列车折返rm模式调整

# Conflicts:
#	rts-sim-module

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/config.go

@@ -161,11 +161,15 @@ type VehiclePCSimConfig2 struct {
 }
 
 type VehiclePCSimConfig struct {
+	Open bool `json:"open" description:"是否开启"`
 	//TrainEnds bool   `json:"trainEnds" description:"列车端点A?"`
 	ConfigName string `json:"configName" description:"连接名称"`
-	Open       bool   `json:"open" description:"是否开启"`
+	OpenA      bool   `json:"openA" description:"是否开启A端"`
-	PcSimIp    string `json:"pcSimIp" description:"pc仿真平台通信ip"`
+	APcSimIp   string `json:"apcSimIp" description:"pc仿真平台通信ip A端"`
-	PcSimPort  uint32 `json:"pcSimPort" description:"pc仿真平台通信端口"`
+	APcSimPort uint32 `json:"apcSimPort" description:"pc仿真平台通信端口A端"`
+	OpenB      bool   `json:"openB" description:"是否开启B端"`
+	BPcSimIp   string `json:"bpcSimIp" description:"pc仿真平台通信ip B端"`
+	BPcSimPort uint32 `json:"bpcSimPort" description:"pc仿真平台通信端口B端"`
 	//LocalTestingPort uint32 `json:"localTestingPort" description:"本地测试端口"`
 }
 

message_server/sfp_ms.go

@@ -528,7 +528,7 @@ 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,
 	}
 	convertDynamicConfig(v.TrainDynamicConfig, t.TrainDynamicConfig)

rts-sim-module

@@ -1 +1 @@
-Subproject commit a94fdb12f720a5d9bbf57b1916e8ba5990130e6e
+Subproject commit ef7ff5459cde3eced121d1908b192ee586a47c97

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 7629f290ea612d4ce368c40d4cf793dffc4b21ec
+Subproject commit 76a91b6495fc3a6b725b4ff3ba003423e3efb38e

service/projectRunConfig.go

@@ -45,7 +45,7 @@ func checkRunConfig(jsonConfigStr string) *sys_error.BusinessError {
 	checkSameMap := make(map[string]bool)
 	for _, simConfig := range configMap.PcSimConfigs {
 		if simConfig.ConfigName == "" || len(strings.TrimSpace(simConfig.ConfigName)) == 0 {
-			return sys_error.New(fmt.Sprintf("车载运行配置名称不能为空 配置ip:%v,端口%v", simConfig.PcSimIp, simConfig.PcSimPort), err)
+			return sys_error.New(fmt.Sprintf("车载运行配置名称不能为空 "), err)
 		}
 		if checkSameMap[simConfig.ConfigName] {
 			return sys_error.New(fmt.Sprintf("车载运行配置重复的名称:%v", simConfig.ConfigName), err)

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)
+	HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainState, 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 (
@@ -120,7 +84,7 @@ func Default() BtmCanetClient {
 	}
 	return btmClient
 }
-func (s *btmCanetClient) HandleTrainHeadPositionInfoForTrain(w ecs.World, btmCache *state_proto.TrainBtmCache, h *TrainHeadPositionInfo) {
+func (s *btmCanetClient) HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainState, h *TrainHeadPositionInfo) {
 	wd := entity.GetWorldData(w)
 	repo := wd.Repo
 	h2 := &TrainHeadPositionInfo{
@@ -130,16 +94,23 @@ 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, train.BtmBaliseCacheA, h.IsLine12, false, "11")
-	//s.baliseDetector.detect2(wd, repo, h, h2, vobcBtm)
+	h.Up = h.TailUp
+	h.Link = h.TailLink
+	h.LinkOffset = h.TailLinkOffset
+	h2.Up = h.TailUp
+	h2.Link = h.OldTailLink
+	h2.LinkOffset = h.OldTailLinkOffset
+	s.baliseDetector.newDetect(wd, repo, h, h2, train.BtmBaliseCacheB, h.IsLine12, false, "222")
+
 }
 
 // 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, show bool, id string) {
 	//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 +102,21 @@ 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) {
+		/*if show {
-			//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))
+			slog.Info(fmt.Sprintf("%v  --------------------id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", id, balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
+		}*/
+		if AddNewExpectedBalise(balise, btmCache, telegram, utel, isLine12) {
+			if show {
+				slog.Info(fmt.Sprintf("%v  +++++++++++++id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", id, 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 +128,9 @@ 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 +146,6 @@ 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]
@@ -182,12 +164,15 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
 	}
 }
 
-func BaliseCounterAdd(counter uint32) byte {
+func BaliseCounterAdd(counter uint32, isLine12 bool) byte {
 	c := byte(counter)
 	c++
 	if c > 255 {
+		c = 1
+		if isLine12 {
 			c = 0
 		}
+	}
 	return c
 }
 
@@ -202,7 +187,7 @@ func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) (
 			if !workedState.Work {
 				return fixBalise.Telegram, fixBalise.UserTelegram
 			} else if baliseVar.UserTelegram == nil || len(baliseVar.UserTelegram) == 0 {
-				slog.Warn(fmt.Sprintf("BTM天线未接受到应答器可变报文，即将使用对应的固定报文, baliseId: %v", baliseId))
+				//slog.Warn(fmt.Sprintf("BTM天线未接受到应答器可变报文，即将使用对应的固定报文, baliseId: %v", baliseId))
 				return fixBalise.Telegram, fixBalise.UserTelegram
 			} else {
 				return baliseVar.Telegram, baliseVar.UserTelegram
@@ -210,51 +195,13 @@ func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) (
 		} else if workedState.Work {
 			return fixBalise.Telegram, fixBalise.UserTelegram
 		} else {
-			slog.Warn(fmt.Sprintf("BTM天线未接受到应答器报文，应答器未工作 baliseId: %v", baliseId))
+			//slog.Warn(fmt.Sprintf("BTM天线未接受到应答器报文，应答器未工作 baliseId: %v", baliseId))
 		}
 	} else {
-		slog.Warn(fmt.Sprintf("BTM天线接收应答器报文，未找到 baliseId: %v", baliseId))
+		//slog.Warn(fmt.Sprintf("BTM天线接收应答器报文，未找到 baliseId: %v", baliseId))
 	}
 	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(cache *state_proto.TrainBtmCache, isLine12 bool) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	for _, balise := range cache.BaliseList {
+		if balise != nil && balise.BaliseId == cache.ResendBaliseId && balise.ResendCount < 3 {
+			balise.ResendCount++
+			ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+			cache.Dsn = uint32(ndsn)
+			return balise, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+	return nil, ndsn, 0, 0
+}
+
+func FindBaliseByNotSend(cache *state_proto.TrainBtmCache, isLine12 bool) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil && !btmCache.IsSend {
+			ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+			cache.Dsn = uint32(ndsn)
+			cache.ResendBaliseId = btmCache.BaliseId
+			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+	return nil, ndsn, 0, 0
+}
+func ClearBalise(train *state_proto.TrainState) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	train.BtmBaliseCacheA.BaliseList = make([]*state_proto.BTMState, 3)
+	train.BtmBaliseCacheB.BaliseList = make([]*state_proto.BTMState, 3)
+}
+
+// 11号线根据序列号查询
+func FindBaliseByMessageSerial(cache *state_proto.TrainBtmCache, isLine12 bool, ms byte) (*state_proto.BTMState, byte, bool) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil {
+			if btmCache.BaliseId == cache.ResendBaliseId {
+				if byte(btmCache.PackageDataSN) == ms {
+					bt, dsn, _, _ := FindBaliseByNotSend(cache, isLine12)
+					return bt, dsn, true
+				} else {
+					ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+					cache.Dsn = uint32(ndsn)
+					return btmCache, ndsn, false
+				}
+			}
+		}
+	}
+
+	bt, dsn, _, _ := FindBaliseByNotSend(cache, isLine12)
+	return bt, dsn, true
+
+}

third_party/interlock/beijing11/msg.go

@@ -2,6 +2,7 @@ package beijing11
 
 import (
 	"encoding/binary"
+	"github.com/snksoft/crc"
 )
 
 const ( //不知道对不对，问也不回，先瞎写吧
@@ -10,11 +11,12 @@ const ( //不知道对不对，问也不回，先瞎写吧
 )
 
 const (
-	SignalAspect_No = 0x01 //灭灯
+	SignalAspect_No = 0x99 //灭灯，这个值目前未知，先用一个应该没被使用的值占位
-	SignalAspect_H  = 0x02 //红灯
+	SignalAspect_H  = 0x01 //红灯
-	SignalAspect_L  = 0x03 //绿灯
+	SignalAspect_L  = 0x04 //绿灯
-	SignalAspect_U  = 0x04 //黄灯
+	SignalAspect_U  = 0x02 //黄灯
-	SignalAspect_HU = 0x05 //红黄
+	SignalAspect_HU = 0x03 //红黄
+	SignalAspect_B  = 0x08 //白灯
 )
 
 func GetStateByte(state bool) byte {
@@ -265,10 +267,12 @@ func (t *ToInterlockFrame) encode() []byte {
 	for _, state := range t.SPKSStates {
 		data = state.encode(data)
 	}
-	////车库门，数量0
+	//填充字节
-	//data = binary.BigEndian.AppendUint16(data, 0)
+	fillSlice := make([]byte, 19)
-	//CRC32，不校验，随便填
+	fillSlice[2] = 1
-	data = append(data, 0xff, 0xff, 0xff, 0xff)
+	data = append(data, fillSlice...)
+	//CRC32
+	data = binary.BigEndian.AppendUint32(data, crc32(data[3:]))
 	//填充报文长度
 	binary.BigEndian.PutUint16(data[1:3], uint16(len(data)-7))
 	return data
@@ -387,3 +391,9 @@ type XcjState struct {
 	BackConfirm     byte   //返回确认状态
 	BackMode        byte   //模式
 }
+
+var crcHash = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x4c11db7, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0})
+
+func crc32(data []byte) uint32 {
+	return uint32(crcHash.CalculateCRC(data))
+}

third_party/interlock/beijing11/msg_test.go

@@ -3,41 +3,25 @@ package beijing11
 import (
 	"encoding/binary"
 	"encoding/hex"
-	"encoding/json"
 	"fmt"
 	"joylink.club/bj-rtsts-server/util/myreader"
 	"testing"
 )
 
