Merge branch 'develop' into local-test

third_party/message/dynamics.go

@@ -3,6 +3,7 @@ package message
 import (
 	"encoding/binary"
 	"math"
+	"time"
 )
 
 type DynamicsTurnoutInfo struct {
@@ -80,6 +81,7 @@ type DynamicsTrainInfo struct {
 	Displacement  uint16
 	TrainActToMax bool
 	TrainActToMin bool
+	UpdateTime    int64
 }
 
 // 解析动力学的列车信息
@@ -118,5 +120,6 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error {
 	t.Acceleration = math.Float32frombits(binary.BigEndian.Uint32(buf[60:64]))
 	t.VobcLifeSignal = binary.BigEndian.Uint16(buf[64:66])
 	t.Displacement = binary.BigEndian.Uint16(buf[66:68])
+	t.UpdateTime = time.Now().UnixMilli()
 	return nil
 }

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -293,6 +293,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	sta := data.(*state_proto.TrainState)
 	delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
 	sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
+
 	//slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
 	inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)
 
@@ -463,7 +464,13 @@ func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainS
 			return err
 		}
 	}
-
+	if train.VobcState != nil {
+		vobc := train.VobcState
+		vobc.TractionStatus = false
+		vobc.BrakingStatus = true
+		vobc.TractionForce = 0
+		vobc.BrakeForce = DEFAULT_BRAKE_FORCE
+	}
 	train.Show = false
 	train.ConnState.ConnType = state_proto.TrainConnState_NONE
 	return fi.RemoveTrainFromWorld(vs.World, trainId)