1000 {
-			return
-		}
-		trains := b.manage.GetAllTrain()
-		if len(trains) > 0 {
-			slog.Info("检测网络中断情况 前沿ttl 超时...")
-			newTel := make([]*state_proto.VobcBtmState_TelegramState, 0)
-			for _, train := range b.manage.GetAllTrain() {
-				for _, state := range train.VobcBtm.TelegramState {
-					if time.Now().UnixMilli()-state.ArriveTime < 1000 {
-						newTel = append(newTel, state)
-					}
-				}
-			}
-		}
-
-		time.Sleep(time.Second * 1)
-	}
-
-}
-func (b *BtmVobcClient) handleBtmVobcFrames(cfs []byte) {
-	reviceTimeStamp = time.Now().UnixMilli()
-
-	train := b.manage.GetConnVobcTrain()
-	if train == nil {
-		//slog.Error("vobc btm 未找到VOBC连接的列车...")
-		return
-	}
-	requestId := uuid.New().String()
-	slog.Info(fmt.Sprintf("获取到vobc btm原始数据:%v, requestId:%v", hex.EncodeToString(cfs), requestId))
-	frameType, dataText, err := message.BtmVobcDecode(cfs)
-	if err != nil {
-		slog.Error(fmt.Sprintf("%v,请求id:%v", err, requestId))
-		return
-	}
-	receiveDataTime := time.Now().UnixMicro()
-	decodePayMicoTime := (receiveDataTime - receiveDataTime) / 100
-	if frameType == message.COMMAND_TYPE {
-		idCommand := &message.BtmVobcIdCommand{}
-		idCommand.Decode(dataText)
-		slog.Info(fmt.Sprintf("成功接受btm vobc的id命令帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
-		b.packets(requestId, idCommand.VobcLifeNum, idCommand.AutoIdFrame, receiveDataTime, decodePayMicoTime, train.VobcBtm)
-
-	} else if frameType == message.REQUEST_TYPE {
-		slog.Info(fmt.Sprintf("成功接受btm vobc的请求帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
-		req := &message.BtmVobcReq{}
-		req.Decode(dataText)
-		b.RequestFramePackets(req.VobcLifeNum, req.AutoIdFrame, requestId, receiveDataTime, decodePayMicoTime, req, train.VobcBtm)
-	} else {
-		slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v,requestId:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs), requestId))
-		return
-	}
-}
-func createFreeBalisePacketString() string {
-	return strings.Repeat("00", balise_const.UserTelegramByteLen)
-}
-func createFreeBalisePackets() []byte {
-	str := createFreeBalisePacketString()
-	d, _ := hex.DecodeString(str)
-	return d
-}
-
-const MAX_SEND_COUNT = 3
-
-// 请求帧
-func (b *BtmVobcClient) RequestFramePackets(vobcLifeNum uint32, autoId byte, requestId string, receiveTime int64, decodePayMicoTime int64, req *message.BtmVobcReq, vobcbtm *state_proto.VobcBtmState) {
-	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
-		slog.Info(fmt.Sprintf("接受请求帧，准备发送空闲帧数据 帧状态:0x%v,消息类型:0x%v ,requestId:%v", strconv.FormatInt(int64(req.FrameStatus), 16), strconv.FormatInt(int64(req.MessageType), 16), requestId))
-		vobcbtm.TelegramState = make([]*state_proto.VobcBtmState_TelegramState, 0)
-		vobcbtm.History = make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)
-		b.packets(requestId, vobcLifeNum, autoId, receiveTime, decodePayMicoTime, vobcbtm)
-
-	} else if req.FrameStatus == message.REQ_FRAME_STATUS_OK {
-		//帧正确，删除之前发送的数据
-		slog.Info(fmt.Sprintf("接受请求帧，帧正确，删除之前发送的数据requestId:%v", requestId))
-		delete(vobcbtm.History, uint32(req.MessageSerial))
-	} else if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
-		//帧不正确 重新发送2次，如果2次后仍然不正确，则删除之前发送的数据
-		dd := vobcbtm.History[uint32(req.MessageSerial)]
-		if dd.SendCount > MAX_SEND_COUNT {
-			slog.Info(fmt.Sprintf("接受请求帧，帧不正确，重发超过2次，删除之前发送的数据,准备发送新数据 requestId:%v", requestId))
-			sendBalisePacket := dd.BalisePacket
-			delete(vobcbtm.History, uint32(req.MessageSerial))
-			if vobcbtm.TelegramState[0].Telegram == sendBalisePacket {
-				b.RemoveBaliseFirst(vobcbtm)
-			}
-			if len(vobcbtm.TelegramState) == 0 {
-				b.balisePacketsFree(requestId, time.Now().UnixMicro(), req.VobcLifeNum, req.AutoIdFrame, vobcbtm)
-			} else {
-				b.balisePackets(requestId, vobcbtm.TelegramState[0], receiveTime, decodePayMicoTime, req.VobcLifeNum, req.AutoIdFrame, vobcbtm)
-			}
-
-		} else {
-			dd.SendCount = dd.SendCount + 1
-			if dd.IsFreePacket {
-				freeMsg := &message.BtmVobcMsgFree{}
-				if b.unmarshalJson(dd.SendTelegram, freeMsg) == nil {
-					freeMsg.FreeMsg = createFreeBalisePackets()
-					repeatData := freeMsg.Encode()
-					logStr := fmt.Sprintf("重新发送空闲帧数据，发送次数:%v,帧系列id:%v,数据:%v,requestId:%v", dd.SendCount, freeMsg.MsgSerial, hex.EncodeToString(repeatData), requestId)
-					slog.Info(logStr)
-					err := b.client.Send(repeatData)
-					if err != nil {
-						slog.Error(logStr, err)
-
-					}
-				}
-			} else {
-				packetMsg := &message.BtmVobcMessage{}
-				if b.unmarshalJson(dd.SendTelegram, packetMsg) == nil {
-					balise, _ := hex.DecodeString(dd.BalisePacket)
-					packetMsg.BtmMsg = balise
-					baliseData := packetMsg.Encode()
-					logStr := fmt.Sprintf("重新发送空闲帧数据，发送次数:%v,帧系列id:%v 数据:%v ,requestId:%v", dd.SendCount, packetMsg.MsgSerial, hex.EncodeToString(baliseData), requestId)
-					slog.Info(logStr)
-					err := b.client.Send(baliseData)
-					if err != nil {
-						slog.Error(logStr, err)
-					}
-				}
-			}
-
-		}
-	}
-}
-
-func (b *BtmVobcClient) unmarshalJson(jsonStr string, obj any) error {
-	err := json.Unmarshal([]byte(jsonStr), obj)
-	if err != nil {
-		slog.Error(fmt.Sprintf("vobc btm 数据转换失败 source:%v,对象:%v", jsonStr, reflect.TypeOf(obj).Name()))
-		return err
-	}
-	return nil
-}
-
-// 有应答器报文
-func (b *BtmVobcClient) balisePackets(requestId string, tel *state_proto.VobcBtmState_TelegramState, receiveTime int64, decodePayMicoTime int64, vobcLifeNum uint32, autoCommandId byte, vobcbtm *state_proto.VobcBtmState) {
-
-	data, e := hex.DecodeString(tel.Telegram)
-	if e != nil {
-		slog.Error(fmt.Sprintf("解析应答器报文失败应答器报文长度:%v", tel.Telegram), e)
-		return
-	}
-	if len(data) < balise_const.UserTelegramByteLen {
-		for i := 0; i < balise_const.UserTelegramByteLen-len(data); i++ {
-			data = append(data, 0)
-		}
-	}
-	//前沿时间
-
-	var fttl uint16 = 0
-	tmpFttl := int64(math.Abs(float64(time.Now().UnixMilli() - tel.ArriveTime)))
-	if tmpFttl >= 0xffff {
-		fttl = 0xffff
-	} else {
-		fttl = uint16(tmpFttl)
-	}
-
-	var bttl uint16 = 0
-	tmpBttl := int64(math.Abs(float64(time.Now().UnixMilli() - tel.ArriveTime)))
-	if tmpBttl >= 0xffff {
-		bttl = 0xffff
-	} else {
-		bttl = uint16(tmpBttl)
-	}
-	repTimeMicro := (receiveTime - time.Now().UnixMicro()) / 100
-	baliseMsg := &message.BtmVobcMessage{FontTtl: fttl, BtmStatus: message.BTM_STSTUS_NORMAL, DecodeTime: uint16(decodePayMicoTime),
-		BackTtl: bttl, ResponseTime: byte(repTimeMicro), MsgSerial: message.GetAutoMessageId(),
-		VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoCommandId}}
-	u32MsgId := uint32(baliseMsg.MsgSerial)
-	jsonArr, _ := json.Marshal(baliseMsg)
-	baliseMsg.BtmMsg = data
-	baliseData := baliseMsg.Encode()
-	baliseMsgHex := hex.EncodeToString(baliseData)
-	vobcbtm.History[u32MsgId] = &state_proto.VobcBtmState_VobcBtmHistoryState{SendCount: 1, PacketSendId: u32MsgId, VobcLifeNum: vobcLifeNum,
-		IsFreePacket: false, SendTelegram: string(jsonArr), BalisePacket: tel.Telegram}
-	logStr := fmt.Sprintf("发送btm vobc 报文数据 报文序列id:%v 报文内容:%v 长度:%v ,requestId:%v", u32MsgId, baliseMsgHex, len(baliseData), requestId)
-	slog.Info(logStr)
-	err := b.client.Send(baliseData)
-	if err != nil {
-		slog.Error(logStr, err)
-		return
-	}
-	return
-}
-
-// 无应答器报文
-func (b *BtmVobcClient) balisePacketsFree(requestId string, receiveTime int64, vobcLifeNum uint32, autoCommandId byte, vobcbtm *state_proto.VobcBtmState) {
-	repTimeMicro := (receiveTime - time.Now().UnixMicro()) / 100
-	data := createFreeBalisePackets()
-	freeMsg := &message.BtmVobcMsgFree{BtmStatus: message.BTM_STSTUS_NORMAL, Fun1: 0xffff, Fun2: 0x00CF, Fun3: uint16(0), Fun4: uint16(0),
-		FreeMsg: data, RespTime: byte(repTimeMicro), MsgSerial: message.GetAutoMessageId(), VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoCommandId}}
-	u32MsgId := uint32(freeMsg.MsgSerial)
-	jsonArr, _ := json.Marshal(freeMsg)
-	vobcbtm.History[u32MsgId] = &state_proto.VobcBtmState_VobcBtmHistoryState{SendCount: 1, PacketSendId: u32MsgId, VobcLifeNum: vobcLifeNum, IsFreePacket: true, SendTelegram: string(jsonArr)}
-	freeData := freeMsg.Encode()
-	dataEncode := hex.EncodeToString(freeData)
-	logStr := fmt.Sprintf("发送btm vobc 报文序列id:%v 空闲帧报文:%v 长度:%v ,requestId:%v", u32MsgId, dataEncode, len(freeData), requestId)
-	slog.Info(logStr)
-	err := b.client.Send(freeData)
-	if err != nil {
-		slog.Error(logStr, err)
-		return
-	}
-}
-
-// 应答器报文或空报文
-func (b *BtmVobcClient) packets(requestId string, vobcLifeNum uint32, autoIdFrame byte, receiveTime int64, decodePayMicoTime int64, vobcbtm *state_proto.VobcBtmState) {
-
-	if len(vobcbtm.TelegramState) == 0 {
-		b.balisePacketsFree(requestId, receiveTime, vobcLifeNum, autoIdFrame, vobcbtm)
-	} else {
-		b.balisePackets(requestId, vobcbtm.TelegramState[0], receiveTime, decodePayMicoTime, vobcLifeNum, autoIdFrame, vobcbtm)
-	}
-}
-
-func (b *BtmVobcClient) SendData(data []byte) {
-	if b.client != nil {
-		slog.Info(fmt.Sprintf("发送btm vobc 报文:%v 长度:%v", hex.EncodeToString(data), len(data)))
-		err := b.client.Send(data)
-		if err != nil {
-			slog.Error("发送btm vobc 报文失败:", err)
-			return
-		}
-	}
-
-}
-func (b *BtmVobcClient) Stop() {
-	if b.server != nil {
-		b.calFun()
-		b.server.Close()
-	}
-	if b.client != nil {
-		b.client.Close()
-	}
-}

