joylink/rts-sim-testing-service
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base: joylink:fc6b51cc248f3509eafa7562d1ddd17ea8938823
Branches Tags
joylink:master
joylink:develop
joylink:local-test
..
compare: joylink:ff67c84f18955c4416f36968e2a84f871be08bb6
Branches Tags
joylink:develop
joylink:local-test
joylink:master

No commits in common. "fc6b51cc248f3509eafa7562d1ddd17ea8938823" and "ff67c84f18955c4416f36968e2a84f871be08bb6" have entirely different histories.
fc6b51cc24 ... ff67c84f18

33 changed files with 1069 additions and 1285 deletions
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4
api/simulation.go
View File

@ -844,7 +844,7 @@ func baliseTelegramReset(c *gin.Context) {
}
simulation := checkDeviceDataAndReturn(req.SimulationId)
slog.Info("传入状态参数", req)
var err = memory.BaliseTelegramReset(simulation, req)
var err *sys_error.BusinessError = memory.BaliseTelegramReset(simulation, req)
if err != nil {
panic(err)
}
@ -931,7 +931,7 @@ func baliseReset(c *gin.Context) {
//}
simulationId := c.Query("simulationId")
simulation := checkDeviceDataAndReturn(simulationId)
err := memory.AllBaliseTelegramReset(simulation)
err := memory.BaliseReset(simulation)
if err != nil {
panic(sys_error.New(fmt.Sprintf("应答器状态重置操作失败,%s", err.Error()), err))
}

2
config/config.go
View File

@ -120,10 +120,10 @@ type VobcConfig struct {
Open bool `json:"open" description:"是否开启"`
}
type InterlockConfig struct {
Open bool `json:"open" description:"是否开启"`
Ip string `json:"ip" description:"IP配置"`
LocalPort int `json:"localPort" description:"本机监听接收端口"`
RemotePort int `json:"remotePort" description:"远端接收采集信息端口"`
Open bool `json:"open" description:"是否开启"`
Code string `json:"code" description:"所属集中站"`
Line string `json:"line" description:"联锁通信协议所属线路"`
}

746
dto/state_proto/device_state.pb.go
View File

@ -3043,11 +3043,10 @@ type BTMState struct {
DataSerialNumber uint32 `protobuf:"varint,1,opt,name=dataSerialNumber,proto3" json:"dataSerialNumber,omitempty"` //数据流水号，0~255变化，每次加一
BaliseCount uint32 `protobuf:"varint,2,opt,name=baliseCount,proto3" json:"baliseCount,omitempty"` //应答器计数（每过一个应答器加一，在同一个应答器内不变)（0~255）
MessageCounter uint32 `protobuf:"varint,3,opt,name=messageCounter,proto3" json:"messageCounter,omitempty"` //报文计数器 (每解出一个报文加一)（0~255）
Telegram string `protobuf:"bytes,4,opt,name=telegram,proto3" json:"telegram,omitempty"` //应答器用户报文（16进制字符串）
Telegram string `protobuf:"bytes,4,opt,name=telegram,proto3" json:"telegram,omitempty"` //报文（16进制字符串）
Distance int64 `protobuf:"varint,5,opt,name=distance,proto3" json:"distance,omitempty"` //BTM天线中心到应答器的距离，mm
AboveBalise bool `protobuf:"varint,6,opt,name=aboveBalise,proto3" json:"aboveBalise,omitempty"` //BTM天线即将经过应答器
BaliseTelegramForPcSimResend string `protobuf:"bytes,7,opt,name=baliseTelegramForPcSimResend,proto3" json:"baliseTelegramForPcSimResend,omitempty"` //列车pc仿真暂存应答器回复数据
Telegram128 string `protobuf:"bytes,8,opt,name=telegram128,proto3" json:"telegram128,omitempty"` //应答器报文128（16进制字符串）
}
func (x *BTMState) Reset() {
@ -3131,13 +3130,6 @@ func (x *BTMState) GetBaliseTelegramForPcSimResend() string {
return ""
}
func (x *BTMState) GetTelegram128() string {
if x != nil {
return x.Telegram128
}
return ""
}
// 动力学相关参数返回数据，因golang float类型数据序列化后丢失精度故使用string
// 此类型需要与 common_data 中的 TrainDynamicConfig类型属性保持一致
type TrainDynamicConfigMqtt struct {
@ -6162,7 +6154,7 @@ var file_device_state_proto_rawDesc = []byte{
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@ -6180,379 +6172,377 @@ var file_device_state_proto_rawDesc = []byte{
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}
var (

2
go.mod
View File

@ -100,5 +100,3 @@ require (
gopkg.in/ini.v1 v1.67.0 // indirect
gopkg.in/yaml.v3 v3.0.1 // indirect
)
require github.com/yousifnimah/Cryptx v1.0.1

2
go.sum
View File

@ -222,8 +222,6 @@ github.com/ugorji/go/codec v1.2.11 h1:BMaWp1Bb6fHwEtbplGBGJ498wD+LKlNSl25MjdZY4d
github.com/ugorji/go/codec v1.2.11/go.mod h1:UNopzCgEMSXjBc6AOMqYvWC1ktqTAfzJZUZgYf6w6lg=
github.com/yohamta/donburi v1.3.9 h1:sYAPaelSnxmoTGjgH9ZlYt4pUKrnwvAv4YGXxLZCK6E=
github.com/yohamta/donburi v1.3.9/go.mod h1:5QkyraUjkzbMVTD2b8jaPFy1Uwjm/zdFN1c1lZGaezg=
github.com/yousifnimah/Cryptx v1.0.1 h1:oZbB6CjvqOzkmoghsncb3/4sV2As8nqOJCjZPd08Xdw=
github.com/yousifnimah/Cryptx v1.0.1/go.mod h1:vmpiwqtg+fR+KaAisCdz2+6k30jWb+/X7EyUysDKh0U=
github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
go.uber.org/atomic v1.9.0 h1:ECmE8Bn/WFTYwEW/bpKD3M8VtR/zQVbavAoalC1PYyE=
go.uber.org/atomic v1.9.0/go.mod h1:fEN4uk6kAWBTFdckzkM89CLk9XfWZrxpCo0nPH17wJc=

25
message_server/sfp_ms.go
View File

@ -275,16 +275,23 @@ func handlerSectionState(w ecs.World, uid string) *state_proto.SectionState {
//fmt.Printf("id=%s的信号机不存在", uid)
return nil
}
if entry.HasComponent(component.AxleManagerType) { //计轴区段
axleManager := component.AxleManagerType.Get(entry)
sectionState := &state_proto.SectionState{
Occupied: axleManager.Occupied,
AxleFault: entry.HasComponent(component.AxleSectionForceOccupied),
AxleDrst: false,
AxlePdrst: axleManager.PDRST,
if entry.HasComponent(component.PhysicalSectionStateType) { //计轴区段
sectionState := &state_proto.SectionState{}
axleState := component.PhysicalSectionStateType.Get(entry)
sectionState.Occupied = axleState.Occ
sectionState.AxleFault = entry.HasComponent(component.AxleSectionFaultTag)
wd := entity.GetWorldData(w)
sectionModel := wd.Repo.FindPhysicalSection(uid)
faDcAxleDeviceEntry := entity.FindAxleManageDevice(wd, sectionModel.CentralizedStation())
if faDcAxleDeviceEntry != nil {
faDcAxleDevice := component.AxleManageDeviceType.Get(faDcAxleDeviceEntry)
axleRuntime := faDcAxleDevice.FindAdr(uid)
if axleRuntime != nil {
sectionState.AxleDrst = axleRuntime.Drst
sectionState.AxlePdrst = axleRuntime.Pdrst
}
}
sectionState.Occupied = axleManager.Occupied
sectionState.AxleFault = entry.HasComponent(component.AxleSectionForceOccupied)
return sectionState
} else if entry.HasComponent(component.TrackCircuitType) { //轨道电路
sectionState := &state_proto.SectionState{

2
rts-sim-module

@ -1 +1 @@
Subproject commit 3182e867c12d73bd4c75182459d3b9fae670653c
Subproject commit ef7e469175d27182823461972998049692fb425f

2
rts-sim-testing-message

@ -1 +1 @@
Subproject commit 0c2a7613104f859e83091d1f6379e6e2fa1990ad
Subproject commit 2f5d8c3cfdf06ced1a0b0a50f47f9353c441e196

59
third_party/axle_device/beijing12/service.go vendored
View File

@ -37,7 +37,6 @@ type serviceContext struct {
client udp.UdpClient
cancelFunc context.CancelFunc
ciSectionIndexConfigs []*proto.CiSectionCodePoint
sectionStateMap map[string]*fi.AxleSectionState //存储预复位/复位请求的返回结果
remoteAddr uint16 //联锁地址 从配置中的16进制字符串转来的
localAddr uint16 //计轴地址 从配置中的16进制字符串转来的
@ -176,10 +175,8 @@ func initServiceContext(rsspConfig config.RsspAxleConfig, ref *proto.Centralized
sim: simulation,
config: rsspConfig,
ciSectionIndexConfigs: ref.SectionCodePoints,
sectionStateMap: make(map[string]*fi.AxleSectionState),
remoteAddr: uint16(sourceAddr),
localAddr: uint16(targetAddr),
remoteAddr: uint16(sourceAddr),
localAddr: uint16(targetAddr),
remoteSid1: uint32(remoteSid1),
remoteSid2: uint32(remoteSid2),
@ -263,26 +260,23 @@ func (s *serviceContext) runCollectTask(ctx context.Context) {
func (s *serviceContext) collect() *msg.RsdMsgBuilder {
worldData := entity.GetWorldData(s.sim.World)
amdEntry := entity.FindAxleManageDevice(worldData, s.config.StationCode)
amd := component.AxleManageDeviceType.Get(amdEntry)
stateInfos := msg.StateInfos{}
for _, cfg := range s.ciSectionIndexConfigs {
entry := worldData.EntityMap[cfg.SectionId]
if entry == nil {
logger().Error(fmt.Sprintf("没有id[%s]的区段实体", cfg.SectionId))
}
am := component.AxleManagerType.Get(entry)
stateInfo := &msg.StateInfo{
CLR: !am.Occupied,
OCC: am.Occupied,
}
stateInfos = append(stateInfos, stateInfo)
//预复位/复位驱动反馈状态
state := s.sectionStateMap[cfg.SectionId]
delete(s.sectionStateMap, cfg.SectionId)
if state != nil {
stateInfo.RAC = state.Rac
stateInfo.RJO = state.Rjo
stateInfo.RJT = state.Rjt
sectionRuntime := amd.Adrs[cfg.SectionId]
sectionEntry, ok := entity.GetEntityByUid(s.sim.World, cfg.SectionId)
sectionState := component.PhysicalSectionStateType.Get(sectionEntry)
if !ok {
continue
}
stateInfos = append(stateInfos, &msg.StateInfo{
CLR: !sectionState.Occ,
OCC: sectionState.Occ,
RAC: sectionRuntime.Rac,
RJO: sectionRuntime.Rjo,
RJT: sectionRuntime.Rjt,
})
}
userData := []byte{0x00} //检查字节
userData = append(userData, stateInfos.Encode()...)
@ -323,9 +317,6 @@ func (s *serviceContext) runHandleMsgTask(ctx context.Context) {
}
}()
for {
if len(s.msgChan) > 10 {
logger().Warn(fmt.Sprintf("消息处理耗时过长，消息队列长度：%d", len(s.msgChan)))
}
select {
case <-ctx.Done():
return
@ -378,19 +369,13 @@ func (s *serviceContext) handleRsdMsg(data []byte) {
//驱动
for i, cmdInfo := range cmdInfos {
sectionIndexConfig := s.ciSectionIndexConfigs[i]
if cmdInfo.PDRST {
state, err := fi.AxleSectionPdrstDrive(s.sim.World, sectionIndexConfig.SectionId)
if err != nil {
logger().Error("计轴预复位驱动出错", "error", err)
}
s.sectionStateMap[sectionIndexConfig.SectionId] = state
err := fi.AxleSectionDrstDrive(s.sim.World, sectionIndexConfig.SectionId, cmdInfo.DRST)
if err != nil {
logger().Error("驱动计轴直接复位出错", "error", err)
}
if cmdInfo.DRST {
state, err := fi.AxleSectionDrstDrive(s.sim.World, sectionIndexConfig.SectionId)
if err != nil {
logger().Error("计轴复位驱动出错", "error", err)
}
s.sectionStateMap[sectionIndexConfig.SectionId] = state
err = fi.AxleSectionPdrstDrive(s.sim.World, sectionIndexConfig.SectionId, cmdInfo.PDRST)
if err != nil {
logger().Error("驱动计轴预复位出错", "error", err)
}
}
}

