Compare commits
2 Commits
8405d9619d
...
e0b0ae4566
| Author | SHA1 | Date | |
|---|---|---|---|
|
e0b0ae4566 | ||
| 43022220a0 |
@ -51,7 +51,7 @@ jobs:
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script: |
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docker rm -f rts-sim-testing-service || echo "rts-sim-testing-service not exist"
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docker pull gitea.joylink.club/joylink/rts-sim-testing-service:local-test
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docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -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
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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
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- name: 清理tag为none的镜像
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run: |
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docker rmi $(docker images --filter "dangling=true" -q)
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@ -63,7 +63,8 @@ type TrainDynamicConfig struct {
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// 过标/欠标（mm）（正数过标，负数欠标）
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StopSign int32 `protobuf:"varint,17,opt,name=stopSign,proto3" json:"stopSign,omitempty"`
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// 前溜/后溜（m/s）默认0
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Slide float32 `protobuf:"fixed32,18,opt,name=slide,proto3" json:"slide,omitempty"`
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Slide float32 `protobuf:"fixed32,18,opt,name=slide,proto3" json:"slide,omitempty"`
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TrainLoad int32 `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"` //列车载荷
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}
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func (x *TrainDynamicConfig) Reset() {
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@ -217,6 +218,13 @@ func (x *TrainDynamicConfig) GetSlide() float32 {
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return 0
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}
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func (x *TrainDynamicConfig) GetTrainLoad() int32 {
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if x != nil {
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return x.TrainLoad
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}
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return 0
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}
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// 列车一端的状态
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type TrainEndsState struct {
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state protoimpl.MessageState
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@ -350,7 +358,7 @@ var File_common_data_proto protoreflect.FileDescriptor
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var file_common_data_proto_rawDesc = []byte{
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@ -388,37 +396,39 @@ var file_common_data_proto_rawDesc = []byte{
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}
|
||||
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var (
|
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@ -123,12 +123,12 @@ type ConfigTrainData struct {
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SlipR float32 `json:"slipR"` // 打滑冲击率(m/s) 默认0
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SlipD int32 `json:"slipD"` // 打滑持续时间ms 默认0
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Slide float32 `json:"slide"` // 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0
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StopSign int32 `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标）
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IdlingA float32 `json:"idlingA"` // 空转加速度(m/s) 默认0
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IdlingR float32 `json:"idlingR"` // 空转冲击率(m/s) 默认0
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IdlingD int32 `json:"idlingD"` // 空转持续时间s 默认0
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Slide float32 `json:"slide"` // 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0
|
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StopSign int32 `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标）
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IdlingA float32 `json:"idlingA"` // 空转加速度(m/s) 默认0
|
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IdlingR float32 `json:"idlingR"` // 空转冲击率(m/s) 默认0
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IdlingD int32 `json:"idlingD"` // 空转持续时间s 默认0
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TrainLoad int32 `json:"trainLoad"` // 列车载重 默认 16000
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//TrainEndsA ConfigTrainEnds `json:"TrainEndsA"` // 车辆A端
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//TrainEndsB ConfigTrainEnds `json:"TrainEndsB"` // 车辆B端