 func TestFromInterlockFrame_Decode(t *testing.T) {
-	str := "82009a3c0163010006000100000200000300000600000700000800000200010000050000020001aaaa0005aaaa00000008000401000501000601000701001801001901001a01001b010010000480000580000680000780000800000900000a00001d00001e00001f000020000021000022000023000024000025000000000000040001aaaa0002aaaa0003aaaa0004aaaa00000000000000000000000040ace569"
+	str := "58bea4c65e0e583f5bdedc310800450000bd030c0000801100003d0b0a0d3d0b7814413c40d800a9fcf182009a3c016301000600010000020000030000060000070000080000020001000005aa00020001aaaa0005aaaa00000008000401000501000601000701001801001901001a01001b010010000400000500000600000700000800000900000a00001d00001e00001f000020000021000022000023000024000025000000000000040001aaaa0002aaaa0003aaaa0004aaaa0000000000000000000000004c428d88"
 	data, err := hex.DecodeString(str)
 	if err != nil {
 		t.Fatal(err)
 	}
-	frame := &FromInterlockFrame{}
+	if data[0] != 0x82 {
-	err = frame.Decode(data)
+		data = data[42:] //去掉wireshark抓包携带的额外字节
-	if err != nil {
-		t.Fatal(err)
-	}
-	marshal, err := json.Marshal(frame)
-	if err != nil {
-		t.Fatal(err)
-	}
-	fmt.Println(string(marshal))
-}
-
-func TestToInterlockFrame_Decode(t *testing.T) {
-	str := "83009663013c0100060001010002010003010006010007010008010002000155ffaaaaaa000555ffaaaaaa00020001aaaa0005aaaa00000008000401000501000601000701001801001901001a01001b010010000440000540000640000740000840000940000a40001d40001e40001f40002040002140002240002340002440002540000000000004000155aa000255aa000355aa000455aaffffffff"
-	data, err := hex.DecodeString(str)
-	if err != nil {
-		t.Fatal(err)
 	}
 	reader := myreader.NewReader(data)
-	fmt.Printf("%x【报文类型】\t\n", reader.ReadByte())
+	fmt.Printf("%x\t【报文类型】\n", reader.ReadByte())
-	fmt.Printf("%x【报文长度】\t\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【报文长度】\n", reader.ReadBytes(2))
-	fmt.Printf("%x【轨旁编号】\t\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【联锁编号】\n", reader.ReadBytes(2))
-	fmt.Printf("%x【联锁编号】\t\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【轨旁编号】\n", reader.ReadBytes(2))
 	{ //道岔
 		deviceNum := reader.ReadBytes(2)
 		fmt.Printf("%x\t", deviceNum)
@@ -50,7 +34,110 @@ func TestToInterlockFrame_Decode(t *testing.T) {
 		deviceNum := reader.ReadBytes(2)
 		fmt.Printf("%x\t", deviceNum)
 		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
-			fmt.Printf("%x ", reader.ReadBytes(8))
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【屏蔽门】")
+	}
+	{ //紧急停车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【紧急停车按钮】")
+	}
+	{ //扣车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【扣车按钮】")
+	}
+	{ //信号机
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【信号机】")
+	}
+	{ //计轴区段
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【计轴区段】")
+	}
+	{ //无人折返
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【无人折返】")
+	}
+	{ //防淹门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【防淹门】")
+	}
+	{ //SPKS
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【SPKS】")
+	}
+	{ //车库门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【车库门】")
+	}
+	{ //预留
+		deviceNum := reader.ReadBytes(10)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【预留】")
+	}
+	//CRC32
+	fmt.Printf("%x【CRC32】\n", reader.ReadBytes(4))
+	//{ //json
+	//	frame := &FromInterlockFrame{}
+	//	err = frame.Decode(data)
+	//	if err != nil {
+	//		t.Fatal(err)
+	//	}
+	//	marshal, err := json.Marshal(frame)
+	//	if err != nil {
+	//		t.Fatal(err)
+	//	}
+	//	fmt.Println(string(marshal))
+	//}
+}
+
+func TestToInterlockFrame_Decode(t *testing.T) {
+	str := "583f5bdedc3158bea4c65e0e0800450000f6dfe9400040115dd63d0b78143d0b0a0dd341413c00e2e8c88300d363013c0100060001010002010003010006010007010008010002000102eeaaaaaa000502eeaaaaaa00020001aa000005aa0000000011000101000201000301000401000501000601000701001501001601001701001801001901001a01001b01002901002a01002c010015000100000200000300000400000500000600000700000800000900000a00001b00001c00001d00001e00001f000020000021000022000023000024000025000000000000040001aaff0002aaff0003aaff0004aaff00000100000000000000000000000000000000f38414ee"
+	data, err := hex.DecodeString(str)
+	if err != nil {
+		t.Fatal(err)
+	}
+	if data[0] != 0x83 {
+		data = data[42:] //去掉wireshark抓包携带的额外字节
+	}
+	reader := myreader.NewReader(data)
+	fmt.Printf("%x\t【报文类型】\n", reader.ReadByte())
+	fmt.Printf("%x\t【报文长度】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【轨旁编号】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【联锁编号】\n", reader.ReadBytes(2))
+	{ //道岔
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【道岔】")
+	}
+	{ //屏蔽门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(7))
 		}
 		fmt.Println("【屏蔽门】")
 	}
@@ -102,5 +189,5 @@ func TestToInterlockFrame_Decode(t *testing.T) {
 		fmt.Println("【SPKS】")
 	}
 	//CRC32
-	fmt.Printf("%x【CRC32】", reader.ReadBytes(4))
+	fmt.Printf("%x【CRC32】\n", reader.ReadBytes(reader.Len()))
 }

third_party/interlock/beijing11/service.go

@@ -10,8 +10,10 @@ import (
 	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/entity"
+	"joylink.club/rtsssimulation/fi"
 	"log/slog"
 	"math"
+	"net"
 	"runtime/debug"
 	"sort"
 	"sync"
@@ -32,12 +34,11 @@ var (
 
 type serviceContext struct {
 	cancelFunc  context.CancelFunc       //用来结束各个协程的函数
-	client        udp.UdpClient            //向联锁发送数据的客户端
+	ioAddr      *net.UDPAddr             //向联锁发送数据的客户端
-	server        udp.UdpServer            //接收联锁数据的服务端
+	server      udp.UdpServer            //接收联锁数据的服务端（同时也是向联锁发送数据的udp客户端）
 	sim         *memory.VerifySimulation //启动服务所使用的仿真
 	iConfig     config.InterlockConfig   //启动服务使用的联锁配置
 	deviceTable *StationDeviceIndexTable //联锁站的设备ID表，key-车站名
-	driveMsgSlice []*FromInterlockFrame    //驱动消息切片
 }
 
 func Start(interlockConfig config.InterlockConfig, simulation *memory.VerifySimulation) {
@@ -55,13 +56,16 @@ func Start(interlockConfig config.InterlockConfig, simulation *memory.VerifySimu
 	if serviceCtx != nil {
 		panic(fmt.Sprintf("%s重复启动联锁站[%s]通信服务", logTag, interlockConfig.Code))
 	}
-	//UDP客户端
+	//仿真IO地址
-	client := udp.NewClient(fmt.Sprintf("%s:%d", interlockConfig.Ip, interlockConfig.RemotePort))
+	ioAddr, err := net.ResolveUDPAddr("udp", fmt.Sprintf("%s:%d", interlockConfig.Ip, interlockConfig.RemotePort))
+	if err != nil {
+		panic(fmt.Sprintf("%s解析IP地址出错：%s", logTag, err))
+	}
 
 	ctx, cancelFunc := context.WithCancel(context.Background())
 	serviceCtx = &serviceContext{
 		cancelFunc:  cancelFunc,
-		client:      client,
+		ioAddr:      ioAddr,
 		sim:         simulation,
 		iConfig:     interlockConfig,
 		deviceTable: table,
@@ -69,7 +73,7 @@ func Start(interlockConfig config.InterlockConfig, simulation *memory.VerifySimu
 	//UDP服务端
 	server := udp.NewServer(fmt.Sprintf(":%d", interlockConfig.LocalPort), serviceCtx.handleDriveMsg)
 	serviceCtx.server = server
-	err := server.Listen()
+	err = server.Listen()
 	if err != nil {
 		panic(fmt.Sprintf("%s启动UDP服务失败：%s", logTag, err))
 	}
@@ -86,201 +90,220 @@ func (s *serviceContext) handleDriveMsg(data []byte) {
 		logger().Error("解析数据出错", "error", err)
 		return
 	}
-	if len(s.driveMsgSlice) < 2 {
-		if frame.InterlockCode == 0x3c01 || frame.InterlockCode == 0x3c02 {
-			s.driveMsgSlice = append(s.driveMsgSlice, frame)
-		}
-	}
 
