Merge branch 'develop' into local-test

.gitea/workflows/CI_local_test.yaml

@@ -51,7 +51,7 @@ jobs:
           script: |
             docker rm -f rts-sim-testing-service || echo "rts-sim-testing-service not exist"
             docker pull gitea.joylink.club/joylink/rts-sim-testing-service:local-test
-            docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -p 4000:4000  -v /usr/local/joylink/logs/bjrtsts:/logs/bjrtsts gitea.joylink.club/joylink/rts-sim-testing-service:local-test rts-sim-testing-service -config test_local
+            docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -p 4000:4000/udp  -v /usr/local/joylink/logs/bjrtsts:/logs/bjrtsts gitea.joylink.club/joylink/rts-sim-testing-service:local-test rts-sim-testing-service -config test_local
       - name: 清理tag为none的镜像
         run: |
           docker rmi $(docker images --filter "dangling=true" -q)

go.mod

@@ -4,7 +4,8 @@ go 1.21
 
 require (
 	github.com/appleboy/gin-jwt/v2 v2.9.1
-	github.com/eclipse/paho.golang v0.12.0
+	//github.com/eclipse/paho.golang v0.12.0
+	github.com/eclipse/paho.golang v0.21.0
 	github.com/gin-contrib/cors v1.4.0
 	github.com/golang/protobuf v1.5.3
 	github.com/google/uuid v1.4.0
@@ -40,7 +41,7 @@ require (
 	github.com/go-sql-driver/mysql v1.7.0 // indirect
 	github.com/goburrow/serial v0.1.0 // indirect
 	github.com/golang-jwt/jwt/v4 v4.4.3 // indirect
-	github.com/gorilla/websocket v1.5.0 // indirect
+	github.com/gorilla/websocket v1.5.1 // indirect
 	github.com/jinzhu/inflection v1.0.0 // indirect
 	github.com/jinzhu/now v1.1.5 // indirect
 	github.com/josharian/intern v1.0.0 // indirect
@@ -54,7 +55,6 @@ require (
 	go.uber.org/multierr v1.9.0 // indirect
 	golang.org/x/exp v0.0.0-20230905200255-921286631fa9 // indirect
 	golang.org/x/mod v0.12.0 // indirect
-	golang.org/x/sync v0.5.0 // indirect
 	golang.org/x/tools v0.13.0 // indirect
 	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
 	gorm.io/datatypes v1.1.1-0.20230130040222-c43177d3cf8c // indirect
@@ -92,9 +92,9 @@ require (
 	github.com/twitchyliquid64/golang-asm v0.15.1 // indirect
 	github.com/ugorji/go/codec v1.2.11 // indirect
 	golang.org/x/arch v0.3.0 // indirect
-	golang.org/x/crypto v0.16.0 // indirect
+	golang.org/x/crypto v0.19.0 // indirect
-	golang.org/x/net v0.19.0 // indirect
+	golang.org/x/net v0.21.0 // indirect
-	golang.org/x/sys v0.15.0 // indirect
+	golang.org/x/sys v0.17.0 // indirect
 	golang.org/x/text v0.14.0 // indirect
 	google.golang.org/protobuf v1.32.0
 	gopkg.in/ini.v1 v1.67.0 // indirect