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}
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@ -261,6 +261,8 @@ const (
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SimulationThirdPartyApiService_Dynamics SimulationThirdPartyApiService_Type = 1
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// 与半实物列车接口服务
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SimulationThirdPartyApiService_SemiPhysicalTrain SimulationThirdPartyApiService_Type = 2
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// 列车pc仿真
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SimulationThirdPartyApiService_Train_pc_sim SimulationThirdPartyApiService_Type = 3
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)
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// Enum value maps for SimulationThirdPartyApiService_Type.
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@ -269,11 +271,13 @@ var (
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0: "Undefined",
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1: "Dynamics",
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2: "SemiPhysicalTrain",
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3: "Train_pc_sim",
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}
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SimulationThirdPartyApiService_Type_value = map[string]int32{
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"Undefined": 0,
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"Dynamics": 1,
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"SemiPhysicalTrain": 2,
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"Train_pc_sim": 3,
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}
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)
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@ -5903,73 +5907,74 @@ var file_device_state_proto_rawDesc = []byte{
|
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0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x76, 0x61, 0x6c, 0x1a, 0x36, 0x0a, 0x12, 0x44, 0x69, 0x72,
|
||||
0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x4b, 0x65, 0x79, 0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x12,
|
||||
0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x02, 0x69, 0x64, 0x12,
|
||||
0x10, 0x0a, 0x03, 0x76, 0x61, 0x6c, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x03, 0x76, 0x61,
|
||||
0x6c, 0x1a, 0x2f, 0x0a, 0x0b, 0x50, 0x75, 0x73, 0x68, 0x48, 0x61, 0x6e, 0x64, 0x6c, 0x65, 0x72,
|
||||
0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x02, 0x69, 0x64,
|
||||
0x12, 0x10, 0x0a, 0x03, 0x76, 0x61, 0x6c, 0x18, 0x02, 0x20, 0x01, 0x28, 0x05, 0x52, 0x03, 0x76,
|
||||
0x61, 0x6c, 0x2a, 0x37, 0x0a, 0x0b, 0x53, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x54, 0x79, 0x70,
|
||||
0x65, 0x12, 0x07, 0x0a, 0x03, 0x41, 0x6e, 0x79, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x41, 0x78,
|
||||
0x6c, 0x65, 0x10, 0x01, 0x12, 0x09, 0x0a, 0x05, 0x4c, 0x6f, 0x67, 0x69, 0x63, 0x10, 0x02, 0x12,
|
||||
0x0a, 0x0a, 0x06, 0x50, 0x68, 0x79, 0x73, 0x69, 0x63, 0x10, 0x03, 0x42, 0x67, 0x0a, 0x25, 0x63,
|
||||
0x6c, 0x75, 0x62, 0x2e, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x62, 0x6a, 0x72, 0x74,
|
||||
0x73, 0x73, 0x2e, 0x61, 0x74, 0x73, 0x2e, 0x76, 0x65, 0x72, 0x69, 0x66, 0x79, 0x2e, 0x70, 0x72,
|
||||
0x6f, 0x74, 0x6f, 0x73, 0x42, 0x10, 0x44, 0x65, 0x76, 0x69, 0x63, 0x65, 0x53, 0x74, 0x61, 0x74,
|
||||
0x65, 0x50, 0x72, 0x6f, 0x74, 0x6f, 0x5a, 0x2c, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e,
|
||||
0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72, 0x74, 0x73, 0x74, 0x73, 0x2d, 0x73, 0x65,
|
||||
0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x73, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x70,
|
||||
0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
|
||||
}
|
||||
|
||||
var (
|
||||
|
||||
@ -45,6 +45,7 @@ func TrainConfigToDtoConvert(dc *common_proto.TrainDynamicConfig) *ConfigTrainDa
|
||||
CurveResistanceParamR1: dc.CurveResistanceParamR1, CurveResistanceParamR2: dc.CurveResistanceParamR2, CurveResistanceParamR3: dc.CurveResistanceParamR3,
|
||||
CurveResistanceParamR4: dc.CurveResistanceParamR4, RevolvingMassParam: dc.RevolvingMassParam,
|
||||
Jump: dc.Jump, SlipA: dc.SlipA, SlipR: dc.SlipR, SlipD: dc.SlipD, Slide: dc.Slide, IdlingA: dc.IdlingA, IdlingR: dc.IdlingR, IdlingD: dc.IdlingD, StopSign: dc.StopSign,
|
||||
TrainLoad: dc.TrainLoad,
|
||||
}
|
||||
}
|
||||
return nil
|
||||
|
||||
@ -547,7 +547,10 @@ func setVal(source, dest interface{}, fieldName string) {
|
||||
debug.PrintStack()
|
||||
}
|
||||
}()
|
||||
|
||||
if destVal.Kind() == reflect.Invalid {
|
||||
slog.Warn(fieldName, "赋值失败,源数据类型", sourceType.Kind().String(), "目标数据类型:", destVal.Kind().String())
|
||||
return
|
||||
}
|
||||
if destVal.Kind() == reflect.String {
|
||||
destVal.Set(reflect.ValueOf(fmt.Sprintf("%v", sourceData)))
|
||||
} else {
|
||||
|
||||
@ -1 +1 @@
|
||||
Subproject commit 7d576a6c69ccbcdcdf14219f992602ccf0b1b30f
|
||||
