[修改]11号线驾驶台通信逻辑修改

# Conflicts:
#	rts-sim-module

.gitea/workflows/CI_local_test.yaml

@@ -1,9 +1,9 @@
-name: CI
+name: local-test分支打包构建docker并发布运行
 run-name: ${{ gitea.actor }} is testing out Gitea Actions
 on:
   push:
     branches:
-      - develop
+      - local-test
 
 jobs:
   Docker-Build:
@@ -14,18 +14,19 @@ jobs:
         with:
           submodules: recursive
       - name: 设置go环境
-        uses: https://gitea.joylink.club/actions/local-setup-go@v0.1.1
+        uses: https://gitea.joylink.club/actions/local-setup-go@v0.1.2
         with:
           go-version: '1.22.1'
       - name: 构建go build
         run: |
           go env -w GO111MODULE=on
           go env -w GOPROXY=https://goproxy.cn,direct
+          go env -w CGO_ENABLED=0
           go build -o rts-sim-testing-service
+      - name: 设置 Docker
+        uses: https://gitea.joylink.club/actions/local-setup-docker-cli-action@v0.1.1
       - name: 设置 Docker Buildx
-        uses: https://gitea.joylink.club/actions/local-setup-buildx-action@v0.1.1
-        with:
-          version: 'v0.13.1'
+        uses: https://gitea.joylink.club/actions/local-setup-buildx-action@v0.1.3
       - name: docker登录gitea.joylink.club
         uses: https://gitea.joylink.club/docker/login-action@v3
         with:
@@ -39,16 +40,18 @@ jobs:
           file: ./Dockerfile_Gitea
           push: true
           tags: |
-            gitea.joylink.club/joylink/rts-sim-testing-service:0.1.1
-            gitea.joylink.club/joylink/rts-sim-testing-service:latest
-      # - name: SSH Connect and Publish
-      #   uses: http://120.46.212.6:3000/appleboy/ssh-action@v1.0.3
-      #   with:
-      #     host: ${{ secrets.LOCAL_SSH_HOST }}
-      #     port: ${{ secrets.LOCAL_SSH_PORT }}
-      #     username: ${{ secrets.LOCAL_SSH_USER }}
-      #     password: ${{ secrets.LOCAL_SSH_PASSWORD }}
-      #     script: |
-      #       whoami
-      #       sudo docker images            
-      - run: echo "This job's status is ${{ job.status }}."
+            gitea.joylink.club/joylink/rts-sim-testing-service:local-test
+      - name: 发布到服务器
+        uses: https://gitea.joylink.club/appleboy/ssh-action@v1.0.3
+        with:
+          host: ${{ secrets.LOCAL_233_SSH_HOST }}
+          port: ${{ secrets.LOCAL_233_SSH_PORT }}
+          username: ${{ secrets.LOCAL_233_SSH_USER }}
+          password: ${{ secrets.LOCAL_233_SSH_PASSWORD }}
+          script: |
+            docker rm -f rts-sim-testing-service || echo "rts-sim-testing-service not exist"
+            docker pull gitea.joylink.club/joylink/rts-sim-testing-service:local-test
+            docker run --name rts-sim-testing-service --restart=always --network net --ip 192.168.53.191 -d -p 9091:9091 -p 4000:4000/udp  -v /usr/local/joylink/logs/bjrtsts:/logs/bjrtsts gitea.joylink.club/joylink/rts-sim-testing-service:local-test rts-sim-testing-service -config test_local
+      - name: 清理tag为none的镜像
+        run: |
+          docker rmi $(docker images --filter "dangling=true" -q)

.gitignore

@@ -27,3 +27,4 @@ output/
 # Go workspace file
 /go.work.sum
 /pom.xml
+/bj-rtsts-server

.gitmodules

@@ -1,9 +1,9 @@
 [submodule "rts-sim-testing-message"]
 	path = rts-sim-testing-message
-	url = http://120.46.212.6:3000/joylink/rts-sim-testing-message.git
+	url = https://gitea.joylink.club/joylink/rts-sim-testing-message.git
 [submodule "rts-sim-module"]
 	path = rts-sim-module
-	url = http://120.46.212.6:3000/joylink/rts-sim-module.git
+	url = https://gitea.joylink.club/joylink/rts-sim-module.git
 [submodule "jl-iot-module"]
 	path = jl-iot-module
-	url = http://120.46.212.6:3000/joylink/jl-iot.git
+	url = https://gitea.joylink.club/joylink/jl-iot.git

Dockerfile_Gitea

@@ -1,4 +1,4 @@
-FROM alpine
+FROM docker.m.daocloud.io/library/alpine:3.20
 COPY ./rts-sim-testing-service /usr/local/bin/rts-sim-testing-service
 WORKDIR /bj-rtsts
 COPY ./config/*.yml ./

README.md

@@ -14,9 +14,17 @@
 - viper 配置管理
 - swagger 文档生成（基于[swaggo](https://github.com/swaggo/swag)）（需要安装 go install github.com/swaggo/swag/cmd/swag@latest，在项目根目录（即 bj-rtsts-server-go）执行 swag init，然后启动项目即可，启动后访问 http://{ip}:{port}/swagger/index.html）
 
+# 动力学
+- dotnet.exe publish -r win-x64 -p:PublishSingleFile=true
+
 # 开发说明
 
 - 在 api 目录下添加路由及请求数据解析返回
 - 在 service 目录下添加具体的业务逻辑（数据库查询）
 - 设置 go 代理 go env -w GOPROXY=https://goproxy.cn,direct
 - 运行 go mod download / go mod tidy
+
+# windows 编译linux环境
+- go env -w GOOS=linux 
+- go build -o appname
+- go env -w GOOS=windows

api/projectRunConfig.go

@@ -190,7 +190,7 @@ func deleteProjectRunConfig(c *gin.Context) {
 //	@Failure		500	{object}	dto.ErrorDto
 //	@Router			/api/v1/runconfig/description [get]
 func getRunCofigDescription(c *gin.Context) {
-	c.JSON(http.StatusOK, parseRunCofigStruct(&config.ThridPartyConfig{}))
+	c.JSON(http.StatusOK, parseRunCofigStruct(&config.ThirdPartyConfig{}))
 }
 
 // 解析环境配置结构

api/simulation.go

@@ -22,10 +22,12 @@ import (
 )
 
 func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddleware) {
+
 	authed := api.Group("/v1/simulation").Use(authMiddleware.MiddlewareFunc(), middleware.PermissMiddleware)
 	authed.POST("/createByProject", createByProjectId)
 	authed.POST("/destroy/:id", destroy)
 	authed.GET("/list", findAllSimulations)
+
 	authed.POST("/check/data", checkSimMapData)
 	authed.POST("/train/add", addTrain)
 	authed.POST("/train/config", configTrain)
@@ -34,6 +36,8 @@ func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddle
 	authed.POST("/train/update", updateTrain)
 	authed.POST("/train/control", controlTrain)
 	authed.POST("/train/conn", trainConnThird)
+	authed.DELETE("/train/unconn/:trainId/:id", trainUnConnThird)
+
 	authed.GET("/train/conn/type/:id", trainConnTypeList)
 
 	authed.POST("/switch/operation", turnoutOperation)
@@ -47,12 +51,14 @@ func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddle
 	authed.POST("/psl/operation", pslBtnOperation) //1
 	authed.POST("/psd/operation", psdOperation)
 	authed.PUT("/balise/position/modify", balisePositionModify)
-	authed.PUT("/balise/position/reset", transponderPositionReset)
+	authed.PUT("/balise/position/reset", balisePositionReset)
 	authed.PUT("/balise/telegram/modify", baliseTelegramModify)
 	authed.PUT("/balise/telegram/reset", baliseTelegramReset)
 	authed.PUT("/balise/telegram/stop", baliseTelegramStop)
 	authed.PUT("/balise/telegram/send", baliseTelegramSend)
 	authed.PUT("/balise/reset", baliseReset)
+	authed.PUT("/ckm/operation", ckmOperation)
+	authed.PUT("/xcj/operation", xcjOperation)
 	//authed.POST("/bypass/operation", bypassBtnOrKeyOperation)
 
 	// 初始化地图信息
@@ -92,6 +98,7 @@ func createByProjectId(c *gin.Context) {
 	if len(mapInfos) == 0 {
 		panic(sys_error.New("测试启动失败,项目未关联发布图"))
 	}
+
 	var mapIds []int32
 	for _, mapInfo := range mapInfos {
 		if mapInfo.Type == data_proto.PictureType_value[data_proto.PictureType_TrainData.String()] {
@@ -235,15 +242,28 @@ func addTrain(c *gin.Context) {
 	if req.TrainId < 0 || req.TrainId >= 255 {
 		panic(sys_error.New("列车编号不能小于0，大于255"))
 	}
+	if req.TrainSpeed < 0 || req.TrainSpeed > 90 {
+		panic(sys_error.New("列车编号不能小于0，大于255"))
+	}
 	rsp := &state_proto.TrainState{
-		Id:            fmt.Sprintf("%v", req.TrainId),
-		HeadDeviceId:  req.Id,
-		HeadOffset:    req.HeadOffset,
-		DevicePort:    req.DevicePort,
-		RunDirection:  req.RunDirection,
+		Id:                  fmt.Sprintf("%v", req.TrainId),
+		HeadDeviceId:        req.Id,
+		HeadOffset:          req.HeadOffset,
+		TrainLoad:           req.TrainLoad,
+		TrainMaxSpeed:       req.TrainMaxSpeed,
+		TrainMaxAcc:         req.TrainMaxAcc,
+		TrainMaxBrake:       req.TrainMaxBrake,
+		TrainEmergencyBrake: req.TrainEmergencyBrake,
+		ProjectCode:         simulation.ProjectCode,
+		//HeadOffset: 93211,
+		DevicePort: req.DevicePort,
+		TrainRunUp: req.RunDirection,
+		//RunDirection:  req.RunDirection,
 		TrainLength:   req.TrainLength,
 		WheelDiameter: req.WheelDiameter,
 		Speed:         req.TrainSpeed,
+		Show:          true,
+		TrainCoachNum: req.TrainCoachNum,
 		ConnState:     &state_proto.TrainConnState{TrainControlMapId: req.TrainControlMapId, Conn: false, ConnType: state_proto.TrainConnState_NONE},
 	}
 	var err *sys_error.BusinessError = memory.AddTrainStateNew(simulation,
@@ -309,6 +329,30 @@ func trainConnThird(c *gin.Context) {
 	c.JSON(http.StatusOK, "ok")
 }
 