14
third_party/can_btm/balise_btm.go vendored
View File

@ -59,14 +59,11 @@ func (s *btmCanetClient) GetState() state_proto.BTMState {
detector := s.baliseDetector
var telegram string
var tel128 string
info := detector.eq[len(detector.eq)-1]
if /*detector.aboveBalise &&*/ info != nil && len(info.telegram) != 0 {
telegram = fmt.Sprintf("%X", info.telegram)
tel128 = fmt.Sprintf("%X", info.telegram128)
} else {
telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
tel128 = strings.Repeat("00", balise_const.TelegramByteLen)
}
var dis int64
if info != nil {
@ -77,7 +74,6 @@ func (s *btmCanetClient) GetState() state_proto.BTMState {
BaliseCount: uint32(detector.baliseCounter),
MessageCounter: uint32(detector.messageCounter),
Telegram: telegram,
Telegram128: tel128,
Distance: dis,
AboveBalise: detector.aboveBalise,
}
@ -167,7 +163,7 @@ func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
dms := make([]*message.CanetFrame, 0, 16) //13个应答器报文数据帧+TimeA帧+TimeB帧+结束帧
for cfi := 0; cfi < cfSum; cfi++ {
cfStart := cfi * 13
cf := message.NewCanetFrame(cfs[cfStart : cfStart+13])
cf := message.NewCanetFrame(cfs[cfStart:cfStart+13], false)
//
switch cf.CanFrameType() {
case message.CfReq:
@ -267,7 +263,7 @@ func (s *btmCanetClient) rspResendToAtp() {
// 当未收到应答器报文时响应：时间同步帧、状态应答帧
func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
//BTM状态
statusF := message.NewBtmStatusRspFrame(s.atpReqSn)
statusF := message.NewBtmStatusRspFrame(s.atpReqSn, false)
btmStatus := s.createTrainBtmStatus()
statusF.AntennaFault = btmStatus.AntennaFault
@ -288,9 +284,9 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
//true-收到应答器报文
isRcvTelegram := sb != nil && len(sb.telegram) > 0
if isRcvTelegram { //当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, sb.telegram, false, s.btmTime.TkNow(), s.btmTime.TkNow(), s.btmTime.TkNow())
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, sb.telegram, false, s.btmTime.TkNow(), s.btmTime.TkNow(), s.btmTime.TkNow(), false)
if statusDataCfOk {
timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn, false)
timeSyncF.T2 = s.btmTime.BtmTk
timeSyncF.T3 = s.btmTime.TkNow()
s.sendCanetFrame(timeSyncF.Encode().Encode())
@ -301,7 +297,7 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
slog.Warn("BtmCanetClient应答帧、数据帧编码失败")
}
} else { //当未收到应答器报文时响应：时间同步帧、状态应答帧
timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn, false)
timeSyncF.T2 = s.btmTime.BtmTk
timeSyncF.T3 = s.btmTime.TkNow()
s.sendCanetFrame(timeSyncF.Encode().Encode())

27
third_party/can_btm/balise_detection.go vendored
View File

@ -39,13 +39,12 @@ type BtmAntennaToBaliseInfo struct {
BaliseType proto.Transponder_Type //应答器类型
}
type BtmAntennaScanningBaliseInfo struct {
BaliseId string //应答器id
Time time.Time //应答器预计被BTM天线激活的时刻
active bool //true-激活过，即列车扫过
telegram []byte //应答器用户报文
telegram128 []byte //应答器报文
Distance int64 //BTM天线中心到应答器的距离，mm
BaliseType proto.Transponder_Type //应答器类型
BaliseId string //应答器id
Time time.Time //应答器预计被BTM天线激活的时刻
active bool //true-激活过，即列车扫过
telegram []byte //应答器报文
Distance int64 //BTM天线中心到应答器的距离，mm
BaliseType proto.Transponder_Type //应答器类型
}
// BaliseDetector 车载BTM天线，应答器探测器
@ -89,7 +88,7 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
if curExpect != nil && curExpect.Time.UnixMilli()-curTime.UnixMilli() < 20 { //20ms
//slog.Debug("将要激活应答器", "BaliseId", curExpect.BaliseId, "ActiveTime", dt)
telegram, utel := t.rcvTelegram(wd, curExpect.BaliseId)
telegram := t.rcvTelegram(wd, curExpect.BaliseId)
if curExpect.Distance <= 50 {
btm_vobc.Default().AppendBaliseMsgForTrain(vobcBtm, curExpect.BaliseId, telegram, curTime.UnixMilli())
@ -98,8 +97,7 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
if t.addExpectedBalise(curExpect) {
t.baliseCounterAdd1() //应答器计数器
if len(telegram) > 0 {
curExpect.telegram = utel
curExpect.telegram128 = telegram
curExpect.telegram = telegram
t.baliseMessageCounterAdd1() //报文计数器
}
@ -139,17 +137,14 @@ func (t *BaliseDetector) baliseMessageCounterAdd1() {
}
// BTM天线接收应答器报文(线程不安全)
func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) ([]byte, []byte) {
func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) []byte {
entry, ok := wd.EntityMap[baliseId]
if ok {
if component.BaliseWorkStateType.Get(entry).Work {
tel := component.BaliseFixedTelegramType.Get(entry).Telegram
utel := component.BaliseFixedTelegramType.Get(entry).UserTelegram
return tel, utel
//return component.BaliseFixedTelegramType.Get(entry).Telegram
return component.BaliseFixedTelegramType.Get(entry).Telegram
}
}
return nil, nil
return nil
}
// true-新增；false-更新