third_party/can_btm/balise_btm.go

@@ -53,39 +53,6 @@ type btmCanetClient struct {
 	baliseDetector *BaliseDetector
 }
 
-func (s *btmCanetClient) FindBaliseResend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
-	s.baliseDetector.eqLock.Lock()
-	defer s.baliseDetector.eqLock.Unlock()
-	cache := train.BtmBaliseCache
-
-	for _, balise := range cache.BaliseList {
-		slog.Info(fmt.Sprintf("===========%v", len(cache.BaliseList)))
-		if balise != nil && balise.BaliseId == cache.ResendBaliseId && balise.ResendCount < 3 {
-			balise.ResendCount++
-			ndsn := BaliseCounterAdd(cache.Dsn)
-			cache.Dsn = uint32(ndsn)
-			return balise, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
-		}
-	}
-	return nil, 0, 0, 0
-}
-
-func (s *btmCanetClient) FindBaliseByNotSend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
-	s.baliseDetector.eqLock.Lock()
-	defer s.baliseDetector.eqLock.Unlock()
-	cache := train.BtmBaliseCache
-	for _, btmCache := range cache.BaliseList {
-		if btmCache != nil && !btmCache.IsSend {
-			ndsn := BaliseCounterAdd(cache.Dsn)
-			cache.Dsn = uint32(ndsn)
-			cache.ResendBaliseId = btmCache.BaliseId
-			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
-		}
-	}
-
-	return nil, 0, 0, 0
-}
-
 type BtmClock struct {
 	BtmTk uint32    //与ATP系统同步的时间ms
 	SysTk time.Time //本地系统时间
@@ -100,11 +67,8 @@ type BtmCanetClient interface {
 	Start(bcm BtmCanetManager)
 	Stop()
 	//HandleTrainHeadPositionInfo 处理收到列车位置信息
-	HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo)
+	HandleTrainHeadPositionInfo(w ecs.World, h *TrainHeadPositionInfo)
 	HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainBtmCache, h *TrainHeadPositionInfo)
-
-	FindBaliseByNotSend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
-	FindBaliseResend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte)
 }
 
 var (
@@ -130,16 +94,16 @@ func (s *btmCanetClient) HandleTrainHeadPositionInfoForTrain(w ecs.World, btmCac
 		LinkOffset:   h.OldLinkOffset,
 		Speed:        h.Speed,
 		Acceleration: h.Acceleration}
-	s.baliseDetector.newDetect(wd, repo, h, h2, btmCache)
+	s.baliseDetector.newDetect(wd, repo, h, h2, btmCache, h.IsLine12)
 	//s.baliseDetector.detect2(wd, repo, h, h2, vobcBtm)
 }
 
 // HandleTrainHeadPositionInfo 处理来自动力学的列车位置信息
-func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, vobcBtm *state_proto.VobcBtmState, h *TrainHeadPositionInfo) {
+func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, h *TrainHeadPositionInfo) {
 	//slog.Debug(h.String())
 	wd := entity.GetWorldData(w)
 	repo := wd.Repo
-	s.baliseDetector.detect(wd, repo, h, vobcBtm)
+	s.baliseDetector.detect(wd, repo, h)
 }
 func (s *btmCanetClient) Start(bcm BtmCanetManager) {
 	s.bcm = bcm

third_party/can_btm/balise_detection.go

@@ -2,9 +2,7 @@ package can_btm
 
 import (
 	"fmt"
-	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
-	"joylink.club/bj-rtsts-server/third_party/btm_vobc"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/fi"
 	"joylink.club/rtsssimulation/repository"
@@ -12,7 +10,6 @@ import (
 	"log/slog"
 	"math"
 	"sort"
-	"strings"
 	"sync"
 	"time"
 )
@@ -80,7 +77,7 @@ func (t *BaliseDetector) tryRebind(th *TrainHeadPositionInfo) {
 		//slog.Debug(fmt.Sprintf("列车[%s]与CAN-BTM绑定", t.trianId))
 	}
 }
-func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, btmCache *state_proto.TrainBtmCache) {
+func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, btmCache *state_proto.TrainBtmCache, isLine12 bool) {
 	//BTM天线中心点运行信息
 	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
 	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
@@ -90,13 +87,8 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep
 	} else {
 		startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
 	}
-
-	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, th2.LinkOffset, th.LinkOffset)
-	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
-
 	balises := make([]*repository.Transponder, 0)
 	for _, balise := range startBalises {
-		//slog.Info(fmt.Sprintf("id:%v , %v,linkeId:%v ,headoffset:%v,tailOffset:%v", balise.Id(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
 		find := false
 		for _, transponder := range balises {
 			if transponder.Id() == balise.Id() {
@@ -110,16 +102,13 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep
 	}
 	if len(balises) > 0 {
 		balise := balises[0]
-		//slog.Info(fmt.Sprintf("-----------------id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
 		telegram, utel := t.rcvTelegram(wd, balise.Id())
-		if t.addNewExpectedBalise(balise, btmCache, telegram, utel) {
+		AddNewExpectedBalise(balise, btmCache, telegram, utel, isLine12)
-			//slog.Info(fmt.Sprintf("+++++++++++++id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
-		}
 	}
 