+// ATS测试仿真-取消列车连接三方
+//
+//	@Summary		ATS测试仿真-取消列车连接三方
+//
+//	@Security		JwtAuth
+//
+//	@Description	ATS测试仿真-取消列车连接三方
+//	@Tags			ATS测试仿真Api
+//	@Accept			json
+//	@Produce		json
+//	@Param 			Authorization 	header 	string 	true 	"JWT Token"
+//	@Param			trainId 	path 	string 	true 	"列车id"
+//	@Param			id 	path 	string 	true 	"仿真id"
+//	@Success		200	{object}	dto.AddTrainRspDto
+//	@Failure		500	{object}	dto.ErrorDto
+//	@Router			/api/v1/simulation/train/conn [delete]
+func trainUnConnThird(c *gin.Context) {
+	trainId := c.Param("trainId")
+	simId := c.Param("id")
+	simulation := checkDeviceDataAndReturn(simId)
+	memory.TrainUnConn(simulation, trainId)
+	c.JSON(http.StatusOK, "ok")
+}
+
 // ATS测试仿真-列车连接三方类型列表
 //
 //	@Summary		ATS测试仿真-列车连接三方类型列表
@@ -373,14 +417,13 @@ func controlTrain(c *gin.Context) {
 // @Failure		500	{object}	dto.ErrorDto
 // @Router			/api/v1/simulation/train/remove/all [post]
 func removeAllTrain(c *gin.Context) {
-
 	rt := &dto.RemoveAllTrainRspDto{}
 	if err := c.ShouldBind(&rt); err != nil {
 		panic(sys_error.New("移除所有列车失败，请求参数异常", err))
 	}
 	slog.Debug("ATS测试仿真-移除所有列车,请求：", rt)
 	simulation := checkDeviceDataAndReturn(rt.SimulationId)
-	memory.RemoveAllTrain(simulation)
+	memory.RemoveAllTrain(simulation, false)
 	//TODO 后续调用列车删除操作
 	c.JSON(http.StatusOK, "ok")
 }
@@ -408,7 +451,7 @@ func removeTrain(c *gin.Context) {
 	}
 	slog.Debug("ATS测试仿真-移除列车,请求：", rt)
 	simulation := checkDeviceDataAndReturn(rt.SimulationId)
-	memory.RemoveTrainState(simulation, rt.TrainId)
+	memory.RemoveTrainState(simulation, rt.TrainId, false)
 	//TODO 后续调用列车删除操作
 	c.JSON(http.StatusOK, "ok")
 }
@@ -613,7 +656,10 @@ func pslBtnOperation(c *gin.Context) {
 	}
 	simulation := checkDeviceDataAndReturn(req.SimulationId)
 	slog.Info("传入状态参数", req)
-	memory.ChangePSLButtonState(simulation, req.MapId, req.PslId, req.ButtonCode, req.Down)
+	var err *sys_error.BusinessError = memory.ChangePSLButtonState(simulation, req.MapId, req.PslId, req.ButtonCode, req.Down)
+	if err != nil {
+		panic(err)
+	}
 	c.JSON(http.StatusOK, "ok")
 }
 
@@ -714,7 +760,7 @@ func relayOperation(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/position/modify [put]
+// @Router			/api/v1/simulation/balisecodec/position/modify [put]
 func balisePositionModify(c *gin.Context) {
 	req := &dto.BaliseMoveReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
@@ -743,8 +789,8 @@ func balisePositionModify(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/position/reset [put]
-func transponderPositionReset(c *gin.Context) {
+// @Router			/api/v1/simulation/balisecodec/position/reset [put]
+func balisePositionReset(c *gin.Context) {
 	req := &dto.BaliseReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
 		panic(sys_error.New("应答器复位操作失败，请求参数异常", err))
@@ -772,7 +818,7 @@ func transponderPositionReset(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/telegram/modify [put]
+// @Router			/api/v1/simulation/balisecodec/telegram/modify [put]
 func baliseTelegramModify(c *gin.Context) {
 	req := &dto.BaliseModifyTelegramReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
@@ -801,7 +847,7 @@ func baliseTelegramModify(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/telegram/reset [put]
+// @Router			/api/v1/simulation/balisecodec/telegram/reset [put]
 func baliseTelegramReset(c *gin.Context) {
 	req := &dto.BaliseReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
@@ -809,7 +855,7 @@ func baliseTelegramReset(c *gin.Context) {
 	}
 	simulation := checkDeviceDataAndReturn(req.SimulationId)
 	slog.Info("传入状态参数", req)
-	var err *sys_error.BusinessError = memory.BaliseTelegramReset(simulation, req)
+	var err = memory.BaliseTelegramReset(simulation, req)
 	if err != nil {
 		panic(err)
 	}
@@ -830,7 +876,7 @@ func baliseTelegramReset(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/telegram/stop [put]
+// @Router			/api/v1/simulation/balisecodec/telegram/stop [put]
 func baliseTelegramStop(c *gin.Context) {
 	req := &dto.BaliseReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
@@ -859,7 +905,7 @@ func baliseTelegramStop(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/telegram/send [put]
+// @Router			/api/v1/simulation/balisecodec/telegram/send [put]
 func baliseTelegramSend(c *gin.Context) {
 	req := &dto.BaliseReqDto{}
 	if err := c.ShouldBind(&req); err != nil {
@@ -888,7 +934,7 @@ func baliseTelegramSend(c *gin.Context) {
 //
 // @Success		200	{object}	string
 // @Failure		500	{object}	dto.ErrorDto
-// @Router			/api/v1/simulation/balise/reset [put]
+// @Router			/api/v1/simulation/balisecodec/reset [put]
 func baliseReset(c *gin.Context) {
 	//req := &dto.BaliseReqDto{}
 	//if err := c.ShouldBind(&req); err != nil {
@@ -896,13 +942,69 @@ func baliseReset(c *gin.Context) {
 	//}
 	simulationId := c.Query("simulationId")
 	simulation := checkDeviceDataAndReturn(simulationId)
-	err := memory.BaliseReset(simulation)
+	err := memory.AllBaliseTelegramReset(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))
 	}
 	c.JSON(http.StatusOK, "ok")
 }
 
+// 车库门操作
+//
+//	@Summary		车库门操作
+//
+//	@Security		JwtAuth
+//
+//	@Description	车库门操作
+//	@Tags			ATS测试仿真Api
+//	@Accept			json
+//	@Param 			Authorization 	header 	string 	true 	"JWT Token"
+//	@Param			CkmOperationReq	body request_proto.CkmOperationReq	true "车库门操作"
+//
+// @Success		200	{object}	string
+// @Failure		500	{object}	dto.ErrorDto
+// @Router			/api/v1/simulation/ckm/operation [put]
+func ckmOperation(c *gin.Context) {
+	req := &request_proto.CkmOperationReq{}
+	if err := c.ShouldBind(&req); err != nil {
+		panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+	}
+	simulation := checkDeviceDataAndReturn(req.SimulationId)
+	var err *sys_error.BusinessError = memory.CkmOperation(simulation, req)
+	if err != nil {
+		panic(err)
+	}
+	c.JSON(http.StatusOK, "ok")
+}
+
+// 洗车机操作
+//
+//	@Summary		洗车机操作
+//
+//	@Security		JwtAuth
+//
+//	@Description	洗车机操作
+//	@Tags			ATS测试仿真Api
+//	@Accept			json
+//	@Param 			Authorization 	header 	string 	true 	"JWT Token"
+//	@Param			XcjOperationReq	body request_proto.XcjOperationReq	true "洗车机操作"
+//
+// @Success		200	{object}	string
+// @Failure		500	{object}	dto.ErrorDto
+// @Router			/api/v1/simulation/xcj/operation [put]
+func xcjOperation(c *gin.Context) {
+	req := &request_proto.XcjOperationReq{}
+	if err := c.ShouldBind(&req); err != nil {
+		panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+	}
+	simulation := checkDeviceDataAndReturn(req.SimulationId)
+	var err *sys_error.BusinessError = memory.XcjOperation(simulation, req)
+	if err != nil {
+		panic(err)
+	}
+	c.JSON(http.StatusOK, "ok")
+}
+
 // 获取仿真设备数据并返回
 func checkDeviceDataAndReturn(simId string) *memory.VerifySimulation {
 	deviceMemory := ts.FindSimulation(simId)

api/user.go

@@ -21,6 +21,7 @@ func InitUserRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddleware)
 	authed := api.Group("/v1/user").Use(authMiddleware.MiddlewareFunc(), middleware.PermissMiddleware)
 	authed.GET("/paging", pageQueryUser)
 	authed.GET("/current", findUserInfo)
+
 }
 
