列车操控

rts-sim-module

@@ -1 +1 @@
-Subproject commit 12df28cc3716e39d24ddcada44d1d4a4233405d4
+Subproject commit 99ebcb04e516eaf0ad52ec35057606c0e52b31fa

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit bc7ca44ffd0a95f8a1ae14b391f93b28b11a452b
+Subproject commit 30019273c5bb79fa29caab241bb89bd13d238fd9

third_party/can_btm/balise_detection.go

@@ -85,9 +85,14 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep
 	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
 	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
 	var startBalises []*repository.Transponder
+	if th.Link != th2.Link {
+		startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi.LinkOffset)
+	} 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)
+	//startBalises = t.searchBalisesFromBetweenLinkPosition(repo, th.Up, curAntennaRi.LinkId, curAntennaRi2.LinkOffset, curAntennaRi.LinkOffset)
 
 	balises := make([]*repository.Transponder, 0)
 	for _, balise := range startBalises {
@@ -108,7 +113,6 @@ func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Rep
 		//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) {
-
 			//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))
 		}
 	}

third_party/dynamics/dynamics.go

@@ -265,6 +265,18 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
 	d.udpDelayRecorder.Start()
 	return nil
 }
+func (d *dynamics) trainControl(ctx context.Context) {
+	for {
+
+		select {
+		case <-ctx.Done():
+			return
+		default:
+
+			time.Sleep(time.Second * 5)
+		}
+	}
+}
 
 // 初始化客户端、服务等信息
 func (d *dynamics) initDynamics() error {

ts/simulation/wayside/memory/train_tcc_graphic.go

@@ -101,7 +101,7 @@ func findTrainTccGraphicDataHandler(tccG *data_proto.TccGraphicStorage, id uint3
 
 func initTrainVobc(trainLoad int64, trainIsUp bool) (*state_proto.TrainVobcState, uint32) {
 	vobc := &state_proto.TrainVobcState{TrainLoad: int64(trainLoad), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE * 100, DirectionForward: true,
-		AllDoorClose: true, ObstacleCheckBtn: true /*RightDoorCloseCommand: true, LeftDoorCloseCommand: true,*/, BrakeHeavyFault: true, AtpCutSwitch: true,
+		AllDoorClose: true, ObstacleCheckBtn: true, RightDoorCloseCommand: true, LeftDoorCloseCommand: true, BrakeHeavyFault: true, AtpCutSwitch: true,
 		ConfirmBtn: true, AtpPowerOnBtn: true, DoorModeMM: true,
 	}
 	var trainActDir uint32 = 0
@@ -134,11 +134,10 @@ func initTrainTcc(vs *VerifySimulation) *state_proto.TrainControlState {
 		for _, b := range tccGI.TccButtons {
 			btn := &state_proto.TrainControlState_ControlButton{Id: b.Common.Id, Passed: false}
 			switch b.Code {
-			case ATPQCKG /*GZM, GYM,*/, ZAWTGJC, ZDZGZ, ATPSD, MSQR:
+			case ATPQCKG, ZAWTGJC, ZDZGZ, ATPSD, MSQR:
 				btn.Passed = true
 			}
 			btns[b.Code] = btn
-			//btns = append(btns, btn)
 		}
 		tcc.Buttons = btns
 		for _, b := range tccGI.TccHandles {

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -25,16 +25,15 @@ const (
 	//列车总质量(吨)
 	DEFULAT_TRAIN_LOAD = 160
 	//通号最大制动力是-1.21
-	DEFAULT_BRAKE_FORCE = DEFULAT_TRAIN_LOAD * 1000 * 1.21 / 1000
+	//DEFAULT_BRAKE_FORCE = DEFULAT_TRAIN_LOAD * 1000 * 1.21 / 1000
+	DEFAULT_BRAKE_FORCE = 1.21
 	//通号最大加速度是0.97
-	DEFAULT_TRAIN_TRACTION      = DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 //千牛
+	DEFAULT_TRAIN_TRACTION_ACC2         = DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000 //千牛
-	DEFAULT_TRAIN_WORK          = 2880 * 1000
+	DEFAULT_TRAIN_TRACTION_ACC          = 0.97                                    //千牛
-	DEFAULT_TRAIN_STARTED_SPEED = 0.003
+	TRAIN_MAX_TRACTION_POWER            = 2880 * 1000
+	DEFAULT_TRAIN_STARTED_SPEED float32 = 5.5555556 //列车起步速度单位 米/秒
 )
 