Subproject commit df112c429875bb39908c0a387f49ef095c82fabe
|
||||
@ -72,7 +72,7 @@ func TrainConfigToProtoConvert(t *dto.ConfigTrainData) *common_proto.TrainDynami
|
||||
DavisParamA: t.DavisParamA, DavisParamB: t.DavisParamB, DavisParamC: t.DavisParamC,
|
||||
CurveResistanceParamR1: t.CurveResistanceParamR1, CurveResistanceParamR2: t.CurveResistanceParamR2, CurveResistanceParamR3: t.CurveResistanceParamR3, CurveResistanceParamR4: t.CurveResistanceParamR4,
|
||||
RevolvingMassParam: t.RevolvingMassParam, Jump: t.Jump, SlipA: t.SlipA, SlipR: t.SlipR, SlipD: t.SlipD, IdlingA: t.IdlingA, IdlingR: t.IdlingR, IdlingD: t.IdlingD,
|
||||
Slide: t.Slide, StopSign: t.StopSign,
|
||||
Slide: t.Slide, StopSign: t.StopSign, TrainLoad: t.TrainLoad,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
26
third_party/dynamics/dynamics.go
vendored
26
third_party/dynamics/dynamics.go
vendored
@ -20,6 +20,8 @@ import (
|
||||
|
||||
type DynamicsMessageManager interface {
|
||||
CollectDynamicsTurnoutInfo() *message.DynamicsTurnoutInfo
|
||||
|
||||
CollectTrainControlState() []message.TrainControlMsg
|
||||
HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo)
|
||||
GetDynamicsRunConfig() *config.DynamicsConfig
|
||||
GetDynamicsRunRepository() *message.LineBaseInfo
|
||||
@ -303,10 +305,32 @@ func (d *dynamics) Stop() {
|
||||
|
||||
const (
|
||||
// 道岔消息发送间隔,单位ms
|
||||
TurnoutMessageSendInterval = 50
|
||||
TurnoutMessageSendInterval = 50
|
||||
TrainControlMessageSendInterval = 15
|
||||
)
|
||||
|
||||
var turnoutStateLifeSignal uint16 //道岔消息生命信号
|
||||
// 定时发送列车控制状态
|
||||
func (d *dynamics) sendTrainControlStateTask(ctx context.Context) {
|
||||
defer func() {
|
||||
if err := recover(); err != nil {
|
||||
slog.Error("定时发送列车控制状态任务异常", "error", err, "stack", string(debug.Stack()))
|
||||
debug.PrintStack()
|
||||
}
|
||||
}()
|
||||
for {
|
||||
select {
|
||||
case <-ctx.Done():
|
||||
return
|
||||
default:
|
||||
}
|
||||
tccs := d.manager.CollectTrainControlState()
|
||||
for _, tcc := range tccs {
|
||||
d.SendTrainControl(&tcc)
|
||||
}
|
||||
time.Sleep(time.Millisecond * TrainControlMessageSendInterval)
|
||||
}
|
||||
}
|
||||
|
||||
// 定时发送道岔状态任务
|
||||
func (d *dynamics) sendTurnoutStateTask(ctx context.Context) {
|
||||
|
||||
34
third_party/message/train_control.go
vendored
34
third_party/message/train_control.go
vendored
@ -2,6 +2,7 @@ package message
|
||||
|
||||
import (
|
||||
"encoding/binary"
|
||||
"fmt"
|
||||
"joylink.club/bj-rtsts-server/dto/state_proto"
|
||||
"math"
|
||||
"strconv"
|
||||
@ -12,12 +13,27 @@ import (
|
||||
type TrainControlMsg struct {
|
||||
ControlInfo *state_proto.TrainVobcState
|
||||
TrainId string
|
||||
FromVobc bool
|
||||
}
|
||||
|
||||
func boolsToByte2(flags [8]bool) byte {
|
||||
var result uint8
|
||||
for index, b := range flags {
|
||||
if b {
|
||||
result = result + (1 << index)
|
||||
}
|
||||
}
|
||||
return result
|
||||
}
|
||||
|
||||
func (r *TrainControlMsg) Encode() []byte {
|
||||
if !r.FromVobc {
|
||||
ls := r.ControlInfo.LifeSignal
|
||||
r.ControlInfo.LifeSignal = ls + 1
|
||||
}
|
||||
data := make([]byte, 0)
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(r.ControlInfo.LifeSignal))
|
||||
var b2 byte
|
||||
var b2 uint8
|
||||
b2 = setBit(b2, 0, IsTrue(r.ControlInfo.Tc1Active))
|
||||
b2 = setBit(b2, 1, IsTrue(r.ControlInfo.Tc2Active))
|
||||
b2 = setBit(b2, 2, IsTrue(r.ControlInfo.DirectionForward))
|
||||
@ -26,7 +42,8 @@ func (r *TrainControlMsg) Encode() []byte {
|
||||
b2 = setBit(b2, 5, IsTrue(r.ControlInfo.BrakingStatus))
|
||||
b2 = setBit(b2, 6, IsTrue(r.ControlInfo.EmergencyBrakingStatus))
|
||||
b2 = setBit(b2, 7, IsTrue(r.ControlInfo.TurnbackStatus))
|
||||
var b3 byte
|
||||
fmt.Println(fmt.Sprintf("%b", b2))
|
||||
var b3 uint8
|
||||
b3 = setBit(b3, 0, IsTrue(r.ControlInfo.JumpStatus))
|
||||
b3 = setBit(b3, 1, IsTrue(r.ControlInfo.Ato))
|
||||
b3 = setBit(b3, 2, IsTrue(r.ControlInfo.Fam))
|
||||
@ -34,6 +51,7 @@ func (r *TrainControlMsg) Encode() []byte {
|
||||
b3 = setBit(b3, 4, IsTrue(r.ControlInfo.TractionSafetyCircuit))
|
||||
b3 = setBit(b3, 5, IsTrue(r.ControlInfo.ParkingBrakeStatus))
|
||||
b3 = setBit(b3, 6, IsTrue(r.ControlInfo.MaintainBrakeStatus))
|
||||
b3 = setBit(b3, 7, IsTrue(true))
|
||||
data = append(data, b2)
|
||||
data = append(data, b3)
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(r.ControlInfo.TractionForce))
|
||||
@ -41,18 +59,20 @@ func (r *TrainControlMsg) Encode() []byte {
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(r.ControlInfo.TrainLoad))
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(0)) //预留
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(0)) //预留
|
||||
data = append(data, 0) //预留
|
||||
data = append(data, uint8(0)) //预留
|
||||
var b4 byte
|
||||
|
||||
b4 = setBit(b4, 0, IsTrue(r.ControlInfo.LeftDoorOpenCommand))
|
||||
b4 = setBit(b4, 1, IsTrue(r.ControlInfo.RightDoorOpenCommand))
|
||||
b4 = setBit(b4, 2, IsTrue(r.ControlInfo.LeftDoorCloseCommand))
|
||||
b4 = setBit(b4, 3, IsTrue(r.ControlInfo.RightDoorCloseCommand))
|
||||