 //	 用户注册

bin/acc_conn-example.go

@@ -0,0 +1,309 @@
+package main
+
+import (
+	"encoding/hex"
+	"fmt"
+	"github.com/spf13/viper"
+	"joylink.club/bj-rtsts-server/bin/config"
+	"joylink.club/bj-rtsts-server/const/balise_const"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/tcp"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
+	"strconv"
+	"strings"
+	"time"
+)
+
+const config_name = "example"
+
+var exampleConfig config.ExampleConfig
+
+func initConfig() {
+	cnf := viper.New()
+	cnf.SetConfigName(config_name)
+	cnf.SetConfigType("yml")
+	//cnf.AddConfigPath("./bin/config/")
+	//cnf.AddConfigPath("./")
+	cnf.AddConfigPath(".")
+	err := cnf.ReadInConfig()
+	if err != nil {
+		panic(fmt.Errorf("读取配置文件错误: %w", err))
+	}
+	err = cnf.Unmarshal(&exampleConfig)
+	if err != nil {
+		panic(fmt.Errorf("解析配置文件错误: %w", err))
+	}
+	slog.Info("成功加载配置", "config", exampleConfig)
+}
+
+var btmCli udp.UdpClient
+
+func initBtmTest() {
+	ser := udp.NewServer(fmt.Sprintf("%v:%d", exampleConfig.Btm.LocalIp, exampleConfig.Btm.LocalPort), handleBtmVobcFrames)
+	ser.Listen()
+	btmCli = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Btm.RemoteIp, exampleConfig.Btm.RemotePort))
+}
+
+var accClient udp.UdpClient
+
+func initAccTest() {
+	accClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+	go testAcc(accClient, 0.54)
+}
+
+var speedClient udp.UdpClient
+
+func initSpeedTest() {
+	speedClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
+	go testSpeed(speedClient, 30)
+}
+
+var trainpcClient *tcp.TcpClient
+
+func initTrainPc() {
+	addr := fmt.Sprintf("%v:%v", exampleConfig.Trainpc.RemoteIp, exampleConfig.Trainpc.RemotePort)
+
+	client2, err := tcp.StartTcpClient(addr, trainPcDataHandle, trainPcConnErr)
+	if err != nil {
+		fmt.Println("仿真列车pc连接失败", err)
+		return
+	}
+	trainpcClient = client2
+	time.Sleep(time.Millisecond * 1500)
+	createOrRemoveTrain()
+	circleSendTrainActive()
+	circleSendTrainMockData()
+	//go circleSendTrainSpeedPlace()
+	//sendBtm()
+}
+
+func createOrRemoveTrain() {
+	msgs := make([]*message.TrainPcSimBaseMessage, 0)
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_CREATE_REMOVE})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Data: []byte{0x01}, Type: message.RECIVE_TRAIN_CREATE_REMOVE})
+	for _, msg := range msgs {
+		data := msg.Encode()
+		fmt.Println(fmt.Sprintf("发送列车模拟数据:%v,命令码:%v", hex.EncodeToString(data), msg.Data[0]))
+		trainpcClient.Send(data)
+		time.Sleep(time.Millisecond * 1000)
+	}
+}
+func circleSendTrainActive() {
+	msgs := make([]*message.TrainPcSimBaseMessage, 0)
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE})
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_HAND_KEY_FORWARD})
+
+	for _, msg := range msgs {
+
+		actData := msg.Encode()
+		fmt.Println(fmt.Sprintf("发送列车驾驶室激活:%v", hex.EncodeToString(actData)))
+		trainpcClient.Send(actData)
+		time.Sleep(time.Millisecond * 1000)
+	}
+}
+
+func circleSendTrainMockData() {
+	msgs := make([]*message.TrainPcSimBaseMessage, 0)
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(0), 1}})
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(16), 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(3), 0}})
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(3), 0}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(16), 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(45), 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(46), 1}})
+	/*	for i := 3; i <= 50; i++ {
+		if i != 2 {
+			msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{byte(i), 0}})
+		}
+	}*/
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{14, 0}})
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{1, 1}})
+	/*msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{1, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{2, 0}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{12, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{16, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{20, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{3, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{4, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{6, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{7, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{30, 1}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{22, 0}})
+	msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{23, 0}})*/
+	//msgs = append(msgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_OUTR_INFO, Data: []byte{3, 0}})
+
+	for _, msg := range msgs {
+		data := msg.Encode()
+		fmt.Println(fmt.Sprintf("发送列车模拟数据:%v,命令码:%v", hex.EncodeToString(data), msg.Data[0]))
+		trainpcClient.Send(data)
+		time.Sleep(time.Millisecond * 1000)
+	}
+}
+
+func trainPcDataHandle(n int, data []byte) {
+	hexData := hex.EncodeToString(data[:n])
+	slog.Info(fmt.Sprintf("列车pc仿真接口长度:%v,实际长度:%v,接受数据:%v", len(data), n, hexData))
+
+}
+func trainPcConnErr(err error) {
+
+}
+func main() {
+
+	initConfig()
+	initBtmTest()
+	//initTrainPc()
+	//initAccTest()
+	//initSpeedTest()
+
+	for {
+	}
+}
+
+var testUserBtmMsg = "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
+var freeBtmMsg = strings.Repeat("00", balise_const.UserTelegramByteLen)
+
+func sendPacket(lifeNum uint32, autoId byte) {
+	userMsg, _ := hex.DecodeString(testUserBtmMsg)
+
+	msg := &message.BtmVobcMessage{FontTtl: 2, BtmStatus: 0x00, DecodeTime: 10, BackTtl: 2, BtmMsg: userMsg, ResponseTime: 10,
+		VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId} /*MsgSerial: message.GetAutoMessageId()*/}
+	sendData := msg.Encode()
+	//fmt.Println("发送btm vobc len:", len(sendData), "报文:", hex.EncodeToString(sendData), "报文序列号:", msg.MsgSerial)
+	time.Sleep(time.Millisecond * 100)
+	err := btmCli.Send(sendData)
+	if err != nil {
+		fmt.Println(fmt.Sprintf("发送失败%v", err.Error()))
+	}
+
+	/*freeMsg, _ := hex.DecodeString(freeBtmMsg)
+
+	msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
+		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: message.GetAutoMessageId()}
+	sendData2 := msg2.Encode()
+	fmt.Println("发送btm vobc 空报文11111:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
+	btmCli.Send(sendData2)*/
+}
+
+func sendPacketFree(lifeNum uint32, autoId byte, msgs byte) {
+	freeMsg, _ := hex.DecodeString(freeBtmMsg)
+	newMsg := msgs + 1
+	if newMsg > 255 {
+		newMsg = 1
+	}
+	msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
+		//FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId}, MsgSerial: newMsg}
+		FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: lifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: autoId} /* MsgSerial: message.GetAutoMessageId()*/}
+	sendData2 := msg2.Encode()
+	//fmt.Println("发送btm vobc 空报文:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", autoId, "报文序列号:", msg2.MsgSerial)
+	time.Sleep(time.Millisecond * 100)
+	err := btmCli.Send(sendData2)
+	if err != nil {
+		fmt.Println(fmt.Sprintf("发送失败%v", err.Error()))
+	}
+}
+
+func RequestFramePackets(req *message.BtmVobcReq, vobcLife uint32) {
+	//fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
+	if req.FrameStatus == message.REQ_FRAME_STATUS_BOOT && req.MessageType == message.REQ_PACKETS_TYPE_BOOT {
+		//fmt.Println("000000000000000000000000000")
+		sendPacketFree(vobcLife, req.AutoIdFrame, req.MessageSerial)
+	} else if req.FrameStatus == message.REQ_FRAME_STATUS_OK {
+		//帧正确，删除之前发送的数据
+		//fmt.Println("11111111111111111111")
+
+	} else if req.FrameStatus == message.REQ_FRAME_STATUS_ERROR {
+		//帧不正确 重新发送2次，如果2次后仍然不正确，则删除之前发送的数据
+		///**/fmt.Println("22222222222222222")
+	}
+}
+
+var btmReceiveTime = time.Now().UnixMilli()
+var vobcNumLife uint32 = 0
+
+func handleBtmVobcFrames(cfs []byte) {
+
+	fmt.Println(fmt.Sprintf("收到源数据:%v ,数据长度:%v", hex.EncodeToString(cfs), len(cfs)))
+	frameType, dataText, err := message.BtmVobcDecode(cfs)
+	if err != nil {
+		return
+	}
+	if frameType == message.COMMAND_TYPE {
+		idCommand := &message.BtmVobcIdCommand{}
+		idCommand.Decode(dataText)
+		if vobcNumLife <= 0 {
+			vobcNumLife = idCommand.VobcLifeNum
+		}
+		sendPacketFree(vobcNumLife, idCommand.AutoIdFrame, idCommand.AutoIdFrame)
+		//sendPacket(vobcNumLife, idCommand.AutoIdFrame)
+	} else if frameType == message.REQUEST_TYPE {
+		if vobcNumLife <= 0 {
+			return
+		} else {
+			//fmt.Println(fmt.Sprintf("准备发送vobcLife:%v", vobcNumLife))
+		}
+		req := &message.BtmVobcReq{}
+		req.Decode(dataText)
+		//fmt.Println(fmt.Sprintf("接受 请求帧 frameStatus:%v,messageType:%v,lifeNum:%v,序列号:%v", req.FrameStatus, req.MessageType, req.VobcLifeNum, req.MessageSerial))
+		if time.Now().UnixMilli()-btmReceiveTime > 20*1000 {
+			idCommand := &message.BtmVobcIdCommand{}
+			idCommand.Decode(dataText)
+			sendPacket(vobcNumLife, idCommand.AutoIdFrame)
+		} else {
+
+			RequestFramePackets(req, vobcNumLife)
+		}
+	} else {
+		slog.Error(fmt.Sprintf("btm vobc 解析未知命令帧类型:0x%v,原始数据:%v,长度:%v", strconv.FormatInt(int64(frameType), 16), hex.EncodeToString(cfs), len(cfs)))
+		return
+	}
+
+}
+
+func testSpeed(client udp.UdpClient, speed float32) {
+
+	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
+	ac := message.ElectricMachinery{Speed: speed, WheelDiameter: 800, IsBack: false}
+	var index int64
+	for {
+		data := ac.Encode()
+		//fmt.Println(hex.EncodeToString(data))
+		err := client.Send(data)
+		index++
+		if index%10 == 0 {
+			slog.Info(fmt.Sprintf("发送speed数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
+			ac = message.ElectricMachinery{Speed: 0, WheelDiameter: 800, IsBack: false}
+			client.Send(ac.Encode())
+			break
+		}
+
+		if err != nil {
+			slog.Error("发送数据失败", "err", err)
+		}
+		time.Sleep(time.Millisecond * 200)
+	}
+}
+
+// 加速度计
+func testAcc(client udp.UdpClient, acc float32) {
+
+	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+	ac := message.Accelerometer{Acc: acc}
+	var index int64
+	for {
+		data := ac.Encode()
+		//fmt.Println(hex.EncodeToString(data))
+		err := client.Send(data)
+		index++
+		if index%10 == 0 {
+			slog.Info(fmt.Sprintf("发送acc数据,时间戳:%v,发送次数:%v 数据:%v", time.Now().Unix(), index, hex.EncodeToString(data)))
+		}
+
+		if err != nil {
+			slog.Error("发送数据失败", "err", err)
+		}
+		time.Sleep(time.Millisecond * 11)
+	}
+
+}

bin/config/example.yml

@@ -0,0 +1,15 @@
+acc:
+  remoteIp: "192.168.1.201"
+  remotePort: 4196
+speed:
+  remoteIp: "192.168.1.200"
+  remotePort: 4196
+btm:
+  remoteIp: "192.168.1.199"
+  remotePort: 4196
+  localIp: "192.168.1.150"
+  localPort: 4646
+trainpc:
+  remoteIp: "192.168.3.211"
+  remotePort: 10007
+

bin/config/example_config.go

@@ -0,0 +1,27 @@
+package config
+
+type ExampleConfig struct {
+	Acc     acc
+	Speed   speed
+	Btm     btm
+	Trainpc trainpc
+}
+type acc struct {
+	RemoteIp   string
+	RemotePort int
+}
+type speed struct {
+	RemoteIp   string
+	RemotePort int
+}
+type btm struct {
+	RemoteIp   string
+	RemotePort int
+	LocalIp    string
+	LocalPort  int
+}
+
+type trainpc struct {
+	RemoteIp   string
+	RemotePort int
+}

config/bj_local_pxf.yml

@@ -15,7 +15,7 @@ logging:
   # 格式化
   # format: json
   # 日志文件路径
-  path: /logs/bjrtsts
+  path: /home/joylink/logs/bjrtsts
   # 日志文件名
   fileName: bjrtsts.log
   # 单个日志文件大小,单位mb,超过会自动滚动

config/bj_local_pxf_2.yml

@@ -0,0 +1,37 @@
+# 服务配置
+server:
+  # 服务端口
+  port: 9092
+
+# 数据源
+datasource:
+  # 数据库访问url
+  dsn: root:Joylink@0503@tcp(172.29.5.167:3306)/bj-rtsts?charset=utf8mb4&parseTime=true&loc=UTC
+
+# 日志配置
+logging:
+  # 日志级别
+  level: info
+  # 格式化
+  # format: json
+  # 日志文件路径
+  path: /home/joylink/logs/bjrtsts2
+  # 日志文件名
+  fileName: bjrtsts.log
+  # 单个日志文件大小,单位mb,超过会自动滚动
+  fileMaxSize: 50
+  # 日志文件最大备份数量
+  fileMaxBackups: 100
+  # 日志文件最大保留时间,单位 天
+  maxAge: 30
+  # 是否压缩日志
+  compress: false
+  # 控制台是否输出
+  stdout: false
+
+# 消息配置
+messaging:
+  mqtt:
+    address: tcp://172.29.5.168:1883
+    username: rtsts_service
+    password: joylink@0503

config/config.go

@@ -3,10 +3,9 @@ package config
 import (
 	"flag"
 	"fmt"
-	"log/slog"
-
 	"github.com/spf13/viper"
 	"joylink.club/iot/dto"
+	"log/slog"
 )
 