-func culTrainTractionF(sta *state_proto.TrainState) {
-
-}
 func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig {
 	return &message.TrainOperationConfig{TrainIndex: trainId, Length: int(trainLen),
 		DavisParamA: configTrainData.DavisParamA, DavisParamB: configTrainData.DavisParamB,
@@ -371,7 +370,6 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
 	sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
 	sta.DynamicState.Speed = speedParse(info.Speed)
-
 	sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
 	sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
 	sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)

ts/simulation/wayside/memory/wayside_simulation.go

@@ -261,6 +261,12 @@ func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainIn
 	train := t.(*state_proto.TrainState)
 	// 更新列车状态
 	trainState := UpdateTrainStateByDynamics(s, trainId, info)
+	vs := train.VobcState
+	if vs.TractionStatus {
+		//动力学之前是kn * 100 这里*10就是N
+		tf := float32(vs.TractionPower) / info.Speed
+		vs.TractionForce = int64(tf / 10)
+	}
 	if train.ConnState.Conn && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
 		semi_physical_train.Default().SendTrainControlMessage(info)
 		electrical_machinery.Default().SendElectricMachineryMessage2(info, trainState)
@@ -388,6 +394,7 @@ func (s *VerifySimulation) CollectTrainControlState() []message.TrainControlMsg
 		if train.ConnState.Conn == true && train.ConnState.ConnType == state_proto.TrainConnState_VOBC {
 			vobc = true
 		}
+		//train.DynamicState.Speed
 		cms = append(cms, message.TrainControlMsg{ControlInfo: train.VobcState, TrainId: train.Id, FromVobc: vobc})
 		return true
 	})
@@ -1297,6 +1304,13 @@ func fillProtoRepository(repo *proto.Repository, storage *data_proto.RtssGraphic
 			SameTrend: data.SameTrend,
 		})
 	}
+	//公里标校准数据
+	for _, calibration := range storage.KilometerMarkCalibrations {
+		repo.KilometerCalibrations = append(repo.KilometerCalibrations, &proto.KilometerCalibration{
+			Design: convertKm(calibration.DesignKm),
+			Actual: convertKm(calibration.ActualKm),
+		})
+	}
 	//// 初始化站场图按钮
 	//for _, data := range storage.EsbButtons {
 	//	repo.Buttons = append(repo.Buttons, &proto.Button{