-	//wd := entity.GetWorldData(s.sim.World)
+	wd := entity.GetWorldData(s.sim.World)
-	////for _, cmd := range frame.TurnoutData.CmdList {
+	for _, cmd := range frame.TurnoutData.CmdList {
-	////	uid := s.deviceTable.TurnoutMap[cmd.Id].uid
+		uid := s.deviceTable.TurnoutMap[cmd.Id].uid
-	////}
+		if cmd.Cmd == 0x55 {
-	//for _, cmd := range frame.PSDData.CmdList {
+			err = fi.DriveTurnoutDCOn(s.sim.World, uid)
-	//	row := s.deviceTable.PsdMap[cmd.Id]
+		} else if cmd.Cmd == 0xaa {
-	//	entry := wd.EntityMap[row.uid]
+			err = fi.DriveTurnoutFCOn(s.sim.World, uid)
-	//	circuit := component.PsdCircuitType.Get(entry)
+		} else {
-	//	switch cmd.Cmd {
+			err = fi.DriveTurnoutDCOff(s.sim.World, uid)
-	//	case 0xAA: //短编组开门
+		}
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[S]]).Td = true
+		if err != nil {
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[L]]).Td = false
+			logger().Error("驱动道岔出错", "error", err)
-	//		component.RelayDriveType.Get(circuit.GMJ).Td = false
+		}
-	//	case 0xBB: //长编组开门
+	}
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[S]]).Td = false
+	for _, cmd := range frame.PSDData.CmdList {
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[L]]).Td = true
+		row := s.deviceTable.PsdMap[cmd.Id]
-	//		component.RelayDriveType.Get(circuit.GMJ).Td = false
+		entry := wd.EntityMap[row.uid]
-	//	case 0x55:
+		circuit := component.PsdCircuitType.Get(entry)
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[S]]).Td = false
+		logger().Info(fmt.Sprintf("屏蔽门命令：%x", cmd.Cmd))
-	//		component.RelayDriveType.Get(wd.EntityMap[row.relateDeviceMap[L]]).Td = false
+		switch cmd.Cmd {
-	//		component.RelayDriveType.Get(circuit.GMJ).Td = true
+		case 0xAA: //短编组开门
-	//	}
+			wd.SetQdBit(row.relateDeviceMap[S], true)
-	//}
+			wd.SetQdBit(row.relateDeviceMap[L], false)
-	//for _, cmd := range frame.ESBData.CmdList {
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, false)
-	//	uid := s.deviceTable.EsbMap[cmd.Id].uid
+		case 0xBB: //长编组开门
-	//	esb := s.sim.Repo.FindEsb(uid)
+			wd.SetQdBit(row.relateDeviceMap[S], false)
-	//	if cmd.JjtcplCmd == ON {
+			wd.SetQdBit(row.relateDeviceMap[L], true)
-	//		err := fi.DriveRelayUp(s.sim.World, esb.RelayId())
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, false)
-	//		if err != nil {
+		case 0x55: //关门
-	//			logger().Error("驱动ESB出错", "error", err)
+			wd.SetQdBit(row.relateDeviceMap[S], false)
-	//		}
+			wd.SetQdBit(row.relateDeviceMap[L], false)
-	//		continue
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, true)
-	//	}
+		}
-	//	if cmd.JjtcCmd == ON {
+	}
-	//		err := fi.DriveRelayDown(s.sim.World, esb.RelayId())
+	for _, cmd := range frame.ESBData.CmdList {
-	//		if err != nil {
+		uid := s.deviceTable.EsbMap[cmd.Id].uid
-	//			logger().Error("驱动ESB出错", "error", err)
+		esb := s.sim.Repo.FindEsb(uid)
-	//		}
+		if cmd.JjtcplCmd == 0x55 {
-	//	} else {
+			err = fi.PressDownButton(s.sim.World, esb.PlaId())
-	//		err := fi.DriveRelayUp(s.sim.World, esb.RelayId())
+			if err != nil {
-	//		if err != nil {
+				logger().Error("驱动ESB出错", "error", err)
-	//			logger().Error("驱动ESB出错", "error", err)
+			}
-	//		}
+			continue
-	//	}
+		} else {
-	//}
+			err = fi.PressUpButton(s.sim.World, esb.PlaId())
-	//for _, cmd := range frame.SignalData.CmdList {
+			if err != nil {
-	//	uid := s.deviceTable.SignalMap[cmd.Id].uid
+				logger().Error("驱动ESB出错", "error", err)
-	//	entry := wd.EntityMap[uid]
+			}
-	//	if entry.HasComponent(component.Signal2XH1ElectronicType) { // 2XH1信号机
+		}
-	//		signal2XH1 := component.Signal2XH1ElectronicType.Get(entry)
+		if cmd.JjtcCmd == 0x55 {
-	//		switch cmd.Cmd {
+			err := fi.DriveRelayDown(s.sim.World, esb.RelayId())
-	//		case SignalAspect_No:
+			if err != nil {
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_DDJ).Td = true
+				logger().Error("驱动ESB出错", "error", err)
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_LXJ).Td = false
+			}
-	//		case SignalAspect_H:
+		} else {
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_DDJ).Td = false
+			err := fi.DriveRelayUp(s.sim.World, esb.RelayId())
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_LXJ).Td = false
+			if err != nil {
-	//		case SignalAspect_L:
+				logger().Error("驱动ESB出错", "error", err)
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_DDJ).Td = false
+			}
-	//			component.RelayDriveType.Get(signal2XH1.Z2XH1_LXJ).Td = true
+		}
-	//		default:
+	}
-	//			logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
+	for _, cmd := range frame.SignalData.CmdList {
-	//		}
+		uid := s.deviceTable.SignalMap[cmd.Id].uid
-	//	} else if entry.HasComponent(component.Signal3XH1ElectronicType) { // 3XH1信号机
+		entry := wd.EntityMap[uid]
-	//		signal3XH1 := component.Signal3XH1ElectronicType.Get(entry)
+		if entry.HasComponent(component.Signal2XH1ElectronicType) { // 2XH1信号机
-	//		switch cmd.Cmd {
+			signal2XH1 := component.Signal2XH1ElectronicType.Get(entry)
-	//		case SignalAspect_No:
+			switch cmd.Cmd {
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_DDJ).Td = true
+			case SignalAspect_No:
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_LXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_YXJ).Td = false
+			case SignalAspect_H:
-	//		case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_LXJ).Td = false
+			case SignalAspect_L:
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, true)
-	//		case SignalAspect_L:
+			default:
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_DDJ).Td = false
+				logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_LXJ).Td = true
+			}
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_ZXJ).Td = true
+		} else if entry.HasComponent(component.Signal3XH1ElectronicType) { // 3XH1信号机
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_YXJ).Td = false
+			signal3XH1 := component.Signal3XH1ElectronicType.Get(entry)
-	//		case SignalAspect_U:
+			switch cmd.Cmd {
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_DDJ).Td = false
+			case SignalAspect_No:
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_LXJ).Td = true
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
-	//		case SignalAspect_HU:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_DDJ).Td = false
+			case SignalAspect_H:
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_LXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH1.Z3XH1_YXJ).Td = true
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
-	//		default:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
-	//			logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
+			case SignalAspect_L:
-	//		}
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
-	//	} else if entry.HasComponent(component.Signal3XH2ElectronicType) { // 3XH2信号机
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, true)
-	//		signal3XH2 := component.Signal3XH2ElectronicType.Get(entry)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, true)
-	//		switch cmd.Cmd {
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
-	//		case SignalAspect_No:
+			case SignalAspect_U:
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_DDJ).Td = true
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_LXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
-	//		case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_DDJ).Td = false
+			case SignalAspect_HU:
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_LXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
-	//		case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_LXJ).Td = true
+			default:
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_YXJ).Td = false
+				logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
-	//		case SignalAspect_HU:
+			}
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_DDJ).Td = false
+		} else if entry.HasComponent(component.Signal3XH2ElectronicType) { // 3XH2信号机
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_LXJ).Td = false
+			signal3XH2 := component.Signal3XH2ElectronicType.Get(entry)
-	//			component.RelayDriveType.Get(signal3XH2.Z3XH2_YXJ).Td = true
+			switch cmd.Cmd {
-	//		default:
+			case SignalAspect_No:
-	//			logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, true)
-	//		}
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
-	//	} else if entry.HasComponent(component.Signal3XH3ElectronicType) { // 3XH3信号机
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
-	//		signal3XH3 := component.Signal3XH3ElectronicType.Get(entry)
+			case SignalAspect_H:
-	//		switch cmd.Cmd {
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
-	//		case SignalAspect_No:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_DDJ).Td = true
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_LXJ).Td = false
+			case SignalAspect_L:
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
-	//		case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_LXJ).Td = false
+			case SignalAspect_HU:
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_YXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
-	//		case SignalAspect_U:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_LXJ).Td = true
+			default:
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_YXJ).Td = false
+				logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
-	//		case SignalAspect_HU:
+			}
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_DDJ).Td = false
+		} else if entry.HasComponent(component.Signal3XH3ElectronicType) { // 3XH3信号机
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_LXJ).Td = false
+			signal3XH3 := component.Signal3XH3ElectronicType.Get(entry)
-	//			component.RelayDriveType.Get(signal3XH3.Z3XH3_YXJ).Td = true
+			switch cmd.Cmd {
-	//		default:
+			case SignalAspect_No:
-	//			logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, true)
-	//		}
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
-	//	} else if entry.HasComponent(component.Signal3XH4ElectronicType) { // 3XH4信号机
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
-	//		signal3XH4 := component.Signal3XH4ElectronicType.Get(entry)
+			case SignalAspect_H:
-	//		switch cmd.Cmd {
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
-	//		case SignalAspect_No:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_DDJ).Td = true
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_LXJ).Td = false
+			case SignalAspect_U:
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
-	//		case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_LXJ).Td = false
+			case SignalAspect_HU:
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_ZXJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
-	//		case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_DDJ).Td = false
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, true)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_LXJ).Td = true
+			default:
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_ZXJ).Td = true
+				logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
-	//		case SignalAspect_U:
+			}
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_DDJ).Td = false
+		} else if entry.HasComponent(component.Signal3XH4ElectronicType) { // 3XH4信号机
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_LXJ).Td = true
+			signal3XH4 := component.Signal3XH4ElectronicType.Get(entry)
-	//			component.RelayDriveType.Get(signal3XH4.Z3XH4_ZXJ).Td = false
+			switch cmd.Cmd {
-	//		default:
+			case SignalAspect_No:
-	//			logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, true)
-	//		}
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, false)
-	//	} else {
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
-	//		logger().Error(fmt.Sprintf("信号机[%s]的型号未知", uid))
+			case SignalAspect_H:
-	//	}
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
-	//}
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, false)
-	//for _, cmd := range frame.AxleSectionData.CmdList {
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
-	//	if cmd.Cmd == 0x80 {
+			case SignalAspect_L:
-	//		uid := s.deviceTable.AxleSectionMap[cmd.Id].uid
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
-	//		physicalSectionUid := s.sim.Repo.FindAxleCountingSection(uid).PhysicalSection().Id()
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, true)
-	//		_, err := fi.PhysicalSectionDrstDrive(s.sim.World, physicalSectionUid)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, true)
-	//		if err != nil {
+			case SignalAspect_U:
-	//			logger().Error(fmt.Sprintf("计轴区段[%s]复位出错：%s", uid, err))
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
-	//		}
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, true)
-	//	}
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
-	//}
+			default:
-	////for _, cmd := range frame.SPKSData.CmdList {
+				logger().Error(fmt.Sprintf("信号机[%s]无法开放[%x]信号", uid, cmd.Cmd))
-	////	uid := s.deviceTable.SpksMap[cmd.Id].uid
+			}
-	////}
+		} else {
+			logger().Error(fmt.Sprintf("信号机[%s]的型号未知", uid))
+		}
+	}
+	for _, cmd := range frame.AxleSectionData.CmdList {
+		if cmd.Cmd == 0x80 {
+			uid := s.deviceTable.AxleSectionMap[cmd.Id].uid
+			physicalSectionUid := s.sim.Repo.FindAxleCountingSection(uid).PhysicalSection().Id()
+			_, err := fi.PhysicalSectionDrstDrive(s.sim.World, physicalSectionUid)
+			if err != nil {
+				logger().Error(fmt.Sprintf("计轴区段[%s]复位出错：%s", uid, err))
+			}
+		}
+	}
+	for _, cmd := range frame.SPKSData.CmdList {
+		uid := s.deviceTable.SpksMap[cmd.Id].uid
+		spks := s.sim.Repo.FindSpks(uid)
+		if cmd.SPKSPLCmd == 0x55 {
+			err = fi.PressDownButton(s.sim.World, spks.PlaId())
+		} else {
+			err = fi.PressUpButton(s.sim.World, spks.PlaId())
+		}
+		if cmd.SPKSCmd == 0x55 {
+			err = fi.DriveRelayDown(s.sim.World, spks.Relay())
+		} else {
+			err = fi.DriveRelayUp(s.sim.World, spks.Relay())
+		}
+	}
 }
 
 func Stop(stationCode string) {
 	mu.Lock()
 	defer mu.Unlock()
-	context := serviceContextMap[stationCode]
+	serviceContext := serviceContextMap[stationCode]
-	if context != nil {
+	if serviceContext != nil {
-		if context.client != nil {
+		if serviceContext.server != nil {
-			context.client.Close()
+			serviceContext.server.Close()
-		}
-		if context.server != nil {
-			context.server.Close()
 		}
 		delete(serviceContextMap, stationCode)
 	}
@@ -459,41 +482,32 @@ func (s *serviceContext) runCollectTask(ctx context.Context) {
 			case <-ctx.Done():
 				return
 			default:
-				for _, driveMsg := range s.driveMsgSlice {
+				frame := s.collectDeviceState()
-					frame := s.collectDeviceState(driveMsg)
 				data := frame.encode()
-					err := s.client.Send(data)
+				_, err := s.server.WriteToUdp(data, s.ioAddr)
 				if err != nil {
 					logger().Error("向联锁发送数据失败", "error", err)
 				} else {
 					logger().Info(fmt.Sprintf("向联锁发送数据：%x", data))
 				}
 			}
-
-				//frame := s.collectDeviceState()
-				//data := frame.encode()
-				//err := s.client.Send(data)
-				//if err != nil {
-				//	logger().Error("向联锁发送数据失败", "error", err)
-				//} else {
-				//	logger().Info(fmt.Sprintf("向联锁发送数据：%x", data))
-				//}
-			}
 		}
 	}()
 }
 
-func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterlockFrame {
+func (s *serviceContext) collectDeviceState() *ToInterlockFrame {
 	wd := entity.GetWorldData(s.sim.World)
 	frame := &ToInterlockFrame{}
 	frame.WaysideCode = waysideCode
-	frame.InterlockCode = msg.InterlockCode
+	frame.InterlockCode = s.deviceTable.InterlockCode
 	//道岔
-	for _, cmd := range msg.TurnoutData.CmdList {
+	for _, row := range s.deviceTable.TurnoutMap {
-		row := s.deviceTable.TurnoutMap[cmd.Id]
 		entry := wd.EntityMap[row.uid]
 		tp := component.TurnoutPositionType.Get(entry)
 		var stateByte byte
+		if entry.HasComponent(component.TurnoutFaultCiqdType) {
+			stateByte = 0xff
+		} else {
 			if tp.Dw {
 				stateByte = 0x01
 			} else if tp.Fw {
@@ -501,6 +515,7 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 			} else {
 				stateByte = 0x08
 			}
+		}
 		frame.TurnoutStates = append(frame.TurnoutStates, &TurnoutState{
 			Id:    row.index,
 			State: stateByte,
@@ -510,8 +525,7 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 		return frame.TurnoutStates[i].Id < frame.TurnoutStates[j].Id
 	})
 	//屏蔽门
-	for _, cmd := range msg.PSDData.CmdList {
+	for _, row := range s.deviceTable.PsdMap {
-		row := s.deviceTable.PsdMap[cmd.Id]
 		entry := wd.EntityMap[row.uid]
 		psdState := component.PsdStateType.Get(entry)
 		mkxBytes := make([]byte, 0, 3)
@@ -521,10 +535,22 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 			}
 			mkxBytes = append(mkxBytes, GetStateByte(component.BitStateType.Get(wd.EntityMap[mkxRelayUid]).Val))
 		}
+		var state byte
+		if psdState.Close {
+			state = 0x02
+		} else {
+			state = 0x01
+		}
+		var hsjc byte
+		if psdState.InterlockRelease {
+			hsjc = 0xff
+		} else {
+			hsjc = 0xee
+		}
 		frame.PsdStates = append(frame.PsdStates, &PSDState{
 			Id:    row.index,
-			State: GetStateByte(psdState.Close),
+			State: state,
-			Hsjc:  0xff,
+			Hsjc:  hsjc,
 			PCB:   mkxBytes[0],
 			POB:   mkxBytes[1],
 			DPB:   mkxBytes[2],
@@ -534,8 +560,7 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 		return frame.PsdStates[i].Id < frame.PsdStates[j].Id
 	})
 	//紧急停车
-	for _, cmd := range msg.ESBData.CmdList {
+	for _, row := range s.deviceTable.EsbMap {
-		row := s.deviceTable.EsbMap[cmd.Id]
 		esb := s.sim.Repo.FindEsb(row.uid)
 		relay := wd.EntityMap[esb.RelayId()]
 		pla := wd.EntityMap[esb.PlaId()]
@@ -543,14 +568,14 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 			Id:      row.index,
 			State:   GetStateByte(!component.BitStateType.Get(relay).Val),
 			PlState: GetStateByte(component.BitStateType.Get(pla).Val),
+			//PlState: 0x00,
 		})
 	}
 	sort.Slice(frame.ESBStates, func(i, j int) bool {
 		return frame.ESBStates[i].Id < frame.ESBStates[j].Id
 	})
 	//信号机
-	for _, cmd := range msg.SignalData.CmdList {
+	for _, row := range s.deviceTable.SignalMap {
-		row := s.deviceTable.SignalMap[cmd.Id]
 		entry := wd.EntityMap[row.uid]
 		lights := component.SignalLightsType.Get(entry)
 		isL := false
@@ -598,11 +623,10 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 		return frame.SignalStates[i].Id < frame.SignalStates[j].Id
 	})
 	//计轴区段
-	for _, cmd := range msg.AxleSectionData.CmdList {
+	for _, row := range s.deviceTable.AxleSectionMap {
-		row := s.deviceTable.AxleSectionMap[cmd.Id]
 		entry := wd.EntityMap[row.uid]
 		sectionState := component.AxleCountingSectionStateType.Get(entry)
-		var stateByte byte = 0x40
+		var stateByte byte = 0x00
 		if sectionState.Occupied {
 			stateByte = 0x40
 		}
@@ -615,15 +639,15 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 		return frame.AxleSectionStates[i].Id < frame.AxleSectionStates[j].Id
 	})
 	//SPKS
-	for _, cmd := range msg.SPKSData.CmdList {
+	for _, row := range s.deviceTable.SpksMap {
-		row := s.deviceTable.SpksMap[cmd.Id]
 		spks := s.sim.Repo.FindSpks(row.uid)
 		relay := wd.EntityMap[spks.Relay()]
 		pla := wd.EntityMap[spks.PlaId()]
 		frame.SPKSStates = append(frame.SPKSStates, &SPKSState{
 			Id:      row.index,
-			State:   GetStateByte(component.BitStateType.Get(relay).Val),
+			State:   GetStateByte(!component.BitStateType.Get(relay).Val),
 			PlState: GetStateByte(component.BitStateType.Get(pla).Val),
+			//PlState: 0xff,
 		})
 	}
 	sort.Slice(frame.SPKSStates, func(i, j int) bool {
@@ -632,149 +656,6 @@ func (s *serviceContext) collectDeviceState(msg *FromInterlockFrame) *ToInterloc
 	return frame
 }
 