go.sum

@@ -17,8 +17,8 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/eclipse/paho.golang v0.12.0 h1:EXQFJbJklDnUqW6lyAknMWRhM2NgpHxwrrL8riUmp3Q=
+github.com/eclipse/paho.golang v0.21.0 h1:cxxEReu+iFbA5RrHfRGxJOh8tXZKDywuehneoeBeyn8=
-github.com/eclipse/paho.golang v0.12.0/go.mod h1:TSDCUivu9JnoR9Hl+H7sQMcHkejWH2/xKK1NJGtLbIE=
+github.com/eclipse/paho.golang v0.21.0/go.mod h1:GHF6vy7SvDbDHBguaUpfuBkEB5G6j0zKxMG4gbh6QRQ=
 github.com/frankban/quicktest v1.14.6 h1:7Xjx+VpznH+oBnejlPUj8oUpdxnVs4f8XU8WnHkI4W8=
 github.com/frankban/quicktest v1.14.6/go.mod h1:4ptaffx2x8+WTWXmUCuVU6aPUX1/Mz7zb5vbUoiM6w0=
 github.com/fsnotify/fsnotify v1.7.0 h1:8JEhPFa5W2WU7YfeZzPNqzMP6Lwt7L2715Ggo0nosvA=
@@ -85,8 +85,8 @@ github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeN
 github.com/google/gofuzz v1.0.0/go.mod h1:dBl0BpW6vV/+mYPU4Po3pmUjxk6FQPldtuIdl/M65Eg=
 github.com/google/uuid v1.4.0 h1:MtMxsa51/r9yyhkyLsVeVt0B+BGQZzpQiTQ4eHZ8bc4=
 github.com/google/uuid v1.4.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
-github.com/gorilla/websocket v1.5.0 h1:PPwGk2jz7EePpoHN/+ClbZu8SPxiqlu12wZP/3sWmnc=
+github.com/gorilla/websocket v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
-github.com/gorilla/websocket v1.5.0/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/gorilla/websocket v1.5.1/go.mod h1:x3kM2JMyaluk02fnUJpQuwD2dCS5NDG2ZHL0uE0tcaY=
 github.com/hashicorp/hcl v1.0.0 h1:0Anlzjpi4vEasTeNFn2mLJgTSwt0+6sfsiTG8qcWGx4=
 github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ=
 github.com/jackc/chunkreader/v2 v2.0.1 h1:i+RDz65UE+mmpjTfyz0MoVTnzeYxroil2G82ki7MGG8=
@@ -237,8 +237,8 @@ golang.org/x/crypto v0.0.0-20210711020723-a769d52b0f97/go.mod h1:GvvjBRRGRdwPK5y
 golang.org/x/crypto v0.0.0-20210921155107-089bfa567519/go.mod h1:GvvjBRRGRdwPK5ydBHafDWAxML/pGHZbMvKqRZ5+Abc=
 golang.org/x/crypto v0.0.0-20211215153901-e495a2d5b3d3/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4=
 golang.org/x/crypto v0.4.0/go.mod h1:3quD/ATkf6oY+rnes5c3ExXTbLc8mueNue5/DoinL80=
-golang.org/x/crypto v0.16.0 h1:mMMrFzRSCF0GvB7Ne27XVtVAaXLrPmgPC7/v0tkwHaY=
+golang.org/x/crypto v0.19.0 h1:ENy+Az/9Y1vSrlrvBSyna3PITt4tiZLf7sgCjZBX7Wo=
-golang.org/x/crypto v0.16.0/go.mod h1:gCAAfMLgwOJRpTjQ2zCCt2OcSfYMTeZVSRtQlPC7Nq4=
+golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU=
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g=
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k=
 golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4=
@@ -251,8 +251,8 @@ golang.org/x/net v0.0.0-20220722155237-a158d28d115b/go.mod h1:XRhObCWvk6IyKnWLug
 golang.org/x/net v0.3.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
 golang.org/x/net v0.4.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
 golang.org/x/net v0.7.0/go.mod h1:2Tu9+aMcznHK/AK1HMvgo6xiTLG5rD5rZLDS+rp2Bjs=
-golang.org/x/net v0.19.0 h1:zTwKpTd2XuCqf8huc7Fo2iSy+4RHPd10s4KzeTnVr1c=
+golang.org/x/net v0.21.0 h1:AQyQV4dYCvJ7vGmJyKki9+PBdyvhkSd8EIx/qb0AYv4=
-golang.org/x/net v0.19.0/go.mod h1:CfAk/cbD4CthTvqiEl8NpboMuiuOYsAr/7NOjZJtv1U=
+golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.5.0 h1:60k92dhOjHxJkrqnwsfl8KuaHbn/5dl0lUPUklKo3qE=
@@ -270,8 +270,8 @@ golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.3.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.5.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.15.0 h1:h48lPFYpsTvQJZF4EKyI4aLHaev3CxivZmv7yZig9pc=
+golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y=
-golang.org/x/sys v0.15.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
+golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
 golang.org/x/term v0.3.0/go.mod h1:q750SLmJuPmVoN1blW3UFBPREJfb1KmY3vwxfr+nFDA=