 const (
@@ -60,18 +59,21 @@ type mqtt struct {
 // }
 
 // 第三方配置结构
-type ThridPartyConfig struct {
-	Id                int32                   `json:"id"`
-	Dynamics          DynamicsConfig          `json:"dynamics" description:"动力学配置"`
-	Vobc              VobcConfig              `json:"vobc" description:"半实物配置"`
-	Interlocks        []InterlockConfig       `json:"interlock" description:"联锁配置"`
-	RsspAxleCfgs      []RsspAxleConfig        `json:"rsspAxleCfgs" description:"所有联锁集中站计轴RSSP-I配置"`
-	ElectricMachinery ElectricMachineryConfig `json:"electricMachinery" description:"电机配置"`
-	BtmCanet          BtmCanetConfig          `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
-	CidcModbus        []CidcModbusConfig      `json:"cidcModbus" description:"联锁驱采Modbus接口配置"`
-	Radar             RadarConfig             `json:"radar" description:"车载雷达相关配置"`
-	Acc               AccConfig               `json:"acc" description:"车载加速计"`
-	PcSimConfig       VehiclePCSimConfig      `json:"pcSimConfig" description:"车载pc仿真平台通信"`
+type ThirdPartyConfig struct {
+	Id             int32             `json:"id"`
+	Dynamics       DynamicsConfig    `json:"dynamics" description:"动力学配置"`
+	Vobc           VobcConfig        `json:"vobc" description:"半实物配置"`
+	Interlocks     []InterlockConfig `json:"interlock" description:"联锁配置"`
+	RsspAxleConfig RsspAxleConfig    `json:"rsspAxleCfgs" description:"计轴通信配置"`
+	//ElectricMachinery  ElectricMachineryConfig   `json:"electricMachinery" description:"电机配置"`
+	ElectricMachinerys []ElectricMachineryConfig `json:"electricMachinerys" description:"电机配置"`
+	BtmCanet           BtmCanetConfig            `json:"btmCanet" description:"11号线工装配置"` //废字段再利用
+	CidcModbus         []CidcModbusConfig        `json:"cidcModbus" description:"联锁驱采Modbus接口配置"`
+	Radar              RadarConfig               `json:"radar" description:"车载雷达相关配置"`
+	Acc                AccConfig                 `json:"acc" description:"车载加速计"`
+	//PcSimConfig        VehiclePCSimConfig        `json:"pcSimConfig" description:"车载pc仿真平台通信"`
+	PcSimConfigs []VehiclePCSimConfig `json:"pcSimConfigs" description:"车载pc仿真平台通信"`
+	BtmVobc      BtmVobcConfig        `json:"btmVobc" description:"Btm Vobc 11号线相关配置"`
 }
 type RadarConfig struct {
 	Open       bool   `json:"open" description:"是否开启"`
@@ -118,16 +120,28 @@ 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"`
+	Period     int    `json:"period" description:"采集任务执行周期（ms）"`
 }
 type ElectricMachineryConfig struct {
 	Ip         string `json:"ip" description:"IP配置"`
 	RemotePort int    `json:"remotePort" description:"远端接收信息端口"`
 	Open       bool   `json:"open" description:"是否开启"`
+	EndPointA  bool   `json:"endPointA" description:"一号电机"`
+}
+
+// BtmVobcConfig 11 号线 BTM vobc 网关设备配置
+type BtmVobcConfig struct {
+	LocalUdpIp    string `json:"LocalUdpIp" description:"本机监听接收UDP ip 配置"`
+	LocalUdpPort  int    `json:"localUdpPort" description:"本机监听接收UDP端口"`
+	RemoteIp      string `json:"remoteIp" description:"btm串口设备IP配置"`
+	RemoteUdpPort int    `json:"remoteUdpPort" description:"btm串口设备UDP端口"`
+	Open          bool   `json:"open" description:"是否开启"`
 }
 
 // BtmCanetConfig BTM CANET网关设备配置
@@ -138,47 +152,61 @@ type BtmCanetConfig struct {
 	Open          bool   `json:"open" description:"是否开启"`
 }
 
-// RsspAxleConfig 计轴区段与联锁安全通信配置
-type RsspAxleConfig struct {
-	Open               bool       `json:"open" description:"是否开启"`
-	City               string     `json:"city" description:"所属城市"`
-	LineId             string     `json:"lineId" description:"所属线路"`
-	CentralizedStation string     `json:"centralizedStation" description:"所属集中站"`
-	RsspCfg            RsspConfig `json:"rsspCfg" description:"安全通道配置"`
-}
-
-// RsspConfig CI系统与计轴设备的安全通信协议配置参数
-// 计轴设备(管理一个集中站的所有计轴器)配置
-type RsspConfig struct {
-	SrcAddr        uint16 `json:"srcAddr" description:"16位源地址,本地地址"`           //16位源地址,本地地址
-	DstAddr        uint16 `json:"dstAddr" description:"16位目的地址,远程地址"`          //16位目的地址,远程地址
-	DataVer1       uint32 `json:"dataVer1" description:"通道1数据版本"`              //通道1数据版本
-	DataVer2       uint32 `json:"dataVer2" description:"通道2数据版本"`              //通道2数据版本
-	SID1           uint32 `json:"sID1" description:"通道1源标识"`                   //通道1源标识
-	SID2           uint32 `json:"sID2" description:"通道2源标识"`                   //通道2源标识
-	SINIT1         uint32 `json:"sINIT1" description:"通道1序列初始"`                //通道1序列初始
-	SINIT2         uint32 `json:"sINIT2" description:"通道2序列初始"`                //通道2序列初始
-	SendingPeriod  uint32 `json:"sendingPeriod" description:"发送周期值"`           //接收方每个安全通信会话对应的发送周期值,单位ms
-	SsrRsspTimeout uint32 `json:"ssrRsspTimeout" description:"等待SSR回应的定时器超时值"` //等待SSR回应的定时器超时值,为RsspTimer时间,1=SendingPeriod
-	Mtv            uint32 `json:"mtv" description:"最大时序偏差"`                    //每个安全通信会话可容忍的最大时序偏差,即当前接收的RSD的序列号与上一次RSD的序列号最大允许差值
-	Udl            uint32 `json:"udl" description:"RSD应用数据长度配置值"`              //每个安全通信会话RSD应用数据长度发送和接收的配置值（支持固定长度和可变长度）;0-可变长度，大于0即固定长度
-	DeviceA        bool   `json:"deviceA" description:"true-A机；false-B机"`      //true-A机；false-B机
-	PicType        byte   `json:"picType" description:"协议交互类别"`                //协议交互类别，message.PicType
-	RemoteIp       string `json:"remoteIp" description:"远程服务器ip"`              //远程服务器ip
-	RemoteUdpPort  int    `json:"remoteUdpPort" description:"远程服务器端口"`         //远程服务器端口
-	LocalUdpPort   int    `json:"localUdpPort" description:"本地服务器端口"`          //本地服务器端口
-}
-
-type VehiclePCSimConfig struct {
+type VehiclePCSimConfig2 struct {
+	TrainEnds        bool   `json:"trainEnds" description:"列车端点A"`
 	Open             bool   `json:"open" description:"是否开启"`
 	PcSimIp          string `json:"pcSimIp" description:"pc仿真平台通信ip"`
 	PcSimPort        uint32 `json:"pcSimPort" description:"pc仿真平台通信端口"`
 	LocalTestingPort uint32 `json:"localTestingPort" description:"本地测试端口"`
 }
 
-// CheckAddress 检测目标源地址目的地址是否在配置中
-func (c *RsspConfig) CheckAddress(srcAddr uint16, dstAddr uint16) bool {
-	return true
+type VehiclePCSimConfig struct {
+	Open bool `json:"open" description:"是否开启"`
+	//TrainEnds bool   `json:"trainEnds" description:"列车端点A?"`
+	ConfigName string `json:"configName" description:"连接名称"`
+	OpenA      bool   `json:"openA" description:"是否开启A端"`
+	APcSimIp   string `json:"apcSimIp" description:"pc仿真平台通信ip A端"`
+	APcSimPort uint32 `json:"apcSimPort" description:"pc仿真平台通信端口A端"`
+	OpenB      bool   `json:"openB" description:"是否开启B端"`
+	BPcSimIp   string `json:"bpcSimIp" description:"pc仿真平台通信ip B端"`
+	BPcSimPort uint32 `json:"bpcSimPort" description:"pc仿真平台通信端口B端"`
+	//LocalTestingPort uint32 `json:"localTestingPort" description:"本地测试端口"`
+}
+
+// RsspAxleConfig Rssp计轴通信配置
+type RsspAxleConfig struct {
+	Open        bool          `json:"open" description:"开启"`
+	StationCode string        `json:"stationCode" description:"集中站编号"`
+	NetAConfig  RsspNetConfig `json:"netAConfig" description:"A网配置"`
+}
+
+// RsspNetConfig 计轴通信配置
+type RsspNetConfig struct {
+	RemoteIp   string `json:"remoteIp" description:"远端IP"`
+	RemotePort int    `json:"remotePort" description:"远端端口"`
+	LocalPort  int    `json:"localPort" description:"本地端口"`
+
+	RemoteAddr string `json:"sourceAddr" description:"联锁地址（16进制，2字节）"`
+	LocalAddr  string `json:"targetAddr" description:"计轴地址（16进制，2字节）"`
+
+	RemoteSid1 string `json:"remoteSid1" description:"联锁SID_1（16进制，4字节）"`
+	RemoteSid2 string `json:"remoteSid2" description:"联锁SID_2（16进制，4字节）"`
+	LocalSid1  string `json:"localSid1" description:"计轴SID_1（16进制，4字节）"`
+	LocalSid2  string `json:"localSid2" description:"计轴SID_2（16进制，4字节）"`
+
+	RemoteSinit1 string `json:"remoteSinit1" description:"联锁SINIT_1（16进制，4字节）"`
+	RemoteSinit2 string `json:"remoteSinit2" description:"联锁SINIT_2（16进制，4字节）"`
+	LocalSinit1  string `json:"localSinit1" description:"计轴SINIT_1（16进制，4字节）"`
+	LocalSinit2  string `json:"localSinit2" description:"计轴SINIT_2（16进制，4字节）"`
+
+	RemoteDataVer1 string `json:"remoteDataVer1" description:"联锁DATAVER_1（16进制，4字节）"`
+	RemoteDataVer2 string `json:"remoteDataVer2" description:"联锁DATAVER_2（16进制，4字节）"`
+	LocalDataVer1  string `json:"localDataVer1" description:"计轴DATAVER_1（16进制，4字节）"`
+	LocalDataVer2  string `json:"localDataVer2" description:"计轴DATAVER_2（16进制，4字节）"`
+
+	MaxDeviation   int `json:"maxDeviation" description:"可容忍的最大时序偏差"`
+	WaitSSRTimeout int `json:"waitSSRTimeout" description:"等待SSR回应的定时器超时值（ms）"`
+	Period         int `json:"period" description:"RSD发送周期（ms）"`
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////

config/local_cgy.yml

@@ -32,6 +32,6 @@ logging:
 # 消息配置
 messaging:
   mqtt:
-    address: tcp://192.168.0.203:1883
+    address: tcp://192.168.1.211:1883
     username: rtsts_service
     password: joylink@0503

docs/docs.go

@@ -3263,7 +3263,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/position/modify": {
+        "/api/v1/simulation/balisecodec/position/modify": {
             "put": {
                 "security": [
                     {
@@ -3312,7 +3312,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/position/reset": {
+        "/api/v1/simulation/balisecodec/position/reset": {
             "put": {
                 "security": [
                     {
@@ -3361,7 +3361,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/reset": {
+        "/api/v1/simulation/balisecodec/reset": {
             "put": {
                 "security": [
                     {
@@ -3408,7 +3408,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/telegram/modify": {
+        "/api/v1/simulation/balisecodec/telegram/modify": {
             "put": {
                 "security": [
                     {
@@ -3457,7 +3457,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/telegram/reset": {
+        "/api/v1/simulation/balisecodec/telegram/reset": {
             "put": {
                 "security": [
                     {
@@ -3506,7 +3506,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/telegram/send": {
+        "/api/v1/simulation/balisecodec/telegram/send": {
             "put": {
                 "security": [
                     {
@@ -3555,7 +3555,7 @@ const docTemplate = `{
                 }
             }
         },
-        "/api/v1/simulation/balise/telegram/stop": {
+        "/api/v1/simulation/balisecodec/telegram/stop": {
             "put": {
                 "security": [
                     {

dto/common_proto/common_data.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: common_data.proto
 