-//func (s *serviceContext) collectDeviceState() *ToInterlockFrame {
-//	wd := entity.GetWorldData(s.sim.World)
-//	frame := &ToInterlockFrame{}
-//	frame.WaysideCode = waysideCode
-//	frame.InterlockCode = s.deviceTable.InterlockCode
-//	//道岔
-//	for _, row := range s.deviceTable.TurnoutMap {
-//		entry := wd.EntityMap[row.uid]
-//		tp := component.TurnoutPositionType.Get(entry)
-//		var stateByte byte
-//		if tp.Dw {
-//			stateByte = 0x01
-//		} else if tp.Fw {
-//			stateByte = 0x02
-//		} else {
-//			stateByte = 0x08
-//		}
-//		frame.TurnoutStates = append(frame.TurnoutStates, &TurnoutState{
-//			Id:    row.index,
-//			State: stateByte,
-//		})
-//	}
-//	sort.Slice(frame.TurnoutStates, func(i, j int) bool {
-//		return frame.TurnoutStates[i].Id < frame.TurnoutStates[j].Id
-//	})
-//	//屏蔽门
-//	for _, row := range s.deviceTable.PsdMap {
-//		entry := wd.EntityMap[row.uid]
-//		psdState := component.PsdStateType.Get(entry)
-//		mkxBytes := make([]byte, 0, 3)
-//		for _, mkxRelayUid := range []string{row.relateDeviceMap[POB], row.relateDeviceMap[PCB], row.relateDeviceMap[DPB]} {
-//			if mkxRelayUid == "" {
-//				continue
-//			}
-//			mkxBytes = append(mkxBytes, GetStateByte(component.BitStateType.Get(wd.EntityMap[mkxRelayUid]).Val))
-//		}
-//		frame.PsdStates = append(frame.PsdStates, &PSDState{
-//			Id:    row.index,
-//			State: GetStateByte(psdState.Close),
-//			Hsjc:  0xff,
-//			PCB:   mkxBytes[0],
-//			POB:   mkxBytes[1],
-//			DPB:   mkxBytes[2],
-//		})
-//	}
-//	sort.Slice(frame.PsdStates, func(i, j int) bool {
-//		return frame.PsdStates[i].Id < frame.PsdStates[j].Id
-//	})
-//	//紧急停车
-//	for _, row := range s.deviceTable.EsbMap {
-//		esb := s.sim.Repo.FindEsb(row.uid)
-//		relay := wd.EntityMap[esb.RelayId()]
-//		pla := wd.EntityMap[esb.PlaId()]
-//		frame.ESBStates = append(frame.ESBStates, &ESBState{
-//			Id:      row.index,
-//			State:   GetStateByte(!component.BitStateType.Get(relay).Val),
-//			PlState: GetStateByte(component.BitStateType.Get(pla).Val),
-//		})
-//	}
-//	sort.Slice(frame.ESBStates, func(i, j int) bool {
-//		return frame.ESBStates[i].Id < frame.ESBStates[j].Id
-//	})
-//	//信号机
-//	for _, row := range s.deviceTable.SignalMap {
-//		entry := wd.EntityMap[row.uid]
-//		lights := component.SignalLightsType.Get(entry)
-//		isL := false
-//		isH := false
-//		isU := false
-//		isA := false
-//		isB := false
-//		for _, light := range lights.Lights {
-//			switch {
-//			case light.HasComponent(component.LdTag):
-//				isL = component.BitStateType.Get(light).Val
-//			case light.HasComponent(component.HdTag):
-//				isH = component.BitStateType.Get(light).Val
-//			case light.HasComponent(component.UdTag):
-//				isU = component.BitStateType.Get(light).Val
-//			case light.HasComponent(component.BdTag):
-//				isB = component.BitStateType.Get(light).Val
-//			case light.HasComponent(component.AdTag):
-//				isA = component.BitStateType.Get(light).Val
-//			}
-//		}
-//		var stateByte byte
-//		if isH && isU {
-//			stateByte = 0x03
-//		} else {
-//			switch {
-//			case isL:
-//				stateByte = 0x04
-//			case isH:
-//				stateByte = 0x01
-//			case isU:
-//				stateByte = 0x02
-//			case isB:
-//				stateByte = 0x08
-//			case isA:
-//				stateByte = 0x09
-//			}
-//		}
-//		frame.SignalStates = append(frame.SignalStates, &SignalState{
-//			Id:    row.index,
-//			State: stateByte,
-//		})
-//	}
-//	sort.Slice(frame.SignalStates, func(i, j int) bool {
-//		return frame.SignalStates[i].Id < frame.SignalStates[j].Id
-//	})
-//	//计轴区段
-//	for _, row := range s.deviceTable.AxleSectionMap {
-//		entry := wd.EntityMap[row.uid]
-//		sectionState := component.AxleCountingSectionStateType.Get(entry)
-//		var stateByte byte = 0x40
-//		if sectionState.Occupied {
-//			stateByte = 0x40
-//		}
-//		frame.AxleSectionStates = append(frame.AxleSectionStates, &AxleSectionState{
-//			Id:    row.index,
-//			State: stateByte,
-//		})
-//	}
-//	sort.Slice(frame.AxleSectionStates, func(i, j int) bool {
-//		return frame.AxleSectionStates[i].Id < frame.AxleSectionStates[j].Id
-//	})
-//	//SPKS
-//	for _, row := range s.deviceTable.SpksMap {
-//		spks := s.sim.Repo.FindSpks(row.uid)
-//		relay := wd.EntityMap[spks.Relay()]
-//		pla := wd.EntityMap[spks.PlaId()]
-//		frame.SPKSStates = append(frame.SPKSStates, &SPKSState{
-//			Id:      row.index,
-//			State:   GetStateByte(component.BitStateType.Get(relay).Val),
-//			PlState: GetStateByte(component.BitStateType.Get(pla).Val),
-//		})
-//	}
-//	sort.Slice(frame.SPKSStates, func(i, j int) bool {
-//		return frame.SPKSStates[i].Id < frame.SPKSStates[j].Id
-//	})
-//	return frame
-//}
-
 func logger() *slog.Logger {
 	loggerInit.Do(func() {
 		privateLogger = slog.Default().With("tag", logTag)

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
@@ -546,6 +177,7 @@ 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_BOOT = 0x00
@@ -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/message/train_pc_sim_message.go

@@ -122,7 +122,7 @@ func AtpLowPowerByte(d byte) bool {
 // 列车速度位置报告
 type TrainSpeedPlaceReportMsg struct {
 	PulseCount1 float32
-	PulseCount2 float32
+	//PulseCount2 float32
 }
 
 func (tp *TrainSpeedPlaceReportMsg) Encode(runDir uint16, s1, runRange uint32) []byte {
@@ -255,4 +255,7 @@ const (
 	DOOR_MODE_MM
 	_
 	NOT_BREAK
+	//aa = 0x2e
+	//bb = 0x2f
+	cc = 0x2d
 )

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.BtmBaliseCacheA, false)
+		} 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.BtmBaliseCacheA, false, 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"

third_party/tcp/tcp_client.go

@@ -88,3 +88,7 @@ func (c *TcpClient) Send(data []byte) error {
 	}
 	return nil
 }
+
+func (c *TcpClient) RemoteInfo() net.Addr {
+	return c.conn.RemoteAddr()
+}

third_party/third_party.go

@@ -46,9 +46,11 @@ func GetRunningServiceStates() *state_proto.SimulationThirdPartyApiService {
 			trueServices := tpas.FindAppendApiService()
 			if trueServices != nil && len(trueServices) > 0 {
 				for _, trueService := range trueServices {
+					if trueService != nil {
 						collectServiceState(ss, trueService)
 					}
 				}
+			}
 
 		}
 

third_party/train_pc_sim/train_pc_receive_handler.go

@@ -1,6 +1,7 @@
 package train_pc_sim
 
 import (
+	"fmt"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/tcp"
@@ -13,10 +14,24 @@ type TrainPcReciverData struct {
 	clientKey   string
 	tcpClient   *tcp.TcpClient
 	pcSimManage TrainPcSimManage
-	//trainInit   bool
 	state       tpapi.ThirdPartyApiServiceState
 	speedPlace  *message.TrainSpeedPlaceReportMsg
 	train       *state_proto.TrainState
+	success     bool
+	//aPort                 bool //列车钥匙激活端口 true = 1端 ，false = 2端
+	RealTrainPort         state_proto.TrainState_TrainPort
+	LineInitTimeStamp     int64
+	TrainConnInitComplate bool
+	ConnErr               bool
+}
+
+func (rd *TrainPcReciverData) ConnError() bool {
+	connState := tpapi.ThirdPartyState_Normal
+	if rd.ConnErr {
+		connState = tpapi.ThirdPartyState_Broken
+	}
+	rd.updateState(connState)
+	return rd.ConnErr
 }
 