 }
 
-func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
+func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo) {
 	t.tryRebind(th)
 	//if !t.powerAmplifierSwitch { //天线功率放大器未开启，不进行探测
 	//	return
@@ -131,14 +120,9 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 	curExpect := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi)
 
 	if curExpect != nil && curExpect.Time.UnixMilli()-curTime.UnixMilli() < 20 { //20ms
-		//if curExpect != nil && curExpect.Distance < 80 { //20ms
+
-		//slog.Debug("将要激活应答器", "BaliseId", curExpect.BaliseId, "ActiveTime", dt)
-		//slog.Info(fmt.Sprintf("baliseId:%v,Distance:%v,up:%v", curExpect.BaliseId, curExpect.Distance, curAntennaRi.Up))
 		telegram, utel := t.rcvTelegram(wd, curExpect.BaliseId)
 
-		if curExpect.Distance <= 50 {
-			btm_vobc.Default().AppendBaliseMsgForTrain(vobcBtm, curExpect.BaliseId, telegram, curTime.UnixMilli())
-		}
 		//记录即将经过的应答器
 		if t.addExpectedBalise(curExpect) {
 			t.baliseCounterAdd1() //应答器计数器
@@ -154,16 +138,6 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 		t.aboveBalise = false
 	}
 
-	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, &TrainHeadPositionInfo{TrainId: th.TrainId,
-		Up:           !th.Up,
-		Link:         th.Link,
-		LinkOffset:   th.LinkOffset,
-		Speed:        th.Speed,
-		Acceleration: th.Acceleration})
-	curExpect2 := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi2)
-	if curExpect2 != nil && curExpect2.Distance > 20 {
-		btm_vobc.Default().UpdateTrainLeave(vobcBtm, curExpect2.BaliseId, curTime.UnixMilli())
-	}
 }
 
 // 应答器计数器加1，[0,255]
@@ -182,11 +156,14 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
 	}
 }
 
-func BaliseCounterAdd(counter uint32) byte {
+func BaliseCounterAdd(counter uint32, isLine12 bool) byte {
 	c := byte(counter)
 	c++
 	if c > 255 {
-		c = 0
+		c = 1
+		if isLine12 {
+			c = 0
+		}
 	}
 	return c
 }
@@ -217,44 +194,6 @@ func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) (
 	}
 	return nil, nil
 }
-func (t *BaliseDetector) addNewExpectedBalise(balise *repository.Transponder, btmCache *state_proto.TrainBtmCache, telegram, userTelegram []byte) bool {
-	t.eqLock.Lock()
-	defer t.eqLock.Unlock()
-	bl := btmCache.BaliseList
-	for _, tt := range bl {
-		if tt != nil && tt.BaliseId == balise.Id() {
-			return false
-		}
-	}
-	for i := 1; i < len(bl); i++ {
-		bl[i-1] = bl[i]
-	}
-	unpack := false
-	bc := BaliseCounterAdd(btmCache.BaliseCount)
-	mc := btmCache.MessageCounter
-	if userTelegram != nil && len(userTelegram) > 0 {
-		mc = uint32(BaliseCounterAdd(mc))
-		unpack = true
-	}
-
-	btmCache.BaliseCount = uint32(bc)
-	btmCache.MessageCounter = mc
-	btmS := &state_proto.BTMState{BaliseId: balise.Id(),
-		Telegram:    fmt.Sprintf("%x", userTelegram),
-		Telegram128: fmt.Sprintf("%X", telegram),
-		Unpack:      unpack,
-		BaliseType:  int32(balise.BaliseType().Number()),
-		AboveBalise: true, HasData: true}
-
-	if userTelegram == nil || len(userTelegram) == 0 {
-		btmS.Telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
-		btmS.Telegram128 = strings.Repeat("00", balise_const.TelegramByteLen)
-		btmS.HasData = false
-	}
-	//存入队尾
-	bl[len(bl)-1] = btmS
-	return true
-}
 
 // true-新增；false-更新
 func (t *BaliseDetector) addExpectedBalise(curExpect *BtmAntennaScanningBaliseInfo) bool {

third_party/can_btm/train_balise_cache.go

@@ -0,0 +1,121 @@
+package can_btm
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/const/balise_const"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/rtsssimulation/repository"
+	"strings"
+	"sync"
+)
+
+var baliseLock = &sync.Mutex{}
+
+func IsLine12(train *state_proto.TrainState) bool {
+	if strings.Contains(train.ProjectCode, "12") {
+		return true
+	}
+	return false
+}
+func AddNewExpectedBalise(balise *repository.Transponder, btmCache *state_proto.TrainBtmCache, telegram, userTelegram []byte, isLine12 bool) bool {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	bl := btmCache.BaliseList
+	for _, tt := range bl {
+		if tt != nil && tt.BaliseId == balise.Id() {
+			return false
+		}
+	}
+	for i := 1; i < len(bl); i++ {
+		bl[i-1] = bl[i]
+	}
+	unpack := false
+	bc := BaliseCounterAdd(btmCache.BaliseCount, isLine12)
+	mc := btmCache.MessageCounter
+	if userTelegram != nil && len(userTelegram) > 0 {
+		mc = uint32(BaliseCounterAdd(mc, isLine12))
+		unpack = true
+	}
+
+	btmCache.BaliseCount = uint32(bc)
+	btmCache.MessageCounter = mc
+	btmS := &state_proto.BTMState{BaliseId: balise.Id(),
+		Telegram:    fmt.Sprintf("%x", userTelegram),
+		Telegram128: fmt.Sprintf("%X", telegram),
+		Unpack:      unpack,
+		BaliseType:  int32(balise.BaliseType().Number()),
+		AboveBalise: true, HasData: true}
+
+	if userTelegram == nil || len(userTelegram) == 0 {
+		btmS.Telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
+		btmS.Telegram128 = strings.Repeat("00", balise_const.TelegramByteLen)
+		btmS.HasData = false
+	}
+	//存入队尾
+	bl[len(bl)-1] = btmS
+	return true
+}
+
+// HandleTrainHeadPositionInfoForTrain 处理列车位置信息
+// 参数1： 参数2：发送序列号，参数3：应答器计数（每过一个应答器加一，在同一个应答器内不变)，参数4：报文计数器 (每解出一个报文加一)（0~255）
+func FindBaliseResend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	cache := train.BtmBaliseCache
+	for _, balise := range cache.BaliseList {
+		if balise != nil && balise.BaliseId == cache.ResendBaliseId && balise.ResendCount < 3 {
+			balise.ResendCount++
+			ndsn := BaliseCounterAdd(cache.Dsn, IsLine12(train))
+			cache.Dsn = uint32(ndsn)
+			return balise, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, IsLine12(train))
+	return nil, ndsn, 0, 0
+}
+func FindBaliseByNotSend(train *state_proto.TrainState) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	cache := train.BtmBaliseCache
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil && !btmCache.IsSend {
+			ndsn := BaliseCounterAdd(cache.Dsn, IsLine12(train))
+			cache.Dsn = uint32(ndsn)
+			cache.ResendBaliseId = btmCache.BaliseId
+			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, IsLine12(train))
+	return nil, ndsn, 0, 0
+}
+func ClearBalise(train *state_proto.TrainState) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	train.BtmBaliseCache.BaliseList = make([]*state_proto.BTMState, 3)
+}
+
+// 11号线根据序列号查询
+func FindBaliseByMessageSerial(train *state_proto.TrainState, ms byte) (*state_proto.BTMState, byte, bool) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	cache := train.BtmBaliseCache
+
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil {
+			if btmCache.BaliseId == cache.ResendBaliseId {
+				if byte(btmCache.PackageDataSN) == ms {
+					bt, dsn, _, _ := FindBaliseByNotSend(train)
+					return bt, dsn, true
+				} else {
+					ndsn := BaliseCounterAdd(cache.Dsn, IsLine12(train))
+					cache.Dsn = uint32(ndsn)
+					return btmCache, ndsn, false
+				}
+			}
+		}
+	}
+
+	bt, dsn, _, _ := FindBaliseByNotSend(train)
+	return bt, dsn, true
+
+}

third_party/message/btm_vobc_data.go

@@ -75,355 +75,47 @@ const (
 	COM_WAIT_STOP_FD  = 0x03
 )
 
-func aa(src []byte, dest []byte) uint16 {
+/*
-	var (
+	func SourceDataDecode(packData []byte) []BaseBtmVobc {
-		SrcPos, TgtPos, Pos1, Pos2, iii, Gap uint16
+		data, _ := TranslateFromFFFE(packData)
-		Got1stFF                             uint8
+		buf := bytes.NewBuffer(data)
-	)
-	srouceLen := uint16(len(src))
-	for SrcPos = 0; SrcPos < srouceLen; SrcPos++ {
-		if Got1stFF == 1 {
-			if src[SrcPos] == 0xff {
-				//Got2ndFF = 1
-				Pos2 = SrcPos
-				dest[TgtPos] = byte(Pos2 - Pos1)
-				TgtPos++
 