153
third_party/interlock/beijing12/interlock.go vendored
View File

@ -2,14 +2,9 @@
package beijing12
import (
"bytes"
"context"
"fmt"
"joylink.club/bj-rtsts-server/sys_error"
"joylink.club/bj-rtsts-server/third_party/tcp"
"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
"joylink.club/rtsssimulation/fi"
"joylink.club/rtsssimulation/repository"
"log/slog"
"runtime/debug"
"sync"
@ -19,11 +14,7 @@ import (
"joylink.club/bj-rtsts-server/third_party/message"
)
var ( //日志
logTag = "[北京12号线联锁通信]"
privateLogger *slog.Logger
loggerInit sync.Once
)
const logTag = "[北京12号线联锁通信]"
// 联锁代理通信接口
type InterlockMessageManager interface {
@ -31,15 +22,15 @@ type InterlockMessageManager interface {
HandleInterlockDriverInfo(code string, b []byte)
}
//// 联锁接口
//type InterlockProxy interface {
// // 启动联锁消息功能
// Start(manager InterlockMessageManager)
// // 停止联锁消息功能
// Stop()
//}
// 联锁接口
type InterlockProxy interface {
// 启动联锁消息功能
Start(manager InterlockMessageManager)
// 停止联锁消息功能
Stop()
}
var interlockMap = make(map[string]*interlockProxy)
var interlockMap = make(map[string]InterlockProxy)
var initMutex sync.Mutex
//func Default(c *config.InterlockConfig) InterlockProxy {
@ -51,25 +42,9 @@ var initMutex sync.Mutex
// return interlockMap[c.Code]
//}
func Start(c *config.InterlockConfig, simulation *memory.VerifySimulation, baliseList []*repository.Transponder) {
initMutex.Lock()
defer initMutex.Unlock()
proxy := &interlockProxy{
runConfig: c,
indexBalise: make(map[byte]map[byte]*repository.Transponder),
fromCIBytes: make([]byte, 0, fromCIBytesLen),
}
for _, balise := range simulation.Repo.TransponderList() {
if balise.LeuIndex() == 0 {
continue
}
leuIndex := byte(balise.LeuIndex())
if proxy.indexBalise[leuIndex] == nil {
proxy.indexBalise[leuIndex] = make(map[byte]*repository.Transponder)
}
proxy.indexBalise[leuIndex][byte(balise.IndexInLeu())] = balise
}
proxy.Start(simulation)
func Start(c *config.InterlockConfig, manager InterlockMessageManager) {
proxy := &interlockProxy{runConfig: c}
proxy.Start(manager)
interlockMap[c.Code] = proxy
}
@ -83,43 +58,49 @@ func Stop(c *config.InterlockConfig) {
type interlockProxy struct {
tcpClient *tcp.TcpClient
simulation *memory.VerifySimulation
manager InterlockMessageManager
collectInfoTaskCancel context.CancelFunc
runConfig *config.InterlockConfig
// 按索引存储的应答器，leu索引-leu内索引
indexBalise map[byte]map[byte]*repository.Transponder
// 联锁发送的数据过长，多个包才能凑成完成报文
fromCIBytes []byte
// 序列号
serialNumber uint8
}
func (i *interlockProxy) Start(simulation *memory.VerifySimulation) {
// 驱动信息进行转发
func (i *interlockProxy) handleDriverInfo(b []byte) {
slog.Info(fmt.Sprintf("%s收到联锁驱动继电器数据：%x", logTag, b))
handler := i.manager
if handler != nil {
handler.HandleInterlockDriverInfo(i.runConfig.Code, b)
}
}
func (i *interlockProxy) Start(manager InterlockMessageManager) {
if i.runConfig == nil || i.runConfig.Ip == "" || !i.runConfig.Open {
return
}
if simulation == nil {
if manager == nil {
panic(fmt.Sprintf("%s启动联锁消息服务错误: InterlockMessageManager不能为nil", logTag))
}
if i.simulation != nil {
if i.manager != nil {
panic(fmt.Sprintf("%s启动联锁消息服务错误: 存在正在运行的任务", logTag))
}
i.initInterlockProxy()
ctx, cancel := context.WithCancel(context.Background())
go i.collectInfoStateTask(ctx)
i.collectInfoTaskCancel = cancel
i.simulation = simulation
i.manager = manager
}
// 采集电路状态发送间隔,单位ms
const InterlockMessageSendInterval = 300
// 序列号
var serialNumber uint8
// 定时发送采集电路状态任务
func (i *interlockProxy) collectInfoStateTask(ctx context.Context) {
defer func() {
if err := recover(); err != nil {
logger().Error(logTag+"定时发送道岔状态任务异常", "error", err, "stack", string(debug.Stack()))
slog.Error(logTag+"定时发送道岔状态任务异常", "error", err, "stack", string(debug.Stack()))
debug.PrintStack()
}
}()
for {
@ -128,15 +109,15 @@ func (i *interlockProxy) collectInfoStateTask(ctx context.Context) {
return
default:
}
collectInfoState := i.simulation.CollectInterlockRelayInfo(i.runConfig.Code)
collectInfoState := i.manager.CollectInterlockRelayInfo(i.runConfig.Code)
if collectInfoState != nil {
i.serialNumber++
collectInfoState.SetSerialNumber(i.serialNumber)
serialNumber++
collectInfoState.SetSerialNumber(serialNumber)
err := i.tcpClient.Send(collectInfoState.Encode())
if err != nil {
logger().Error(fmt.Sprintf("向联锁发送继电器状态失败：%s", err))
slog.Error(fmt.Sprintf("%s向联锁发送继电器状态失败：%s", logTag, err))
} else {
logger().Info(fmt.Sprintf("向联锁发送继电器数据成功：%x", collectInfoState.Encode()))
slog.Info(fmt.Sprintf("%s向联锁发送继电器数据成功：%x", logTag, collectInfoState.Encode()))
}
}
time.Sleep(time.Millisecond * InterlockMessageSendInterval)
@ -154,70 +135,24 @@ func (i *interlockProxy) Stop() {
if i.collectInfoTaskCancel != nil {
i.collectInfoTaskCancel()
}
i.simulation = nil
i.manager = nil
}
func (i *interlockProxy) initInterlockProxy() {
client, err := tcp.StartTcpClient(fmt.Sprintf("%s:%d", i.runConfig.Ip, i.runConfig.RemotePort), i.handleFromCiData, func(err error) {
logger().Error(fmt.Sprintf("TCP客户端读取数据出错，终止通信服务：%s", err))
client, err := tcp.StartTcpClient(fmt.Sprintf("%s:%d", i.runConfig.Ip, i.runConfig.RemotePort), i.handleDriveInfo, func(err error) {
slog.Error(fmt.Sprintf("%sTCP客户端读取数据出错，终止通信服务：%s", logTag, err))
i.Stop()
})
if err != nil {
panic(sys_error.New(fmt.Sprintf("%s启动TCP客户端失败", logTag), err))
panic(fmt.Sprintf("%s启动TCP客户端失败：%s", logTag, err))
}
i.tcpClient = client
}
func (i *interlockProxy) handleFromCiData(n int, data []byte) {
func (i *interlockProxy) handleDriveInfo(n int, data []byte) {
data = data[:n]
logger().Info(fmt.Sprintf("收到联锁驱动及应答器报文数据，长度%d", n))
if len(i.fromCIBytes) != 0 { //报文头已经存进去了
i.fromCIBytes = append(i.fromCIBytes, data...)
if len(i.fromCIBytes) < fromCIBytesLen { //当存储的报文长度不足预期长度
return
}
} else if bytes.HasPrefix(data, []byte{0xff, 0xff}) { //判断是否是报文头
i.fromCIBytes = append(i.fromCIBytes, data...)
return
} else {
return
}
//处理联锁报文
msg := &fromCiMsg{}
err := msg.decode(i.fromCIBytes)
logger().Info(fmt.Sprintf("解析完整联锁驱动及应答器报文数据：%x", i.fromCIBytes))
i.fromCIBytes = i.fromCIBytes[:0] //清空联锁报文存储
if err != nil {
logger().Error(fmt.Sprintf("解析来自CI的数据出错：%s", err.Error()))
return
}
//处理驱动数据
if i.simulation != nil {
logger().Info(fmt.Sprintf("解析出的驱动数据：%x", msg.driveData))
i.simulation.HandleInterlockDriverInfo(i.runConfig.Code, msg.driveData)
}
//处理应答器数据
for _, datum := range msg.baliseTelegramData {
indexBalise2 := i.indexBalise[datum.leuIndex]
if indexBalise2 == nil {
logger().Error(fmt.Sprintf("没有leuIndex[%d]的应答器", datum.leuIndex))
continue
}
balise := indexBalise2[datum.index]
if balise == nil {
logger().Error(fmt.Sprintf("没有leuIndex[%d]leu内索引[%d]的应答器", datum.leuIndex, datum.index))
continue
}
err := fi.BaliseUpdateVariableTelegram(i.simulation.World, balise.Id(), datum.telegram, false)
if err != nil {
logger().Error(fmt.Sprintf("更新leuIndex[%d]leu内索引[%d]的应答器数据出错：%s", datum.leuIndex, datum.index, err.Error()))
}
slog.Info(fmt.Sprintf("%s收到联锁驱动继电器数据：%x", logTag, data))
if i.manager != nil {
i.manager.HandleInterlockDriverInfo(i.runConfig.Code, data)
}
}
func logger() *slog.Logger {
loggerInit.Do(func() {
privateLogger = slog.Default().With("tag", logTag)
})
return privateLogger
}

79
third_party/interlock/beijing12/msg.go vendored
View File

@ -1,79 +0,0 @@
package beijing12
import (
"errors"
"fmt"
"joylink.club/bj-rtsts-server/sys_error"
"joylink.club/bj-rtsts-server/util/myreader"
)
// 后续如果有其它线路还用此协议，需要将这些常量做成配置
const (
syncZoneStateLen = 1289 //同步区状态字节数
driveDataLen = 14 //驱动数据长度
baliseTelegramDataSize = 28 //应答器报文数据个数
baliseTelegramMsgLen = 131 //应答器报文数据长度
)
// 来自联锁的报文字节长度
var fromCIBytesLen = 8 + syncZoneStateLen + driveDataLen + baliseTelegramMsgLen*baliseTelegramDataSize
// fromCiMsg 来自联锁的消息
type fromCiMsg struct {
head1 byte // 包头1 0xFF
head2 byte // 包头2 0xFF
typeCode byte // 类型码
seqNum byte // 序列号
reserve []byte // 预留2字节
syncZoneState []byte // 同步区状态（目前不用处理）
driveData []byte // 驱动数据
baliseTelegramData []*baliseTelegramMsg // 应答器报文数据
tail []byte // 包尾 0x0000
}
// driveDataLen 表示驱动数据字节数；baliseTelegramDataLen 表示应答器报文数据个数
func (f *fromCiMsg) decode(data []byte) error {
if len(data) != fromCIBytesLen {
return errors.New(fmt.Sprintf("%s联锁数据长度期望值[%d]，实际值[%d]", logTag, fromCIBytesLen, len(data)))
}
reader := myreader.NewReader(data)
f.head1 = reader.ReadByte()
f.head2 = reader.ReadByte()
f.typeCode = reader.ReadByte()
f.seqNum = reader.ReadByte()
f.reserve = reader.ReadBytes(2)
f.syncZoneState = reader.ReadBytes(syncZoneStateLen)
f.driveData = reader.ReadBytes(driveDataLen)
for i := 0; i < baliseTelegramDataSize; i++ {
baliseBytes := reader.ReadBytes(baliseTelegramMsgLen)
baliseMsg := &baliseTelegramMsg{}
err := baliseMsg.decode(baliseBytes)
if err != nil {
return err
}
f.baliseTelegramData = append(f.baliseTelegramData, baliseMsg)
}
f.tail = reader.ReadBytes(2)
if reader.Err != nil {
return errors.New(fmt.Sprintf("读取字节出错：%s", reader.Err))
}
return nil
}
type baliseTelegramMsg struct {
leuIndex byte // LEU索引
index byte // LEU内部应答器的索引
reserve byte // 预留
telegram []byte // 应答器报文 128字节
}
func (b *baliseTelegramMsg) decode(data []byte) error {
if len(data) != 131 {
return sys_error.New(fmt.Sprintf("%s应答器报文数据长度不对：%d", logTag, len(data)))
}
b.leuIndex = data[0]
b.index = data[1]
b.reserve = data[2]
b.telegram = data[3:]
return nil
}

20
third_party/interlock/beijing12/msg_test.go vendored
View File

File diff suppressed because one or more lines are too long

2
third_party/message/accelerometer.go vendored
View File

@ -67,7 +67,7 @@ func (acc *Accelerometer) BuildCanData() []byte {
appData = append(appData, accData...)
appData = append(appData, byte(0))
canId := CanFrameId{ID1: 0xff, ID2: 0xff, ID3: 0xff, ID4: 0xff}
canNet := &CanetFrame{FF: false, RTR: false, CanLen: 7, CanId: canId, CanData: appData}
canNet := &CanetFrame{FF: false, RTR: false, CanLen: 7, CanId: canId, CanData: appData, IsTrainPcSim: false}
return canNet.Encode()
}
func (acc *Accelerometer) Encode() []byte {

94
third_party/message/btm_data.go vendored
View File

@ -1,94 +0,0 @@
package message
import "encoding/binary"
//数据帧（0x80+扩展类型）,一个CAN帧只能存储8个字节，对于一个应答器报文，分片到多个CAN数据帧中
// BtmDataMessageFrame 数据帧-应答器报文
// offset = [0x00,0x0c] 共13个即可用于存储应答器报文的共104个字节
// BtmDataMessageTimeAFrame 数据帧-时间戳A
// offset = 0x0d
// BtmDataMessageTimeBFrame 数据帧-时间戳B
// offset = 0x0e
// BtmDataMessageEndFrame 数据帧-结束
// offset = 0x7f
const (
DATA_TIME_A_OFFSET = 0x0d
DATA_TIME_B_OFFSET = 0x0e
DATA_END_OFFSET = 0x7f
)
type BtmDataMessageAtpFrame struct {
//帧ID
FId CanFrameId
//8字节,应答器报文片段
Message []byte
}
type BtmDataMessageAtpTimeAndEndFrame struct {
//帧ID
FId CanFrameId
//时间戳A
Time uint32
//CRC
Crc32 uint32
}
func CreateBtmDataMessageDataAtpFrame(sn byte, offset byte) *BtmDataMessageAtpFrame {
return &BtmDataMessageAtpFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
}
}
func (f *BtmDataMessageAtpFrame) Encode() *BtmHeadFrame {
cf := &BtmHeadFrame{}
cf.CanId = f.FId
cf.CanLen = 8
dataBuf := make([]byte, 0, 8)
for _, data := range f.Message {
dataBuf = append(dataBuf, data)
}
cf.CanData = dataBuf
return cf
}
func (f *BtmDataMessageAtpFrame) Decode(cf *BtmHeadFrame) bool {
f.FId = cf.CanId
//
reader := NewCanBitsReader(cf.CanData, 8)
//
f.Message = make([]byte, 0, 8)
for c := 0; c < 8; c++ {
data, ok := reader.ReadByte()
if !ok {
return false
}
f.Message = append(f.Message, data)
}
//
return true
}
/////////////////////////////////////////////////////
func (atp *BtmDataMessageAtpTimeAndEndFrame) Encode() *BtmHeadFrame {
cf := &BtmHeadFrame{}
cf.CanId = atp.FId
cf.CanLen = 8
data := make([]byte, 0)
data = binary.BigEndian.AppendUint32(data, atp.Time)
data = binary.BigEndian.AppendUint32(data, atp.Crc32)
cf.CanData = data
return cf
}
func CreateBtmDataMessageTimeAtpFrame(sn byte, offset byte) *BtmDataMessageAtpTimeAndEndFrame {
return &BtmDataMessageAtpTimeAndEndFrame{FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn)}
}
////////////////////////////////////////////////////////////
func BtmDataMessageEndAtpFrame(sn byte) *BtmDataMessageAtpTimeAndEndFrame {
return &BtmDataMessageAtpTimeAndEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
}
}