b4 = setBit(b4, 4, IsTrue(r.ControlInfo.AllDoorClose))
|
||||
b4 = setBit(b4, 5, IsTrue(false))
|
||||
b4 = setBit(b4, 6, IsTrue(false))
|
||||
b4 = setBit(b4, 7, IsTrue(false))
|
||||
data = append(data, b4)
|
||||
data = binary.BigEndian.AppendUint16(data, uint16(0)) //预留
|
||||
data = append(data, 0) //预留
|
||||
data = append(data, 0) //预留
|
||||
data = binary.BigEndian.AppendUint16(data, 0) //预留
|
||||
data = append(data, uint8(0)) //预留
|
||||
data = append(data, uint8(0)) //预留
|
||||
ti, _ := strconv.Atoi(r.TrainId)
|
||||
data = append(data, byte(ti))
|
||||
return data
|
||||
|
||||
22
third_party/tcp/tcp_client.go
vendored
22
third_party/tcp/tcp_client.go
vendored
@ -1,6 +1,7 @@
|
||||
package tcp
|
||||
|
||||
import (
|
||||
"context"
|
||||
"fmt"
|
||||
"io"
|
||||
"log/slog"
|
||||
@ -10,41 +11,50 @@ import (
|
||||
type TcpClient struct {
|
||||
conn *net.TCPConn
|
||||
handler func(n int, data []byte)
|
||||
ctx context.CancelFunc
|
||||
}
|
||||
|
||||
func StartTcpClient(rAddr string, handler func(n int, data []byte)) (*TcpClient, error) {
|
||||
func StartTcpClient(rAddr string, handler func(n int, data []byte), readErr func(err error)) (*TcpClient, error) {
|
||||
raddr, addErr := net.ResolveTCPAddr("tcp", rAddr)
|
||||
if addErr != nil {
|
||||
return nil, addErr
|
||||
}
|
||||
conn, err := net.DialTCP("tcp", nil, raddr)
|
||||
ctx, ctxFun := context.WithCancel(context.Background())
|
||||
|
||||
if err != nil {
|
||||
return nil, err
|
||||
}
|
||||
go func() {
|
||||
for {
|
||||
select {
|
||||
case <-ctx.Done():
|
||||
return
|
||||
default:
|
||||
}
|
||||
data := make([]byte, 1024)
|
||||
l, err := conn.Read(data)
|
||||
if err != nil {
|
||||
if opErr, ok := err.(*net.OpError); ok {
|
||||
slog.Error(fmt.Sprintf("TCP客户端[rAddr:%s]读取数据异常：", rAddr), opErr)
|
||||
readErr(err)
|
||||
}
|
||||
if err == io.EOF {
|
||||
slog.Warn(fmt.Sprintf("TCP客户端[rAddr:%s]断开连接：", rAddr))
|
||||
break
|
||||
}
|
||||
slog.Error(fmt.Sprintf("TCP客户端[rAddr:%s]读取数据异常：", rAddr), err)
|
||||
}
|
||||
handler(l, data)
|
||||
}
|
||||
}()
|
||||
return &TcpClient{conn: conn}, nil
|
||||
return &TcpClient{conn: conn, ctx: ctxFun}, nil
|
||||
}
|
||||
func (c *TcpClient) Close() {
|
||||
if c.conn != nil {
|
||||
slog.Info(fmt.Sprintf("TCP客户端[rAddr:%s]关闭连接", c.conn.RemoteAddr().String()))
|
||||
c.ctx()
|
||||
c.conn.Close()
|
||||
c.conn = nil
|
||||
slog.Info(fmt.Sprintf("TCP客户端[rAddr:%s]关闭连接", c.conn.RemoteAddr().String()))
|
||||
} else {
|
||||
slog.Info(fmt.Sprintf("TCP客户端[rAddr:%s]未连接", c.conn.RemoteAddr().String()))
|
||||
}
|
||||
}
|
||||
func (c *TcpClient) Send(data []byte) error {
|
||||
|
||||
5
third_party/third_party.go
vendored
5
third_party/third_party.go
vendored
@ -1,6 +1,7 @@
|
||||
package third_party
|
||||
|
||||
import (
|
||||
"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
|
||||
"log/slog"
|
||||
|
||||
"joylink.club/bj-rtsts-server/dto/state_proto"
|
||||
@ -15,6 +16,7 @@ func Init() {
|
||||
tpapiService = append(
|
||||
tpapiService, dynamics.Default(),
|
||||
semi_physical_train.Default(),
|
||||
train_pc_sim.Default(),
|
||||
)
|
||||
}
|
||||
|
||||
@ -28,6 +30,8 @@ func convertServiceName(name string) state_proto.SimulationThirdPartyApiService_
|
||||
return state_proto.SimulationThirdPartyApiService_Dynamics
|
||||
case semi_physical_train.Name:
|
||||
return state_proto.SimulationThirdPartyApiService_SemiPhysicalTrain
|
||||
case train_pc_sim.Name:
|
||||
return state_proto.SimulationThirdPartyApiService_Train_pc_sim
|
||||
default:
|
||||
return state_proto.SimulationThirdPartyApiService_Undefined
|
||||
}
|
||||
@ -52,6 +56,7 @@ func GetRunningServiceStates() *state_proto.SimulationThirdPartyApiService {
|
||||
Type: t,
|
||||
State: state_proto.SimulationThirdPartyApiService_Error,
|
||||
})
|
||||
|
||||
}
|
||||
}
|
||||
return ss
|
||||
|
||||
6
third_party/train_pc_sim/example/main.go
vendored
6
third_party/train_pc_sim/example/main.go
vendored
@ -36,7 +36,9 @@ func tcpRunReadTask(conn net.Conn, port int, msgHandler TcpMsgHandler) {
|
||||
defer func() {
|
||||
if err := recover(); err != nil {
|
||||
slog.Error(fmt.Sprintf("TCP服务端[port:%d]读数据任务异常：", port), err)
|
||||
tcpRunReadTask(conn, port, msgHandler)
|
||||
serConn.Close()
|
||||
serConn = nil
|
||||
|
||||
}
|
||||
}()
|
||||
for {
|
||||
@ -48,7 +50,7 @@ func tcpRunReadTask(conn net.Conn, port int, msgHandler TcpMsgHandler) {
|
||||
break
|
||||
}
|
||||
slog.Error(fmt.Sprintf("TCP服务端[port:%d]读取[%s]数据出错：", port, conn.RemoteAddr().String()), err)
|
||||
serConn = nil
|
||||
|
||||
}
|
||||
msgHandler(l, data)
|
||||
}
|
||||
|
||||
121
third_party/train_pc_sim/train_pc_sim.go
vendored
121
third_party/train_pc_sim/train_pc_sim.go
vendored
@ -7,6 +7,7 @@ import (
|
||||
"joylink.club/bj-rtsts-server/dto/state_proto"
|
||||
"joylink.club/bj-rtsts-server/third_party/message"
|
||||
"joylink.club/bj-rtsts-server/third_party/tcp"
|
||||
"joylink.club/bj-rtsts-server/third_party/tpapi"
|
||||
"joylink.club/ecs"
|
||||
"log/slog"
|
||||
"sync"
|
||||