@@ -228,7 +228,7 @@ type TrainEndsState struct {
 	SpeedSensorEnableB bool `protobuf:"varint,2,opt,name=speedSensorEnableB,proto3" json:"speedSensorEnableB,omitempty"`
 	// 雷达是否有效
 	RadarEnable bool `protobuf:"varint,3,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"`
-	// 雷达测速差值（米/秒）
+	// 雷达测速差值（千米/小时）
 	RadarCheckSpeedDiff float32 `protobuf:"fixed32,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"`
 	// 雷达检测时间(秒)
 	RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"`
@@ -238,10 +238,14 @@ type TrainEndsState struct {
 	AccCheckSpeedDiff float32 `protobuf:"fixed32,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"`
 	// 加速度持续时间
 	AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"`
-	// 速传速度输出（米/秒）
+	// 速传速度输出（千米/小时）
 	AccOutSpeed int32 `protobuf:"varint,9,opt,name=accOutSpeed,proto3" json:"accOutSpeed,omitempty"`
-	// 雷达速度输出（米/秒）
+	// 雷达速度输出（千米/小时）
 	RadarOutSpeed int32 `protobuf:"varint,10,opt,name=radarOutSpeed,proto3" json:"radarOutSpeed,omitempty"`
+	// 记录雷达设置检测时间的时间点，用于计算周期内的数字
+	RadarCheckTimeOverAt int64 `protobuf:"varint,11,opt,name=radarCheckTimeOverAt,proto3" json:"radarCheckTimeOverAt,omitempty"`
+	// 记录加速度计设置检测时间的时间点，用于计算周期内的数字
+	AccCheckTimeOverAt int64 `protobuf:"varint,12,opt,name=accCheckTimeOverAt,proto3" json:"accCheckTimeOverAt,omitempty"`
 }
 
 func (x *TrainEndsState) Reset() {
@@ -346,6 +350,20 @@ func (x *TrainEndsState) GetRadarOutSpeed() int32 {
 	return 0
 }
 
+func (x *TrainEndsState) GetRadarCheckTimeOverAt() int64 {
+	if x != nil {
+		return x.RadarCheckTimeOverAt
+	}
+	return 0
+}
+
+func (x *TrainEndsState) GetAccCheckTimeOverAt() int64 {
+	if x != nil {
+		return x.AccCheckTimeOverAt
+	}
+	return 0
+}
+
 var File_common_data_proto protoreflect.FileDescriptor
 
 var file_common_data_proto_rawDesc = []byte{
@@ -388,8 +406,8 @@ var file_common_data_proto_rawDesc = []byte{
 	0x01, 0x28, 0x05, 0x52, 0x07, 0x69, 0x64, 0x6c, 0x69, 0x6e, 0x67, 0x44, 0x12, 0x1a, 0x0a, 0x08,
 	0x73, 0x74, 0x6f, 0x70, 0x53, 0x69, 0x67, 0x6e, 0x18, 0x11, 0x20, 0x01, 0x28, 0x05, 0x52, 0x08,
 	0x73, 0x74, 0x6f, 0x70, 0x53, 0x69, 0x67, 0x6e, 0x12, 0x14, 0x0a, 0x05, 0x73, 0x6c, 0x69, 0x64,
-	0x65, 0x18, 0x12, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x73, 0x6c, 0x69, 0x64, 0x65, 0x22, 0xa4,
-	0x03, 0x0a, 0x0e, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x45, 0x6e, 0x64, 0x73, 0x53, 0x74, 0x61, 0x74,
+	0x65, 0x18, 0x12, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x73, 0x6c, 0x69, 0x64, 0x65, 0x22, 0x88,
+	0x04, 0x0a, 0x0e, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x45, 0x6e, 0x64, 0x73, 0x53, 0x74, 0x61, 0x74,
 	0x65, 0x12, 0x2e, 0x0a, 0x12, 0x73, 0x70, 0x65, 0x65, 0x64, 0x53, 0x65, 0x6e, 0x73, 0x6f, 0x72,
 	0x45, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x41, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x12, 0x73,
 	0x70, 0x65, 0x65, 0x64, 0x53, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x45, 0x6e, 0x61, 0x62, 0x6c, 0x65,
@@ -415,10 +433,17 @@ var file_common_data_proto_rawDesc = []byte{
 	0x28, 0x05, 0x52, 0x0b, 0x61, 0x63, 0x63, 0x4f, 0x75, 0x74, 0x53, 0x70, 0x65, 0x65, 0x64, 0x12,
 	0x24, 0x0a, 0x0d, 0x72, 0x61, 0x64, 0x61, 0x72, 0x4f, 0x75, 0x74, 0x53, 0x70, 0x65, 0x65, 0x64,
 	0x18, 0x0a, 0x20, 0x01, 0x28, 0x05, 0x52, 0x0d, 0x72, 0x61, 0x64, 0x61, 0x72, 0x4f, 0x75, 0x74,
-	0x53, 0x70, 0x65, 0x65, 0x64, 0x42, 0x2f, 0x5a, 0x2d, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b,
-	0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72, 0x74, 0x73, 0x74, 0x73, 0x2d, 0x73,
-	0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e,
-	0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x53, 0x70, 0x65, 0x65, 0x64, 0x12, 0x32, 0x0a, 0x14, 0x72, 0x61, 0x64, 0x61, 0x72, 0x43, 0x68,
+	0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x4f, 0x76, 0x65, 0x72, 0x41, 0x74, 0x18, 0x0b, 0x20,
+	0x01, 0x28, 0x03, 0x52, 0x14, 0x72, 0x61, 0x64, 0x61, 0x72, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x54,
+	0x69, 0x6d, 0x65, 0x4f, 0x76, 0x65, 0x72, 0x41, 0x74, 0x12, 0x2e, 0x0a, 0x12, 0x61, 0x63, 0x63,
+	0x43, 0x68, 0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x4f, 0x76, 0x65, 0x72, 0x41, 0x74, 0x18,
+	0x0c, 0x20, 0x01, 0x28, 0x03, 0x52, 0x12, 0x61, 0x63, 0x63, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x54,
+	0x69, 0x6d, 0x65, 0x4f, 0x76, 0x65, 0x72, 0x41, 0x74, 0x42, 0x2f, 0x5a, 0x2d, 0x6a, 0x6f, 0x79,
+	0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72, 0x74, 0x73,
+	0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x63, 0x6f,
+	0x6d, 0x6d, 0x6f, 0x6e, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74,
+	0x6f, 0x33,
 }
 
 var (

dto/data_proto/ibpGraphics.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: ibpGraphics.proto
 

dto/data_proto/picture.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: picture.proto
 

dto/data_proto/pslGraphics.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: pslGraphics.proto
 

dto/data_proto/relayCabinetLayoutGraphics.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: relayCabinetLayoutGraphics.proto
 
@@ -90,8 +90,9 @@ func (Relay_ModelType) EnumDescriptor() ([]byte, []int) {
 type CjDataItem_PostionType int32
 
 const (
-	CjDataItem_Q CjDataItem_PostionType = 0
-	CjDataItem_H CjDataItem_PostionType = 1
+	CjDataItem_Q    CjDataItem_PostionType = 0
+	CjDataItem_H    CjDataItem_PostionType = 1
+	CjDataItem_NONE CjDataItem_PostionType = 2
 )
 
 // Enum value maps for CjDataItem_PostionType.
@@ -99,10 +100,12 @@ var (
 	CjDataItem_PostionType_name = map[int32]string{
 		0: "Q",
 		1: "H",
+		2: "NONE",
 	}
 	CjDataItem_PostionType_value = map[string]int32{
-		"Q": 0,
-		"H": 1,
+		"Q":    0,
+		"H":    1,
+		"NONE": 2,
 	}
 )
 
@@ -309,7 +312,9 @@ type Relay struct {
 	Common *CommonInfo `protobuf:"bytes,1,opt,name=common,proto3" json:"common,omitempty"`
 	Code   string      `protobuf:"bytes,2,opt,name=code,proto3" json:"code,omitempty"` //编号
 	// string model = 3;//型号
-	NewModel Relay_ModelType `protobuf:"varint,4,opt,name=newModel,proto3,enum=relayCabinetGraphicData.Relay_ModelType" json:"newModel,omitempty"` //型号
+	NewModel               Relay_ModelType        `protobuf:"varint,4,opt,name=newModel,proto3,enum=relayCabinetGraphicData.Relay_ModelType" json:"newModel,omitempty"`                                    //型号
+	ShowCode               string                 `protobuf:"bytes,5,opt,name=showCode,proto3" json:"showCode,omitempty"`                                                                                  //展示的编号
+	DefaultInitialPosition CjDataItem_PostionType `protobuf:"varint,6,opt,name=defaultInitialPosition,proto3,enum=relayCabinetGraphicData.CjDataItem_PostionType" json:"defaultInitialPosition,omitempty"` //默认初始位置
 }
 
 func (x *Relay) Reset() {
@@ -365,6 +370,20 @@ func (x *Relay) GetNewModel() Relay_ModelType {
 	return Relay_Unknown
 }
 
+func (x *Relay) GetShowCode() string {
+	if x != nil {
+		return x.ShowCode
+	}
+	return ""
+}
+
+func (x *Relay) GetDefaultInitialPosition() CjDataItem_PostionType {
+	if x != nil {
+		return x.DefaultInitialPosition
+	}
+	return CjDataItem_Q
+}
+
 // 断相保护器
 type PhaseFailureProtector struct {
 	state         protoimpl.MessageState
@@ -549,9 +568,9 @@ type Combinationtype struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Code         string   `protobuf:"bytes,1,opt,name=code,proto3" json:"code,omitempty"`
-	OldrefRelays []string `protobuf:"bytes,2,rep,name=oldrefRelays,proto3" json:"oldrefRelays,omitempty"`   //设备关联的继电器
-	RefRelays    []uint32 `protobuf:"varint,3,rep,packed,name=refRelays,proto3" json:"refRelays,omitempty"` //设备关联的继电器
+	Code string `protobuf:"bytes,1,opt,name=code,proto3" json:"code,omitempty"`
+	// repeated string oldrefRelays = 2;//设备关联的继电器
+	RefRelays []uint32 `protobuf:"varint,3,rep,packed,name=refRelays,proto3" json:"refRelays,omitempty"` //设备关联的继电器
 }
 
 func (x *Combinationtype) Reset() {
@@ -593,13 +612,6 @@ func (x *Combinationtype) GetCode() string {
 	return ""
 }
 
-func (x *Combinationtype) GetOldrefRelays() []string {
-	if x != nil {
-		return x.OldrefRelays
-	}
-	return nil
-}
-
 func (x *Combinationtype) GetRefRelays() []uint32 {
 	if x != nil {
 		return x.RefRelays
@@ -833,9 +845,9 @@ type CjDataItem struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	OldrelayId string                 `protobuf:"bytes,1,opt,name=oldrelayId,proto3" json:"oldrelayId,omitempty"`                                                  //采集对应的继电器Id
-	Position   CjDataItem_PostionType `protobuf:"varint,2,opt,name=position,proto3,enum=relayCabinetGraphicData.CjDataItem_PostionType" json:"position,omitempty"` //继电器的位置，QH对应着吸合
-	RelayId    uint32                 `protobuf:"varint,3,opt,name=relayId,proto3" json:"relayId,omitempty"`                                                       //采集对应的继电器Id
+	// string oldrelayId = 1;//采集对应的继电器Id
+	Position CjDataItem_PostionType `protobuf:"varint,2,opt,name=position,proto3,enum=relayCabinetGraphicData.CjDataItem_PostionType" json:"position,omitempty"` //继电器的位置，QH对应着吸合
+	RelayId  uint32                 `protobuf:"varint,3,opt,name=relayId,proto3" json:"relayId,omitempty"`                                                       //采集对应的继电器Id
 }
 
 func (x *CjDataItem) Reset() {
@@ -870,13 +882,6 @@ func (*CjDataItem) Descriptor() ([]byte, []int) {
 	return file_relayCabinetLayoutGraphics_proto_rawDescGZIP(), []int{11}
 }
 