ts/simulation/wayside/memory/wayside_simulation_train_pc.go

@@ -58,7 +58,7 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 		oldTraction := sta.VobcState.TractionForce
 		oldBrakeForce := sta.VobcState.BrakeForce
 		isTraction := ct.Handler.Val > 0 //是否制动
-		baseMsg = trainControlHandle(vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
+		baseMsg = trainControlHandle(sta.DynamicState.Speed, vobc, tcc, ct.Handler, ct.DeviceId, tccGraphicData)
 		train_pc_sim.Default().SendHandleSwitch(oldTraction, oldBrakeForce, isTraction, sta)
 	} else if ct.ControlType == request_proto.TrainControl_TRAIN_DOOR_MODE_CHANGE {
 		baseMsg = trainDoorModeChangeHandle(vobc, tcc, ct.SwitchKey, ct.DeviceId, tccGraphicData)
@@ -68,20 +68,6 @@ func ControlTrainUpdate(s *VerifySimulation, ct *request_proto.TrainControl) {
 	} else {
 		baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DIR_ZERO_FORWARD, 0}})
 	}
-	if vobc.LeftDoorOpenCommand || vobc.RightDoorOpenCommand {
-		baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 0}})
-		if vobc.LeftDoorOpenCommand {
-			baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, 1}})
-			baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.RIGHT_DOOR_STATE, 0}})
-		} else if vobc.RightDoorOpenCommand {
-			baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, 0}})
-			baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.RIGHT_DOOR_STATE, 1}})
-		}
-	}
-	if vobc.LeftDoorCloseCommand && vobc.RightDoorCloseCommand {
-		baseMsg = append(baseMsg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 1}})
-	}
-
 	if !vobc.DirectionForward && !vobc.DirectionBackward {
 		vobc.TractionStatus = false
 		vobc.TractionForce = 0
@@ -112,12 +98,8 @@ func trainControlButton(vobc *state_proto.TrainVobcState, buttonMap map[string]*
 			return controlDoorOpenBtn(vobc, active, btn, graphicBtn.Code == KZM)
 
 		case GZM, GYM: //关左门按钮
-			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == KZM)
+			return controlDoorCloseBtn(vobc, active, btn, graphicBtn.Code == GZM)
-			//return controlLeftDoorCloseBtn(vobc, active, btn)
+
-		//case KYM: //开右门按钮
-		//	return controlRightDoorBtn(vobc, active, btn)
-		//case GYM: //关右门按钮
-		//	return controlRightDoorCloseBtn(vobc, active, btn)
 		case ZF: //折返按钮
 			return controlReverseBtn(vobc, active, btn)
 		case QZMYX: //强制门允许
@@ -179,6 +161,7 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *
 	tccBtn.Passed = active
 	var doorAct byte = message.CLOSE_LEFT_DOOR
 	var doorState byte = message.LEFT_DOOR_STATE
+	msg := make([]message.TrainPcSimBaseMessage, 0)
 	if isLeft {
 		vobc.LeftDoorCloseCommand = active
 	} else {
@@ -186,10 +169,13 @@ func controlDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *
 		doorAct = message.CLOSE_RIGHT_DOOR
 		doorState = message.RIGHT_DOOR_STATE
 	}
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}},
+	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, status}})
-		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, 0}},
+	if vobc.LeftDoorCloseCommand && vobc.RightDoorCloseCommand {
+		msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.DOOR_LOCK_STATE, 1}})
 	}
-
+	msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorState, 0}})
+	//msg = append(msg, message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{doorAct, 0}})
+	return msg
 }
 
 // 开车门
@@ -201,8 +187,10 @@ func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s
 	var doorState byte = message.LEFT_DOOR_STATE
 	if isLeft {
 		vobc.LeftDoorOpenCommand = active
+		vobc.LeftDoorCloseCommand = false
 	} else {
 		vobc.RightDoorOpenCommand = active
+		vobc.RightDoorCloseCommand = false
 		doorAct = message.OPEN_RIGHT_DOOR
 		doorState = message.RIGHT_DOOR_STATE
 	}
@@ -214,55 +202,6 @@ func controlDoorOpenBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s
 	return msg
 }
 