-				for iii = Pos1 + 1; iii < Pos2; iii++ {
-					dest[TgtPos] = src[iii]
-					TgtPos++
-				}
-				Got1stFF = 0
-				//Got2ndFF = 0
-				Pos1 = 0
-				Pos2 = 0
-				Gap = 0
-			} else {
-				/*已遇到前一个FF，且当前遇到非FF*/
-				Gap++
-				if 252 == Gap {
-					Got1stFF = 0
-					Gap = 0
-					dest[TgtPos] = 0
-					TgtPos++
-					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
-						dest[TgtPos] = src[iii]
-						TgtPos++
-					}
-				}
-			}
-		} else {
-			/*尚未遇到前一个FF*/
-			dest[TgtPos] = src[SrcPos]
-			TgtPos++
-			if 0xFF == src[SrcPos] {
-				/*遇到前一个FF*/
-				Got1stFF = 1
-				Pos1 = SrcPos
-				Gap = 0
-			}
-		}
-	}
-	if 1 == Got1stFF {
-		dest[TgtPos] = 0
-		TgtPos++
-		for iii = Pos1 + 1; iii < srouceLen; iii++ {
-			dest[TgtPos] = src[iii]
-			TgtPos++
-		}
-	}
-	return TgtPos
 }
 
-func TranslateFromFFFE(pSrc []byte) ([]byte, uint16) {
+	func parseData(buf *bytes.Buffer) {
-	var (
+		h1, _ := buf.ReadByte()
-		srcPos, tgtPos, nonFFCount, nextFFPos uint16
+		h2, _ := buf.ReadByte()
-		char                                  uint8
+		if bytes.Equal(PACKAGE_HEAD, []byte{h1, h2}) {
-		state                                 int
+			t, _ := buf.ReadByte()
-	)
+			var ft byte = 0
+			if t == ID_COMMAND_TYPE || t == REQT_TYPE {
+				ft, _ = buf.ReadByte()
+				if t == ID_COMMAND_TYPE {
+					return parseIdFrame(ft, buf.Bytes())
+				} else if t == REQT_TYPE {
 
-	if len(pSrc) == 0 {
-		return nil, 0 // 入参错误
-	}
-
-	pTgt := make([]byte, len(pSrc)) // 预分配与输入等长的缓冲区
-	tgtPos = 0
-	state = WAIT_FF_C1
-	nonFFCount = 0
-
-	for srcPos = 0; srcPos < uint16(len(pSrc)); srcPos++ {
-		char = pSrc[srcPos]
-		switch state {
-		case WAIT_FF_C1:
-			if char == 0xFF {
-				pTgt[tgtPos] = char
-				tgtPos++
-				state = WAIT_FF_C2
-			} else {
-				pTgt[tgtPos] = char
-				tgtPos++
-			}
-		case WAIT_FF_C2:
-			if char == 0xFD || char == 0xFE || char == 0xFF {
-				state = ABNORMAL_STATE
-			} else {
-				if char == 0 {
-					state = WAIT_NO_FF
-				} else if char == 1 {
-					pTgt[tgtPos] = 0xFF
-					tgtPos++
-					state = WAIT_FF_C1
-				} else {
-					nextFFPos = srcPos + uint16(char) - 1
-					state = WAIT_FF_POS
-				}
-			}
-		case WAIT_NO_FF:
-			nonFFCount++
-			if char == 0xFF && nonFFCount < 252 {
-				state = ABNORMAL_STATE
-			} else {
-				pTgt[tgtPos] = char
-				tgtPos++
-				if nonFFCount == 252 {
-					nonFFCount = 0
-					state = WAIT_FF_C1
-				}
-			}
-		case WAIT_FF_POS:
-			if char == 0xFF {
-				state = ABNORMAL_STATE
-			} else {
-				pTgt[tgtPos] = char
-				tgtPos++
-				if srcPos == nextFFPos {
-					pTgt[tgtPos] = 0xFF
-					tgtPos++
-					state = WAIT_FF_C1
-				}
-			}
-		default:
-			state = ABNORMAL_STATE
-		}
-
-		if state == ABNORMAL_STATE {
-			tgtPos = 0
-			break
-		}
-	}
-
-	// 退出时的状态判断
-	if state == WAIT_FF_C2 || state == WAIT_FF_POS {
-		tgtPos = 0
-	}
-
-	return pTgt[:tgtPos], tgtPos
-}
-
-// TranslateToFFFE 对给定的字节切片进行FFFE转义处理
-func TranslateToFFFE(src []byte) ([]byte, error) {
-	if src == nil {
-		return nil, fmt.Errorf("source data is nil")
-	}
-	var tgt []byte
-	var pos1, pos2 int
-	var gap int
-	var got1stFF bool
-
-	for i, b := range src {
-		if got1stFF {
-			if b == 0xFF {
-				// 已遇到前一个FF，且当前又遇到FF
-				got1stFF = false
-				pos2 = i
-				if gap > 252 {
-					// 间隙过大，特殊处理
-					tgt = append(tgt, 0)
-					tgt = append(tgt, src[pos1+1:pos2]...)
-				} else {
-					// 写入间隙长度
-					tgt = append(tgt, byte(gap))
-					// 写入间隙中的字节
-					tgt = append(tgt, src[pos1+1:pos2]...)
 				}
 			} else {
-				// 已遇到前一个FF，且当前遇到非FF，增加gap计数
+
-				gap++
-			}
-		} else {
-			// 尚未遇到前一个FF
-			tgt = append(tgt, b)
-			if b == 0xFF {
-				// 遇到前一个FF
-				got1stFF = true
-				pos1 = i
-				gap = 0
 			}
 		}
 	}
-
-	// 如果在数据末尾遇到了FF且没有第二个FF
-	if got1stFF {
-		if gap > 252 {
-			tgt = append(tgt, 0)
-			tgt = append(tgt, src[pos1+1:]...)
-		} else {
-			tgt = append(tgt, 0)
-			tgt = append(tgt, src[pos1+1:len(src)]...)
-		}
-	}
-
-	return tgt, nil
-}
-
-// TranslateToFFFE 将数据进行FFFE转义处理（不加头FFFE及尾FFFD）。
-/*func TranslateToFFFE2(pSrc []byte) []byte {
-	var (
-		srcPos, tgtPos, pos1, pos2, iii uint16
-		gap                             uint16
-		got1stFF                        bool
-	)
-
-	if pSrc == nil {
-		return nil // 入口参数错误
-	}
-
-	pTgt := make([]byte, 0, len(pSrc)*2) // 预分配空间以应对最坏情况
-
-	for srcPos = 0; srcPos < uint16(len(pSrc)); srcPos++ {
-		if got1stFF {
-			if pSrc[srcPos] == 0xFF {
-				// 已遇到前一个FF，且当前又遇到FF
-
-				pos2 = srcPos
-				pTgt = append(pTgt, byte(pos2-pos1))
-				tgtPos++
-
-				for iii = pos1 + 1; iii < pos2; iii++ {
-					pTgt = append(pTgt, pSrc[iii])
-					tgtPos++
-				}
-
-				got1stFF = false
-				pos1, pos2, gap = 0, 0, 0
-			} else {
-				// 已遇到前一个FF，且当前遇到非FF
-				gap++
-				if gap == 252 {
-					got1stFF, gap = false, 0
-					pTgt = append(pTgt, 0)
-					tgtPos++
-
-					for iii = pos1 + 1; iii <= srcPos; iii++ {
-						pTgt = append(pTgt, pSrc[iii])
-						tgtPos++
-					}
-				}
-			}
-		} else {
-			// 尚未遇到前一个FF
-			pTgt = append(pTgt, pSrc[srcPos])
-			tgtPos++
-
-			if pSrc[srcPos] == 0xFF {
-				// 遇到前一个FF
-				got1stFF = true
-				pos1 = srcPos
-				gap = 0
-			}
-		}
-	}
-
-	// 已经遇到了前一个FF, 且源数据已到了末尾仍未遇到后一个FF
-	if got1stFF {
-		pTgt = append(pTgt, 0)
-		tgtPos++
-
-		for iii = pos1 + 1; iii < uint16(len(pSrc)); iii++ {
-			pTgt = append(pTgt, pSrc[iii])
-			tgtPos++
-		}
-	}
-
-	// 截取实际使用的部分返回
-	return pTgt[:tgtPos]
-}
 */
-func TranslateToFFFE3(pSrc []uint8, SrcLen uint16) ([]byte, uint16) {
+func parseIdFrame(frame byte, data []byte) BtmVobcIdCommand {
-	var (
+	buf := bytes.NewBuffer(data)
-		SrcPos, TgtPos, Pos1, Pos2, iii uint16
+	dataLen, _ := buf.ReadByte()
-		Gap                             uint16
+	dsn, _ := buf.ReadByte()
-		Got1stFF                        uint8
+	var btmId uint16
-		pTgt                            []uint8
+	var vobcId uint16
-	)
+	var vobcLifeId uint32
-
+	var yuliu [5]byte
-	if pSrc == nil {
+	var crc32 uint32
-		fmt.Println("入口参数错误")
+	binary.Read(buf, binary.BigEndian, &btmId)
-		return nil, 0
+	binary.Read(buf, binary.BigEndian, &vobcId)
-	}
+	binary.Read(buf, binary.BigEndian, &vobcLifeId)
-
+	binary.Read(buf, binary.BigEndian, &yuliu)
-	pTgt = make([]uint8, 0, SrcLen*2) // 预分配足够的空间以避免频繁扩容
+	binary.Read(buf, binary.BigEndian, &crc32)
-	TgtPos = 0
+	return BtmVobcIdCommand{BaseBtmVobc: BaseBtmVobc{Frame: frame, FrameLen: dataLen, AutoIdFrame: dsn, Crc32: crc32}}
-
-	for SrcPos = 0; SrcPos < SrcLen; SrcPos++ {
-		if Got1stFF == 1 {
-			if pSrc[SrcPos] == 0xFF {
-				// 已遇到前一个FF，且当前又遇到FF
-				//Got2ndFF = 1
-				Pos2 = SrcPos
-				pTgt = append(pTgt, uint8(Pos2-Pos1-1))
-				TgtPos++
-
-				for iii = Pos1 + 1; iii < Pos2; iii++ {
-					pTgt = append(pTgt, pSrc[iii])
-					TgtPos++
-				}
-
-				Got1stFF = 0
-				//Got2ndFF = 0
-				Pos1 = 0
-				Pos2 = 0
-				Gap = 0
-			} else {
-				// 已遇到前一个FF，且当前遇到非FF
-				Gap++
-				if Gap == 252 {
-					Got1stFF = 0
-					Gap = 0
-					pTgt = append(pTgt, 0)
-					TgtPos++
-
-					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
-						pTgt = append(pTgt, pSrc[iii])
-						TgtPos++
-					}
-				}
-			}
-		} else {
-			// 尚未遇到前一个FF
-			pTgt = append(pTgt, pSrc[SrcPos])
-			TgtPos++
-			if pSrc[SrcPos] == 0xFF {
-				// 遇到前一个FF
-				Got1stFF = 1
-				Pos1 = SrcPos
-				Gap = 0
-			}
-		}
-	}
-
-	// 已经遇到了前一个FF, 且源数据已到了末尾仍未遇到后一个FF
-	if Got1stFF == 1 {
-		pTgt = append(pTgt, 0)
-		TgtPos++
-
-		for iii = Pos1 + 1; iii < SrcLen; iii++ {
-			pTgt = append(pTgt, pSrc[iii])
-			TgtPos++
-		}
-	}
-
-	return pTgt, TgtPos
 }
 