-func (x *CjDataItem) GetOldrelayId() string {
-	if x != nil {
-		return x.OldrelayId
-	}
-	return ""
-}
-
 func (x *CjDataItem) GetPosition() CjDataItem_PostionType {
 	if x != nil {
 		return x.Position
@@ -1007,8 +1012,8 @@ type QdData struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	OldrefRelays []string `protobuf:"bytes,1,rep,name=oldrefRelays,proto3" json:"oldrefRelays,omitempty"`   //驱动的继电器Id
-	RefRelays    []uint32 `protobuf:"varint,2,rep,packed,name=refRelays,proto3" json:"refRelays,omitempty"` //驱动的继电器Id
+	// repeated string oldrefRelays=1;//驱动的继电器Id
+	RefRelays []uint32 `protobuf:"varint,2,rep,packed,name=refRelays,proto3" json:"refRelays,omitempty"` //驱动的继电器Id
 }
 
 func (x *QdData) Reset() {
@@ -1043,13 +1048,6 @@ func (*QdData) Descriptor() ([]byte, []int) {
 	return file_relayCabinetLayoutGraphics_proto_rawDescGZIP(), []int{14}
 }
 
-func (x *QdData) GetOldrefRelays() []string {
-	if x != nil {
-		return x.OldrefRelays
-	}
-	return nil
-}
-
 func (x *QdData) GetRefRelays() []uint32 {
 	if x != nil {
 		return x.RefRelays
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 }
 
 var (
@@ -1270,21 +1271,22 @@ var file_relayCabinetLayoutGraphics_proto_depIdxs = []int32{
 	18, // 9: relayCabinetGraphicData.RelayCabinet.common:type_name -> graphicData.CommonInfo
 	18, // 10: relayCabinetGraphicData.Relay.common:type_name -> graphicData.CommonInfo
 	0,  // 11: relayCabinetGraphicData.Relay.newModel:type_name -> relayCabinetGraphicData.Relay.ModelType
-	18, // 12: relayCabinetGraphicData.PhaseFailureProtector.common:type_name -> graphicData.CommonInfo
-	18, // 13: relayCabinetGraphicData.SignalFaultAlarm.common:type_name -> graphicData.CommonInfo
-	8,  // 14: relayCabinetGraphicData.DeviceRelateRelay.combinationtypes:type_name -> relayCabinetGraphicData.Combinationtype
-	19, // 15: relayCabinetGraphicData.DeviceRelateRelay.deviceType:type_name -> graphicData.RelatedRef.DeviceType
-	11, // 16: relayCabinetGraphicData.CiCj.cjList:type_name -> relayCabinetGraphicData.CjDataSet
-	12, // 17: relayCabinetGraphicData.CjDataSet.bitList:type_name -> relayCabinetGraphicData.CjData
-	13, // 18: relayCabinetGraphicData.CjData.refRelays:type_name -> relayCabinetGraphicData.CjDataItem
-	1,  // 19: relayCabinetGraphicData.CjDataItem.position:type_name -> relayCabinetGraphicData.CjDataItem.PostionType
-	15, // 20: relayCabinetGraphicData.CiQd.qdList:type_name -> relayCabinetGraphicData.QdDataSet
-	16, // 21: relayCabinetGraphicData.QdDataSet.bitList:type_name -> relayCabinetGraphicData.QdData
-	22, // [22:22] is the sub-list for method output_type
-	22, // [22:22] is the sub-list for method input_type
-	22, // [22:22] is the sub-list for extension type_name
-	22, // [22:22] is the sub-list for extension extendee
-	0,  // [0:22] is the sub-list for field type_name
+	1,  // 12: relayCabinetGraphicData.Relay.defaultInitialPosition:type_name -> relayCabinetGraphicData.CjDataItem.PostionType
+	18, // 13: relayCabinetGraphicData.PhaseFailureProtector.common:type_name -> graphicData.CommonInfo
+	18, // 14: relayCabinetGraphicData.SignalFaultAlarm.common:type_name -> graphicData.CommonInfo
+	8,  // 15: relayCabinetGraphicData.DeviceRelateRelay.combinationtypes:type_name -> relayCabinetGraphicData.Combinationtype
+	19, // 16: relayCabinetGraphicData.DeviceRelateRelay.deviceType:type_name -> graphicData.RelatedRef.DeviceType
+	11, // 17: relayCabinetGraphicData.CiCj.cjList:type_name -> relayCabinetGraphicData.CjDataSet
+	12, // 18: relayCabinetGraphicData.CjDataSet.bitList:type_name -> relayCabinetGraphicData.CjData
+	13, // 19: relayCabinetGraphicData.CjData.refRelays:type_name -> relayCabinetGraphicData.CjDataItem
+	1,  // 20: relayCabinetGraphicData.CjDataItem.position:type_name -> relayCabinetGraphicData.CjDataItem.PostionType
+	15, // 21: relayCabinetGraphicData.CiQd.qdList:type_name -> relayCabinetGraphicData.QdDataSet
+	16, // 22: relayCabinetGraphicData.QdDataSet.bitList:type_name -> relayCabinetGraphicData.QdData
+	23, // [23:23] is the sub-list for method output_type
+	23, // [23:23] is the sub-list for method input_type
+	23, // [23:23] is the sub-list for extension type_name
+	23, // [23:23] is the sub-list for extension extendee
+	0,  // [0:23] is the sub-list for field type_name
 }
 
 func init() { file_relayCabinetLayoutGraphics_proto_init() }

dto/data_proto/tccGraphics.pb.go

@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.32.0
+// 	protoc-gen-go v1.33.0
 // 	protoc        v4.23.1
 // source: tccGraphics.proto
 
@@ -20,52 +20,104 @@ const (
 	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
 )
 
-type TccKeyType int32
+type TccElementColor int32
 
 const (
-	TccKeyType_driverControllerActivationClint TccKeyType = 0 //司控器激活端
-	TccKeyType_frontAndRearDirectionalControl  TccKeyType = 1 //前后方向控制
+	TccElementColor_green TccElementColor = 0
+	TccElementColor_red   TccElementColor = 1
+	TccElementColor_blue  TccElementColor = 2
 )
 
-// Enum value maps for TccKeyType.
+// Enum value maps for TccElementColor.
 var (
-	TccKeyType_name = map[int32]string{
-		0: "driverControllerActivationClint",
-		1: "frontAndRearDirectionalControl",
+	TccElementColor_name = map[int32]string{
+		0: "green",
+		1: "red",
+		2: "blue",
 	}
-	TccKeyType_value = map[string]int32{
-		"driverControllerActivationClint": 0,
-		"frontAndRearDirectionalControl":  1,
+	TccElementColor_value = map[string]int32{
+		"green": 0,
+		"red":   1,
+		"blue":  2,
 	}
 )
 
-func (x TccKeyType) Enum() *TccKeyType {
-	p := new(TccKeyType)
+func (x TccElementColor) Enum() *TccElementColor {
+	p := new(TccElementColor)
 	*p = x
 	return p
 }
 
-func (x TccKeyType) String() string {
+func (x TccElementColor) String() string {
 	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
 }
 
-func (TccKeyType) Descriptor() protoreflect.EnumDescriptor {
+func (TccElementColor) Descriptor() protoreflect.EnumDescriptor {
 	return file_tccGraphics_proto_enumTypes[0].Descriptor()
 }
 
-func (TccKeyType) Type() protoreflect.EnumType {
+func (TccElementColor) Type() protoreflect.EnumType {
 	return &file_tccGraphics_proto_enumTypes[0]
 }
 
-func (x TccKeyType) Number() protoreflect.EnumNumber {
+func (x TccElementColor) Number() protoreflect.EnumNumber {
 	return protoreflect.EnumNumber(x)
 }
 
-// Deprecated: Use TccKeyType.Descriptor instead.
-func (TccKeyType) EnumDescriptor() ([]byte, []int) {
+// Deprecated: Use TccElementColor.Descriptor instead.
+func (TccElementColor) EnumDescriptor() ([]byte, []int) {
 	return file_tccGraphics_proto_rawDescGZIP(), []int{0}
 }
 
+type TccKey_TccKeyType int32
+
+const (
+	TccKey_driverControllerActivationClint TccKey_TccKeyType = 0 //司控器激活端
+	TccKey_frontAndRearDirectionalControl  TccKey_TccKeyType = 1 //前后方向控制
+	TccKey_trainDoorMode                   TccKey_TccKeyType = 2 //列车门模式
+)
+
+// Enum value maps for TccKey_TccKeyType.
+var (
+	TccKey_TccKeyType_name = map[int32]string{
+		0: "driverControllerActivationClint",
+		1: "frontAndRearDirectionalControl",
+		2: "trainDoorMode",
+	}
+	TccKey_TccKeyType_value = map[string]int32{
+		"driverControllerActivationClint": 0,
+		"frontAndRearDirectionalControl":  1,
+		"trainDoorMode":                   2,
+	}
+)
+
+func (x TccKey_TccKeyType) Enum() *TccKey_TccKeyType {
+	p := new(TccKey_TccKeyType)
+	*p = x
+	return p
+}
+
+func (x TccKey_TccKeyType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (TccKey_TccKeyType) Descriptor() protoreflect.EnumDescriptor {
+	return file_tccGraphics_proto_enumTypes[1].Descriptor()
+}
+
+func (TccKey_TccKeyType) Type() protoreflect.EnumType {
+	return &file_tccGraphics_proto_enumTypes[1]
+}
+
+func (x TccKey_TccKeyType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Use TccKey_TccKeyType.Descriptor instead.
+func (TccKey_TccKeyType) EnumDescriptor() ([]byte, []int) {
+	return file_tccGraphics_proto_rawDescGZIP(), []int{3, 0}
+}
+
 type TccGraphicStorage struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -76,6 +128,7 @@ type TccGraphicStorage struct {
 	TccTexts   []*TccText   `protobuf:"bytes,3,rep,name=tccTexts,proto3" json:"tccTexts,omitempty"`
 	TccKeys    []*TccKey    `protobuf:"bytes,4,rep,name=tccKeys,proto3" json:"tccKeys,omitempty"`
 	TccHandles []*TccHandle `protobuf:"bytes,5,rep,name=tccHandles,proto3" json:"tccHandles,omitempty"`
+	TccLights  []*TccLight  `protobuf:"bytes,6,rep,name=tccLights,proto3" json:"tccLights,omitempty"`
 }
 
 func (x *TccGraphicStorage) Reset() {
@@ -145,6 +198,13 @@ func (x *TccGraphicStorage) GetTccHandles() []*TccHandle {
 	return nil
 }
 
+func (x *TccGraphicStorage) GetTccLights() []*TccLight {
+	if x != nil {
+		return x.TccLights
+	}
+	return nil
+}
+
 // * TCC按钮
 type TccButton struct {
 	state         protoimpl.MessageState
@@ -295,9 +355,9 @@ type TccKey struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Common *CommonInfo `protobuf:"bytes,1,opt,name=common,proto3" json:"common,omitempty"`
-	Code   string      `protobuf:"bytes,2,opt,name=code,proto3" json:"code,omitempty"`
-	Type   TccKeyType  `protobuf:"varint,3,opt,name=type,proto3,enum=tccGraphicData.TccKeyType" json:"type,omitempty"`
+	Common *CommonInfo       `protobuf:"bytes,1,opt,name=common,proto3" json:"common,omitempty"`
+	Code   string            `protobuf:"bytes,2,opt,name=code,proto3" json:"code,omitempty"`
+	Type   TccKey_TccKeyType `protobuf:"varint,3,opt,name=type,proto3,enum=tccGraphicData.TccKey_TccKeyType" json:"type,omitempty"`
 }
 
 func (x *TccKey) Reset() {
@@ -346,11 +406,11 @@ func (x *TccKey) GetCode() string {
 	return ""
 }
 