 func (rd *TrainPcReciverData) Name() string {
@@ -35,17 +50,22 @@ func (d *TrainPcReciverData) readError(err error) {
 	slog.Error("连接车载pc仿真tcp服务断开", err)
 	d.updateState(tpapi.ThirdPartyState_Broken)
 	d.tcpClient = nil
-
 }
+
 func (d *TrainPcReciverData) ServiceDesc() string {
-	return d.clientKey
+	if d.RealTrainPort == state_proto.TrainState_PORT_A {
+		return fmt.Sprintf("%v-A端", d.clientKey)
+	} else if d.RealTrainPort == state_proto.TrainState_PORT_B {
+		return fmt.Sprintf("%v-B端", d.clientKey)
+	} else {
+		return fmt.Sprintf("%v-位置服务端口", d.clientKey)
+
+	}
 }
+
 func (rd *TrainPcReciverData) receiverDataHandle(n int, data []byte) {
-
-	receiveData := data[:n]
-
-	trainPcMsgs := message.TrainPcSimDecode(receiveData)
 	train := rd.train
+	//vs := train.VobcState
 	if train == nil {
 		slog.Error("车载输出数字量，未找到连接车载pc仿真的列车")
 		return
@@ -54,22 +74,25 @@ func (rd *TrainPcReciverData) receiverDataHandle(n int, data []byte) {
 		slog.Error("车载输出数字量，,列车未连接车载pc仿真")
 		return
 	}
-	//hexSourceData := hex.EncodeToString(receiveData)
+	//a := rd.tcpClient.RemoteInfo()
-	//slog.Info(fmt.Sprintf("接受列车激活端:%v pc仿真接收数据：%v", rd.clientKey, hexSourceData))
+	//slog.Info(fmt.Sprintf("nw:%v ,add:%v", a.Network(), a.String()), rd.aPort)
+	//slog.Info(fmt.Sprintf("接受atp信息 列车:%v 列车端口:%v ,钥匙1:%v,钥匙2:%v", train.Id, rd.aPort, train.VobcState.Tc1Active, train.VobcState.Tc2Active))
+	receiveData := data[:n]
+	trainPcMsgs := message.TrainPcSimDecode(receiveData)
+
 	for _, baseMsg := range trainPcMsgs {
-		//slog.Info(fmt.Sprintf("pc仿真接收数据：%v,类型:%X", hexSourceData, baseMsg.Type))
+
 		switch baseMsg.Type {
 		//case RECIVE_TRAIN_CREATE_REMOVE:
 		//	pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
-			rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(train, baseMsg.Data)
+			rd.pcSimManage.TrainPcSimDigitalOutInfoHandle(rd, train, baseMsg.Data)
-
 		case message.RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
 			rd.pcSimManage.TrainPcSimDigitalReportHandle(train, baseMsg.Data)
 		case message.RECIVE_TRAIN_QUERY_STATUS:
-			rd.pcSimManage.TrainBtmQuery2(train, baseMsg.Data)
+			rd.pcSimManage.TrainBtmQuery2(train, baseMsg.Data, rd.RealTrainPort)
-		case message.RECIVE_TRAIN_MOCK_DATA:
+			//case message.RECIVE_TRAIN_MOCK_DATA:
-			rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
+			//	rd.pcSimManage.TrainPcSimMockInfo(train, baseMsg.Data)
 
 			//case RECIVE_TRAIN_DOOR_MODE:
 			//	pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])

third_party/train_pc_sim/train_pc_sim.go

@@ -16,10 +16,10 @@ import (
 	"time"
 )
 
-type TrainControlEvent struct {
+//type TrainControlEvent struct {
-	Type byte
+//	Type byte
-	Data []byte
+//	Data []byte
-}
+//}
 
 //var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()
 
@@ -29,19 +29,20 @@ type TrainPcSim interface {
 	Stop()
 
 	// SendDriverActive Deprecated 发送驾驶端激活
-	SendDriverActive(train *state_proto.TrainState)
+	//SendDriverActive(train *state_proto.TrainState)
 	// SendHandleSwitch 发送牵引制动手柄
 	SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState)
 	// SendTrainDirection 列车运行方向
 	//因文档说明不清楚，在调用的时候目前是注释状态，现场调试可能会用到
 	SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool)
 	//发送应答器信息数据
-	SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte)
+
+	SendBaliseData2(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, msgType byte, data []byte)
 
 	//发布列车控制的相关事件
 	//PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)
 
-	SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage)
+	SendTrainControlMsg2(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage, trainClientPort state_proto.TrainState_TrainPort)
 	// CreateOrRemoveSpeedPLace 创建或删除速度位置信息
 	//CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
 	// CreateOrRemoveTrain 创建或删除列车
@@ -57,7 +58,7 @@ type TrainPcSimManage interface {
 	//获取列车模拟量数据
 	ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage
 	// TrainPcSimDigitalOutInfoHandle 4.4.1.	车载输出数字量信息报文内容
-	TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, data []byte)
+	TrainPcSimDigitalOutInfoHandle(pc *TrainPcReciverData, train *state_proto.TrainState, data []byte) bool
 	// TrainPcSimDigitalReportHandle 4.4.2.	车载输出数字反馈量信息报文内容
 	TrainPcSimDigitalReportHandle(train *state_proto.TrainState, data []byte)
 	FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState
@@ -67,11 +68,14 @@ type TrainPcSimManage interface {
 	TrainPcSimMockInfo(train *state_proto.TrainState, data []byte)
 	// TrainBtmQuery 处理列车btm查询
 
-	TrainBtmQuery2(train *state_proto.TrainState, data []byte)
+	TrainBtmQuery2(train *state_proto.TrainState, data []byte, trainClientPort state_proto.TrainState_TrainPort)
 }
 type trainPcSimService struct {
 	state tpapi.ThirdPartyApiServiceState
-	newPcSimclientMap map[string]*TrainPcReciverData
+	//newPcSimclientMap map[string]*TrainPcReciverData
+
+	newPcSimclientMap3 map[string][]*TrainPcReciverData
+
 	cancleContextFun context.CancelFunc
 	context          context.Context
 	trainPcSimManage TrainPcSimManage
@@ -113,17 +117,41 @@ func (d *trainPcSimService) ServiceDesc() string {
 func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
 	return t.ConnState.TypeName
 }
-func (d *trainPcSimService) findTrainConn(sta *state_proto.TrainState) (*TrainPcReciverData, error) {
+func (d *trainPcSimService) findTrainConnForPort2(sta *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort) (*TrainPcReciverData, error) {
-	trainPcReciver := d.newPcSimclientMap[sta.ConnState.TypeName]
+	rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
-	if trainPcReciver == nil {
+	if rds == nil {
 		return nil, fmt.Errorf("")
 	}
-	return trainPcReciver, nil
+	for _, rd := range rds {
+		if rd.RealTrainPort == trainClientPort {
+			return rd, nil
+		}
+	}
+	return nil, fmt.Errorf("")
 }
+
+func (d *trainPcSimService) findTrainConn(sta *state_proto.TrainState) (*TrainPcReciverData, error) {
+	rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
+	if rds == nil {
+		return nil, fmt.Errorf("")
+	}
+	if sta.VobcState.Tc1Active {
+		return rds[0], nil
+	} else {
+		return rds[1], nil
+	}
+}
+func (d *trainPcSimService) findTrainAllConn(sta *state_proto.TrainState) []*TrainPcReciverData {
+	rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
+	return rds
+}
+
 func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService {
 	services := make([]tpapi.ThirdPartyApiService, 0)
-	for _, data := range d.newPcSimclientMap {
+	for _, data := range d.newPcSimclientMap3 {
-		services = append(services, data)
+		for _, rd := range data {
+			services = append(services, rd)
+		}
 	}
 	return services
 }
@@ -136,22 +164,23 @@ func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
 	return uint32(pluseCountData)
 }
 
-func (d *trainPcSimService) pluseSpeed(sta *state_proto.TrainState) (uint32, float32) {
+func (d *trainPcSimService) pluseSpeed(pc *state_proto.SensorSpeedPulseCount, wheelDiameter int32) (uint32, float32) {
 	defer initLock.Unlock()
 	initLock.Lock()
+
 	var sum float32 = 0
-	pcLen := len(sta.PluseCount.PulseCount3)
+	pcLen := len(pc.PulseCount3)
 	if pcLen == 0 {
 		return 0, 0
 	}
-	for _, f := range sta.PluseCount.PulseCount3 {
+	for _, f := range pc.PulseCount3 {
 		sum += f
 	}
-	d.TrainPluseCountReset(sta)
+	d.trainPluseCountReset(pc)
 	speed := sum / float32(pcLen)
-	return pluseCountSpeed(sta.WheelDiameter, speed*1000), speed
+	return pluseCountSpeed(wheelDiameter, speed*1000), speed
-
 }
+
 func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
 	defer initLock.Unlock()
 	initLock.Lock()
@@ -161,37 +190,32 @@ func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2,
 		return
 	default:
 	}
-	if sd, err := d.findTrainConn(sta); err == nil {
+
+	for _, sd := range d.findTrainAllConn(sta) {
+		if sd.speedPlace != nil {
 			sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
-		//sd.speedPlace.PulseCount1 += float32(uint32(h1 * 10))
-		sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1
 		}
+	}
+	for _, pc := range sta.PulseCountMap {
+
 		if sta.TrainRunUp {
-		if sta.TrainEndsA.SpeedSensorEnableA {
+			if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
+				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
-			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
+				pc.PulseCount3 = append(pc.PulseCount3, h1)
-		}
-		if sta.TrainEndsA.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
-			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
 			}
 		} else {
-		if sta.TrainEndsB.SpeedSensorEnableA {
+			if sta.TrainEndsB.SpeedSensorEnableA || sta.TrainEndsB.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
+				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
-			sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
+				pc.PulseCount3 = append(pc.PulseCount3, t1)
-		}
-		if sta.TrainEndsB.SpeedSensorEnableB {
-			sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
-			sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
 			}
 		}
+	}
+
 }
 
-func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
+func (d *trainPcSimService) trainPluseCountReset(pc *state_proto.SensorSpeedPulseCount) {
-	sta.PluseCount.PulseCount1 = 0
+	pc.PulseCount1 = 0
-	sta.PluseCount.PulseCount2 = 0
+	pc.PulseCount3 = make([]float32, 0)
-	sta.PluseCount.PulseCount3 = make([]float32, 0)
-	sta.PluseCount.PulseCount4 = make([]float32, 0)
 }
 
 func (d *trainPcSimService) newCloseAllConn() {
@@ -202,15 +226,16 @@ func (d *trainPcSimService) newCloseAllConn() {
 }
 
 func (d *trainPcSimService) newCloseConn(clientKey string) {
-	rd := d.newPcSimclientMap[clientKey]
+	rds := d.newPcSimclientMap3[clientKey]
-	if rd != nil {
+	if rds != nil {
+		for _, rd := range rds {
 			rd.tcpClient.Close()
 			rd.tcpClient = nil
 			rd.train = nil
 			rd.speedPlace = nil
-		//rd.trainInit = false
-		//d.cancleContextFun()
 		}
+	}
+
 }
 
 func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {
@@ -223,30 +248,55 @@ func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimC
 	return nil, fmt.Errorf("未找到对应的车载pc连接配置")
 }
 
-func (d *trainPcSimService) initConn(clientKey string) error {
+func (d *trainPcSimService) initConn2(clientKey string) error {
 
-	rd := d.newPcSimclientMap[clientKey]
+	rds := d.newPcSimclientMap3[clientKey]
+	rd1 := rds[0]
+	rd2 := rds[1]
+	cfg, cfgErr := d.findConfig(clientKey)
+	if cfgErr != nil {
+		return sys_error.New(fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey), cfgErr)
+	}
+	if !cfg.OpenB && !cfg.OpenA {
+		return sys_error.New(fmt.Sprintf("配置：%v A，B端配置均为打开", clientKey))
+	}
+	e1 := d.connServer(cfg.OpenA, cfg.APcSimIp, cfg.APcSimPort, rd1)
+	if e1 != nil {
+		rd1.updateState(tpapi.ThirdPartyState_Broken)
+		return sys_error.New(fmt.Sprintf("配置：%v 端口A连接失败", clientKey))
+	}
+	e2 := d.connServer(cfg.OpenB, cfg.BPcSimIp, cfg.BPcSimPort, rd2)
+	if e2 != nil {
+		rd1.updateState(tpapi.ThirdPartyState_Broken)
+		return sys_error.New(fmt.Sprintf("配置：%v 端口B连接失败", clientKey))
+	}
+	if rd1.success {
+		//rd1.aPort = true
+		rd1.RealTrainPort = state_proto.TrainState_PORT_A
+	}
+	if rd2.success {
+		rd2.RealTrainPort = state_proto.TrainState_PORT_B
+	}
+	return nil
+}
+
+func (d *trainPcSimService) connServer(open bool, ip string, port uint32, rd *TrainPcReciverData) *sys_error.BusinessError {
 	if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
 		return nil
 	} else {
-		//rd.trainInit = false
 		rd.tcpClient = nil
 	}
-	cfg, cfgErr := d.findConfig(clientKey)
+	if !open {
-	if cfgErr != nil {
+		rd.success = false
-		errMsg := fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey)
+		return nil
-		//slog.Error(errMsg, cfgErr.Error())
-		rd.updateState(tpapi.ThirdPartyState_Broken)
-		return sys_error.New(errMsg, cfgErr)
 	}
-	addr := fmt.Sprintf("%v:%v", cfg.PcSimIp, cfg.PcSimPort)
+	addr := fmt.Sprintf("%v:%v", ip, port)
+	//slog.Info(addr, "连接.,...")
 	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
 	if err != nil {
-		connErrMsg := fmt.Sprintf("车载pc连接失败 clientKey:%v", clientKey)
+		return sys_error.New(fmt.Sprintf("车载atp连接失败,add:%v ,message:%v", addr, err))
-		//slog.Error(connErrMsg, err.Error())
-		rd.updateState(tpapi.ThirdPartyState_Broken)
-		return sys_error.New(connErrMsg, err)
 	} else {
+		rd.success = true
 		rd.tcpClient = client2
 	}
 	return nil
@@ -255,7 +305,8 @@ func (d *trainPcSimService) initConn(clientKey string) error {
 func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
 