@ -33,6 +34,9 @@ type TrainPcSim interface {
|
||||
PublishTrainControlEvent(world ecs.World, events []TrainControlEvent)
|
||||
|
||||
CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
|
||||
|
||||
CreateOrRemoveTrain(msgType byte, data []byte)
|
||||
tpapi.ThirdPartyApiService
|
||||
}
|
||||
|
||||
type TrainPcSimManage interface {
|
||||
@ -42,16 +46,27 @@ type TrainPcSimManage interface {
|
||||
TrainPcSimDigitalOutInfoHandle(data []byte)
|
||||
//4.4.2. 车载输出数字反馈量信息报文内容
|
||||
TrainPcSimDigitalReportHandle(data []byte)
|
||||
//创建/删除列车
|
||||
TrainPcSimConnOrRemoveHandle(state byte)
|
||||
|
||||
//门模式
|
||||
TrainDoorModeHandle(state byte)
|
||||
//TrainDoorModeHandle(state byte)
|
||||
//处理列车pc仿真模拟量数据
|
||||
TrainPcSimMockInfo(data []byte)
|
||||
//处理列车btm查询
|
||||
TrainBtmQuery(data []byte)
|
||||
}
|
||||
|
||||
const Name = "车载pc仿真"
|
||||
|
||||
func (d *trainPcSimService) Name() string {
|
||||
return Name
|
||||
}
|
||||
func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
|
||||
return d.state
|
||||
}
|
||||
func (d *trainPcSimService) updateState(state tpapi.ThirdPartyApiServiceState) {
|
||||
d.state = state
|
||||
}
|
||||
|
||||
var (
|
||||
initLock = &sync.Mutex{}
|
||||
singleObj *trainPcSimService
|
||||
@ -67,83 +82,98 @@ func Default() TrainPcSim {
|
||||
}
|
||||
|
||||
type trainPcSimService struct {
|
||||
state tpapi.ThirdPartyApiServiceState
|
||||
pcSimClient *tcp.TcpClient
|
||||
cancleContext context.CancelFunc
|
||||
trainPcSimManage TrainPcSimManage
|
||||
speedPlace *message.TrainSpeedPlaceReportMsg
|
||||
}
|
||||
|
||||
func (pc *trainPcSimService) Start(wd ecs.World, pcSimManage TrainPcSimManage) {
|
||||
// 接受来自pc仿真的消息
|
||||
func (d *trainPcSimService) readError(err error) {
|
||||
slog.Error("连接车载pc仿真tcp服务断开", err)
|
||||
d.updateState(tpapi.ThirdPartyState_Broken)
|
||||
d.pcSimClient.Close()
|
||||
}
|
||||
func (d *trainPcSimService) Start(wd ecs.World, pcSimManage TrainPcSimManage) {
|
||||
config := pcSimManage.GetTrainPcSimConfig()
|
||||
if config.PcSimIp == "" || !config.Open {
|
||||
slog.Info("车载pc仿真配置未开启")
|
||||
return
|
||||
}
|
||||
|
||||
client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", config.PcSimIp, config.PcSimPort), pc.reivceData)
|
||||
client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", config.PcSimIp, config.PcSimPort), d.reivceData, d.readError)
|
||||
if err != nil {
|
||||
slog.Error("连接车载pc平台失败", err)
|
||||
d.updateState(tpapi.ThirdPartyState_Broken)
|
||||
return
|
||||
}
|
||||
pc.pcSimClient = client
|
||||
d.pcSimClient = client
|
||||
ctx, ctxFun := context.WithCancel(context.Background())
|
||||
pc.cancleContext = ctxFun
|
||||
pc.trainPcSimManage = pcSimManage
|
||||
d.cancleContext = ctxFun
|
||||
d.trainPcSimManage = pcSimManage
|
||||
|
||||
FireTrainControlEventType.Subscribe(wd, pc.trainControlEventHandle)
|
||||
FireTrainControlEventType.Subscribe(wd, d.trainControlEventHandle)
|
||||
d.updateState(tpapi.ThirdPartyState_Normal)
|
||||
go d.sendTrainLocationAndSpeedTask(ctx)
|
||||
|
||||
go pc.sendTrainLocationAndSpeedTask(ctx)
|
||||
}
|
||||
func (pc *trainPcSimService) Stop() {
|
||||
if pc.cancleContext != nil {
|
||||
pc.cancleContext()
|
||||
pc.cancleContext = nil
|
||||
}
|
||||
if pc.pcSimClient != nil {
|
||||
pc.pcSimClient.Close()
|
||||
func (d *trainPcSimService) Stop() {
|
||||
d.updateState(tpapi.ThirdPartyState_Closed)
|
||||
if d.cancleContext != nil {
|
||||
d.cancleContext()
|
||||
|
||||
d.cancleContext = nil
|
||||
}
|
||||
if d.pcSimClient != nil {
|
||||
//d.pcSimClient.
|
||||
d.pcSimClient.Close()
|
||||
}
|
||||
}
|
||||
func (pc *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
|
||||
func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
|
||||
if train.ConnState.Conn {
|
||||
train.PluseCount = &state_proto.SensorSpeedPulseCount{}
|
||||
pc.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
|
||||
d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
|
||||
} else {
|
||||
train.PluseCount = nil
|
||||
pc.speedPlace = nil
|
||||
d.speedPlace = nil
|
||||
}
|
||||
}
|
||||
func (d *trainPcSimService) CreateOrRemoveTrain(msgType byte, data []byte) {
|
||||
msg := &message.TrainPcSimBaseMessage{Data: data, Type: uint16(msgType)}
|
||||
d.pcSimClient.Send(msg.Encode())
|
||||
}
|
||||
|
||||
// 依据文档80ms发送列车速度位置
|
||||
func (pc *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
|
||||
func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
|
||||
for {
|
||||
select {
|
||||
case <-ctx.Done():
|
||||
return
|
||||
default:
|
||||
}
|
||||
train := pc.trainPcSimManage.GetConnTrain()
|
||||
train := d.trainPcSimManage.GetConnTrain()
|
||||
if train != nil && train.ConnState.Conn {
|
||||
s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
|
||||
pc.speedPlace.ParsePulseCount1(s1, s2)
|
||||
data := pc.speedPlace.Encode(train.RunDirection, s1, s2)
|
||||
d.speedPlace.ParsePulseCount1(s1, s2)
|
||||
data := d.speedPlace.Encode(train.RunDirection, s1, s2)
|
||||
bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data}
|
||||