 type BaseBtmVobc struct {
@@ -457,67 +149,6 @@ func baseEncode(source []byte) []byte {
 	return data
 }
 
-/*func TranslateToFFFE4(pSrc []byte, pTgt []byte) (int, error) {
-	if pSrc == nil || pTgt == nil {
-		return 0, fmt.Errorf("pSrc or pTgt is nil")
-	}
-
-	srcLen := len(pSrc)
-	tgtLen := 0
-	pos1 := -1 // 前一个FF的位置
-	gap := 0   // 两个FF之间的字节数
-
-	for i, b := range pSrc {
-		if pos1 != -1 {
-			if b == 0xFF {
-				// 遇到了第二个FF
-				pTgt[tgtLen] = byte(i - pos1 - 1) // 减1是因为不包括第一个FF
-				tgtLen++
-
-				// 复制pos1和当前位置之间的数据
-				copy(pTgt[tgtLen:tgtLen+gap], pSrc[pos1+1:i])
-				tgtLen += gap
-
-				// 重置状态
-				pos1 = -1
-				gap = 0
-			} else {
-				// 计数两个FF之间的字节数
-				gap++
-				if gap == 252 {
-					// 如果gap超过252，则写入一个0并复制数据
-					pTgt[tgtLen] = 0
-					tgtLen++
-					copy(pTgt[tgtLen:tgtLen+gap], pSrc[pos1+1:i])
-					tgtLen += gap
-					// 重置状态
-					pos1 = -1
-					gap = 0
-				}
-			}
-		} else {
-			// 尚未遇到前一个FF
-			pTgt[tgtLen] = b
-			tgtLen++
-			if b == 0xFF {
-				// 遇到了第一个FF
-				pos1 = i
-			}
-		}
-	}
-
-	// 如果数据以FF结尾，但没有第二个FF
-	if pos1 != -1 {
-		pTgt[tgtLen] = 0
-		tgtLen++
-		// 复制pos1之后的数据
-		copy(pTgt[tgtLen:tgtLen+srcLen-pos1-1], pSrc[pos1+1:])
-		tgtLen += srcLen - pos1 - 1
-	}
-
-	return tgtLen, nil
-}
-*/
 // ID 命令帧的正文
 type BtmVobcIdCommand struct {
 	BaseBtmVobc
@@ -546,9 +177,10 @@ const (
 	REQ_FRAME_STATUS_OK    = 0x06
 	REQ_FRAME_STATUS_ERROR = 0x15
 	REQ_FRAME_STATUS_BOOT  = 0x00
-	REQ_PACKETS_TYPE_FREE  = 0x05
+
-	REQ_PACKETS_TYPE_MSG   = 0x0A
+	REQ_PACKETS_TYPE_FREE = 0x05
-	REQ_PACKETS_TYPE_BOOT  = 0x00
+	REQ_PACKETS_TYPE_MSG  = 0x0A
+	REQ_PACKETS_TYPE_BOOT = 0x00
 )
 
 // 请求帧的正文
@@ -564,11 +196,6 @@ type BtmVobcReq struct {
 	VobcLifeWalkDistance uint16 //VOBC 周期走行距离 单位：cm
 }
 
-const (
-	a = 0x06
-	b = 0x15
-)
-
 func (b *BtmVobcReq) Decode(data []byte) {
 	base, buf := baseDecode(data)
 
@@ -594,34 +221,8 @@ func (b *BtmVobcReq) Decode(data []byte) {
 	b.VobcLifeWalkDistance = walkDis
 }
 
-var MESSAGE_AUTO_ID byte = 1
-var MESSAGE_SERIAL byte = 1
 var lock sync.Mutex
 
-func getAutoId() byte {
-	defer lock.Unlock()
-	lock.Lock()
-	if MESSAGE_AUTO_ID <= 0 {
-		MESSAGE_AUTO_ID = 1
-	} else if MESSAGE_AUTO_ID > 255 {
-		MESSAGE_AUTO_ID = 1
-	}
-	MESSAGE_AUTO_ID += 1
-	return MESSAGE_AUTO_ID
-}
-
-func GetAutoMessageId() byte {
-	defer lock.Unlock()
-	lock.Lock()
-	if MESSAGE_SERIAL <= 0 {
-		MESSAGE_SERIAL = 1
-	} else if MESSAGE_SERIAL > 255 {
-		MESSAGE_SERIAL = 1
-	}
-	MESSAGE_SERIAL += 1
-	return MESSAGE_SERIAL
-}
-
 const (
 	btm_status_ok   = 0x00
 	btm_status_warn = 0x04
@@ -658,8 +259,9 @@ func (b *BtmVobcMessage) Encode() []byte {
 
 	binary.Write(buf, binary.BigEndian, byte(MESSAGE_TYPE))
 	binary.Write(buf, binary.BigEndian, byte(0x87))
+
 	//binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
-	binary.Write(buf, binary.BigEndian, getAutoId())
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
 	binary.Write(buf, binary.BigEndian, b.FontTtl)
 	binary.Write(buf, binary.BigEndian, b.MsgSerial)
 	binary.Write(buf, binary.BigEndian, b.BtmStatus)
@@ -724,8 +326,8 @@ func (b *BtmVobcMsgFree) Encode() []byte {
 
 	binary.Write(buf, binary.BigEndian, byte(FREE_MESSAGE_TYPE))
 	binary.Write(buf, binary.BigEndian, byte(0x87))
-	binary.Write(buf, binary.BigEndian, getAutoId())
+
-	//binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
 	binary.Write(buf, binary.BigEndian, byte(0)) //保留
 	binary.Write(buf, binary.BigEndian, byte(0)) //保留
 	binary.Write(buf, binary.BigEndian, b.MsgSerial)