 	configs := pcSimManage.GetTrainPcSimConfig()
-	d.newPcSimclientMap = make(map[string]*TrainPcReciverData)
+	//d.newPcSimclientMap = make(map[string]*TrainPcReciverData)
+	d.newPcSimclientMap3 = make(map[string][]*TrainPcReciverData)
 	if len(configs) <= 0 {
 		slog.Info("车载pc仿真配置未开启")
 		return
@@ -266,9 +317,16 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
 			closedCount++
 		} else {
 			ck := c.ConfigName
-			pcReciver := &TrainPcReciverData{clientKey: ck, pcSimManage: pcSimManage}
+			pcReceivers := make([]*TrainPcReciverData, 2)
+			for i := 0; i < 2; i++ {
+				ss := fmt.Sprintf("%v%v", c.ConfigName, i)
+				pcReciver := &TrainPcReciverData{clientKey: ss, pcSimManage: pcSimManage}
 				pcReciver.updateState(tpapi.ThirdPartyState_Closed)
-			d.newPcSimclientMap[ck] = pcReciver
+				pcReceivers[i] = pcReciver
+			}
+			d.newPcSimclientMap3[ck] = pcReceivers
+			//d.newPcSimclientMap[ck] = pcReciver
+
 		}
 	}
 	if closedCount == len(configs) {
@@ -285,8 +343,11 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
 }
 
 func (d *trainPcSimService) Stop() {
-	for _, data := range d.newPcSimclientMap {
+
-		data.updateState(tpapi.ThirdPartyState_Closed)
+	for _, rds := range d.newPcSimclientMap3 {
+		for _, rd := range rds {
+			rd.updateState(tpapi.ThirdPartyState_Closed)
+		}
 	}
 	if d.cancleContextFun != nil {
 		d.cancleContextFun()
@@ -297,18 +358,22 @@ func (d *trainPcSimService) Stop() {
 
 func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
 	clientKey := FindTrainPcSimClientKey2(train)
-	err := d.initConn(clientKey)
+
+	data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
+	if isCreate {
+		err := d.initConn2(clientKey)
 		if err != nil {
 			d.newCloseConn(clientKey)
 			return err
 		}
-	data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
-	if isCreate {
 		data[0] = message.FLAG_CAMMAND_CREATE_TRAIN
 	}
 	msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
-	rd := d.newPcSimclientMap[clientKey]
+	rds := d.newPcSimclientMap3[clientKey]
-	if rd != nil {
+	if rds != nil {
+		for index, rd := range rds {
+			if rd != nil && rd.success {
+				slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v", index, rd.tcpClient, rd.tcpClient == nil))
 				initTrainErr := d.initTrain(rd, train, isCreate, msg)
 				if !isCreate {
 					d.newCloseConn(clientKey)
@@ -317,26 +382,33 @@ func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, i
 					return initTrainErr
 				}
 			}
+
+		}
+	}
+
 	return nil
 }
 func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
 	msgs := make([]message.TrainPcSimBaseMessage, 0)
 	sendMsg := make([]byte, 0)
 	rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
-	train.PluseCount = &state_proto.SensorSpeedPulseCount{}
+	train.PulseCountMap = make(map[int32]*state_proto.SensorSpeedPulseCount)
+	train.PulseCountMap[int32(state_proto.TrainState_PORT_A.Number())] = &state_proto.SensorSpeedPulseCount{}
+	train.PulseCountMap[int32(state_proto.TrainState_PORT_B.Number())] = &state_proto.SensorSpeedPulseCount{}
 	rd.train = train
 	tcc := train.Tcc
-	tcc.LineInitTimeStamp12 = 0
+	rd.TrainConnInitComplate = false
-	tcc.Line12ConnErr = false
+	rd.LineInitTimeStamp = 0
+
 	if isCreate {
 		tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
 		msgs = append(msgs, tmpMsgs...)
 		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE})          //门模式
 		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
+		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE})              //清空应答器
 	} else {
 		train.VobcState.Tc1Active = false
 		train.VobcState.Tc2Active = false
-
 		for _, key := range tcc.DriverKey {
 			key.Val = false
 		}
@@ -357,91 +429,67 @@ func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto
 
 // 依据文档80ms发送列车速度位置
 func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
-	for {
+	for range time.Tick(time.Millisecond * 80) {
 		select {
 		case <-ctx.Done():
 			return
 		default:
 		}
+
 		trains := d.trainPcSimManage.GetConnTrain2()
 		for _, train := range trains {
-			if train.ConnState.Conn && train.PluseCount != nil {
+			if train.ConnState.Conn {
-				trainClient, trainDataErr := d.findTrainConn(train)
+				for numKey, pc := range train.PulseCountMap {
-				if trainDataErr != nil {
+					trainPort := state_proto.TrainState_TrainPort(numKey)
-					slog.Error(fmt.Sprintf("pc仿真速度位置未找到对应的列车 id:%v", train.Id))
+					trainClient, _ := d.findTrainConnForPort2(train, trainPort)
-					continue
+					if trainClient.success {
-				}
+						if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
-				if trainClient.speedPlace == nil {
 							slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
 							continue
 						}
-
+						if trainClient.ConnError() {
-				connState := tpapi.ThirdPartyState_Normal
+							continue
-				if train.Tcc.Line12ConnErr {
-					connState = tpapi.ThirdPartyState_Broken
-				}
-				trainClient.updateState(connState)
-				s1, speed := d.pluseSpeed(train)
-				runDir := uint16(2)
-				if train.VobcState.DirectionForward {
-					runDir = 1
 						}
+						s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
+						runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
 						disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
 						data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
 						bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
 						dataCode := bm.Encode()
-				slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
+						slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车服务端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%X", train.Id, trainClient.RealTrainPort.String(), speed, s1, trainClient.speedPlace.PulseCount1, dataCode))
 						err := trainClient.tcpClient.Send(dataCode)
 						if err != nil {
 							slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
 						}
 					}
 				}
-		time.Sleep(time.Millisecond * 80)
+			}
+		}
 	}
 }
 
-// SendDriverActive Deprecated 发送驾驶激活
+func (d *trainPcSimService) trainDirection(speed float32, train *state_proto.TrainState, clientPort state_proto.TrainState_TrainPort) uint16 {
-func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
+	runDir := uint16(2)
-	trainClient, trainDataErr := d.findTrainConn(train)
-	if trainDataErr != nil {
-		slog.Error(fmt.Sprintf("发送驾驶激活，未找到对应的列车连接，列车id：%v", train.Id))
-		return
-	}
-
 	vobc := train.VobcState
+	if speed == 0 || train.TrainPort == state_proto.TrainState_PORT_NONE || (vobc.DirectionForward == false && vobc.DirectionBackward == false) {
+		return runDir
+	}
+	if vobc.DirectionForward {
+		runDir = 1
+	} else if vobc.DirectionBackward {
+		runDir = 0
+	}
+	if train.TrainPort != clientPort {
+		if vobc.DirectionForward {
+			runDir = 0
+		} else if vobc.DirectionBackward {
+			runDir = 1
+		}
+	}
 
-	msg := &message.TrainPcSimBaseMessage{}
+	return runDir
-	if train.TrainRunUp {
-		if vobc.Tc1Active {
-			msg.Type = message.SENDER_TRAIN_TC_ACTIVE
-		} else if vobc.Tc1Active == false {
-			msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
-		}
-	} else if !train.TrainRunUp {
-		if vobc.Tc2Active {
-			msg.Type = message.SENDER_TRAIN_TC_ACTIVE
-		} else if vobc.Tc2Active == false {
-			msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
-		}
-	}
-	msgs := make([]byte, 0)
-	if msg.Type == message.SENDER_TRAIN_TC_ACTIVE {
-		dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}
-		msgs = append(msgs, dd3.Encode()...)
-	} else {
-		dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}
-		msgs = append(msgs, dd3.Encode()...)
-	}
-	msgs = append(msgs, msg.Encode()...)
-	hexData := hex.EncodeToString(msgs)
-	//slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
-	err := trainClient.tcpClient.Send(msgs)
-
-	if err != nil {
-		slog.Error(fmt.Sprintf("发送驾驶激活失败列车id:%v,数据:%v,err:%v", train.Id, hexData, err.Error()))
-	}
 }
+
 func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
 	trainClient, trainDataErr := d.findTrainConn(train)
 	if trainDataErr != nil {
@@ -511,8 +559,9 @@ func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, tr
 	}
 }
 
-func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte) {
+func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, msgType byte, data []byte) {
-	trainClient, trainDataErr := d.findTrainConn(train)
+
+	trainClient, trainDataErr := d.findTrainConnForPort2(train, trainClientPort)
 	if trainDataErr != nil {
 		slog.Error(fmt.Sprintf("发送列车PC仿真应答器信息失败，未找到列车连接，trainId：%v", train.Id))
 		return
@@ -529,11 +578,12 @@ func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgTyp
 	}
 }
 
-func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage) {
+func (d *trainPcSimService) SendTrainControlMsg2(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage, trainClientPort state_proto.TrainState_TrainPort) {
 	if len(baseMessage) <= 0 {
 		return
 	}
-	trainClient, trainDataErr := d.findTrainConn(train)
+	//trainClient, trainDataErr := d.findTrainConn(train)
+	trainClient, trainDataErr := d.findTrainConnForPort2(train, trainClientPort)
 	if trainDataErr != nil {
 		slog.Error(fmt.Sprintf("发送列车控制信息失败,无连接,列车Id:%v", train.Id))
 		return
@@ -541,10 +591,11 @@ func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, b
 
 	for _, msg := range baseMessage {
 		dd := msg.Encode()
-		//slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd))
+		//slog.Info(fmt.Sprintf("发送操控列车控制信息:%x", dd), aport)
 		d.sendData(trainClient.tcpClient, dd)
 	}
 }
+
 func (d *trainPcSimService) sendData(client *tcp.TcpClient, data []byte) {
 	err := client.Send(data)
 	if err != nil {

third_party/udp/udp_server.go

@@ -10,6 +10,7 @@ import (
 type UdpServer interface {
 	Listen() error
 	Close()
+	WriteToUdp(data []byte, addr *net.UDPAddr) (int, error)
 }
 
 type UdpMsgHandler func(b []byte)
@@ -53,6 +54,10 @@ func (s *server) Close() {
 	<-s.done
 }
 
+func (s *server) WriteToUdp(data []byte, addr *net.UDPAddr) (int, error) {
+	return s.conn.WriteToUDP(data, addr)
+}
+
 func (s *server) listenAndHandle(ctx context.Context) {
 	defer close(s.done)
 	defer s.conn.Close()