train.PluseCount.PulseCount1 = 0
|
||||
train.PluseCount.PulseCount2 = 0
|
||||
pc.pcSimClient.Send(bm.Encode())
|
||||
} else {
|
||||
d.pcSimClient.Send(bm.Encode())
|
||||
} /*else {
|
||||
m1 := "未找到对应连接车载pc仿真的列车"
|
||||
if train != nil {
|
||||
m1 = fmt.Sprintf("对应的列车没有连接上车载pc仿真，列车ID：%v", train.Id)
|
||||
}
|
||||
slog.Info(m1)
|
||||
}
|
||||
}*/
|
||||
time.Sleep(time.Millisecond * 80)
|
||||
}
|
||||
}
|
||||
|
||||
// 发送驾驶激活
|
||||
func (pc *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||||
func (d *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||||
if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
|
||||
defulatBuf := make([]byte, 0)
|
||||
msg := &message.TrainPcSimBaseMessage{Data: defulatBuf}
|
||||
@ -152,10 +182,10 @@ func (pc *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vo
|
||||
} else if vobc.Tc1Active == false && vobc.Tc2Active == false {
|
||||
msg.Type = SENDER_TRAIN_TC_NOT_ACTIVE
|
||||
}
|
||||
pc.pcSimClient.Send(msg.Encode())
|
||||
d.pcSimClient.Send(msg.Encode())
|
||||
}
|
||||
}
|
||||
func (pc *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||||
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||||
if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
|
||||
msg := &message.TrainPcSimBaseMessage{}
|
||||
newTraction := vobc.TractionForce
|
||||
@ -176,26 +206,26 @@ func (pc *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64,
|
||||
slog.Error("")
|
||||
return
|
||||
}
|
||||
pc.pcSimClient.Send(msg.Encode())
|
||||
d.pcSimClient.Send(msg.Encode())
|
||||
}
|
||||
}
|
||||
|
||||
func (pc *trainPcSimService) SendBaliseData(msgType uint16, data []byte) {
|
||||
func (d *trainPcSimService) SendBaliseData(msgType uint16, data []byte) {
|
||||
msg := &message.TrainPcSimBaseMessage{}
|
||||
msg.Type = msgType
|
||||
msg.Data = data
|
||||
pc.pcSimClient.Send(msg.Encode())
|
||||
d.pcSimClient.Send(msg.Encode())
|
||||
}
|
||||
|
||||
func (pc *trainPcSimService) trainControlEventHandle(w ecs.World, event TrainControlEvent) {
|
||||
func (d *trainPcSimService) trainControlEventHandle(w ecs.World, event TrainControlEvent) {
|
||||
fmt.Println(event.Status)
|
||||
msg := &message.TrainPcSimBaseMessage{}
|
||||
msg.Type = SENDER_TRAIN_OUTR_INFO
|
||||
data := []byte{event.Command, event.Status}
|
||||
msg.Data = data
|
||||
pc.pcSimClient.Send(msg.Encode())
|
||||
d.pcSimClient.Send(msg.Encode())
|
||||
}
|
||||
func (pc *trainPcSimService) PublishTrainControlEvent(world ecs.World, events []TrainControlEvent) {
|
||||
func (d *trainPcSimService) PublishTrainControlEvent(world ecs.World, events []TrainControlEvent) {
|
||||
if len(events) <= 0 {
|
||||
slog.Warn("发布事件数量为空")
|
||||
return
|
||||
@ -206,7 +236,7 @@ func (pc *trainPcSimService) PublishTrainControlEvent(world ecs.World, events []
|
||||
}
|
||||
|
||||
// 接受来自pc仿真的消息
|
||||
func (pc *trainPcSimService) reivceData(len int, data []byte) {
|
||||
func (d *trainPcSimService) reivceData(len int, data []byte) {
|
||||
baseMsg := &message.TrainPcSimBaseMessage{}
|
||||
err := baseMsg.Decode(data)
|
||||
if err != nil {
|
||||
@ -215,18 +245,17 @@ func (pc *trainPcSimService) reivceData(len int, data []byte) {
|
||||
}
|
||||
|
||||
switch baseMsg.Type {
|
||||
case RECIVE_TRAIN_CREATE_REMOVE:
|
||||
pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
|
||||
//case RECIVE_TRAIN_CREATE_REMOVE:
|
||||
// pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
|
||||
case RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
|
||||
pc.trainPcSimManage.TrainPcSimDigitalOutInfoHandle(baseMsg.Data)
|
||||
d.trainPcSimManage.TrainPcSimDigitalOutInfoHandle(baseMsg.Data)
|
||||
case RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
|
||||
pc.trainPcSimManage.TrainPcSimDigitalReportHandle(baseMsg.Data)
|
||||
d.trainPcSimManage.TrainPcSimDigitalReportHandle(baseMsg.Data)
|
||||
case RECIVE_TRAIN_QUERY_STATUS:
|
||||
pc.trainPcSimManage.TrainBtmQuery(baseMsg.Data)
|
||||
d.trainPcSimManage.TrainBtmQuery(baseMsg.Data)
|
||||
case RECIVE_TRAIN_MOCK_DATA:
|
||||
pc.trainPcSimManage.TrainPcSimMockInfo(baseMsg.Data)
|
||||
case RECIVE_TRAIN_DOOR_MODE:
|
||||
pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])
|
||||
d.trainPcSimManage.TrainPcSimMockInfo(baseMsg.Data)
|
||||
//case RECIVE_TRAIN_DOOR_MODE:
|
||||
// pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -30,7 +30,7 @@ const (
|
||||
RECIVE_TRAIN_BTM_NOT_DATA = 0x32
|
||||
|
||||
//清空所有预发应答器
|
||||
recive_train_btn_clear_all_pre_data = 0x33
|
||||
//recive_train_btn_clear_all_pre_data = 0x33
|
||||
//创建/删除列车
|
||||
RECIVE_TRAIN_CREATE_REMOVE = 0x50
|
||||
|
||||
|
||||
@ -76,7 +76,11 @@ func initTrainTcc(vs *VerifySimulation, runDir bool) *state_proto.TrainControlSt
|
||||
ds := make([]*state_proto.TrainControlState_DriverKeySwitch, 0)
|
||||
for _, b := range tccGI.TccKeys {
|
||||
if b.GetType() == data_proto.TccKey_driverControllerActivationClint {
|
||||
ds = append(ds, &state_proto.TrainControlState_DriverKeySwitch{Id: b.Common.Id, Val: false})
|
||||
val := false
|
||||