-func (x *TccKey) GetType() TccKeyType {
+func (x *TccKey) GetType() TccKey_TccKeyType {
 	if x != nil {
 		return x.Type
 	}
-	return TccKeyType_driverControllerActivationClint
+	return TccKey_driverControllerActivationClint
 }
 
 // * TCC手柄
@@ -409,6 +469,86 @@ func (x *TccHandle) GetCode() string {
 	return ""
 }
 
+// * TCC灯
+type TccLight struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	Common       *CommonInfo     `protobuf:"bytes,1,opt,name=common,proto3" json:"common,omitempty"`
+	Code         string          `protobuf:"bytes,2,opt,name=code,proto3" json:"code,omitempty"`
+	LightColor   TccElementColor `protobuf:"varint,3,opt,name=lightColor,proto3,enum=tccGraphicData.TccElementColor" json:"lightColor,omitempty"`
+	ActiveLevel  bool            `protobuf:"varint,4,opt,name=activeLevel,proto3" json:"activeLevel,omitempty"`   //有效电平
+	InitialState bool            `protobuf:"varint,5,opt,name=initialState,proto3" json:"initialState,omitempty"` //初始状态，与有效电平对比，如何相同，刚开始打开驾驶台的时候就是亮着的
+}
+
+func (x *TccLight) Reset() {
+	*x = TccLight{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_tccGraphics_proto_msgTypes[5]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *TccLight) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TccLight) ProtoMessage() {}
+
+func (x *TccLight) ProtoReflect() protoreflect.Message {
+	mi := &file_tccGraphics_proto_msgTypes[5]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TccLight.ProtoReflect.Descriptor instead.
+func (*TccLight) Descriptor() ([]byte, []int) {
+	return file_tccGraphics_proto_rawDescGZIP(), []int{5}
+}
+
+func (x *TccLight) GetCommon() *CommonInfo {
+	if x != nil {
+		return x.Common
+	}
+	return nil
+}
+
+func (x *TccLight) GetCode() string {
+	if x != nil {
+		return x.Code
+	}
+	return ""
+}
+
+func (x *TccLight) GetLightColor() TccElementColor {
+	if x != nil {
+		return x.LightColor
+	}
+	return TccElementColor_green
+}
+
+func (x *TccLight) GetActiveLevel() bool {
+	if x != nil {
+		return x.ActiveLevel
+	}
+	return false
+}
+
+func (x *TccLight) GetInitialState() bool {
+	if x != nil {
+		return x.InitialState
+	}
+	return false
+}
+
 var File_tccGraphics_proto protoreflect.FileDescriptor
 
 var file_tccGraphics_proto_rawDesc = []byte{
@@ -416,7 +556,7 @@ var file_tccGraphics_proto_rawDesc = []byte{
 	0x6f, 0x74, 0x6f, 0x12, 0x0e, 0x74, 0x63, 0x63, 0x47, 0x72, 0x61, 0x70, 0x68, 0x69, 0x63, 0x44,
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@@ -434,45 +574,67 @@ var file_tccGraphics_proto_rawDesc = []byte{
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+	0x65, 0x6e, 0x74, 0x43, 0x6f, 0x6c, 0x6f, 0x72, 0x12, 0x09, 0x0a, 0x05, 0x67, 0x72, 0x65, 0x65,
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+	0x62, 0x6c, 0x75, 0x65, 0x10, 0x02, 0x42, 0x2d, 0x5a, 0x2b, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e,
+	0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72, 0x74, 0x73, 0x74, 0x73, 0x2d,
+	0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x64, 0x61, 0x74, 0x61, 0x5f,
+	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -487,34 +649,39 @@ func file_tccGraphics_proto_rawDescGZIP() []byte {
 	return file_tccGraphics_proto_rawDescData
 }
 
-var file_tccGraphics_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_tccGraphics_proto_msgTypes = make([]protoimpl.MessageInfo, 5)
+var file_tccGraphics_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
+var file_tccGraphics_proto_msgTypes = make([]protoimpl.MessageInfo, 6)
 var file_tccGraphics_proto_goTypes = []interface{}{
-	(TccKeyType)(0),           // 0: tccGraphicData.TccKeyType
-	(*TccGraphicStorage)(nil), // 1: tccGraphicData.TccGraphicStorage
-	(*TccButton)(nil),         // 2: tccGraphicData.TccButton
-	(*TccText)(nil),           // 3: tccGraphicData.TccText
-	(*TccKey)(nil),            // 4: tccGraphicData.TccKey
-	(*TccHandle)(nil),         // 5: tccGraphicData.TccHandle
-	(*Canvas)(nil),            // 6: graphicData.Canvas
-	(*CommonInfo)(nil),        // 7: graphicData.CommonInfo
+	(TccElementColor)(0),      // 0: tccGraphicData.TccElementColor
+	(TccKey_TccKeyType)(0),    // 1: tccGraphicData.TccKey.TccKeyType
+	(*TccGraphicStorage)(nil), // 2: tccGraphicData.TccGraphicStorage
+	(*TccButton)(nil),         // 3: tccGraphicData.TccButton
+	(*TccText)(nil),           // 4: tccGraphicData.TccText
+	(*TccKey)(nil),            // 5: tccGraphicData.TccKey
+	(*TccHandle)(nil),         // 6: tccGraphicData.TccHandle
+	(*TccLight)(nil),          // 7: tccGraphicData.TccLight
+	(*Canvas)(nil),            // 8: graphicData.Canvas
+	(*CommonInfo)(nil),        // 9: graphicData.CommonInfo
 }
 var file_tccGraphics_proto_depIdxs = []int32{
-	6,  // 0: tccGraphicData.TccGraphicStorage.canvas:type_name -> graphicData.Canvas
-	2,  // 1: tccGraphicData.TccGraphicStorage.tccButtons:type_name -> tccGraphicData.TccButton
-	3,  // 2: tccGraphicData.TccGraphicStorage.tccTexts:type_name -> tccGraphicData.TccText
-	4,  // 3: tccGraphicData.TccGraphicStorage.tccKeys:type_name -> tccGraphicData.TccKey
-	5,  // 4: tccGraphicData.TccGraphicStorage.tccHandles:type_name -> tccGraphicData.TccHandle
-	7,  // 5: tccGraphicData.TccButton.common:type_name -> graphicData.CommonInfo
-	7,  // 6: tccGraphicData.TccText.common:type_name -> graphicData.CommonInfo
-	7,  // 7: tccGraphicData.TccKey.common:type_name -> graphicData.CommonInfo
-	0,  // 8: tccGraphicData.TccKey.type:type_name -> tccGraphicData.TccKeyType
-	7,  // 9: tccGraphicData.TccHandle.common:type_name -> graphicData.CommonInfo
-	10, // [10:10] is the sub-list for method output_type
-	10, // [10:10] is the sub-list for method input_type
-	10, // [10:10] is the sub-list for extension type_name
-	10, // [10:10] is the sub-list for extension extendee
-	0,  // [0:10] is the sub-list for field type_name
+	8,  // 0: tccGraphicData.TccGraphicStorage.canvas:type_name -> graphicData.Canvas
+	3,  // 1: tccGraphicData.TccGraphicStorage.tccButtons:type_name -> tccGraphicData.TccButton
+	4,  // 2: tccGraphicData.TccGraphicStorage.tccTexts:type_name -> tccGraphicData.TccText
+	5,  // 3: tccGraphicData.TccGraphicStorage.tccKeys:type_name -> tccGraphicData.TccKey
+	6,  // 4: tccGraphicData.TccGraphicStorage.tccHandles:type_name -> tccGraphicData.TccHandle
+	7,  // 5: tccGraphicData.TccGraphicStorage.tccLights:type_name -> tccGraphicData.TccLight
+	9,  // 6: tccGraphicData.TccButton.common:type_name -> graphicData.CommonInfo
+	9,  // 7: tccGraphicData.TccText.common:type_name -> graphicData.CommonInfo
+	9,  // 8: tccGraphicData.TccKey.common:type_name -> graphicData.CommonInfo
+	1,  // 9: tccGraphicData.TccKey.type:type_name -> tccGraphicData.TccKey.TccKeyType
+	9,  // 10: tccGraphicData.TccHandle.common:type_name -> graphicData.CommonInfo
+	9,  // 11: tccGraphicData.TccLight.common:type_name -> graphicData.CommonInfo
+	0,  // 12: tccGraphicData.TccLight.lightColor:type_name -> tccGraphicData.TccElementColor
+	13, // [13:13] is the sub-list for method output_type
+	13, // [13:13] is the sub-list for method input_type
+	13, // [13:13] is the sub-list for extension type_name
+	13, // [13:13] is the sub-list for extension extendee
+	0,  // [0:13] is the sub-list for field type_name
 }
 
 func init() { file_tccGraphics_proto_init() }
@@ -584,14 +751,26 @@ func file_tccGraphics_proto_init() {
 				return nil
 			}
 		}
+		file_tccGraphics_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*TccLight); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
 	}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
 		File: protoimpl.DescBuilder{
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_tccGraphics_proto_rawDesc,
-			NumEnums:      1,
-			NumMessages:   5,
+			NumEnums:      2,
+			NumMessages:   6,
 			NumExtensions: 0,
 			NumServices:   0,
 		},

dto/projectRunConfig.go

@@ -40,6 +40,7 @@ type RunConfigSelectOption struct {
 }
 
 type TrainConnTypeConfigDto struct {
+	TypeName string                                   `json:"typeName" form:"typeName"` // 连接名称; //连接名称
 	ConnType state_proto.TrainConnState_TrainConnType `json:"connType" form:"connType"` // NONE = 0 未知连接 ;VOBC = 1; //半实物；PC_SIM = 2; //PC仿真
 }
 

dto/simulation.go

@@ -71,7 +71,13 @@ type AddTrainReqDtoNew struct {
 	//车头所在link内的偏移量，单位为mm
 	HeadOffset int64 `json:"headOffset" form:"headOffset"`
 	//列车长度
-	TrainLength int64 `json:"trainLength" from:"trainLength"`
+	TrainLength         int64   `json:"trainLength" from:"trainLength"`
+	TrainLoad           int32   `json:"trainLoad" from:"trainLoad"`
+	TrainMaxSpeed       float32 `json:"trainMaxSpeed" from:"trainMaxSpeed"`
+	TrainMaxAcc         float32 `json:"trainMaxAcc" from:"trainMaxAcc"`
+	TrainMaxBrake       float32 `json:"trainMaxBrake" from:"trainMaxBrake"`
+	TrainEmergencyBrake float32 `json:"trainEmergencyBrake" from:"trainEmergencyBrake"`
+	TrainCoachNum       uint32  `json:"trainCoachNum" from:"trainCoachNum"`
 	// 场景ID
 	MapId         int32 `json:"mapId" from:"mapId"`
 	WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"`
@@ -99,14 +105,15 @@ type ConfigTrainEnds struct {
 	SpeedSensorEnableA  bool    `json:"speedSensorEnableA"`  // 2端速度传感器是否有效
 	SpeedSensorEnableB  bool    `json:"speedSensorEnableB"`  // 2端速度传感器是否有效
 	RadarEnable         bool    `json:"radarEnable"`         // 雷达是否有效
-	RadarCheckSpeedDiff float32 `json:"radarCheckSpeedDiff"` // 雷达测速数值
+	RadarCheckSpeedDiff float32 `json:"radarCheckSpeedDiff"` // 雷达测速数值(千米/小时)
 	RadarCheckTime      int32   `json:"radarCheckTime"`      // 雷达检测时间(秒)
 