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -77,6 +77,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
 	// 车尾位置
 	tailLink, tailDeviceId, tailDevicePort, tailLOffset, tailDeviceOffset, _, e1 := CalcInitializeLink(vs, linkId, calctailOffset, up)
+
 	if e1 != nil {
 		panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1))
 	}
@@ -95,7 +96,9 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
 	status.TailOffset = tailDeviceOffset
 	status.TailDevicePort = tailDevicePort
-	status.BtmBaliseCache = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
+	status.BtmBaliseCacheA = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
+	status.BtmBaliseCacheB = &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 +110,7 @@ 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),
@@ -167,7 +170,10 @@ func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
 	train.ConnState.ConnType = ct.ConnType
 	train.ConnState.TypeName = ct.TypeName
 	if ct.ConnType == state_proto.TrainConnState_PC_SIM {
-		train.Tcc.LineInitTimeStamp12 = 0
+		//train.Tcc.LineInitTimeStamp12 = 0
+		//train.Tcc.LineInitTimeStamp12PortA = 0
+		//train.Tcc.LineInitTimeStamp12PortB = 0
+
 		err := TrainPcSimConnOrRemoveHandle(train, true)
 		if err != nil {
 			train.ConnState.Conn = false
@@ -323,6 +329,8 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	//calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
 	calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), trainHeadActUp)
 	tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)
+
+	tailUp, _ := QueryUpAndABByDevice(vs.Repo, tailDeviceId, tailDevicePort, sta.TrainRunUp)
 	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))
 	}
@@ -335,8 +343,12 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 		sta.OldLinkOffset = outLinkOffset
 		sta.OldLink = outLinkId
 	}
+	if sta.OldTailLinkOffset == 0 {
+		sta.OldTailLinkOffset = tailLinkOffset
+		sta.OldTailLink = tailLinkId
+	}
 
-	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset)
+	updateTrainBtmPosition(vs, info, sta, outLinkId, outLinkOffset, tailUp, tailLinkId, tailLinkOffset)
 	//slog.Info(fmt.Sprintf("动力学，当前速度(米/秒):%v,加速度:%v,位移距离:%v", info.Speed, info.Acceleration, info.Displacement))
 	if sta.OldLink != outLinkId {
 		sta.OldLink = outLinkId
@@ -344,6 +356,13 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	if sta.OldLinkOffset != outLinkOffset {
 		sta.OldLinkOffset = outLinkOffset
 	}
+	if sta.OldTailLink != tailLinkId {
+		sta.OldTailLink = tailLinkId
+	}
+	if sta.OldTailLinkOffset != tailLinkOffset {
+		sta.OldTailLinkOffset = tailLinkOffset
+	}
+
 	sta.HeadDeviceId = vs.GetComIdByUid(id)
 	sta.DevicePort = port
 	sta.HeadOffset = offset
@@ -398,10 +417,10 @@ func updateTrainActiveDirFromDynamic(vs *VerifySimulation, info *message.Dynamic
 }
 
 // 根据列车位置修改列车应答器
-func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64) {
+func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInfo, sta *state_proto.TrainState, outLinkId string, outLinkOffset int64, tailUp bool, tailLinkId string, tailLinkOffset int64) {
 	// 更新BTM中列车位置信息
 	//isup := sta.TrainActiveDirection == 1
-	can_btm.Default().HandleTrainHeadPositionInfoForTrain(vs.World, sta.BtmBaliseCache, &fi.TrainHeadPositionInfo{
+	can_btm.Default().HandleTrainHeadPositionInfoForTrain(vs.World, sta, &fi.TrainHeadPositionInfo{
 		TrainId:           sta.Id,
 		Up:                info.Up,
 		Link:              outLinkId,
@@ -410,21 +429,13 @@ func updateTrainBtmPosition(vs *VerifySimulation, info *message.DynamicsTrainInf
 		Acceleration:      info.Acceleration,
 		OldLinkOffset:     sta.OldLinkOffset,
 		OldLink:           sta.OldLink,
+		TailUp:            tailUp,
+		TailLink:          tailLinkId,
+		TailLinkOffset:    tailLinkOffset,
+		OldTailLink:       sta.OldTailLink,
+		OldTailLinkOffset: sta.OldTailLinkOffset,
+		IsLine12:          can_btm.IsLine12(sta),
 	})
-	/*can_btm.Default().HandleTrainHeadPositionInfo(vs.World, sta.VobcBtm, &fi.TrainHeadPositionInfo{
-		TrainId:       sta.Id,
-		Up:            info.Up,
-		Link:          outLinkId,
-		LinkOffset:    outLinkOffset,
-		Speed:         info.Speed,
-		Acceleration:  info.Acceleration,
-		OldLinkOffset: sta.OldLinkOffset,
-		OldLink:       sta.OldLink,
-	})*/
-	/*	state := can_btm.Default().GetState()
-		if sta.BtmState == nil || sta.BtmState.BaliseId != state.BaliseId {
-			sta.BtmState = &state
-		}*/
 
 }
 
@@ -442,7 +453,7 @@ func handleTrainPositionFromDynamic(vs *VerifySimulation, info *message.Dynamics
 }
 
 func pluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
-	if sta.PluseCount == nil {
+	if sta.PulseCountMap == nil {
 		return
 	}
 	train_pc_sim.Default().TrainPluseCount(sta, h1, h2, t1, t2)
@@ -494,7 +505,8 @@ 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 +526,12 @@ 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
@@ -263,7 +265,18 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
 	// 更新列车状态
 	trainState := UpdateTrainStateByDynamics(s, trainId, info)
 	vs := train.VobcState
+	if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
+		semi_physical_train.Default().SendTrainControlMessage(info)
+		electrical_machinery.Default().SendElectricMachineryMessage2(info, trainState)
+		radar.Default().TrainSpeedSender(info, trainState)
+		acc.Default().TrainAccSender(info, trainState)
+	}
 	if vs.Ato {
+
+		if train.TrainPort == state_proto.TrainState_PORT_NONE {
+			slog.Info("")
+			return
+		}
 		trainAtoControlTractionAndBrake(train)
 		var msgs []message.TrainPcSimBaseMessage
 		if vs.AtoOpenRightDoor || vs.AtoOpenLeftDoor {
@@ -279,19 +292,12 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
 			}
 			msgs = controlDoorCloseBtn(train.VobcState, true, btn, vs.AtoOpenLeftDoor, false)
 		}
-		train_pc_sim.Default().SendTrainControlMsg(train, msgs)
+		train_pc_sim.Default().SendTrainControlMsg2(train, msgs, train.TrainPort)
-
 	} else if vs.TractionStatus {
 		f := trainTractionPower(train.TrainLoad, train.Tcc.PushHandler.Val, trainState.DynamicState.Speed, train.TrainMaxAcc, train.TrainMaxSpeed)
 		vs.TractionForce = f / 1000 * 100
 	}
 
-	if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
-		semi_physical_train.Default().SendTrainControlMessage(info)
-		electrical_machinery.Default().SendElectricMachineryMessage2(info, trainState)
-		radar.Default().TrainSpeedSender(info, trainState)
-		acc.Default().TrainAccSender(info, trainState)
-	}
 }
 
 // 获取动力学配置信息

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -12,6 +12,7 @@ import (
 	"joylink.club/bj-rtsts-server/third_party/can_btm"
 	"joylink.club/bj-rtsts-server/third_party/electrical_machinery"
 	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/tcp"
 	train_pc_sim "joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"math"
@@ -37,13 +38,16 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 	sta := data.(*state_proto.TrainState)
 	vobc := sta.VobcState
 	tcc := sta.Tcc
+	if ct.ControlType != request_proto.TrainControl_DRIVER_KEY_SWITCH && vobc.Tc1Active == false && vobc.Tc2Active == false {
+		panic(sys_error.New("请先上驾驶端钥匙"))
+	}
 
 	var baseMsg []message.TrainPcSimBaseMessage = nil
 	if ct.ControlType == request_proto.TrainControl_EMERGENT_BUTTON {
 		baseMsg = trainControlButton(sta, ct.DeviceId, ct.ControlButton.Active, tccGraphicData)
 	} else if ct.ControlType == request_proto.TrainControl_DRIVER_KEY_SWITCH {
 		baseMsg = trainControlDriverKey(sta, ct.DriverKey, ct.DeviceId, tccGraphicData)
-		train_pc_sim.Default().SendDriverActive(sta)
+		//train_pc_sim.Default().SendDriverActive(sta)
 	} else if ct.ControlType == request_proto.TrainControl_DIRECTION_KEY_SWITCH {
 		baseMsg = trainControlDirKey(sta.DynamicState.Speed, vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData)
 		//此处先注释，根据现场调试情况 2024-4-16
@@ -76,7 +80,10 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 		vobc.TractionForce = 0
 	}
 	if sta.ConnState.Conn && (sta.ConnState.ConnType == state_proto.TrainConnState_PC_SIM) && baseMsg != nil {
-		train_pc_sim.Default().SendTrainControlMsg(sta, baseMsg)
+		train_pc_sim.Default().SendTrainControlMsg2(sta, baseMsg, sta.TrainPort)
+		if vobc.Tc1Active == false && vobc.Tc2Active == false {
+			sta.TrainPort = state_proto.TrainState_PORT_NONE
+		}
 	}
 }
 
@@ -96,10 +103,8 @@ func trainControlButton(train *state_proto.TrainState, deviceId uint32, active b
 			return controlAtpBtn(vobc, active, btn)
 		case KZM, KYM: //开左门按钮
 			return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM, true)
-
 		case GZM, GYM: //关左门按钮
 			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM, true)
-
 		case ZF: //折返按钮
 			return controlReverseBtn(vobc, active, btn)
 		case QZMYX: //强制门允许
@@ -387,9 +392,14 @@ func trainControlDriverKey(train *state_proto.TrainState, request *request_proto
 	tcc := train.Tcc
 	if obj.Code == SKQYS1 {
 		vobc.Tc1Active = request.Val
+		train.TrainPort = state_proto.TrainState_PORT_A
+		train.BtmBaliseCacheA = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
 	} else if obj.Code == SKQYS2 {
 		vobc.Tc2Active = request.Val
+		train.TrainPort = state_proto.TrainState_PORT_B
+		train.BtmBaliseCacheB = &state_proto.TrainBtmCache{BaliseList: make([]*state_proto.BTMState, 3)}
 	}
+
 	if vobc.Tc1Active && vobc.Tc2Active {
 		if obj.Code == SKQYS1 {
 			vobc.Tc1Active = false
@@ -398,19 +408,28 @@ func trainControlDriverKey(train *state_proto.TrainState, request *request_proto
 		}
 		panic(sys_error.New("驾驶端不能同时激活"))
 	}
-	var addNew = true
+
 	for _, k := range tcc.DriverKey {
 		if k.Id == deviceId {
 			k.Id = deviceId
 			k.Val = request.Val
-			addNew = false
 			break
 		}
 	}
-	if addNew {
+
-		tcc.DriverKey = append(tcc.DriverKey, &state_proto.TrainControlState_DriverKeySwitch{Id: deviceId, Val: request.Val})
+	tce := make([]message.TrainPcSimBaseMessage, 0)
+	tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.KEY_STATE, message.IsTrue(request.Val)}})
+	train.OldLink = ""
+	train.OldLinkOffset = 0
+	train.OldTailLink = ""
+	train.OldTailLinkOffset = 0
+	if request.Val {
+		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_TC_ACTIVE})
+	} else {
+		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_TC_NOT_ACTIVE})
 	}
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.KEY_STATE, message.IsTrue(request.Val)}}}
+
+	return tce
 
 }
 func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_SwitchKeyChange, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
@@ -512,7 +531,7 @@ func trainAtoControlTractionAndBrake(train *state_proto.TrainState) {
 		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.NOT_BREAK, notBreak}},
 	}
 	slog.Info(fmt.Sprintf("列车 id:%v,ato:%v,AtoLevle:%v,牵引:%v,制动:%v,牵引力:%v,制动力%v", train.Id, vs.Ato, vs.AtoStepLevel, vs.AtoTractionCommandOut, vs.AtoBrakeCommand, vs.TractionForce, vs.BrakeForce))
-	train_pc_sim.Default().SendTrainControlMsg(train, msg)
+	train_pc_sim.Default().SendTrainControlMsg2(train, msg, train.TrainPort)
 }
 
 // 列车牵引控制
@@ -607,18 +626,29 @@ func (s *VerifySimulation) FindConnTrain(ct state_proto.TrainConnState_TrainConn
 }
 