if b.Code == "SKQYS1" {
|
||||
val = true
|
||||
}
|
||||
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))}
|
||||
}
|
||||
|
||||
@ -76,8 +76,6 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
|
||||
status.PointTo = pointTo
|
||||
status.TrainKilometer = kilometer.Value
|
||||
|
||||
//status.Tcc = &state_proto.TrainControlState{}
|
||||
status.Tcc = initTrainTcc(vs, status.RunDirection)
|
||||
status.DynamicState = &state_proto.TrainDynamicState{
|
||||
HeadLinkId: linkId,
|
||||
HeadLinkOffset: loffset,
|
||||
@ -90,13 +88,15 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
|
||||
status.TailDevicePort = tailDevicePort
|
||||
//初始化列车参数状态
|
||||
createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
|
||||
status.VobcState = &state_proto.TrainVobcState{}
|
||||
|
||||
status.VobcState = &state_proto.TrainVobcState{Tc1Active: true}
|
||||
if status.RunDirection {
|
||||
status.VobcState.DirectionForward = true
|
||||
} else {
|
||||
status.VobcState.DirectionBackward = true
|
||||
}
|
||||
status.VobcState.TrainLoad = int64(configTrainData.TrainLoad)
|
||||
|
||||
status.Tcc = initTrainTcc(vs, status.RunDirection)
|
||||
|
||||
slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
|
||||
linkIdInt, _ := strconv.Atoi(linkId)
|
||||
@ -152,16 +152,10 @@ func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
|
||||
}
|
||||
return true
|
||||
})
|
||||
if ct.ConnType == state_proto.TrainConnState_VOBC && conn {
|
||||
//半实物直接更改连接状态
|
||||
//车载仿真有创建/删除，列车的操作,通过连接状态区分车载pc是否创建列车
|
||||
train.ConnState.Conn = true
|
||||
}
|
||||
} else {
|
||||
train.ConnState.Conn = false
|
||||
}
|
||||
|
||||
train.ConnState.Conn = conn
|
||||
train.ConnState.ConnType = ct.ConnType
|
||||
TrainPcSimConnOrRemoveHandle(train)
|
||||
}
|
||||
|
||||
func createOrUpdateStateDynamicConfig(trainState *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
|
||||
@ -240,7 +234,7 @@ 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)
|
||||
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)
|
||||
outLinkId, id, port, outLinkOffset, offset, kilometer, e1 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up)
|
||||
if e1 != nil {
|
||||
@ -250,7 +244,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
|
||||
//slog.Debug("处理动力学转换后的消息", "number", info.Number, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo)
|
||||
// 车尾相对车头link的偏移量
|
||||
calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
|
||||
tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, info.Up)
|
||||
tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)
|
||||
if e2 != nil {
|
||||
panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2))
|
||||
}
|
||||
|
||||
@ -16,7 +16,6 @@ import (
|
||||
"joylink.club/bj-rtsts-server/dto/data_proto"
|
||||
"joylink.club/bj-rtsts-server/dto/state_proto"
|
||||
"joylink.club/bj-rtsts-server/sys_error"
|
||||
"joylink.club/bj-rtsts-server/third_party/dynamics"
|
||||
"joylink.club/bj-rtsts-server/third_party/electrical_machinery"
|
||||
"joylink.club/bj-rtsts-server/third_party/message"
|
||||
"joylink.club/bj-rtsts-server/third_party/semi_physical_train"
|
||||
@ -277,11 +276,15 @@ func (s *VerifySimulation) HandleSectionCmdMsg(city string, lineId string, centr
|
||||
// 处理动力学列车速度消息
|
||||
func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) {
|
||||
trainId := strconv.Itoa(int(info.Number))
|
||||
_, ok := s.Memory.Status.TrainStateMap.Load(trainId)
|
||||
t, ok := s.Memory.Status.TrainStateMap.Load(trainId)
|
||||
if !ok {
|
||||
return
|
||||
}
|
||||
semi_physical_train.Default().SendTrainControlMessage(info)
|
||||
train := t.(*state_proto.TrainState)
|
||||
if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
|
||||
semi_physical_train.Default().SendTrainControlMessage(info)
|
||||
|
||||
}
|
||||
// 更新列车状态
|
||||
trainState := UpdateTrainStateByDynamics(s, trainId, info)
|
||||
// 更新电机转速
|
||||
@ -380,15 +383,15 @@ func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
|
||||
return true
|
||||
}
|
||||
connState := train.ConnState
|
||||
trainId, err := strconv.Atoi(train.Id)
|
||||
d := append(b, uint8(trainId))
|
||||
// 发送给动力学,不论列车是否连接三方服务都将数据发送给动力学
|
||||
dynamics.Default().SendTrainControlMessage(d)
|
||||
if err != nil {
|
||||
panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
|
||||
}
|
||||
if connState.Conn == true && connState.ConnType == state_proto.TrainConnState_VOBC {
|
||||
/*trainId, err := strconv.Atoi(train.Id)
|
||||
if err != nil {
|
||||
panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
|
||||
}*/
|
||||
// 存放至列车中
|
||||
//接收半实物列车控制不单独发送动力学，由动力学统一发送
|
||||
//d := append(b, uint8(trainId))
|
||||
//dynamics.Default().SendTrainControlMessage(d)
|
||||
controlMessage := &message.TrainControlMsg{}
|
||||
controlMessage.Decode(b)
|
||||
train.VobcState = controlMessage.ControlInfo
|
||||
@ -397,6 +400,22 @@ func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
|
||||
return true
|
||||
})
|
||||
}
|
||||
func (s *VerifySimulation) CollectTrainControlState() []message.TrainControlMsg {
|
||||