67
third_party/message/btm_net.go vendored
View File

@ -1,67 +0,0 @@
package message
import (
"bytes"
"encoding/binary"
"fmt"
"strings"
)
// CanetFrame USR-CANET200_V1.0.7 设备 以太网-CAN 透传协议帧(12字节)
type BtmHeadFrame struct {
CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
CanId CanFrameId //CAN帧ID
CanData []byte //CAN帧数据，8字节
}
func NewBtmHeadFrame(buf []byte) *BtmHeadFrame {
cf := &BtmHeadFrame{}
cf.Decode(buf)
return cf
}
func (p *BtmHeadFrame) Encode() []byte {
buf := make([]byte, 0)
//CAN 帧ID
frameId := uint32(p.CanId.ID1)<<21 | uint32(p.CanId.ID2)<<13 | uint32(p.CanId.ID3)<<5 | uint32(p.CanId.ID4)
buf = binary.BigEndian.AppendUint32(buf, frameId)
//CAN 帧数据
if len(p.CanData) != 8 {
panic(fmt.Sprintf("len(p.CanData)!=8 datalen:%v", len(p.CanData)))
}
buf = append(buf, p.CanData...)
return buf
}
func (p *BtmHeadFrame) Decode(buf []byte) {
bb := bytes.NewBuffer(buf)
var idSource uint32
binary.Read(bb, binary.BigEndian, &idSource)
data := make([]byte, bb.Len())
_, err := bb.Read(data)
if err != nil {
fmt.Println(err)
return
}
b1 := byte((idSource >> 21) & 0xFF)
b2 := byte((idSource >> 13) & 0xFF)
b3 := byte((idSource >> 5) & 0xFF)
b4 := byte(idSource & 0x1F)
p.CanId.ID1 = b1
p.CanId.ID2 = b2
p.CanId.ID3 = b3
p.CanId.ID4 = b4
p.CanData = data
}
func (p *BtmHeadFrame) String() string {
sb := strings.Builder{}
sb.WriteString(fmt.Sprintf("CanetFrame CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x", p.CanLen,
p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
sb.WriteString("CanData = ")
for _, d := range p.CanData {
sb.WriteString(fmt.Sprintf(" 0x%0x ", d))
}
return sb.String()
}

40
third_party/message/can_atp_req.go vendored
View File

@ -1,8 +1,6 @@
package message
import (
"bytes"
"encoding/binary"
"fmt"
"log/slog"
"strings"
@ -70,7 +68,7 @@ type AtpRequestFrame struct {
Crc16 uint16
//解码时CRC16校验结果,true-校验通过
Crc16CheckOk bool
//IsTrainPcSim bool
IsTrainPcSim bool
}
// NewAtpRequestFrame 创建ATP查询帧
@ -92,38 +90,6 @@ func (f *AtpRequestFrame) String() string {
sb.WriteString(fmt.Sprintf(",Crc16CheckOk = %t", f.Crc16CheckOk))
return sb.String()
}
func (f *AtpRequestFrame) Decode2(cf *BtmHeadFrame) bool {
f.FId = cf.CanId
buf := bytes.NewBuffer(cf.CanData)
if d, err := buf.ReadByte(); err == nil {
f.Speed = uint16(d << 4)
f.ResendRequest = GetBit(d, 5)>>5 | GetBit(d, 4)>>6
f.PowerAmplifierControlledByAtp = true
f.PowerAmplifierTurnOn = true
} else {
return false
}
if d, err := buf.ReadByte(); err == nil {
f.Speed |= uint16(d)
}
var time uint32
binary.Read(buf, binary.BigEndian, &time)
f.Time = time
var crc uint16
binary.Read(buf, binary.BigEndian, &crc)
f.Crc16 = crc
timeArr := make([]byte, 4)
binary.BigEndian.PutUint32(timeArr, time)
crc16 := Can_Crc16BtmReq(timeArr)
f.Crc16CheckOk = f.Crc16 == crc16
if !f.Crc16CheckOk {
slog.Debug("解码AtpRequestFrame，CRC16校验未通过！！")
}
return true
}
func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
f.FId = cf.CanId
//
@ -180,7 +146,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
} else {
return false
}
crc16 := Can_Crc16BtmReq(timeArr)
crc16 := Can_Crc16(timeArr)
t1 := uint32(timeArr[0])
t2 := uint32(timeArr[1])
t3 := uint32(timeArr[2])
@ -213,7 +179,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
}
func (f *AtpRequestFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true

77
third_party/message/can_btm_data.go vendored
View File

@ -8,28 +8,30 @@ type BtmDataMessageFrame struct {
//帧ID
FId CanFrameId
//8字节,应答器报文片段
Message []byte
Message []byte
IsTrainPcSim bool
}
func NewBtmDataMessageFrame(sn byte, offset byte) *BtmDataMessageFrame {
func NewBtmDataMessageFrame(sn byte, offset byte, isTrainPcSim bool) *BtmDataMessageFrame {
return &BtmDataMessageFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func (f *BtmDataMessageFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true
cf.RTR = false
//
writer := NewCanBitsWriter(8)
//
for _, data := range f.Message {
writer.AddByte(data)
}
cf.CanData = writer.(CanBusData).GetData()
//
return cf
}
@ -60,39 +62,46 @@ type BtmDataMessageTimeAFrame struct {
//时间戳A
TimeA uint32
//CRC
Crc32A uint32
Crc32A uint32
IsTrainPcSim bool
}
func NewBtmDataMessageTimeAFrame(sn byte) *BtmDataMessageTimeAFrame {
func NewBtmDataMessageTimeAFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
return &BtmDataMessageTimeAFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func NewBtmDataMessageTimeAFrame(sn byte, isTrainPcSim bool) *BtmDataMessageTimeAFrame {
return &BtmDataMessageTimeAFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func (f *BtmDataMessageTimeAFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true
cf.RTR = false
//
writer := NewCanBitsWriter(8)
//
byteMsk := uint32(0x00_00_00_ff)
//
writer.AddByte(byte((f.TimeA >> 24) & byteMsk))
writer.AddByte(byte((f.TimeA >> 16) & byteMsk))
writer.AddByte(byte((f.TimeA >> 8) & byteMsk))
writer.AddByte(byte(f.TimeA & byteMsk))
//
writer.AddByte(byte((f.Crc32A >> 24) & byteMsk))
writer.AddByte(byte((f.Crc32A >> 16) & byteMsk))
writer.AddByte(byte((f.Crc32A >> 8) & byteMsk))
writer.AddByte(byte(f.Crc32A & byteMsk))
//
cf.CanData = writer.(CanBusData).GetData()
//
return cf
}
@ -164,37 +173,40 @@ type BtmDataMessageTimeBFrame struct {
//时间戳B
TimeB uint32
//CRC
Crc32B uint32
Crc32B uint32
IsTrainPcSim bool
}
func NewBtmDataMessageTimeBFrame(sn byte) *BtmDataMessageTimeBFrame {
func NewBtmDataMessageTimeBFrame(sn byte, isTrainPcSim bool) *BtmDataMessageTimeBFrame {
return &BtmDataMessageTimeBFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0e, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func (f *BtmDataMessageTimeBFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true
cf.RTR = false
//
writer := NewCanBitsWriter(8)
//
byteMsk := uint32(0x00_00_00_ff)
//
writer.AddByte(byte((f.TimeB >> 24) & byteMsk))
writer.AddByte(byte((f.TimeB >> 16) & byteMsk))
writer.AddByte(byte((f.TimeB >> 8) & byteMsk))
writer.AddByte(byte(f.TimeB & byteMsk))
//
writer.AddByte(byte((f.Crc32B >> 24) & byteMsk))
writer.AddByte(byte((f.Crc32B >> 16) & byteMsk))
writer.AddByte(byte((f.Crc32B >> 8) & byteMsk))
writer.AddByte(byte(f.Crc32B & byteMsk))
//
cf.CanData = writer.(CanBusData).GetData()
//
return cf
}
func (f *BtmDataMessageTimeBFrame) Decode(cf *CanetFrame) bool {
@ -266,18 +278,25 @@ type BtmDataMessageEndFrame struct {
TkB uint32
//CRC32C校验包含对状态应答帧与数据帧的总校验，总共为8×17-4=132字节，4-即Crc32C
//1个状态应答帧 + 13个BtmDataMessageFrame + 1个BtmDataMessageTimeAFrame + 1个BtmDataMessageTimeBFrame + 1个BtmDataMessageEndFrame
Crc32C uint32
Crc32C uint32
IsTrainPcSim bool
}
func NewBtmDataMessageEndFrame(sn byte) *BtmDataMessageEndFrame {
func NewBtmDataMessageEndFrame2(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
return &BtmDataMessageEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func NewBtmDataMessageEndFrame(sn byte, isTrainPcSim bool) *BtmDataMessageEndFrame {
return &BtmDataMessageEndFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func (f *BtmDataMessageEndFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true