third_party/message/btm_vobc_translate_fffe.go

@@ -0,0 +1,283 @@
+package message
+
+import (
+	"fmt"
+)
+
+func aa(src []byte, dest []byte) uint16 {
+	var (
+		SrcPos, TgtPos, Pos1, Pos2, iii, Gap uint16
+		Got1stFF                             uint8
+	)
+	srouceLen := uint16(len(src))
+	for SrcPos = 0; SrcPos < srouceLen; SrcPos++ {
+		if Got1stFF == 1 {
+			if src[SrcPos] == 0xff {
+				//Got2ndFF = 1
+				Pos2 = SrcPos
+				dest[TgtPos] = byte(Pos2 - Pos1)
+				TgtPos++
+
+				for iii = Pos1 + 1; iii < Pos2; iii++ {
+					dest[TgtPos] = src[iii]
+					TgtPos++
+				}
+				Got1stFF = 0
+				//Got2ndFF = 0
+				Pos1 = 0
+				Pos2 = 0
+				Gap = 0
+			} else {
+				/*已遇到前一个FF，且当前遇到非FF*/
+				Gap++
+				if 252 == Gap {
+					Got1stFF = 0
+					Gap = 0
+					dest[TgtPos] = 0
+					TgtPos++
+					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
+						dest[TgtPos] = src[iii]
+						TgtPos++
+					}
+				}
+			}
+		} else {
+			/*尚未遇到前一个FF*/
+			dest[TgtPos] = src[SrcPos]
+			TgtPos++
+			if 0xFF == src[SrcPos] {
+				/*遇到前一个FF*/
+				Got1stFF = 1
+				Pos1 = SrcPos
+				Gap = 0
+			}
+		}
+	}
+	if 1 == Got1stFF {
+		dest[TgtPos] = 0
+		TgtPos++
+		for iii = Pos1 + 1; iii < srouceLen; iii++ {
+			dest[TgtPos] = src[iii]
+			TgtPos++
+		}
+	}
+	return TgtPos
+}
+
+func TranslateFromFFFE(pSrc []byte) ([]byte, uint16) {
+	var (
+		srcPos, tgtPos, nonFFCount, nextFFPos uint16
+		char                                  uint8
+		state                                 int
+	)
+
+	if len(pSrc) == 0 {
+		return nil, 0 // 入参错误
+	}
+
+	pTgt := make([]byte, len(pSrc)) // 预分配与输入等长的缓冲区
+	tgtPos = 0
+	state = WAIT_FF_C1
+	nonFFCount = 0
+
+	for srcPos = 0; srcPos < uint16(len(pSrc)); srcPos++ {
+		char = pSrc[srcPos]
+		switch state {
+		case WAIT_FF_C1:
+			if char == 0xFF {
+				pTgt[tgtPos] = char
+				tgtPos++
+				state = WAIT_FF_C2
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+			}
+		case WAIT_FF_C2:
+			if char == 0xFD || char == 0xFE || char == 0xFF {
+				state = ABNORMAL_STATE
+			} else {
+				if char == 0 {
+					state = WAIT_NO_FF
+				} else if char == 1 {
+					pTgt[tgtPos] = 0xFF
+					tgtPos++
+					state = WAIT_FF_C1
+				} else {
+					nextFFPos = srcPos + uint16(char) - 1
+					state = WAIT_FF_POS
+				}
+			}
+		case WAIT_NO_FF:
+			nonFFCount++
+			if char == 0xFF && nonFFCount < 252 {
+				state = ABNORMAL_STATE
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+				if nonFFCount == 252 {
+					nonFFCount = 0
+					state = WAIT_FF_C1
+				}
+			}
+		case WAIT_FF_POS:
+			if char == 0xFF {
+				state = ABNORMAL_STATE
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+				if srcPos == nextFFPos {
+					pTgt[tgtPos] = 0xFF
+					tgtPos++
+					state = WAIT_FF_C1
+				}
+			}
+		default:
+			state = ABNORMAL_STATE
+		}
+
+		if state == ABNORMAL_STATE {
+			tgtPos = 0
+			break
+		}
+	}
+
+	// 退出时的状态判断
+	if state == WAIT_FF_C2 || state == WAIT_FF_POS {
+		tgtPos = 0
+	}
+
+	return pTgt[:tgtPos], tgtPos
+}
+
+// TranslateToFFFE 对给定的字节切片进行FFFE转义处理
+func TranslateToFFFE(src []byte) ([]byte, error) {
+	if src == nil {
+		return nil, fmt.Errorf("source data is nil")
+	}
+	var tgt []byte
+	var pos1, pos2 int
+	var gap int
+	var got1stFF bool
+
+	for i, b := range src {
+		if got1stFF {
+			if b == 0xFF {
+				// 已遇到前一个FF，且当前又遇到FF
+				got1stFF = false
+				pos2 = i
+				if gap > 252 {
+					// 间隙过大，特殊处理
+					tgt = append(tgt, 0)
+					tgt = append(tgt, src[pos1+1:pos2]...)
+				} else {
+					// 写入间隙长度
+					tgt = append(tgt, byte(gap))
+					// 写入间隙中的字节
+					tgt = append(tgt, src[pos1+1:pos2]...)
+				}
+			} else {
+				// 已遇到前一个FF，且当前遇到非FF，增加gap计数
+				gap++
+			}
+		} else {
+			// 尚未遇到前一个FF
+			tgt = append(tgt, b)
+			if b == 0xFF {
+				// 遇到前一个FF
+				got1stFF = true
+				pos1 = i
+				gap = 0
+			}
+		}
+	}
+
+	// 如果在数据末尾遇到了FF且没有第二个FF
+	if got1stFF {
+		if gap > 252 {
+			tgt = append(tgt, 0)
+			tgt = append(tgt, src[pos1+1:]...)
+		} else {
+			tgt = append(tgt, 0)
+			tgt = append(tgt, src[pos1+1:len(src)]...)
+		}
+	}
+
+	return tgt, nil
+}
+
+func TranslateToFFFE3(pSrc []uint8, SrcLen uint16) ([]byte, uint16) {
+	var (
+		SrcPos, TgtPos, Pos1, Pos2, iii uint16
+		Gap                             uint16
+		Got1stFF                        uint8
+		pTgt                            []uint8
+	)
+
+	if pSrc == nil {
+		fmt.Println("入口参数错误")
+		return nil, 0
+	}
+
+	pTgt = make([]uint8, 0, SrcLen*2) // 预分配足够的空间以避免频繁扩容
+	TgtPos = 0
+
+	for SrcPos = 0; SrcPos < SrcLen; SrcPos++ {
+		if Got1stFF == 1 {
+			if pSrc[SrcPos] == 0xFF {
+				// 已遇到前一个FF，且当前又遇到FF
+				//Got2ndFF = 1
+				Pos2 = SrcPos
+				pTgt = append(pTgt, uint8(Pos2-Pos1-1))
+				TgtPos++
+
+				for iii = Pos1 + 1; iii < Pos2; iii++ {
+					pTgt = append(pTgt, pSrc[iii])
+					TgtPos++
+				}
+
+				Got1stFF = 0
+				//Got2ndFF = 0
+				Pos1 = 0
+				Pos2 = 0
+				Gap = 0
+			} else {
+				// 已遇到前一个FF，且当前遇到非FF
+				Gap++
+				if Gap == 252 {
+					Got1stFF = 0
+					Gap = 0
+					pTgt = append(pTgt, 0)
+					TgtPos++
+
+					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
+						pTgt = append(pTgt, pSrc[iii])
+						TgtPos++
+					}
+				}
+			}
+		} else {
+			// 尚未遇到前一个FF
+			pTgt = append(pTgt, pSrc[SrcPos])
+			TgtPos++
+			if pSrc[SrcPos] == 0xFF {
+				// 遇到前一个FF
+				Got1stFF = 1
+				Pos1 = SrcPos
+				Gap = 0
+			}
+		}
+	}
+
+	// 已经遇到了前一个FF, 且源数据已到了末尾仍未遇到后一个FF
+	if Got1stFF == 1 {
+		pTgt = append(pTgt, 0)
+		TgtPos++
+
+		for iii = Pos1 + 1; iii < SrcLen; iii++ {
+			pTgt = append(pTgt, pSrc[iii])
+			TgtPos++
+		}
+	}
+
+	return pTgt, TgtPos
+}