 // 反馈atp输出数字量数据
-func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState, data1, data3 byte) {
+func (s *VerifySimulation) reportTrainMockInitMsg2(driverActive, initConn bool, initTimeStamp int64, trainClientPort state_proto.TrainState_TrainPort, train *state_proto.TrainState, data1, data3 byte) (int64, bool, bool, []message.TrainPcSimBaseMessage) {
-	vobc := train.VobcState
+
 	tcc := train.Tcc
 	tce := make([]message.TrainPcSimBaseMessage, 0)
-	tcc.Line12ConnErr = false
+	connErr := false
-	//initResult := trainInit
-	if vobc.Tc1Active || vobc.Tc2Active {
 	state := message.GetBit(data1, 3)
-		//if trainInit {
+	//slog.Info(fmt.Sprintf("act:%v ,t1:%v ,a1 :%v,t2:%v,a2:%v,init:%v,ts:%v", act, train.VobcState.Tc1Active, tcc.ActiveTrainA, train.VobcState.Tc2Active, tcc.ActiveTrainB, initConn, initTimeStamp), aport)
-		if vobc.TrainConnInitComplate {
+
+	if message.GetBit(data3, 3) == 0 {
+		actt := byte(0)
+		if driverActive {
+			actt = 1
+		}
+		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DRIVER_ACTIVE_REPORT, actt}})
+	}
+	tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})
+
+	if driverActive == false {
+		return initTimeStamp, initConn, false, tce
+	}
+	if initConn {
 		if data1 == 0 {
-				tcc.Line12ConnErr = true
+			connErr = true
 		}
 		if state == 0 {
 			jjzdBtn := tcc.Buttons[JJZD]
@@ -631,35 +661,31 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
 			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
 			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_TRACTION_CUTED, 1}})
 		}
+
 	} else {
-			//initResult = false
+		initConn = true
-			vobc.TrainConnInitComplate = true
+		if initTimeStamp <= 0 {
-			if tcc.LineInitTimeStamp12 <= 0 {
+			initTimeStamp = time.Now().Add(time.Second * 6).Unix()
-				tcc.LineInitTimeStamp12 = time.Now().Add(time.Second * 6).Unix()
 		}
-			if tcc.LineInitTimeStamp12 > time.Now().Unix() {
+		if initTimeStamp > time.Now().Unix() {
 			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OUTER_EMERGENCY_BRAKE, state}})
 			initData := s.ObtainTrainDigitalMockDataForStatus(train)
 			tce = append(tce, initData...)
-				//initResult = false
+			/*	if trainClientPort == state_proto.TrainState_PORT_A {
-				vobc.TrainConnInitComplate = false
+					tcc.ActiveTrainA = true
+				} else if trainClientPort == state_proto.TrainState_PORT_A {
+					tcc.ActiveTrainB = true
+				}*/
+			initConn = false
 		}
 	}
 
-		//驾驶室激活反馈
+	return initTimeStamp, initConn, connErr, tce
-		if message.GetBit(data3, 3) == 0 {
-			tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}})
-		}
-		tce = append(tce, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.TRAIN_INTEGRITY, 1}})
-	}
-	train_pc_sim.Default().SendTrainControlMsg(train, tce)
-	//return initResult
 }
 func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
 	switch {
 	case at3 == false && at2 == false && at1 == true:
 		return state_proto.TrainVobcState_ATO_STEP_LEVEL_1
-
 	case at3 == false && at2 == true && at1 == true:
 		return state_proto.TrainVobcState_ATO_STEP_LEVEL_2
 	case at3 == false && at2 == true && at1 == false:
@@ -676,22 +702,43 @@ func trainAtoLevel(at3, at2, at1 bool) state_proto.TrainVobcState_AtoStepLevel {
 		return state_proto.TrainVobcState_ATO_STEP_LEVEL_NONE
 	}
 }
+func (s *VerifySimulation) shuziliang(client *tcp.TcpClient, baseMessage []message.TrainPcSimBaseMessage) {
+	for _, msg := range baseMessage {
+		dd := msg.Encode()
+		//slog.Info(fmt.Sprintf("发送列车控制信息:%x", dd), aport)
+		client.Send(dd)
+
+	}
+}
 
 // 4.4.1.	车载输出数字量信息报文内容
-func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.TrainState, data []byte) {
+func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(pc *train_pc_sim.TrainPcReciverData, train *state_proto.TrainState, data []byte) bool {
-	/*	slog.Info("开始接受atp输出模拟量==============")
-		for i, d := range data {
 
+	//slog.Info("开始接受atp输出模拟量==============%v", aport)
+	/*	for i, d := range data {
 		dd := &strings.Builder{}
 			for j := 0; j < 8; j++ {
 				dd.WriteString(fmt.Sprintf(" bit%v  val:%v , ", j, message.GetBit(d, uint(j))))
 			}
 			slog.Info(fmt.Sprintf("接受atp模拟量id:%v,data:%b,bits:%v", i, d, dd.String()))
+		}*/
 
-		}
+	//slog.Info(fmt.Sprintf("%v", dd.String()), aport)
-		slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee")*/
+	//slog.Info("结束接受atp输出模拟量eeeeeeeeeeeeeeeeee", aport)
-	s.reportTrainMockInitMsg(train, data[4], data[1])
+
+	//s.reportTrainMockInitMsg(aport, client, train, data[4], data[1])
 	vobc := train.VobcState
+	act := vobc.Tc1Active
+	if pc.RealTrainPort == state_proto.TrainState_PORT_B {
+		act = vobc.Tc2Active
+	}
+	ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(act, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
+	pc.TrainConnInitComplate = initConn
+	pc.LineInitTimeStamp = ts
+	pc.ConnErr = connErr
+
+	train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
+	if act {
 		trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
 		trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
 		trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
@@ -700,7 +747,46 @@ func (s *VerifySimulation) TrainPcSimDigitalOutInfoHandle(train *state_proto.Tra
 		if vobc.Ato {
 			vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
 		}
-	//return initResult
+	}
+
+	/*
+		if pc.RealTrainPort == state_proto.TrainState_PORT_A {
+			ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(vobc.Tc1Active, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
+			pc.TrainConnInitComplate = initConn
+			pc.LineInitTimeStamp = ts
+			pc.ConnErr = connErr
+
+			train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
+			if train.VobcState.Tc1Active {
+				trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
+				trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
+				trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
+				trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
+				trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
+				if vobc.Ato {
+					vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
+				}
+			}
+		} else if pc.RealTrainPort == state_proto.TrainState_PORT_B {
+			ts, initConn, connErr, tce := s.reportTrainMockInitMsg2(vobc.Tc2Active, pc.TrainConnInitComplate, pc.LineInitTimeStamp, pc.RealTrainPort, train, data[4], data[1])
+			pc.TrainConnInitComplate = initConn
+			pc.LineInitTimeStamp = ts
+			pc.ConnErr = connErr
+
+			train_pc_sim.Default().SendTrainControlMsg2(train, tce, pc.RealTrainPort)
+			if train.VobcState.Tc2Active {
+				trainPcSimDigitalOutInfoHandleCode7_0(data[4], vobc)
+				trainPcSimDigitalOutInfoHandleCode15_8(data[3], vobc)
+				trainPcSimDigitalOutInfoHandleCode23_16(data[2], vobc)
+				trainPcSimDigitalOutInfoHandleCode31_24(data[1], vobc)
+				trainPcSimDigitalOutInfoHandleCode39_32(data[0], vobc)
+				if vobc.Ato {
+					vobc.AtoStepLevel = trainAtoLevel(vobc.AtoTractionCommand3, vobc.AtoTractionCommand2, vobc.AtoTractionCommand1)
+				}
+			}
+		}*/
+
+	return true
 
 }
 func trainPcSimDigitalOutInfoHandleCode39_32(d byte, vobc *state_proto.TrainVobcState) {
@@ -840,7 +926,7 @@ func (s *VerifySimulation) TrainPcSimMockInfo(train *state_proto.TrainState, dat
 }
 
 // 4.4.4.	车载输出BTM查询同步帧报文内容（0x04）
-func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []byte) {
+func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []byte, trainClientPort state_proto.TrainState_TrainPort) {
 
 	ts := time.Now().UnixMilli()
 	if len(data) < 12 {
@@ -856,35 +942,39 @@ func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []
 	}
 	var balise *state_proto.BTMState
 	var dsn, bc, mc byte
-	if atpReq.IsResend() {
+	btmCache := train.BtmBaliseCacheA
-		balise, dsn, bc, mc = can_btm.Default().FindBaliseResend(train)
+	if train.TrainPort != trainClientPort {
-	} else {
+		btmCache = train.BtmBaliseCacheB
-		balise, dsn, bc, mc = can_btm.Default().FindBaliseByNotSend(train)
+	}
+
+	if atpReq.IsResend() {
+		balise, dsn, bc, mc = can_btm.FindBaliseResend(btmCache, true)
+	} else {
+		balise, dsn, bc, mc = can_btm.FindBaliseByNotSend(btmCache, true)
 	}
-	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)
 	timeSyncF.T2 = cl.BtmTk
 	timeSyncF.T3 = cl.TkNow()
 	if balise == nil {
-		queryData := make([]byte, 0)
+		queryData := createLine12EmptyBaliseData(btmRepFrame, timeSyncF)
-		queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
+		sendLine12EmptyBaliseData(train, trainClientPort, queryData)
-		queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
-		train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
 		//slog.Info(fmt.Sprintf("接受应答器查询：%x发送无应答器数据,id:%v,数据:%X", data, trainAtm.CanId.ID4, queryData))
 	} else {
 		logstr := ""
 		if atpReq.IsResend() {
-			logstr = fmt.Sprintf("准备重新发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data)
+			logstr = fmt.Sprintf("准备重新发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X clientPoret:%v trainPort:%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data, trainClientPort.String(), train.TrainPort.String())
 
 		} else if !balise.IsSend {
 			balise.IsSend = true
-			logstr = fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data)
+			logstr = fmt.Sprintf("准备发送应答id:%v,接受时间:%v,发送时间:%v , 数据:%v 经过:%v,解报文：%v,接受应答器报文:%X clientPoret:%v trainPort:%v", balise.BaliseId, ts, time.Now().UnixMilli(), balise.Telegram, bc, mc, data, trainClientPort.String(), train.TrainPort.String())
-		} else {
+		} /*else {
+			queryData := createLine12EmptyBaliseData(btmRepFrame, timeSyncF)
+			sendLine12EmptyBaliseData(train, trainClientPort, queryData)
 			return
-		}
+		}*/
-		slog.Info(logstr)
+		slog.Info(logstr, trainClientPort.String())
 		aliseData, _ := hex.DecodeString(balise.Telegram)
 		stateRepFrame := btmRepFrame.EncodeBtmAtp()
 		statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, balise.HasData, cl.BtmTk, cl.BtmTk, cl.BtmTk)
@@ -896,13 +986,24 @@ func (s *VerifySimulation) TrainBtmQuery2(train *state_proto.TrainState, data []
 			queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
 			queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
 			balise.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
-			train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
+			train_pc_sim.Default().SendBaliseData2(train, trainClientPort, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
 		} else {
 			slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
 		}
 	}
 }
 
+func sendLine12EmptyBaliseData(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, emptyBaliseData []byte) {
+	train_pc_sim.Default().SendBaliseData2(train, trainClientPort, message.RECIVE_TRAIN_BTM_NOT_DATA, emptyBaliseData)
+}
+
+func createLine12EmptyBaliseData(btmRepFrame *message.BtmStatusRspFrame, timeSyncFrame *message.BtmTimeSyncCheckFrame) []byte {
+	queryData := make([]byte, 0)
+	queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
+	queryData = append(queryData, timeSyncFrame.EncodeBtmAtp().Encode()...)
+	return queryData
+}
+
 func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn, baliseCount, messageCount byte) *message.BtmStatusRspFrame {
 	statusF := message.NewBtmStatusRspFrame(canIdSn)
 	statusF.PowerAmplifierOn = true
@@ -917,8 +1018,6 @@ 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
 }
@@ -933,10 +1032,10 @@ func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_prot
 
 	if vs.Tc1Active || vs.Tc2Active {
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //钥匙激活
-		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
+		//msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
-	} else {
+	} /* else {
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DRIVER_ACTIVE_REPORT, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车完整性
-	}
+	}*/
 	if vs.BrakeForce == 0 {
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_TO_ZERO, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //列车制动状态
 	}
@@ -1016,6 +1115,6 @@ 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

util/myreader/reader.go

@@ -36,3 +36,7 @@ func (r *Reader) ReadBytes(n int) []byte {
 	r.Read(b)
 	return b
 }
+
+func (r *Reader) Len() int {
+	return r.r.Len()
+}