305
third_party/message/can_btm_rsp.go vendored
View File

@ -1,103 +1,8 @@
package message
import (
"encoding/binary"
"fmt"
"log/slog"
)
import "log/slog"
// 返回应答器数据帧(数据帧 + timeA+timeB+结束帧)
func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
sn := statusRsp.CanId.ID4
//应答器整个是16个数据帧，其中报文占13帧，timeA,timeB 占2帧，最后是结束帧
//数据
dms := make([]*BtmDataMessageAtpFrame, 13)
for mr := 0x00; mr <= 0x0c; mr++ {
dms[mr] = CreateBtmDataMessageDataAtpFrame(sn, byte(mr))
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
mi := mr * 8
if mi < len(msg) { //数据帧中有<=8个字节数据
if mi+7 < len(msg) {
dms[mr].Message = msg[mi : mi+8]
} else {
for i, d := range msg[mi:] {
dms[mr].Message[i] = d
}
}
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
for c := 0; c < 8; c++ {
dms[mr].Message[c] = 0xff
}
}
}
dtA := createTimeA(sn, DATA_TIME_A_OFFSET, msgTimeA, msgPackError, msg)
dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg)
dtACf := dtA.Encode()
dtBCf := dtB.Encode()
//结束帧
end := createDataAtpEnd(sn, tkTimeB, statusRsp.CanData, msg, dtACf.CanData, dtBCf.CanData)
endCf := end.Encode()
rt := make([]byte, 0) //17*12
for _, dmCf := range dms {
rt = append(rt, dmCf.Encode().Encode()...)
}
rt = append(rt, dtACf.Encode()...)
rt = append(rt, dtBCf.Encode()...)
rt = append(rt, endCf.Encode()...)
if len(rt) != 192 {
slog.Warn(fmt.Sprintf("len(rt)!=192 实际数据长度:%v", len(rt)))
return nil, false
}
return rt, true
}
func createDataAtpEnd(sn byte, time uint32, statusData, msg, dtAData, dtBData []byte) *BtmDataMessageAtpTimeAndEndFrame {
end := BtmDataMessageEndAtpFrame(sn)
end.Time = time
crc32cData := make([]byte, 0)
crc32cData = append(crc32cData, statusData...)
crc32cData = append(crc32cData, msg...)
crc32cData = append(crc32cData, dtAData...)
crc32cData = append(crc32cData, dtBData...)
crc32cData = binary.BigEndian.AppendUint32(crc32cData, end.Time)
end.Crc32 = Can_Crc32(crc32cData)
return end
}
func createTimeA(sn, offset byte, time uint32, msgPackError bool, msg []byte) *BtmDataMessageAtpTimeAndEndFrame {
tf := CreateBtmDataMessageTimeAtpFrame(sn, offset)
tf.Time = time
if !msgPackError {
var crcData []byte
crcData = append(crcData, msg...)
crcData = binary.BigEndian.AppendUint32(crcData, time)
if offset == DATA_TIME_A_OFFSET {
tf.Crc32 = Can_Crc32A(crcData) //CRC32A的校验范围是：报文+时间戳B
} else {
tf.Crc32 = Can_Crc32B(crcData) //CRC32B的校验范围是：报文+时间戳B
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
tf.Crc32 = 0xff_ff_ff_ff
}
return tf
}
// CreateBtmRspFramesData BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
//
// 数据帧与状态应答帧同时发送给ATP
//
// 共17帧，17X12个字节，每个帧12字节
// msg - 应答器报文
// msgPackError - true BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32) ([]byte, bool) {
func CreateBtmRspFramesData2(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
/* if len(msg) > 104 { //数据帧最多存储13*8个字节
return nil, false
}*/
@ -107,7 +12,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
//数据
dms := make([]*BtmDataMessageFrame, 13)
for mr := 0x00; mr <= 0x0c; mr++ {
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr))
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
@ -128,7 +33,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
}
}
//
dtA := NewBtmDataMessageTimeAFrame(sn)
dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
dtA.TimeA = msgTimeA
if !msgPackError {
var crc32AData []byte
@ -139,7 +44,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
dtA.Crc32A = 0xff_ff_ff_ff
}
//
dtB := NewBtmDataMessageTimeBFrame(sn)
dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
dtB.TimeB = msgTimeB
if !msgPackError {
var crc32BData []byte
@ -150,7 +55,204 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
dtB.Crc32B = 0xff_ff_ff_ff
}
//
end := NewBtmDataMessageEndFrame(sn)
end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
end.TkB = tkTimeB
//
statusCf := statusRsp.Encode()
dmsCfs := make([]*CanetFrame, 0, 13)
for _, dm := range dms {
dmsCfs = append(dmsCfs, dm.Encode())
}
dtACf := dtA.Encode()
dtBCf := dtB.Encode()
//
crc32cData := make([]byte, 0, 132)
crc32cData = append(crc32cData, statusCf.CanData...)
for _, dmCf := range dmsCfs {
crc32cData = append(crc32cData, dmCf.CanData...)
}
crc32cData = append(crc32cData, dtACf.CanData...)
crc32cData = append(crc32cData, dtBCf.CanData...)
crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
//
end.Crc32C = Can_Crc32(crc32cData)
//
endCf := end.Encode()
//
rt := make([]byte, 0, 221) //17*13
rt = append(rt, statusCf.Encode2()...)
for _, dmCf := range dmsCfs {
rt = append(rt, dmCf.Encode2()...)
}
rt = append(rt, dtACf.Encode2()...)
rt = append(rt, dtBCf.Encode2()...)
rt = append(rt, endCf.Encode2()...)
if isTrainPcSim && len(rt) != 221 {
} else if len(rt) != 221 {
slog.Warn("len(rt)!=221")
return nil, false
}
return rt, true
}
// CreateBtmRspFramesData BTM与ATP之间为双向通信，ATP（主）定时发送请求帧，BTM（从）在未接收到应答器报文时回复状态应答器帧和时间同步帧，在接收到应答器报文时回复所有帧
//
// 数据帧与状态应答帧同时发送给ATP
//
// 共17帧，17X12个字节，每个帧12字节
// msg - 应答器报文
// msgPackError - true BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
/* if len(msg) > 104 { //数据帧最多存储13*8个字节
return nil, false
}*/
//最近一次ATP查询请求序列号
sn := statusRsp.FId.ID4
//13个BtmDataMessageFrame [0x00,0x0c]
//数据
dms := make([]*BtmDataMessageFrame, 13)
for mr := 0x00; mr <= 0x0c; mr++ {
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
mi := mr * 8
if mi < len(msg) { //数据帧中有<=8个字节数据
if mi+7 < len(msg) {
dms[mr].Message = msg[mi : mi+8]
} else {
for i, d := range msg[mi:] {
dms[mr].Message[i] = d
}
}
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
for c := 0; c < 8; c++ {
dms[mr].Message[c] = 0xff
}
}
}
//
dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
dtA.TimeA = msgTimeA
if !msgPackError {
var crc32AData []byte
crc32AData = append(crc32AData, msg...)
crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtA.Crc32A = 0xff_ff_ff_ff
}
//
dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
dtB.TimeB = msgTimeB
if !msgPackError {
var crc32BData []byte
crc32BData = append(crc32BData, msg...)
crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtB.Crc32B = 0xff_ff_ff_ff
}
//
end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
end.TkB = tkTimeB
//
statusCf := statusRsp.Encode()
dmsCfs := make([]*CanetFrame, 0, 13)
for _, dm := range dms {
dmsCfs = append(dmsCfs, dm.Encode())
}
dtACf := dtA.Encode()
dtBCf := dtB.Encode()
//
crc32cData := make([]byte, 0, 132)
crc32cData = append(crc32cData, statusCf.CanData...)
for _, dmCf := range dmsCfs {
crc32cData = append(crc32cData, dmCf.CanData...)
}
crc32cData = append(crc32cData, dtACf.CanData...)
crc32cData = append(crc32cData, dtBCf.CanData...)
crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
//
end.Crc32C = Can_Crc32(crc32cData)
//
endCf := end.Encode()
//
rt := make([]byte, 0, 221) //17*13
rt = append(rt, statusCf.Encode()...)
for _, dmCf := range dmsCfs {
rt = append(rt, dmCf.Encode()...)
}
rt = append(rt, dtACf.Encode()...)
rt = append(rt, dtBCf.Encode()...)
rt = append(rt, endCf.Encode()...)
if isTrainPcSim && len(rt) != 221 {
} else if len(rt) != 221 {
slog.Warn("len(rt)!=221")
return nil, false
}
return rt, true
}
func CreateBtmRspFramesDataForPcSim(statusRsp *BtmStatusRspFrame, msg []byte, msgPackError bool, msgTimeA uint32, msgTimeB uint32, tkTimeB uint32, isTrainPcSim bool) ([]byte, bool) {
if len(msg) > 128 { //数据帧最多存储13*8个字节
return nil, false
}
//最近一次ATP查询请求序列号
sn := statusRsp.FId.ID4
//13个BtmDataMessageFrame [0x00,0x0c]
//数据
dms := make([]*BtmDataMessageFrame, 14)
for mr := 0x00; mr <= 0x0E; mr++ {
dms[mr] = NewBtmDataMessageFrame(sn, byte(mr), isTrainPcSim)
dms[mr].Message = make([]byte, 8) //8字节数组，默认值0
//
if !msgPackError {
mi := mr * 8
if mi < len(msg) { //数据帧中有<=8个字节数据
if mi+7 < len(msg) {
dms[mr].Message = msg[mi : mi+8]
} else {
for i, d := range msg[mi:] {
dms[mr].Message[i] = d
}
}
}
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
for c := 0; c < 8; c++ {
dms[mr].Message[c] = 0xff
}
}
}
//
dtA := NewBtmDataMessageTimeAFrame(sn, isTrainPcSim)
//dtA.TimeA = msgTimeA
//if !msgPackError {
// var crc32AData []byte
// crc32AData = append(crc32AData, msg...)
// crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
// dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
//} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
// dtA.Crc32A = 0xff_ff_ff_ff
//}
//
dtB := NewBtmDataMessageTimeBFrame(sn, isTrainPcSim)
dtB.TimeB = msgTimeB
if !msgPackError {
var crc32BData []byte
crc32BData = append(crc32BData, msg...)
crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
dtB.Crc32B = 0xff_ff_ff_ff
}
//
end := NewBtmDataMessageEndFrame(sn, isTrainPcSim)
end.TkB = tkTimeB
//
statusCf := statusRsp.Encode()
@ -186,6 +288,5 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
slog.Warn("len(rt)!=221")
return nil, false
}
return rt, true
}

37
third_party/message/can_btm_status_rsp.go vendored
View File

@ -1,7 +1,6 @@
package message
import (
"encoding/binary"
"fmt"
"strings"
)
@ -27,14 +26,15 @@ type BtmStatusRspFrame struct {
//BTM detailed code
DetailedCode byte
//有具体报文内容时TK A时刻填充为CD信号上升沿时刻，报文全零时TK A时刻填充为CD信号下降沿时刻。
TkTimeA uint32
TkTimeA uint32
IsTrainPcSim bool
}
func NewBtmStatusRspFrame(sn byte) *BtmStatusRspFrame {
func NewBtmStatusRspFrame(sn byte, isTrainPcSim bool) *BtmStatusRspFrame {
return &BtmStatusRspFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_STATUS_RSP, sn),
//FId: *NewCanFrameId(0x00, 0x00, 0x05, sn),
IsTrainPcSim: isTrainPcSim,
}
}
func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
@ -114,35 +114,9 @@ func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
//
return true
}
func (f *BtmStatusRspFrame) EncodeBtmAtp() *BtmHeadFrame {
cf := &BtmHeadFrame{}
cf.CanId = f.FId
cf.CanLen = 8
data := make([]byte, 0)
data = append(data, f.Dsn)
data = append(data, f.BaliseCounter)
data = append(data, f.MessageCounter)
var state byte = 0
if f.PowerAmplifierOn {
state = setBit(state, 7, 1)
}
if f.AtpReqCrcCheckWrong {
state = setBit(state, 6, 1)
}
if f.PowerAmplifierFailure {
state = setBit(state, 5, 1)
}
if f.AntennaFault {
state = setBit(state, 4, 1)
}
data = append(data, state)
data = binary.BigEndian.AppendUint32(data, f.TkTimeA)
cf.CanData = data
return cf
}
func (f *BtmStatusRspFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true
@ -152,7 +126,6 @@ func (f *BtmStatusRspFrame) Encode() *CanetFrame {
writer.AddByte(f.Dsn)
writer.AddByte(f.BaliseCounter)
writer.AddByte(f.MessageCounter)
//
if f.PowerAmplifierOn {
writer.AddBits(1, 1)

22
third_party/message/can_btm_time_sync_rsp.go vendored
View File

@ -1,7 +1,6 @@
package message
import (
"encoding/binary"
"fmt"
"strings"
)
@ -15,14 +14,15 @@ type BtmTimeSyncCheckFrame struct {
T2 uint32
//T3时刻
//BTM将在T3时刻发送回复帧给ATP，并保持流水号与ATP查询帧一致。
T3 uint32
T3 uint32
IsTrainPcSim bool
}
func NewBtmTimeSyncCheckFrame(sn byte) *BtmTimeSyncCheckFrame {
func NewBtmTimeSyncCheckFrame(sn byte, isTrainPcSim bool) *BtmTimeSyncCheckFrame {
return &BtmTimeSyncCheckFrame{
FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_TIME_SYNC_RSP, sn),
//FId: *NewCanFrameId(0x00, 0x00, 0x35, sn),
IsTrainPcSim: isTrainPcSim,
}
}
@ -77,21 +77,9 @@ func (f *BtmTimeSyncCheckFrame) Decode(cf *CanetFrame) bool {
//
return true
}
func (f *BtmTimeSyncCheckFrame) EncodeBtmAtp() *BtmHeadFrame {
cf := &BtmHeadFrame{}
cf.CanId = f.FId
cf.CanLen = 8
data := make([]byte, 0)
data = binary.BigEndian.AppendUint32(data, f.T2)
data = binary.BigEndian.AppendUint32(data, f.T3)
cf.CanData = data
return cf
}
func (f *BtmTimeSyncCheckFrame) Encode() *CanetFrame {
cf := &CanetFrame{}
cf.IsTrainPcSim = f.IsTrainPcSim
cf.CanId = f.FId
cf.CanLen = 8
cf.FF = true