third_party/semi_physical_train/btm_vobc.go

@@ -0,0 +1,270 @@
+package semi_physical_train
+
+import (
+	"context"
+	"encoding/hex"
+	"fmt"
+	"github.com/google/uuid"
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/const/balise_const"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/can_btm"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
+	"math"
+	"time"
+
+	"strings"
+	"sync"
+)
+
+type BtmVobcManage interface {
+	GetBtmVobcConfig() config.BtmVobcConfig
+
+	GetAllTrain() []*state_proto.TrainState
+	GetConnVobcTrain() *state_proto.TrainState
+}
+type BtmVobcService interface {
+	Start(btmVobcManage BtmVobcManage)
+	Stop()
+	SendData(data []byte)
+}
+type BtmVobcClient struct {
+	calFun context.CancelFunc
+	client udp.UdpClient
+	server udp.UdpServer
+	manage BtmVobcManage
+}
+
+var (
+	btmVobcLocker       sync.Mutex
+	btmVobcClient       *BtmVobcClient
+	btmVobcBaliseLocker sync.Mutex
+	//最新接受数据时间
+	reviceTimeStamp int64
+)
+
+func BtmDefault() BtmVobcService {
+	defer btmVobcLocker.Unlock()
+	btmVobcLocker.Lock()
+	if btmVobcClient == nil {
+		btmVobcClient = &BtmVobcClient{}
+	}
+	return btmVobcClient
+}
+
+func (b *BtmVobcClient) Start(btmVobcManage BtmVobcManage) {
+	cfg := btmVobcManage.GetBtmVobcConfig()
+	if !cfg.Open {
+		slog.Info("11号线 btm vobc配置未开启...")
+		return
+	}
+	udpServer := udp.NewServer(fmt.Sprintf("%v:%d", cfg.LocalUdpIp, cfg.LocalUdpPort), b.handleBtmVobcFrames)
+	err := udpServer.Listen()
+	if err != nil {
+		slog.Error("11号线 btm VOBC 服务启动失败...")
+		return
+	}
+	//
+	udpClient := udp.NewClient(fmt.Sprintf("%s:%d", cfg.RemoteIp, cfg.RemoteUdpPort))
+	b.manage = btmVobcManage
+	b.server = udpServer
+	b.client = udpClient
+	reviceTimeStamp = time.Now().UnixMilli()
+	_, calFun := context.WithCancel(context.Background())
+	b.calFun = calFun
+}
+
+func (b *BtmVobcClient) vobcBtmQueryHandle(data []byte) {
+	train := b.manage.GetConnVobcTrain()
+	if train == nil {
+		slog.Error("vobc btm 未找到VOBC连接的列车...")
+		return
+	}
+	requestId := uuid.New().String()
+	frameType, dataText, err := message.BtmVobcDecode(data)
+	if err != nil {
+		slog.Error(fmt.Sprintf("%v,请求id:%v", err, requestId))
+		return
+	}
+	receiveDataTime := time.Now().UnixMilli()
+	if frameType == message.COMMAND_TYPE {
+		idCommand := &message.BtmVobcIdCommand{}
+		idCommand.Decode(dataText)
+		slog.Info(fmt.Sprintf("成功接受btm vobc的id命令帧,requestId:%v,接受时间:%v", requestId, receiveDataTime))
+		if train.VobcState.VobcBtmInfo == nil {
+			train.VobcState.VobcBtmInfo = &state_proto.TrainVobcState_VobcBtmInfo{BtmId: uint32(idCommand.BtmId), VobcId: uint32(idCommand.VobcId), VobcLifeId: idCommand.VobcLifeNum}
+		}
+	} else if train.VobcState.VobcBtmInfo != nil && frameType == message.REQUEST_TYPE {
+		slog.Info(fmt.Sprintf("成功接受btm vobc的请求帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
+		req := &message.BtmVobcReq{}
+		req.Decode(dataText)
+		b.requestFramePackets(requestId, req, train, receiveDataTime)
+
+	} else {
+		//slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v,requestId:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs), requestId))
+		return
+	}
+}
+
+func (b *BtmVobcClient) handleBtmVobcFrames(cfs []byte) {
+	/*	reviceTimeStamp = time.Now().UnixMilli()
+		train := b.manage.GetConnVobcTrain()
+		if train == nil {
+			//slog.Error("vobc btm 未找到VOBC连接的列车...")
+			return
+		}
+		requestId := uuid.New().String()
+		slog.Info(fmt.Sprintf("获取到vobc btm原始数据:%v, requestId:%v", hex.EncodeToString(cfs), requestId))
+		frameType, dataText, err := message.BtmVobcDecode(cfs)
+		if err != nil {
+			slog.Error(fmt.Sprintf("%v,请求id:%v", err, requestId))
+			return
+		}
+		receiveDataTime := time.Now().UnixMicro()
+		decodePayMicoTime := (receiveDataTime - receiveDataTime) / 100
+		if frameType == message.COMMAND_TYPE {
+			idCommand := &message.BtmVobcIdCommand{}
+			idCommand.Decode(dataText)
+			slog.Info(fmt.Sprintf("成功接受btm vobc的id命令帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
+			b.packets(requestId, idCommand.VobcLifeNum, idCommand.AutoIdFrame, receiveDataTime, decodePayMicoTime, train.VobcBtm)
+		} else if frameType == message.REQUEST_TYPE {
+			slog.Info(fmt.Sprintf("成功接受btm vobc的请求帧,requestId:%v,接受时间(微秒):%v", requestId, receiveDataTime))
+			req := &message.BtmVobcReq{}
+			req.Decode(dataText)
+			b.RequestFramePackets(req.VobcLifeNum, req.AutoIdFrame, requestId, receiveDataTime, decodePayMicoTime, req, train.VobcBtm)
+		} else {
+			slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v,requestId:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs), requestId))
+			return
+		}*/
+}
+func createFreeBalisePacketString() string {
+	return strings.Repeat("00", balise_const.UserTelegramByteLen)
+}
+func createFreeBalisePackets() []byte {
+	str := createFreeBalisePacketString()
+	d, _ := hex.DecodeString(str)
+	return d
+}
+
+// 请求帧
+func (b *BtmVobcClient) requestFramePackets(requestId string, req *message.BtmVobcReq, train *state_proto.TrainState, receiveTime int64) {
+
+	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
+		//vobc 上电，清空应答器
+		can_btm.ClearBalise(train)
+	} else {
+		var (
+			btmState *state_proto.BTMState
+			dsn      byte
+			matcher  bool
+		)
+		ms := req.MessageSerial
+
+		if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
+			//抢答器错误，重新发送
+			btmState, dsn, _, _ = can_btm.FindBaliseResend(train)
+		} else {
+			//判断 报文序列号与之前发送的 是否一致,不一致
+			//如果一致返回新的应答器，如果不一致返回之前发送的应答器,如果不一致并且没有找到之前发送的应答器，则返回新应答器
+			btmState, dsn, matcher = can_btm.FindBaliseByMessageSerial(train, req.MessageSerial)
+			if matcher {
+				if btmState != nil {
+					//正常应答
+					btmState.IsSend = true
+					ms = req.MessageSerial + 1
+					if ms > 255 {
+						ms = 1
+					}
+				}
+			} else {
+				//vobc 未收到应答器，重新发送
+			}
+		}
+		b.packets(requestId, btmState, ms, dsn, req.VobcLifeNum, receiveTime)
+	}
+}
+
+// 有应答器报文
+func (b *BtmVobcClient) balisePackets(telegram, requestId string, messageSerial, dsn byte, vobcLifeNum uint32, receiveTime int64) {
+
+	data, e := hex.DecodeString(telegram)
+	if e != nil {
+		slog.Error(fmt.Sprintf("解析应答器报文失败应答器报文长度:%v", telegram), e)
+		return
+	}
+	//前沿时间
+	var fttl uint16 = 0
+	tmpFttl := int64(math.Abs(float64(time.Now().UnixMilli() - receiveTime)))
+	if tmpFttl >= 0xffff {
+		fttl = 0xffff
+	} else {
+		fttl = uint16(tmpFttl)
+	}
+
+	var bttl uint16 = 0
+	tmpBttl := int64(math.Abs(float64(time.Now().UnixMilli() - receiveTime)))
+	if tmpBttl >= 0xffff {
+		bttl = 0xffff
+	} else {
+		bttl = uint16(tmpBttl)
+	}
+	repTimeMicro := (time.Now().UnixMilli() - receiveTime) / 10
+	baliseMsg := &message.BtmVobcMessage{FontTtl: fttl, BtmStatus: message.BTM_STSTUS_NORMAL, DecodeTime: uint16(repTimeMicro),
+		BackTtl: bttl, ResponseTime: byte(repTimeMicro), MsgSerial: messageSerial, BtmMsg: data,
+		VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: dsn}}
+	baliseData := baliseMsg.Encode()
+	slog.Info(fmt.Sprintf("发送btm vobc 报文数据 报文序列id:%v 报文内容:%X 长度:%v ,requestId:%v", messageSerial, baliseData, len(baliseData), requestId))
+	err := b.client.Send(baliseData)
+	if err != nil {
+		slog.Error(fmt.Sprintf("发送btm vobc 报文数据 报文序列id:%v 报文内容:%X 长度:%v ,requestId:%v", messageSerial, baliseData, len(baliseData), requestId), err)
+		return
+	}
+	return
+}
+
+// 无应答器报文
+func (b *BtmVobcClient) balisePacketsFree(requestId string, receiveTime int64, vobcLifeNum uint32, autoCommandId, messageSerial byte) {
+	repTimeMicro := (time.Now().UnixMicro() - receiveTime) / 10
+	freeMsg := &message.BtmVobcMsgFree{BtmStatus: message.BTM_STSTUS_NORMAL, Fun1: 0xffff, Fun2: 0x00CF, Fun3: uint16(0), Fun4: uint16(0),
+		FreeMsg: createFreeBalisePackets(), RespTime: byte(repTimeMicro), MsgSerial: messageSerial, VobcLifeNum: vobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoCommandId}}
+	freeData := freeMsg.Encode()
+	logStr := fmt.Sprintf("发送btm vobc 报文序列id:%v 空闲帧报文:%X 长度:%v ,requestId:%v", messageSerial, freeData, len(freeData), requestId)
+	slog.Info(logStr)
+	err := b.client.Send(freeData)
+	if err != nil {
+		slog.Error(logStr, err)
+		return
+	}
+}
+
+// 应答器报文或空报文
+func (b *BtmVobcClient) packets(requestId string, btmState *state_proto.BTMState, messageSerial, dsn byte, vobcLifeNum uint32, receiveTime int64) {
+	if btmState == nil {
+		b.balisePacketsFree(requestId, receiveTime, vobcLifeNum, dsn, messageSerial)
+	} else {
+		b.balisePackets(btmState.Telegram, requestId, messageSerial, dsn, vobcLifeNum, receiveTime)
+	}
+}
+
+func (b *BtmVobcClient) SendData(data []byte) {
+	if b.client != nil {
+		slog.Info(fmt.Sprintf("发送btm vobc 报文:%v 长度:%v", hex.EncodeToString(data), len(data)))
+		err := b.client.Send(data)
+		if err != nil {
+			slog.Error("发送btm vobc 报文失败:", err)
+			return
+		}
+	}
+
+}
+func (b *BtmVobcClient) Stop() {
+	if b.server != nil {
+		b.calFun()
+		b.server.Close()
+	}
+	if b.client != nil {
+		b.client.Close()
+	}
+}