go.work.sum

@@ -176,6 +176,7 @@ github.com/gogo/protobuf v1.3.2 h1:Ov1cvc58UF3b5XjBnZv7+opcTcQFZebYjWzi34vdm4Q=
 github.com/gogo/protobuf v1.3.2/go.mod h1:P1XiOD3dCwIKUDQYPy72D8LYyHL2YPYrpS2s69NZV8Q=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da h1:oI5xCqsCo564l8iNU+DwB5epxmsaqB+rhGL0m5jtYqE=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
+github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/gofuzz v1.0.0 h1:A8PeW59pxE9IoFRqBp37U+mSNaQoZ46F1f0f863XSXw=
 github.com/google/s2a-go v0.1.7 h1:60BLSyTrOV4/haCDW4zb1guZItoSq8foHCXrAnjBo/o=
 github.com/google/s2a-go v0.1.7/go.mod h1:50CgR4k1jNlWBu4UfS4AcfhVe1r6pdZPygJ3R8F0Qdw=
@@ -267,10 +268,14 @@ golang.org/x/image v0.1.0 h1:r8Oj8ZA2Xy12/b5KZYj3tuv7NG/fBz3TwQVvpJ9l8Rk=
 golang.org/x/image v0.1.0/go.mod h1:iyPr49SD/G/TBxYVB/9RRtGUT5eNbo2u4NamWeQcD5c=
 golang.org/x/mobile v0.0.0-20221012134814-c746ac228303 h1:K4fp1rDuJBz0FCPAWzIJwnzwNEM7S6yobdZzMrZ/Zws=
 golang.org/x/mobile v0.0.0-20221012134814-c746ac228303/go.mod h1:M32cGdzp91A8Ex9qQtyZinr19EYxzkFqDjW2oyHzTDQ=
+golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg=
+golang.org/x/net v0.17.0/go.mod h1:NxSsAGuq816PNPmqtQdLE42eU2Fs7NoRIZrHJAlaCOE=
 golang.org/x/oauth2 v0.15.0 h1:s8pnnxNVzjWyrvYdFUQq5llS1PX2zhPXmccZv99h7uQ=
 golang.org/x/oauth2 v0.15.0/go.mod h1:q48ptWNTY5XWf+JNten23lcvHpLJ0ZSxF5ttTHKVCAM=
 golang.org/x/term v0.15.0 h1:y/Oo/a/q3IXu26lQgl04j/gjuBDOBlx7X6Om1j2CPW4=
 golang.org/x/term v0.15.0/go.mod h1:BDl952bC7+uMoWR75FIrCDx79TPU9oHkTZ9yRbYOrX0=
+golang.org/x/term v0.17.0 h1:mkTF7LCd6WGJNL3K1Ad7kwxNfYAW6a8a8QqtMblp/4U=
+golang.org/x/term v0.17.0/go.mod h1:lLRBjIVuehSbZlaOtGMbcMncT+aqLLLmKrsjNrUguwk=
 golang.org/x/time v0.5.0 h1:o7cqy6amK/52YcAKIPlM3a+Fpj35zvRj2TP+e1xFSfk=
 golang.org/x/time v0.5.0/go.mod h1:3BpzKBy/shNhVucY/MWOyx10tF3SFh9QdLuxbVysPQM=
 golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 h1:H2TDz8ibqkAF6YGhCdN3jS9O0/s90v0rJh3X/OLHEUk=