66
third_party/message/can_bus.go vendored
View File

@ -1,8 +1,6 @@
package message
import (
"github.com/snksoft/crc"
)
import "github.com/snksoft/crc"
/////////////////////CAN串行总线 bit 流处理 ////////////////////////
@ -201,53 +199,47 @@ const (
CAN_BITS_LEN8 = byte(0b1111_1111)
)
///////////////////// CRC ////////////////////////
// const (
// CAN_CRC16_ATPREQ = 0x11021
// CAN_CRC32 = 0x04C11DB7
// )
var (
CAN_CRC16 = crc.CCITT
CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: false, ReflectOut: false, FinalXor: 0x000000}
ATP_TIMEA = crc.CRC32
ATP_TIMEB = crc.Castagnoli
ATP_REQ = crc.XMODEM
CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: true, ReflectOut: true, FinalXor: 0xFFFFFFFF}
)
func Can_Crc16(data []byte) uint16 {
return uint16(crc.CalculateCRC(CAN_CRC16, data))
}
func Can_Crc16BtmReq(data []byte) uint16 {
return uint16(crc.CalculateCRC(ATP_REQ, data))
}
func Can_Crc32(data []byte) uint32 {
return uint32(crc.CalculateCRC(CAN_CRC32, data))
}
func Can_Crc32A(data []byte) uint32 {
return uint32(crc.CalculateCRC(ATP_TIMEA, data))
}
func Can_Crc32B(data []byte) uint32 {
return uint32(crc.CalculateCRC(ATP_TIMEB, data))
}
//var (
// crc16AtpReqTable []uint32 = nil
// crc32CanTable []uint32 = nil
//)
// var (
// crc16AtpReqTable []uint32 = nil
// crc32CanTable []uint32 = nil
// )
// func CreateCanCrcTable() {
// if crc16AtpReqTable == nil {
// crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
// }
// if crc32CanTable == nil {
// crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
// }
// }
//
// func calculateAtpReqCrc16(data []byte) uint16 {
// crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
// return uint16(crc)
// }
//func calculateCanCrc32(data []byte) uint32 {
// crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
// return crc
//}
// func CreateCanCrcTable() {
// if crc16AtpReqTable == nil {
// crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
// }
// if crc32CanTable == nil {
// crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
// }
// }
// func calculateAtpReqCrc16(data []byte) uint16 {
// crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
// return uint16(crc)
// }
// func calculateCanCrc32(data []byte) uint32 {
// crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
// return crc
// }
// // CRC32A的校验范围是：报文+时间戳A
// func calculateDataRspCrc32A(data []byte) uint32 {

98
third_party/message/can_net.go vendored
View File

@ -1,6 +1,8 @@
package message
import (
"bytes"
"encoding/binary"
"fmt"
"log/slog"
"strings"
@ -8,38 +10,31 @@ import (
// CanetFrame USR-CANET200_V1.0.7 设备 以太网-CAN 透传协议帧(13字节)
type CanetFrame struct {
FF bool //true-1扩展帧
RTR bool //true-1远程帧
CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
CanId CanFrameId //CAN帧ID
CanData []byte //CAN帧数据，8字节
FF bool //true-1扩展帧
RTR bool //true-1远程帧
CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
CanId CanFrameId //CAN帧ID
CanData []byte //CAN帧数据，8字节
IsTrainPcSim bool //是否列车pc仿真
}
func NewCanetFrame(buf []byte) *CanetFrame {
cf := &CanetFrame{}
func NewCanetFrame(buf []byte, isTrainPcSim bool) *CanetFrame {
cf := &CanetFrame{IsTrainPcSim: isTrainPcSim}
cf.Decode(buf)
return cf
}
func (p *CanetFrame) Encode() []byte {
func NewCanetFrame2(buf []byte, isTrainPcSim bool) *CanetFrame {
cf := &CanetFrame{IsTrainPcSim: isTrainPcSim}
cf.Decode2(buf)
return cf
}
func (p *CanetFrame) Encode2() []byte {
buf := make([]byte, 0)
//canet200帧信息
b1 := byte(0x00)
if p.FF {
b1 |= 0x80 //bit7
}
if p.RTR {
b1 |= 0x40 //bit6
}
b1 |= p.CanLen & 0x0f
buf = append(buf, b1)
//CAN 帧ID
buf = append(buf, p.CanId.ID1)
buf = append(buf, p.CanId.ID2)
buf = append(buf, p.CanId.ID3)
buf = append(buf, p.CanId.ID4<<3)
frameId := uint32(p.CanId.ID1)<<21 | uint32(p.CanId.ID2)<<13 | uint32(p.CanId.ID3)<<5 | uint32(p.CanId.ID4)
buf = binary.BigEndian.AppendUint32(buf, frameId)
//CAN 帧数据
if len(p.CanData) != 8 {
panic("len(p.CanData)!=8")
@ -48,6 +43,59 @@ func (p *CanetFrame) Encode() []byte {
return buf
}
func (p *CanetFrame) Encode() []byte {
buf := make([]byte, 0)
if !p.IsTrainPcSim {
//canet200帧信息
b1 := byte(0x00)
if p.FF {
b1 |= 0x80 //bit7
}
if p.RTR {
b1 |= 0x40 //bit6
}
b1 |= p.CanLen & 0x0f
buf = append(buf, b1)
}
//CAN 帧ID
buf = append(buf, p.CanId.ID1)
buf = append(buf, p.CanId.ID2)
buf = append(buf, p.CanId.ID3)
if p.IsTrainPcSim {
buf = append(buf, p.CanId.ID4)
} else {
buf = append(buf, p.CanId.ID4<<3)
}
//CAN 帧数据
if len(p.CanData) != 8 {
panic("len(p.CanData)!=8")
}
buf = append(buf, p.CanData...)
return buf
}
func (p *CanetFrame) Decode2(buf []byte) {
bb := bytes.NewBuffer(buf)
var idSource uint32
binary.Read(bb, binary.BigEndian, &idSource)
data := make([]byte, bb.Len())
_, err := bb.Read(data)
if err != nil {
fmt.Println(err)
return
}
b1 := byte(idSource >> 21)
b2 := byte((idSource << 7) >> 13)
b3 := byte((idSource << 15) >> 20)
b4 := byte(idSource & 0x1f)
p.CanId.ID1 = b1
p.CanId.ID2 = b2
p.CanId.ID3 = b3
p.CanId.ID4 = b4
p.CanData = data
}
func (p *CanetFrame) Decode(buf []byte) {
if len(buf) != 13 {
panic("len(buf)!=13")
@ -65,8 +113,8 @@ func (p *CanetFrame) Decode(buf []byte) {
}
func (p *CanetFrame) String() string {
sb := strings.Builder{}
sb.WriteString(fmt.Sprintf("CanetFrame FF = %t, RTR = %t, CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x", p.FF, p.RTR, p.CanLen,
p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
sb.WriteString(fmt.Sprintf("CanetFrame FF = %t, RTR = %t, CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x, isTrainPcSim=%v", p.FF, p.RTR, p.CanLen,
p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4, p.IsTrainPcSim))
sb.WriteString("CanData = ")
for _, d := range p.CanData {
sb.WriteString(fmt.Sprintf(" 0x%0x ", d))

10
third_party/message/interlock.go vendored
View File

@ -93,6 +93,16 @@ func (m *InterlockSendMsgPkg) Encode() []byte {
}
}
data = append(data, infoBytes...)
//for index, length, cycles := 0, len(m.info), len(m.info)/boolsToByteArrLen; index < cycles; index++ {
// startIndex := index * boolsToByteArrLen
// toByteArr := [8]bool{}
// for i := 0; i < boolsToByteArrLen && startIndex < length; i++ {
// startIndex = startIndex + i
// toByteArr[i] = m.info[startIndex+i]
// }
// data = append(data, boolsToByte(toByteArr))
//}
data = append(data, m.tail.encode()...)
return data
}

40
third_party/message/rssp_code.go vendored
View File

@ -8,9 +8,9 @@ var (
// crc16多项式为G(x)=X16+X11+X4+1
RSSP_I_CRC16 = crc.NewHash(&crc.Parameters{Width: 16, Polynomial: 0x0811, Init: 0x0, ReflectIn: true, ReflectOut: true, FinalXor: 0x0})
// 通道1 crc32多项式为0x100d4e63
RSSP_I_C1_CRC32 = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x100d4e63, Init: 0x0, ReflectIn: false, ReflectOut: true, FinalXor: 0x0})
RSSP_I_C1_CRC32 = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x100d4e63, Init: 0x0, ReflectIn: true, ReflectOut: true, FinalXor: 0x0})
// 通道2 crc32多项式为0x8ce56011
RSSP_I_C2_CRC32 = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x8ce56011, Init: 0x0, ReflectIn: false, ReflectOut: true, FinalXor: 0x0})
RSSP_I_C2_CRC32 = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x8ce56011, Init: 0x0, ReflectIn: true, ReflectOut: true, FinalXor: 0x0})
)
// Rssp_I_Crc16计算
@ -20,27 +20,27 @@ func Rssp_I_Crc16(data []byte) uint16 {
// 通道1的crc32
func Rssp_I_Crc32C1(data []byte) uint32 {
//newData := reverseBitsInByte(data)
return uint32(RSSP_I_C1_CRC32.CalculateCRC(data))
newData := reverseBitsInByte(data)
return uint32(RSSP_I_C1_CRC32.CalculateCRC(newData))
}
// 通道2的crc32
func Rssp_I_Crc32C2(data []byte) uint32 {
//newData := reverseBitsInByte(data)
return uint32(RSSP_I_C2_CRC32.CalculateCRC(data))
newData := reverseBitsInByte(data)
return uint32(RSSP_I_C2_CRC32.CalculateCRC(newData))
}
//func reverseBitsInByte(data []byte) []byte {
// var result byte
// newData := make([]byte, len(data))
// for i, b := range data {
// result = 0
// for i := 0; i < 8; i++ {
// result <<= 1
// result |= b & 1
// b >>= 1
// }
// newData[i] = result
// }
// return newData
//}
func reverseBitsInByte(data []byte) []byte {
var result byte
newData := make([]byte, len(data))
for i, b := range data {
result = 0
for i := 0; i < 8; i++ {
result <<= 1
result |= b & 1
b >>= 1
}
newData[i] = result
}
return newData
}