-// 开左门按钮
-func controlLeftDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
-	var status byte = 0
-	if active {
-		status = 1
-	}
-	vobc.LeftDoorOpenCommand = active
-	tccBtn.Passed = active
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_OPEN_DOOR, status}},
-		{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.LEFT_DOOR_STATE, status}},
-	}
-
-}
-
-// 关左门按钮
-func controlLeftDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
-	var status byte = 0
-	if active {
-		status = 1
-	}
-	vobc.LeftDoorCloseCommand = active
-	tccBtn.Passed = active
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_LEFT_DOOR, status}}}
-
-}
-
-// 开右门
-func controlRightDoorBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
-	var status byte = 0
-	if active {
-		status = 1
-	}
-	vobc.RightDoorOpenCommand = active
-	tccBtn.Passed = active
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OPEN_RIGHT_DOOR, status}}}
-
-}
-
-// 关右门按钮
-func controlRightDoorCloseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
-	var status byte = 0
-	if active {
-		status = 1
-	}
-	vobc.RightDoorCloseCommand = active
-	tccBtn.Passed = active
-	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.CLOSE_RIGHT_DOOR, status}}}
-}
-
 // 折返
 func controlReverseBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *state_proto.TrainControlState_ControlButton) []message.TrainPcSimBaseMessage {
 	var status byte = 0
@@ -377,6 +316,7 @@ func controlOverhaulBtn(vobc *state_proto.TrainVobcState, active bool, tccBtn *s
 	tccBtn.Passed = active
 	vobc.OverhaulBtn = active
 	return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.OVERHAUL, status}}}
+	//return []message.TrainPcSimBaseMessage{{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{message.ATO_SEND_TRAIN, status}}}
 }
 
 // 休眠按钮
@@ -480,19 +420,38 @@ func trainDoorModeChangeHandle(vobc *state_proto.TrainVobcState, tcc *state_prot
 	return msg
 }
 
+func trainTractionPower(speed int32, traction int64, handleVal int32) int32 {
+	//速度（V）可以通过初始速度 加上加速度（a）乘以时间（t）来计算，即V=V1+at
+	acc := float32(math.Abs(float64(handleVal)) / 100 * DEFAULT_TRAIN_TRACTION_ACC)
+	resultSpeed := DEFAULT_TRAIN_STARTED_SPEED + acc
+	if speed > 0 {
+		resultSpeed = float32(speed)/3.6/100 + acc
+	}
+	// p=fv
+	p := float32(traction) * resultSpeed
+	if p >= TRAIN_MAX_TRACTION_POWER {
+		return TRAIN_MAX_TRACTION_POWER
+	}
+	return int32(p)
+
+}
+func trainBrakingOrTraction(trainLoad int64, handleVal int32, power float64) int64 {
+	tl := trainLoad * 10 //列车初始化已经 * 100，再*10 就是对应的kg
+	//F=ma 单位 F单位：牛顿，m单位：千克，a单位：米/秒²
+	totalPower := float64(tl) * power / 1000
+	//DEFULAT_TRAIN_LOAD * 1000 * 0.97 / 1000
+	n := int64(math.Abs(float64(handleVal))/100*totalPower) * 100
+	return n
+}
+
 // 列车牵引控制
-func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
+func trainControlHandle(speed int32, vobc *state_proto.TrainVobcState, tcc *state_proto.TrainControlState, request *request_proto.TrainControl_PushHandler, deviceId uint32, tccGraphic *data_proto.TccGraphicStorage) []message.TrainPcSimBaseMessage {
 	_, find := findTrainTccGraphicDataHandler(tccGraphic, deviceId)
 	if !find {
 		slog.Error("未找到对应的牵引制动手柄设备deviceId:", deviceId)
 		return nil
 	}
-	/*trainStart := false
-	if tcc.PushHandler.Val <= 0 {
-		trainStart = true
-	} else if tcc.PushHandler.Val > 0 {
 