third_party/semi_physical_train/btm_vobc2_test.go

@@ -1,4 +1,4 @@
-package btm_vobc
+package semi_physical_train
 
 import (
 	"encoding/hex"
@@ -163,7 +163,7 @@ func TestDecode232(t *testing.T) {
 
 func TestDocode(t *testing.T) {
 	fmt.Println(time.Microsecond * 200)
-	ss := "fffe9287d300056f006464000a000000000000000000000490007f8181b60b10183280003fff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff01ff000a00221eedf0be28e9fffd"
+	ss := "fffee601804f004d0032d8e1002a006aff0020fc60316e299122ea0000000000000000000000000000e1d83000000000000000000000768888cc4961fffd"
 	cfs, _ := hex.DecodeString(ss)
 	frameType, dataText, err := message.BtmVobcDecode(cfs)
 	fmt.Println(frameType)

third_party/semi_physical_train/btm_vobc_test.go

@@ -1,4 +1,4 @@
-package btm_vobc
+package semi_physical_train
 
 import (
 	"bytes"

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -96,6 +96,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	status.TailOffset = tailDeviceOffset
 	status.TailDevicePort = tailDevicePort
 	status.BtmBaliseCache = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
+
 	//初始化列车参数状态
 	createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
 	tl := status.TrainLoad * 100
@@ -107,7 +108,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	status.VobcState = vobc
 
 	status.Tcc = initTrainTcc(vs)
-	status.VobcBtm = &state_proto.VobcBtmState{TelegramState: make([]*state_proto.VobcBtmState_TelegramState, 3), History: make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)}
+	//status.VobcBtm = &state_proto.VobcBtmState{TelegramState: make([]*state_proto.VobcBtmState_TelegramState, 3), History: make(map[uint32]*state_proto.VobcBtmState_VobcBtmHistoryState)}
 	linkIdInt, _ := strconv.Atoi(linkId)
 	err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
 		TrainIndex:           uint16(trainIndex),
@@ -410,6 +411,7 @@ func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInf
 		Acceleration:  info.Acceleration,
 		OldLinkOffset: sta.OldLinkOffset,
 		OldLink:       sta.OldLink,
+		IsLine12:      can_btm.IsLine12(sta),
 	})
 	/*can_btm.Default().HandleTrainHeadPositionInfo(vs.World, sta.VobcBtm, &fi.TrainHeadPositionInfo{
 		TrainId:       sta.Id,
@@ -494,7 +496,8 @@ func RemoveTrainState(vs *VerifySimulation, id string) {
 	if ok {
 		t := d.(*state_proto.TrainState)
 		err := removeTrain(vs, id, t)
-		clearTrainVobcBtmState(vs, id)
+		t.VobcState.VobcBtmInfo = nil
+		//clearTrainVobcBtmState(vs, id)
 		if err != nil {
 			panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
 		}
@@ -514,12 +517,12 @@ func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset in
 }
 
 func clearTrainVobcBtmState(vs *VerifySimulation, id string) {
-	allTrainMap := &vs.Memory.Status.TrainStateMap
+	//allTrainMap := &vs.Memory.Status.TrainStateMap
-	d, ok := allTrainMap.Load(id)
+	//d, ok := allTrainMap.Load(id)
-	if !ok {
+	//if !ok {
-		slog.Error(fmt.Sprintf("vobc btm 清空操作 列车【%s】不存在", id))
+	//	slog.Error(fmt.Sprintf("vobc btm 清空操作 列车【%s】不存在", id))
-		return
+	//	return
-	}
+	//}
-	t := d.(*state_proto.TrainState)
+	//t := d.(*state_proto.TrainState)
-	t.VobcBtm.History = nil
+	//t.VobcBtm.History = nil
 }

ts/simulation/wayside/memory/wayside_simulation.go

@@ -47,6 +47,8 @@ type VerifySimulation struct {
 	UidMap map[string]*DeviceRelationship
 	// 运行环境配置
 	runConfig *config.ThirdPartyConfig
+	//运行线路code
+	ProjectCode string
 }
 
 // 轨旁仿真内存模型

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -857,11 +857,10 @@ func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []
 	var balise *state_proto.BTMState
 	var dsn, bc, mc byte
 	if atpReq.IsResend() {
-		balise, dsn, bc, mc = can_btm.Default().FindBaliseResend(train)
+		balise, dsn, bc, mc = can_btm.FindBaliseResend(train)
 	} else {
-		balise, dsn, bc, mc = can_btm.Default().FindBaliseByNotSend(train)
+		balise, dsn, bc, mc = can_btm.FindBaliseByNotSend(train)
 	}
-	balise, dsn, bc, mc = can_btm.Default().FindBaliseByNotSend(train)
 	cl := clock(atpReq)
 	btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, balise, atpReq, cl, dsn, bc, mc)
 	timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
@@ -917,8 +916,6 @@ func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *messa
 	if btmState != nil && btmState.AboveBalise {
 		statusF.DetailedCode = 0x07
 	}
-
-	//btmState.DataSerialNumber = uint32(dsn)
 	statusF.Dsn = dsn
 	return statusF
 }
@@ -1016,6 +1013,6 @@ func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainSt
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AA, modeAA}, Type: message.SENDER_TRAIN_OUTR_INFO})
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AM, modeAM}, Type: message.SENDER_TRAIN_OUTR_INFO})
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_MM, modeMM}, Type: message.SENDER_TRAIN_OUTR_INFO})
-	train.BtmState = nil
+
 	return msgArr
 }

ts/test_simulation_manage.go

@@ -2,9 +2,9 @@ package ts
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/service"
 	"joylink.club/bj-rtsts-server/third_party/acc"
 	axleBeijing12 "joylink.club/bj-rtsts-server/third_party/axle_device/beijing12"
-	"joylink.club/bj-rtsts-server/third_party/btm_vobc"
 	"joylink.club/bj-rtsts-server/third_party/interlock/beijing11"
 	"joylink.club/bj-rtsts-server/third_party/interlock/beijing12"
 	"joylink.club/bj-rtsts-server/third_party/radar"
@@ -51,6 +51,7 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun
 		return "", sys_error.New("一套环境同时只能运行一个仿真")
 	}
 	if !e {
+		project := service.QueryProject(projectId)
 		verifySimulation, err := memory.CreateSimulation(projectId, mapIds, runConfig)
 
 		if err != nil {
@@ -68,6 +69,7 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun
 			verifySimulation.World.Close()
 			return "", err
 		}
+		verifySimulation.ProjectCode = project.Code
 		simulationMap.Store(simulationId, verifySimulation)
 		// verifySimulation.Start()
 		// 全部成功，启动仿真
@@ -148,7 +150,7 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	acc.Default().Start(s)
 	train_pc_sim.Default().Start(s)
 	//btm vobc
-	btm_vobc.Default().Start(s)
+	semi_physical_train.BtmDefault().Start(s)
 	return nil
 }
 
@@ -167,7 +169,7 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	//列车PC仿真停止
 	train_pc_sim.Default().Stop()
 
-	btm_vobc.Default().Stop()
+	semi_physical_train.BtmDefault().Stop()
 	// 停止动力学接口功能
 	dynamics.Default().Stop()
 	// 联锁启动