104
third_party/train_pc_sim/train_pc_sim.go vendored
View File

@ -50,7 +50,6 @@ type TrainPcSim interface {
TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
ResetPluseCount(sta *state_proto.TrainState)
//FindAllThirdPartState() []tpapi.ThirdPartyApiService
DsnAddAndReturn() byte
}
type TrainPcSimManage interface {
@ -76,8 +75,9 @@ type trainPcSimService struct {
newPcSimclientMap map[string]*TrainPcReciverData
cancleContext context.CancelFunc
trainPcSimManage TrainPcSimManage
configs []config.VehiclePCSimConfig
btmDsn uint8
//speedPlace *message.TrainSpeedPlaceReportMsg
//trainSpeedPlace map[string]*message.TrainSpeedPlaceReportMsg
configs []config.VehiclePCSimConfig
}
var (
@ -111,14 +111,6 @@ func (d *trainPcSimService) TrueService() bool {
func (d *trainPcSimService) ServiceDesc() string {
return Name
}
func (d *trainPcSimService) DsnAddAndReturn() byte {
defer initLock.Unlock()
initLock.Lock()
returnVal := d.btmDsn
d.btmDsn = returnVal + 1
return returnVal
}
func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
return t.ConnState.TypeName
}
@ -204,6 +196,40 @@ 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) connTrainPcSim(ctx context.Context) {
go func() {
for {
select {
case <-ctx.Done():
d.newCloseAllConn()
return
default:
}
trains := d.trainPcSimManage.GetConnTrain2()
if len(trains) > 0 {
for _, t := range trains {
clientKey := FindTrainPcSimClientKey(t)
if clientKey == "" {
slog.Error("未找到对应的pc仿真连接,trainId:", t.Id, "删除对应客户端")
d.newCloseConn(clientKey)
continue
}
rd := d.newPcSimclientMap[clientKey]
if rd == nil {
d.newPcSimclientMap[clientKey] = &TrainPcReciverData{pcSimManage: d.trainPcSimManage, clientKey: clientKey, tcpClient: &tcp.TcpClient{}}
}
if !rd.tcpClient.IsConning() {
d.newCloseConn(clientKey)
d.initConn(clientKey)
}
}
}
time.Sleep(time.Second)
}
}()
}*/
func (d *trainPcSimService) initConn(clientKey string) error {
rd := d.newPcSimclientMap[clientKey]
@ -213,10 +239,11 @@ func (d *trainPcSimService) initConn(clientKey string) error {
rd.trainInit = false
rd.tcpClient = nil
}
cfg, cfgErr := d.findConfig(clientKey)
if cfgErr != nil {
errMsg := fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey)
//slog.Error(errMsg, cfgErr.Error())
slog.Error(errMsg, cfgErr.Error())
rd.updateState(tpapi.ThirdPartyState_Broken)
return sys_error.New(errMsg, cfgErr)
}
@ -224,7 +251,7 @@ func (d *trainPcSimService) initConn(clientKey string) error {
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)
//slog.Error(connErrMsg, err.Error())
slog.Error(connErrMsg, err.Error())
rd.updateState(tpapi.ThirdPartyState_Broken)
return sys_error.New(connErrMsg, err)
} else {
@ -256,7 +283,7 @@ func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
slog.Error("车载pc仿真配置未开启")
return
}
//third_party.AppendService(d.findAllThirdPartState())
d.configs = configs
ctx, ctxFun := context.WithCancel(context.Background())
d.cancleContext = ctxFun
@ -276,6 +303,17 @@ func (d *trainPcSimService) Stop() {
d.newCloseAllConn()
}
/*
func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
if train.ConnState.Conn && (train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_A || train.ConnState.ConnType == state_proto.TrainConnState_PC_SIM_B) {
train.PluseCount = &state_proto.SensorSpeedPulseCount{}
d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
} else {
train.PluseCount = nil
d.speedPlace = nil
}
}
*/
func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
clientKey := FindTrainPcSimClientKey2(train)
err := d.initConn(clientKey)
@ -364,12 +402,13 @@ func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
d.TrainPluseCountReset(train)
dataCode := bm.Encode()
//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PulseCount2, hex.EncodeToString(dataCode)))
slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,s1: %v,s2: %v,c2: %v,c2: %v,发送数据:%v", train.Id, s1, s2, trainClient.speedPlace.PulseCount1, trainClient.speedPlace.PulseCount2, hex.EncodeToString(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)
@ -411,7 +450,7 @@ func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
}
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))
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 {
@ -454,7 +493,7 @@ func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, t
msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
}
da := msg.Encode()
//slog.Info("发送列车手柄消息", "msg", hex.EncodeToString(da))
slog.Info("发送列车手柄消息", "msg", hex.EncodeToString(da))
err := trainClient.tcpClient.Send(da)
//err := client.Send(da)
if err != nil {
@ -480,7 +519,7 @@ func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, tr
for _, msg := range baseMsgs {
da := msg.Encode()
//slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
err := trainClient.tcpClient.Send(da)
if err != nil {
@ -500,7 +539,7 @@ func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, msgTy
msg := &message.TrainPcSimBaseMessage{Type: msgType, Data: dd}
da := msg.Encode()
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%X,数据:%v", msgType, hex.EncodeToString(da)))
err := trainClient.tcpClient.Send(da)
if err != nil {
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
@ -519,13 +558,37 @@ func (d *trainPcSimService) SendBaliseData(train *state_proto.TrainState, msgTyp
msg.Data = data
da := msg.Encode()
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%x，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,无应答器:%v,数据:%v", msgType == message.RECIVE_TRAIN_BTM_NOT_DATA, hex.EncodeToString(da)))
err := trainClient.tcpClient.Send(da)
if err != nil {
slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
}
}
/*func (d *trainPcSimService) PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent) {
if len(events) <= 0 {
return
}
trainClient, trainDataErr := d.findTrainConn(train)
if trainDataErr != nil {
slog.Error("")
return
}
msgs := make([]byte, 0)
for _, event := range events {
msg := &message.TrainPcSimBaseMessage{Type: event.Type, Data: event.Data}
code := msg.Encode()
msgs = append(msgs, code...)
}
hexCode := hex.EncodeToString(msgs)
slog.Info(fmt.Sprintf("列车数字量信息发送数据:%v", hexCode))
err := trainClient.tcpClient.Send(msgs)
if err != nil {
slog.Error(fmt.Sprintf("列车数字量信息发送失败,数据:%v", hexCode))
}
}*/
func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage) {
if len(baseMessage) <= 0 {
return
@ -538,6 +601,7 @@ func (d *trainPcSimService) SendTrainControlMsg(train *state_proto.TrainState, b
for _, msg := range baseMessage {
d.sendData(trainClient.tcpClient, msg.Encode())
}
}
func (d *trainPcSimService) sendData(client *tcp.TcpClient, data []byte) {

28
ts/simulation/wayside/memory/wayside_memory_section.go
View File

@ -2,7 +2,6 @@ package memory
import (
"fmt"
"joylink.club/bj-rtsts-server/sys_error"
"unsafe"
"joylink.club/bj-rtsts-server/dto/data_proto"
@ -20,27 +19,20 @@ func HandleSectionOperation(simulation *VerifySimulation, req *request_proto.Sec
case request_proto.Section_SetFaultOcc:
return fi.AxleSectionFaultOccDrive(simulation.World, uid, true)
case request_proto.Section_SetParams:
err := setSectionParam(simulation.World, uid, req.Param)
var err error
setSectionParam(simulation.World, uid, req.Param)
if req.Param.MockDrst {
err = fi.AxleSectionDrstDrive(simulation.World, uid, true)
} else {
err = fi.AxleSectionDrstDrive(simulation.World, uid, false)
}
if err != nil {
return err
}
if req.Param.MockDrst {
state, err := fi.AxleSectionDrstDrive(simulation.World, uid)
if err != nil {
return err
}
if state.Rjo {
return sys_error.New("运营原因拒绝复位")
}
}
if req.Param.MockPdrst {
state, err := fi.AxleSectionPdrstDrive(simulation.World, uid)
if err != nil {
return err
}
if state.Rjo {
return sys_error.New("运营原因拒绝预复位")
}
err = fi.AxleSectionPdrstDrive(simulation.World, uid, true)
} else {
err = fi.AxleSectionPdrstDrive(simulation.World, uid, false)
}
return err
default:

37
ts/simulation/wayside/memory/wayside_memory_transponder.go
View File

@ -5,7 +5,6 @@ import (
"fmt"
"joylink.club/bj-rtsts-server/const/balise_const"
"joylink.club/ecs"
"joylink.club/rtsssimulation/fi"
"strings"
"joylink.club/bj-rtsts-server/dto"
@ -40,8 +39,7 @@ func BalisePositionModify(simulation *VerifySimulation, req *dto.BaliseMoveReqDt
panic(fmt.Sprintf("未知的公里标方向[%d]", req.Km.Direction))
}
//将应答器所在Link的两端公里标转为请求参数中公里标的坐标系
linkPosition := transponder.LinkPosition()
link := linkPosition.Link()
link := transponder.LinkPosition().Link()
akm, err := repository.ConvertKilometer(simulation.Repo, link.AKm(), km.CoordinateSystem)
if err != nil {
panic(sys_error.New("应答器所在Link的起点公里标转换失败"))
@ -196,8 +194,8 @@ func BaliseTelegramSend(simulation *VerifySimulation, req *dto.BaliseReqDto) *sy
return baliseTelegramSend(simulation, balise)
}
// AllBaliseTelegramReset 重置应答器所有状态
func AllBaliseTelegramReset(simulation *VerifySimulation) *sys_error.BusinessError {
// BaliseReset 重置应答器所有状态
func BaliseReset(simulation *VerifySimulation) *sys_error.BusinessError {
var errs []error
for _, balise := range simulation.Repo.ResponderList() {
err := baliseTelegramReset(simulation, balise)
@ -237,28 +235,25 @@ func baliseTelegramSend(simulation *VerifySimulation, balise *repository.Transpo
func balisePositionReset(simulation *VerifySimulation, balise *repository.Transponder) *sys_error.BusinessError {
entry, _ := entity.GetEntityByUid(simulation.World, balise.Id())
component.KmType.Set(entry, balise.Km())
linkPosition := balise.LinkPosition()
component.LinkPositionType.SetValue(entry, component_data.LinkPosition{
LinkId: linkPosition.Link().Id(),
Offset: linkPosition.Offset(),
LinkId: balise.LinkPosition().Link().Id(),
Offset: balise.LinkPosition().Offset(),
})
return nil
}
func baliseTelegramReset(simulation *VerifySimulation, balise *repository.Transponder) *sys_error.BusinessError {
err := fi.BaliseUpdateFixedTelegram(simulation.World, balise.Id(), balise.FixedTelegram(), balise.FixedUserTelegram())
if err != nil {
return sys_error.New("重置应答器报文失败", err)
}
err = fi.BaliseCancelForceVariableTelegram(simulation.World, balise.Id())
if err != nil {
return sys_error.New("重置应答器报文失败", err)
}
err = fi.BaliseUpdateVariableTelegram(simulation.World, balise.Id(), []byte{}, false)
if err != nil {
return sys_error.New("重置应答器报文失败", err)
}
return nil
entry, _ := entity.GetEntityByUid(simulation.World, balise.Id())
return sendEcsRequest(simulation.World, func() error {
component.BaliseFixedTelegramType.SetValue(entry, component.BaliseTelegram{
Telegram: balise.FixedTelegram(),
UserTelegram: balise.FixedUserTelegram(),
})
if entry.HasComponent(component.BaliseVariableTelegramType) {
component.BaliseVariableTelegramType.SetValue(entry, component.BaliseTelegram{})
}
return nil
})
}
func sendEcsRequest(w ecs.World, request func() error) *sys_error.BusinessError {