mqtt/client.go

@@ -29,10 +29,15 @@ func Startup(cmc *MqttOptions) error {
 	if err != nil {
 		return err
 	}
-	cm, err := autopaho.NewConnection(context.Background(), *cc)
+	ctx := context.Background()
+	cm, err := autopaho.NewConnection(ctx, *cc)
 	if err != nil {
 		return err
 	}
+	//添加等待连接，如果连接失败，则等待重连
+	if err = cm.AwaitConnection(ctx); err != nil {
+		panic(err)
+	}
 	mqttClient = &MqttClient{cc: cc, cm: cm}
 	return nil
 }
@@ -90,6 +95,20 @@ func (client *MqttClient) pub(topic string, data protoreflect.ProtoMessage) erro
 	return err
 }
 
+// 订阅mqtt服务
+/*func subHandle(p *paho.Publish) {
+	fmt.Println(fmt.Sprintf("%v-%v"), hex.EncodeToString(p.Payload), len(p.Payload))
+}
+func (client *MqttClient) SubSimulationState(simulationId string) (*paho.Suback, error) {
+	topIc := GetStateTopic(simulationId)
+	_, err2 := client.cm.Subscribe(context.Background(), &paho.Subscribe{Subscriptions: []paho.SubscribeOptions{{Topic: topIc, QoS: 0}}})
+	if err2 != nil {
+		fmt.Println(err2)
+	}
+	client.cc.Router.RegisterHandler(topIc, subHandle)
+	return nil, nil
+}*/
+
 // 发送仿真状态数据
 func (client *MqttClient) PubSimulationState(simulationId string, msg *state_proto.SimulationStatus) error {
 	return client.pub(GetStateTopic(simulationId), msg)

mqtt/config.go

@@ -22,6 +22,7 @@ type MqttOptions struct {
 	KeepAlive         uint16 // 保活时间间隔,单位s,默认为60
 	ConnectRetryDelay uint16 // 连接重试延时,单位s,默认为3
 	ConnectTimeout    uint16 // 连接操作超时,单位s,默认为3
+	route             *paho.StandardRouter
 }
 
 func NewMqttOptions(address, username, password string) *MqttOptions {
@@ -53,6 +54,7 @@ func (c *MqttOptions) tryInto() (*autopaho.ClientConfig, error) {
 	if c.ConnectTimeout == 0 {
 		c.ConnectTimeout = 3
 	}
+	router := paho.NewStandardRouter()
 	cc := &autopaho.ClientConfig{
 		BrokerUrls: []*url.URL{
 			addr,
@@ -73,8 +75,15 @@ func (c *MqttOptions) tryInto() (*autopaho.ClientConfig, error) {
 			OnServerDisconnect: func(d *paho.Disconnect) {
 				fmt.Printf("%s 连接断开; reason code: %d,properties: %v\n", c.ClientId, d.ReasonCode, d.Properties)
 			},
+			//添加订阅路由功能，以支持订阅
+			OnPublishReceived: []func(paho.PublishReceived) (bool, error){
+				func(pr paho.PublishReceived) (bool, error) {
+					router.Route(pr.Packet.Packet())
+					return true, nil // we assume that the router handles all messages (todo: amend router API)
+				}},
 		},
 	}
 	cc.SetUsernamePassword(c.Username, []byte(c.Password))
+	c.route = router
 	return cc, nil
 }

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -52,7 +52,7 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3
 }
 