-	}*/
 	jjzdBtn := tcc.Buttons[JJZD]
 	vobc.TractionStatus = false
 	vobc.TractionForce = 0
@@ -503,14 +462,17 @@ func trainControlHandle(vobc *state_proto.TrainVobcState, tcc *state_proto.Train
 	var zeroState byte = 0
 	var brakeState byte = 0
 	var traction byte = 0
+	vobc.TractionPower = 0
 	if request.Val > 0 {
 		vobc.TractionStatus = true
-		vobc.TractionForce = int64(float32(request.Val)/100*DEFAULT_TRAIN_TRACTION) * 100
+		vobc.TractionForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_TRAIN_TRACTION_ACC)
+		vobc.TractionPower = trainTractionPower(speed, vobc.TractionForce, request.Val)
 		notBreak = 1
 		traction = 1
 	} else if request.Val < 0 {
 		vobc.BrakingStatus = true
-		vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100
+		//vobc.BrakeForce = int64(math.Abs(float64(request.Val))/100*DEFAULT_BRAKE_FORCE) * 100
+		vobc.BrakeForce = trainBrakingOrTraction(vobc.TrainLoad, request.Val, DEFAULT_BRAKE_FORCE)
 		vobc.EmergencyBrakingStatus = false
 		jjzdBtn.Passed = false
 		brakeState = 1
@@ -702,7 +664,7 @@ func trainPcSimDigitalOutInfoHandleCode7_0(d byte, vobc *state_proto.TrainVobcSt
 	vobc.EmergencyBrakingStatus = message.AtpLowPowerByte(message.GetBit(d, 3)) //紧急制动
 	vobc.LeftDoorState = message.IsTrueForByte(message.GetBit(d, 4))            //开左门允许
 	vobc.RightDoorState = message.IsTrueForByte(message.GetBit(d, 5))           //开右门允许
-	vobc.RightDoorCloseCommand = message.IsTrueForByte(message.GetBit(d, 6))    //关右门
+	vobc.AtoCloseRightDoor = message.IsTrueForByte(message.GetBit(d, 6))        //ATO关右门
 	vobc.AllDoorClose = message.IsTrueForByte(message.GetBit(d, 7))             //车门保持关闭
 	vobc.LightTractionSafetyCircuit = vobc.TractionSafetyCircuit                //切牵引
 	vobc.LightEmergencyBrakingStatus = vobc.EmergencyBrakingStatus              //紧急制动
@@ -894,15 +856,15 @@ func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_prot
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_FORWORD, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})  //方向手柄向前控制
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.HANDLE_BACKWORD, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //方向手柄向前控制
 	}
-	/*if vs.RightDoorCloseCommand {
+	/*	if vs.RightDoorCloseCommand {
 			msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_RIGHT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关右门按钮
 		}
 		if vs.LeftDoorCloseCommand {
 			msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.CLOSE_LEFT_DOOR, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //关左门按钮
-	}*/
-	if vs.AllDoorClose {
-		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态
 		}
+		if vs.AllDoorClose {
+
+		}*/
 	if vs.ObstacleCheckBtn {
 		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.OBSTACLE_CHECK, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //障碍物检测按钮
 	}
@@ -922,18 +884,11 @@ func (s *VerifySimulation) ObtainTrainDigitalMockDataForStatus(train *state_prot
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.EMERGENT_HANDLE_DOWN, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_TRACTION_CUTED, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //紧急手柄拉下
 
-	if vs.DoorModeAA {
-		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AA, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})
-	} else if vs.DoorModeAM {
-		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_AM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})
-	} else if vs.DoorModeMM {
-		msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_MODE_MM, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})
-	}
 	return msgArr
 }
 func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage {
 	msgArr := make([]message.TrainPcSimBaseMessage, 0)
-
+	vs := train.VobcState
 	stateArr := s.ObtainTrainDigitalMockDataForStatus(train)
 	msgArr = append(msgArr, stateArr...)
 
@@ -947,7 +902,20 @@ func (s *VerifySimulation) ObtainTrainDigitalMockData(train *state_proto.TrainSt
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{38, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //只牵引
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{40, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //本端机械钩
 	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{41, 1}, Type: message.SENDER_TRAIN_OUTR_INFO})                      //对端机械钩
-
+	msgArr = append(msgArr, message.TrainPcSimBaseMessage{Data: []byte{message.DOOR_LOCK_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}) //车门锁闭状态
+	var modeAA, modeAM, modeMM byte = 0, 0, 0
+	if vs.DoorModeAA {
+		modeAA = 1
+	}
+	if vs.DoorModeAM {
+		modeAM = 1
+	}
+	if vs.DoorModeMM {
+		modeMM = 1
+	}
+	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
 }