66
ts/simulation/wayside/memory/wayside_simulation.go
View File

@ -271,6 +271,38 @@ func (s *VerifySimulation) CollectDynamicsTurnoutInfo() *message.DynamicsTurnout
return turnoutState
}
// HandleSectionCmdMsg 计轴设备接收到联锁发送来的控制命令
func (s *VerifySimulation) HandleSectionCmdMsg(city string, lineId string, centralizedStation string, msg *message.SectionCmdMsgPack) {
stationUid := GenerateElementUid(city, lineId, nil, centralizedStation)
ref := s.Repo.GetCentralizedStationRef(stationUid)
if ref == nil {
slog.Warn(fmt.Sprintf("没有找到GetCentralizedStationRef [%s]", stationUid))
return
}
//
codePoints := ref.SectionCodePoints
if len(codePoints) != len(msg.Scs) {
slog.Warn(fmt.Sprintf("本地配置区段码表个数[%d] != 联锁发送集中站[%s]的区段命令个数[%d]", len(codePoints), stationUid, len(msg.Scs)))
return
}
//
var cpSectionMap = make(map[int]*proto.CiSectionCodePoint)
for _, cp := range codePoints {
cpSectionMap[int(cp.Row)] = cp
}
//
var cmds []*fi.AxleSectionCmd
for index, cmdMsg := range msg.Scs {
cp := cpSectionMap[index]
cmd := &fi.AxleSectionCmd{}
cmd.SectionId = cp.SectionId
cmd.Drst = cmdMsg.Drst
cmd.Pdrst = cmdMsg.Pdrst
cmds = append(cmds, cmd)
}
fi.AxleSectionRstDrive(s.World, cmds)
}
// 处理动力学列车速度消息
func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) {
trainId := strconv.Itoa(int(info.Number))
@ -433,6 +465,7 @@ func (s *VerifySimulation) GetInterlockCodes() []*config.InterlockConfig {
configs = append(configs, &config.InterlockConfig{
Code: stationMap[c.Code],
Ip: c.Ip,
LocalPort: c.LocalPort,
RemotePort: c.RemotePort,
Open: c.Open,
Line: c.Line,
@ -442,31 +475,24 @@ func (s *VerifySimulation) GetInterlockCodes() []*config.InterlockConfig {
}
// 处理接到的联锁消息
func (s *VerifySimulation) HandleInterlockDriverInfo(code string, driveBytes []byte) {
wd := entity.GetWorldData(s.World)
func (s *VerifySimulation) HandleInterlockDriverInfo(code string, b []byte) {
for _, m := range s.Repo.CiQcList() { // 获取继电器地图信息
if m.StationId != code {
continue
}
var driveInfo []bool
for _, b := range driveBytes {
for bit := 0; bit < 8; bit++ {
driveInfo = append(driveInfo, (b&(1<<bit)) != 0)
}
}
slog.Info(fmt.Sprintf("12号线驱动数据解析结果：%v", driveInfo))
for i, b := range driveInfo {
qdData := m.QdList[i]
for _, relayId := range qdData.RefRelays {
if b {
}
err := wd.SetQdBit(relayId, b)
if err != nil {
slog.Error("联锁驱动数据设置出错", "error", err)
}
driverMsg := message.NewInterlockReceiveMsgPkg(0, len(m.QdList), len(m.TransponderId))
err := driverMsg.Decode(b)
if err != nil {
slog.Error(fmt.Sprintf("联锁驱动数据解析失败：%s", err))
}
driveState := driverMsg.DriveInfo
for i, r := range m.QdList {
ds := driveState[i]
for _, b := range r.RefRelays {
slog.Debug("继电器位【%s】获取到驱动状态【%v】", b, ds)
}
}
return
}
}
@ -1239,8 +1265,6 @@ func fillProtoRepository(repo *proto.Repository, storage *data_proto.RtssGraphic
FixedTelegram: fixedTelegram,
Type: convertToProtoBaliseType(data.Type),
FixedUserTelegram: fixedUserTelegram,
LeuIndex: data.LeuIndex,
IndexInLeu: data.LeuInsideIndex,
}
switch data.TransponderRef.DeviceType {
case data_proto.RelatedRef_Section:

84
ts/simulation/wayside/memory/wayside_simulation_train_pc.go
View File

@ -516,7 +516,6 @@ func (s *VerifySimulation) reportTrainMockInitMsg(train *state_proto.TrainState,
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
@ -676,67 +675,73 @@ 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) TrainBtmQuery(train *state_proto.TrainState, data []byte) {
//time.Sleep(time.Millisecond * 50)
slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
//slog.Info(fmt.Sprintf("收到车载输出BTM查询同步帧报文内容:%v", hex.EncodeToString(data)))
if len(data) < 12 {
slog.Error("列车btm查询报文长度错误:", len(data))
return
}
//train := s.FindConnTrain(connType)
if train.BtmState == nil {
slog.Warn(fmt.Sprintf("列车暂时未获取到应答器信息,无法进行btm查询列车id:%v", train.Id))
slog.Warn("列车暂时未获取到应答器信息")
return
}
trainAtm := message.NewBtmHeadFrame(data)
atpReq := &message.AtpRequestFrame{}
/*if train == nil {
slog.Error("车载输出btm查询,未找到连接车载pc仿真的列车")
return
}
if !train.ConnState.Conn {
slog.Error("车载输出btm查询,列车未连接车载pc仿真")
return
}*/
if !atpReq.Decode2(trainAtm) {
trainAtm := message.NewCanetFrame2(data, true)
atpReq := &message.AtpRequestFrame{IsTrainPcSim: true}
if !atpReq.Decode(trainAtm) {
slog.Warn("列车pc驾驶模拟-CanetFrame解码成AtpRequestFrame失败", "CanetFrame", trainAtm.String())
return
}
cl := clock(atpReq)
dsn := train_pc_sim.Default().DsnAddAndReturn()
btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl, dsn)
//slog.Info(fmt.Sprintf("id1:%x,id2:%x,id3:%x,id4:%x,resendRequest:%v,reqTime:%v,dsn:%v", trainAtm.CanId.ID1, trainAtm.CanId.ID2, trainAtm.CanId.ID3, trainAtm.CanId.ID4, atpReq.ResendRequest, atpReq.Time, dsn))
btmRepFrame := createBtmStatus(trainAtm.CanId.ID4, train.BtmState, atpReq, cl)
if atpReq.ResendRequest == 2 {
//重新发送
if len(train.BtmState.BaliseTelegramForPcSimResend) > 0 {
dd, _ := hex.DecodeString(train.BtmState.BaliseTelegramForPcSimResend)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, dd)
} else {
timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
timeSyncF.T2 = cl.BtmTk
timeSyncF.T3 = cl.TkNow()
queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
queryData = append(queryData, timeSyncF.Encode().Encode()...)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
}
} else {
timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4)
timeSyncF := message.NewBtmTimeSyncCheckFrame(trainAtm.CanId.ID4, true)
timeSyncF.T2 = cl.BtmTk
timeSyncF.T3 = cl.TkNow()
telCount := strings.Count(train.BtmState.Telegram, "00")
if telCount >= balise_const.UserTelegramByteLen {
queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.EncodeBtmAtp().Encode()...)
queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)
//无数据
queryDataStr := make([]string, 0)
queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
train_pc_sim.Default().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryDataStr)
/* queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.Encode().Encode()...)
queryData = append(queryData, timeSyncF.Encode().Encode()...)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_NOT_DATA, queryData)*/
} else {
//有数据
aliseData, _ := hex.DecodeString(train.BtmState.Telegram)
stateRepFrame := btmRepFrame.EncodeBtmAtp()
statusDataCf, statusDataCfOk := message.CreateBtmAtpDataRspFramesData(stateRepFrame, aliseData, false, cl.BtmTk, cl.BtmTk, cl.BtmTk)
statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData2(btmRepFrame, aliseData, false, cl.TkNow(), cl.TkNow(), cl.TkNow(), true)
if statusDataCfOk {
timeSyncF.T2 = cl.BtmTk
timeSyncF.T3 = cl.TkNow()
queryData := make([]byte, 0)
queryData = append(queryData, stateRepFrame.Encode()...)
queryData = append(queryData, timeSyncF.EncodeBtmAtp().Encode()...)
queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
/* queryData := make([]byte, 0)
queryData = append(queryData, btmRepFrame.Encode().Encode2()...)
queryData = append(queryData, timeSyncF.Encode().Encode2()...)
queryData = append(queryData, statusDataCf...) //数据帧包含结束帧
train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)*/
queryDataStr := make([]string, 0)
queryDataStr = append(queryDataStr, hex.EncodeToString(btmRepFrame.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(timeSyncF.Encode().Encode2()))
queryDataStr = append(queryDataStr, hex.EncodeToString(statusDataCf)) //数据帧包含结束帧
train.BtmState.BaliseTelegramForPcSimResend = fmt.Sprintf("%X", statusDataCf)
train_pc_sim.Default().SendBaliseData(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryData)
train_pc_sim.Default().SendBaliseData2(train, message.RECIVE_TRAIN_BTM_HAS_DATA, queryDataStr)
} else {
slog.Error("列车pc仿真 BtmCanetClient应答帧、数据帧编码失败")
}
@ -744,21 +749,22 @@ func (s *VerifySimulation) TrainBtmQuery(train *state_proto.TrainState, data []b
}
}
func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock, dsn byte) *message.BtmStatusRspFrame {
statusF := message.NewBtmStatusRspFrame(canIdSn)
func createBtmStatus(canIdSn byte, btmState *state_proto.BTMState, atpReq *message.AtpRequestFrame, cl can_btm.BtmClock) *message.BtmStatusRspFrame {
statusF := message.NewBtmStatusRspFrame(canIdSn, atpReq.IsTrainPcSim)
//btmStatus := aa(train, atpReq)
statusF.PowerAmplifierOn = true
statusF.PowerAmplifierFailure = false
statusF.AtpReqCrcCheckWrong = !atpReq.Crc16CheckOk
statusF.AntennaFault = false
statusF.BaliseCounter = byte(btmState.BaliseCount)
statusF.MessageCounter = byte(btmState.MessageCounter)
//statusF.TkTimeA = cl.TkNow()
statusF.TkTimeA = cl.BtmTk
statusF.TkTimeA = cl.TkNow()
statusF.DetailedCode = 0
if btmState.AboveBalise {
statusF.DetailedCode = 0x07
}
dsn := byte(btmState.DataSerialNumber) + 1
btmState.DataSerialNumber = uint32(dsn)
statusF.Dsn = dsn
return statusF

2
ts/test_simulation_manage.go
View File

@ -126,7 +126,7 @@ func runThirdParty(s *memory.VerifySimulation) error {
case "11":
beijing11.Start(c, s)
default:
beijing12.Start(c, s, s.Repo.TransponderList())
beijing12.Start(c, s)
}
}
// 计轴RSSP启动

38
util/myreader/reader.go
View File

@ -1,38 +0,0 @@
package myreader
import "bytes"
type Reader struct {
r *bytes.Reader
Err error
}
func NewReader(b []byte) *Reader {
return &Reader{r: bytes.NewReader(b)}
}
func (r *Reader) ReadByte() byte {
if r.Err != nil {
return 0
}
b, err := r.r.ReadByte()
r.Err = err
return b
}
func (r *Reader) Read(b []byte) (n int) {
if r.Err != nil {
return 0
}
n, r.Err = r.r.Read(b)
return n
}
func (r *Reader) ReadBytes(n int) []byte {
if r.Err != nil {
return nil
}
b := make([]byte, n)
r.Read(b)
return b
}