 // 初始化列车控制数据
-func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlState {
+func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState {
 	var tccGI *data_proto.TccGraphicStorage
 	for _, id := range vs.MapIds {
 		if QueryGiType(id) == data_proto.PictureType_TrainControlCab {
@@ -82,7 +82,7 @@ func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlSt
 				}
 				ds = append(ds, &state_proto.TrainControlState_DriverKeySwitch{Id: b.Common.Id, Val: val})
 			} else if b.GetType() == data_proto.TccKey_frontAndRearDirectionalControl {
-				tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: b.Common.Id, Val: uint32(message.IsTrue(runDir))}
+				tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: b.Common.Id, Val: uint32(message.IsTrue(true))}
 			}
 		}
 		tcc.DriverKey = ds

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -98,13 +98,9 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	if tl <= 0 {
 		tl = DEFULAT_TRAIN_LOAD
 	}
-	status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE}
+	status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true}
-	if status.RunDirection {
+
-		status.VobcState.DirectionForward = true
+	status.Tcc = initTrainTcc(vs)
-	} else {
-		status.VobcState.DirectionBackward = true
-	}
-	status.Tcc = initTrainTcc(vs, status.RunDirection)
 
 	slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
 	linkIdInt, _ := strconv.Atoi(linkId)

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -59,20 +59,26 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 }
 
 func trainControlEB(trainState *state_proto.TrainState, request *request_proto.TrainControl_EmergentButton, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []train_pc_sim.TrainControlEvent {
-
+	if !request.Active {
+		return nil
+	}
+	if trainState.Tcc.Ebutton != nil && trainState.Tcc.Ebutton.Passed {
+		return nil
+	}
 	_, find := findTrainTccGraphicDataButton(tccGraphic, deviceId)
 	if !find {
 		slog.Error("未找到对应的紧急停车摁钮,deviceId:", deviceId)
 		return nil
 	}
-	trainState.VobcState.EmergencyBrakingStatus = request.Active
 	if trainState.Tcc.Ebutton == nil {
 		trainState.Tcc.Ebutton = &state_proto.TrainControlState_EmergentButton{Id: deviceId, Passed: request.Active}
-	} else {
-		trainState.Tcc.Ebutton.Passed = request.Active
 	}
+	trainState.VobcState.EmergencyBrakingStatus = true
+	trainState.Tcc.Ebutton.Passed = request.Active
+	trainState.VobcState.TractionForce = 0
+	trainState.VobcState.BrakeForce = DEFAULT_BRAKE_FORCE
+
 	return nil
-	//return []train_pc_sim.TrainControlEvent{{Command: message.KEY_STATE, Status: message.IsTrue(request.Val)}}
 }
 
 // 列车方向
@@ -153,28 +159,26 @@ func trainControlHandle(trainState *state_proto.TrainState, request *request_pro
 	trainState.VobcState.BrakeForce = 0
 	trainState.VobcState.MaintainBrakeStatus = false
 	tce := make([]train_pc_sim.TrainControlEvent, 0)
-	//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 0})
-	//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 0})
 	tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 0})
 	if request.Val > 0 {
 		trainState.VobcState.TractionStatus = true
 		trainState.VobcState.TractionForce = int64(request.Val * 180)
-		//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
 		tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 0})
 	} else if request.Val < 0 {
 		trainState.VobcState.BrakingStatus = true
 		trainState.VobcState.BrakeForce = int64(-request.Val * 180)
-		//tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
+		trainState.VobcState.EmergencyBrakingStatus = false
+		if trainState.Tcc.Ebutton != nil {
+			trainState.Tcc.Ebutton.Passed = false
+		}
 		tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.TRAIN_BRAKE_STATE, Status: 1})
 	} else {
-
 		tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_TO_ZERO, Status: 1})
 	}
 	if trainState.Tcc.PushHandler == nil {
 		trainState.Tcc.PushHandler = &state_proto.TrainControlState_PushHandler{Id: deviceId, Val: request.Val}
-	} else {
-		trainState.Tcc.PushHandler.Val = request.Val
 	}
+	trainState.Tcc.PushHandler.Val = request.Val
 	return tce
 }