cms := make([]message.TrainControlMsg, 0)
|
||||
s.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
|
||||
train := value.(*state_proto.TrainState)
|
||||
if !train.Show { // 下线列车
|
||||
return true
|
||||
}
|
||||
vobc := false
|
||||
if train.ConnState.Conn == true && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
|
||||
vobc = true
|
||||
}
|
||||
cms = append(cms, message.TrainControlMsg{ControlInfo: train.VobcState, TrainId: train.Id, FromVobc: vobc})
|
||||
return true
|
||||
})
|
||||
return cms
|
||||
}
|
||||
|
||||
// 获取半实物运行配置信息
|
||||
func (s *VerifySimulation) GetSemiPhysicalRunConfig() *config.VobcConfig {
|
||||
|
||||
@ -83,15 +83,10 @@ func trainControlDirKey(trainState *state_proto.TrainState, request *request_pro
|
||||
}
|
||||
trainState.VobcState.DirectionForward = false
|
||||
trainState.VobcState.DirectionBackward = false
|
||||
trainState.RunDirection = false
|
||||
if request.Val == 1 {
|
||||
trainState.VobcState.DirectionForward = true
|
||||
trainState.RunDirection = true
|
||||
|
||||
} else if request.Val == 0 {
|
||||
trainState.VobcState.DirectionBackward = true
|
||||
trainState.RunDirection = false
|
||||
|
||||
}
|
||||
if trainState.Tcc.DirKey == nil {
|
||||
trainState.Tcc.DirKey = &state_proto.TrainControlState_DirectionKeySwitch{Id: deviceId, Val: request.Val}
|
||||
@ -108,6 +103,8 @@ func trainControlDriverKey(trainState *state_proto.TrainState, request *request_
|
||||
slog.Error("未找到对应的驾驶端激活设备deviceId:", deviceId)
|
||||
return nil
|
||||
}
|
||||
trainState.VobcState.Tc1Active = false
|
||||
trainState.VobcState.Tc2Active = false
|
||||
|
||||
if obj.Code == "SKQYS1" {
|
||||
trainState.VobcState.Tc1Active = request.Val
|
||||
@ -147,12 +144,15 @@ func trainControlHandle(trainState *state_proto.TrainState, request *request_pro
|
||||
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.MaintainBrakeStatus = false
|
||||
trainState.VobcState.TractionStatus = true
|
||||
trainState.VobcState.TractionForce = int64(request.Val * 18000)
|
||||
trainState.VobcState.TractionForce = int64(request.Val * 180)
|
||||
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_FORWORD, Status: 1})
|
||||
} else if request.Val < 0 {
|
||||
trainState.VobcState.MaintainBrakeStatus = true
|
||||
trainState.VobcState.BrakingStatus = true
|
||||
trainState.VobcState.BrakeForce = int64(request.Val * 18000)
|
||||
trainState.VobcState.BrakeForce = int64(-request.Val * 180)
|
||||
//trainState.VobcState.BrakeForce = 19400
|
||||
tce = append(tce, train_pc_sim.TrainControlEvent{Command: message.HANDLE_BACKWORD, Status: 1})
|
||||
} else {
|
||||
|
||||
@ -287,8 +287,8 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(data []byte) {
|
||||
trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
|
||||
trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
|
||||
trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
|
||||
cm := &message.TrainControlMsg{TrainId: train.Id, ControlInfo: vobc}
|
||||
dynamics.Default().SendTrainControl(cm)
|
||||
//cm := &message.TrainControlMsg{TrainId: train.Id, ControlInfo: vobc}
|
||||
//dynamics.Default().SendTrainControl(cm)
|
||||
}
|
||||
func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobcState) {
|
||||
vobc.MostUseBrake = message.IsTrueForByte(message.GetBit(d, 0)) //? //常用制动
|
||||
@ -373,28 +373,21 @@ func (s *VerifySimulation) TrainPcSimDigitalReportHandle(data []byte) {
|
||||
}
|
||||
|
||||
// 创建/删除列车
|
||||
func (s *VerifySimulation) TrainPcSimConnOrRemoveHandle(state byte) {
|
||||
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
||||
if train == nil {
|
||||
slog.Error("创建删除列车，未找到连接车载pc仿真的列车")
|
||||
func TrainPcSimConnOrRemoveHandle(train *state_proto.TrainState) {
|
||||
if train.ConnState.ConnType != state_proto.TrainConnState_PC_SIM {
|
||||
slog.Error("创建移除列车类型不正确 conType:", train.ConnState.ConnType)
|
||||
return
|
||||
}
|
||||
connState := train.ConnState
|
||||
if state == 0x01 {
|
||||
connState.Conn = true
|
||||
} else {
|
||||
connState.Conn = false
|
||||
var data byte = 0x01
|
||||
if train.ConnState.Conn == false {
|
||||
data = 0x00
|
||||
}
|
||||
train_pc_sim.Default().CreateOrRemoveTrain(train_pc_sim.RECIVE_TRAIN_CREATE_REMOVE, []byte{data})
|
||||
train_pc_sim.Default().CreateOrRemoveSpeedPLace(train)
|
||||
}
|
||||
|
||||
// 门模式
|
||||
func (s *VerifySimulation) TrainDoorModeHandle(state byte) {
|
||||
train := s.findConnTrain(state_proto.TrainConnState_PC_SIM)
|
||||
if train == nil {
|
||||
slog.Error("车载pc仿真门模式，未找到连接车载pc仿真的列车")
|
||||
return
|
||||
}
|
||||
/*func TrainDoorModeHandle(train *state_proto.TrainState) {
|
||||
if !train.ConnState.Conn {
|
||||
slog.Error("车载pc仿真门模式,列车未连接车载pc仿真")
|
||||
return
|
||||
@ -410,7 +403,7 @@ func (s *VerifySimulation) TrainDoorModeHandle(state byte) {
|
||||
//0x02表示人开人关（MM）
|
||||
train.VobcState.DoorModeMM = true
|
||||
}
|
||||
}
|
||||
}*/
|
||||
|
||||
// 4.4.3. 车载输出模拟量信息报文内容(0x03)
|
||||
func (s *VerifySimulation) TrainPcSimMockInfo(data []byte) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user