 	AccEnable         bool    `json:"accEnable"`         // 加速计是否有效
 	AccCheckSpeedDiff float32 `json:"accCheckSpeedDiff"` // 加速计速度差
 	AccCheckTime      int32   `json:"accCheckTime"`      // 加速计储蓄时间
-	AccOutSpeed       int32   `json:"accOutSpeed"`       // 速传速度输出
-	RadarOutSpeed     int32   `json:"radarOutSpeed"`     // 雷达速度输出
+	AccOutSpeed       int32   `json:"accOutSpeed"`       // 速传速度输出(千米/小时)
+	RadarOutSpeed     int32   `json:"radarOutSpeed"`     // 雷达速度输出(千米/小时)
+
 }
 type ConfigTrainData struct {
 	//Mass                   int32           `json:"mass" form:"mass"`       // 列车的质量（100=1ton）
@@ -151,6 +158,7 @@ type TrainConnThirdDto struct {
 	SimulationId string                                   `json:"simulationId" form:"simulationId"`
 	Id           string                                   `json:"id" form:"id"`             // 列车Id
 	ConnType     state_proto.TrainConnState_TrainConnType `json:"connType" form:"connType"` //连接类型 0=未连接;1=半实物;2= 车载仿真
+	TypeName     string                                   `json:"typeName" form:"typeName"` //连接名称
 }
 
 // 为仿真添加测试车请求

dto/trainManage.go

@@ -17,11 +17,16 @@ type TrainInfoReqDto struct {
 }
 
 type TrainInfoDto struct {
-	Id             int32  `json:"id" form:"id"`
-	Name           string `json:"name" form:"name"`
-	TrainModel     int32  `json:"train_model" form:"train_model"`
-	CarriageLength int32  `json:"carriage_length" form:"carriage_length"`
-	TotalLength    int32  `json:"total_length" form:"total_length"`
+	Id                  int32   `json:"id" form:"id"`
+	Name                string  `json:"name" form:"name"`
+	TrainModel          int32   `json:"train_model" form:"train_model"`
+	CarriageLength      int32   `json:"carriage_length" form:"carriage_length"`
+	TotalLength         int32   `json:"total_length" form:"total_length"`
+	TrainLoad           int32   `json:"train_load" form:"train_load"`
+	TrainMaxSpeed       float32 `json:"train_max_speed" form:"train_max_speed"`
+	TrainMaxAcc         float32 `json:"train_max_acc" form:"train_max_acc"`
+	TrainMaxBrake       float32 `json:"train_max_brake" form:"train_max_brake"`
+	TrainEmergencyBrake float32 `json:"train_emergency_brake" form:"train_emergency_brake"`
 	//MinDiameter     int32            `json:"min_diameter" form:"min_diameter"`
 	//MaxDiameter     int32            `json:"max_diameter" form:"max_diameter"`
 	TrainSets       string           `json:"train_sets" form:"train_sets"`
@@ -53,13 +58,18 @@ func ConvertDtoFromTrain(t *PublishedDto) *TrainInfoDto {
 	message := &data_proto.Train{}
 	proto.Unmarshal(t.Proto, message)
 	return &TrainInfoDto{
-		Id:                t.ID,
-		Name:              t.Name,
-		Description:       t.Note,
-		TrainModel:        int32(message.TrainModel),
-		CarriageLength:    message.CarriageLength,
-		TotalLength:       message.TotalLength,
-		TrainControlMapId: message.TrainControlMapId,
+		Id:                  t.ID,
+		Name:                t.Name,
+		Description:         t.Note,
+		TrainModel:          int32(message.TrainModel),
+		CarriageLength:      message.CarriageLength,
+		TotalLength:         message.TotalLength,
+		TrainControlMapId:   message.TrainControlMapId,
+		TrainLoad:           message.TrainLoad,
+		TrainMaxSpeed:       message.TrainMaxSpeed,
+		TrainMaxAcc:         message.TrainMaxAcc,
+		TrainMaxBrake:       message.TrainMaxBrake,
+		TrainEmergencyBrake: message.TrainEmergencyBrake,
 		//TrainControlMapCode: message.TrainControlMapCode,
 		//MinDiameter:     message.MinDiameter,
 		//MaxDiameter:     message.MaxDiameter,

example/balise_1023_830/main.go

@@ -0,0 +1,406 @@
+package main
+
+import (
+	"fmt"
+	"log/slog"
+	"strconv"
+
+	"joylink.club/bj-rtsts-server/third_party/balisecodec"
+)
+
+type Transponder struct {
+	// 应答器编号
+	Code int
+	// 应答器名称
+	Name string
+	// 应答器类型
+	Type string
+	// 校验码
+	CheckSum string
+	// 830报文
+	Msg830 string
+	// 1023报文
+	Msg1023 string
+}
+
+func main() {
+	transponderMap := ReadTransponders()
+	// v := transponderMap["FB121_BGZ"]
+	// b1023 := convertToBalise1023(v.Msg1023)
+	// replaced830 := replaceFirst10Bits(convertTo830(v.Msg830))
+	// scrambled830 := scrambling(replaced830, b1023.S)
+	// compare830(scrambled830, b1023.data830)
+
+	// count := 0
+	for _, v := range transponderMap {
+		// slog.Info("transponder", "name", v.Name, "code", v.Code, "checksum", v.CheckSum, "msg830", v.Msg830, "msg1023", v.Msg1023)
+		byte104, err := balisecodec.DecodeByteString(v.Msg1023)
+		if err != nil {
+			slog.Error("解码应答器数据失败", "name", v.Name, "code", v.Code, "err", err)
+			continue
+		}
+		compare104Bytes(byte104, balisecodec.ConvertByteStringToBytes(v.Msg830))
+		// b1023 := convertToBalise1023(v.Msg1023)
+		// source830 := convertTo830(v.Msg830)
+		// // replaced830 := replaceFirst10Bits(source830)
+		// // compare830(reverted830, source830)
+		// descrambled830 := descrambling(b1023.data830, b1023.S)
+		// reverted830 := revertFirst10Bits(descrambled830)
+		// // // scrambled830 := scrambling(replaced830, b1023.S)
+		// compare830(source830, reverted830)
+		// count++
+		// if count >= 10 {
+		// 	break
+		// }
+	}
+
+}
+
+// 比较830位数据
+func compare104Bytes(bytes104 []byte, compare104 []byte) {
+	if len(bytes104) != 104 {
+		panic("invalid length")
+	}
+	for i := 0; i < 104; i++ {
+		fmt.Printf("%02x\n", bytes104[i])
+		fmt.Printf("%02x\n\n", compare104[i])
+		if bytes104[i] != compare104[i] {
+			slog.Info("error", "index", i, "bytes104", fmt.Sprintf("%02x", bytes104[i]), "compare", fmt.Sprintf("%02x", compare104[i]))
+			panic("104 bytes compare error")
+		}
+	}
+}
+
+type Balise1023 struct {
+	bits     []byte // 1023报文,1023bit
+	data     []byte // 数据位,913bit
+	data830  []byte // 830位数据
+	cb       []byte // 控制位,3bit
+	sb       []byte // 加扰位,12bit
+	S        uint32 // 由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+	esb      []byte // 额外修正位,10bit
+	checkSum []byte // 校验位,85bit
+}
+
+func newBalise1023(bits []byte) *Balise1023 {
+	if len(bits) != 1023 {
+		panic("invalid length")
+	}
+	// for i := 0; i < 1023; i++ {
+	// 	if i%10 == 0 {
+	// 		println()
+	// 	}
+	// 	print(1022-i, ":", bits[i], ",")
+	// }
+	// println()
+	balise1023 := &Balise1023{
+		bits: bits,
+	}
+	balise1023.data = balise1023.getRange(1022, 110)
+	if len(balise1023.data) != 913 {
+		panic("invalid data length")
+	}
+	balise1023.data830 = convert913To830(balise1023.data)
+	balise1023.check11To10()
+	balise1023.cb = balise1023.getRange(109, 107)
+	for i, v := range balise1023.cb {
+		n := 109 - i
+		name := "b" + strconv.Itoa(109-i)
+		slog.Info("cb", name, v)
+		if n == 109 && v == 1 {
+			slog.Error("控制位cb错误：cb109应该为0，实际为1")
+		} else if n == 108 && v == 1 {
+			slog.Error("控制位cb错误：cb108应该为0，实际为1")
+		} else if n == 107 && v == 0 {
+			slog.Error("控制位cb错误：cb107应该为1，实际为0")
+		}
+	}
+	balise1023.sb = balise1023.getRange(106, 95)
+	balise1023.S = calculateS(balise1023.sb)
+	balise1023.esb = balise1023.getRange(94, 85)
+	balise1023.checkSum = balise1023.getRange(84, 0)
+	slog.Info("msg length", "datalen", len(balise1023.data), "cblen", len(balise1023.cb), "sblen", len(balise1023.sb), "esblen", len(balise1023.esb), "checkSumlen", len(balise1023.checkSum))
+	return balise1023
+}
+
+func (b *Balise1023) getRange(start, end int) []byte {
+	if start < 0 || end < 0 || start < end || start > 1022 {
+		panic("invalid range")
+	}
+	return b.bits[1022-start : 1022-(end-1)]
+}
+
+func (b *Balise1023) check11To10() {
+	b913 := b.data
+	compare := convert830To913(b.data830)
+	for i := 0; i < 913; i++ {
+		if b913[i] != compare[i] {
+			slog.Info("error", "idx", i, "b913", b913[i], "compare", compare[i])
+			panic("10 to 11 bit error")
+		}
+	}
+}
+
+// 转换字节字符串到bit数组，左边为最高有效位（MSB）
+func convertStringBytesToBits(msg string) []byte {
+	length := len(msg)
+	println("msg:", msg)
+	bytes := make([]byte, length/2)
+	for i := 0; i < length; i += 2 {
+		v, err := strconv.ParseUint(msg[i:i+2], 16, 8)
+		if err != nil {
+			panic(err)
+		}
+		bytes[i/2] = byte(v)
+		// slog.Info("i", "byteidx", i/2, "byte", fmt.Sprintf("%02x", v))
+	}
+	// 字节转换为bit数组
+	bits := make([]byte, length/2*8)
+	for i, bt := range bytes {
+		for j := 0; j < 8; j++ {
+			move := 7 - j
+			idx := i*8 + j
+			bits[idx] = (bt >> move) & 1
+		}
+	}
+	return bits
+}
+
+func convertTo830(msg string) []byte {
+	length := len(msg)
+	if length != 208 {
+		panic("invalid length")
+	}
+	// 字节转换为bit数组
+	bits := convertStringBytesToBits(msg)
+	bits830 := bits[0:830]
+	return bits830
+}
+
+func convertToBalise1023(msg string) *Balise1023 {
+	length := len(msg)
+	if length != 256 {
+		panic("invalid length")
+	}
+	// 字节转换为bit数组
+	bits := convertStringBytesToBits(msg)
+	bits1023 := bits[0:1023]
+	slog.Info("bits length", "len", len(bits1023))
+	return newBalise1023(bits1023)
+}
+
+// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组，除了第一个10位值，其余值求和，然后循环2的10次方次与其他值求和结果相加后模2的10次方，若结果和第一个10位值相同，则结束，此值即为原始的第一个10位值，将此值替换为第一个10位二进制数组，依然是左边为MSB
+func revertFirst10Bits(b []byte) []byte {
+	if len(b) != 830 {
+		panic("invalid length")
+	}
+	// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组
+	bits := make([]uint16, 83)
+	for i := 0; i < 83; i++ {
+		bits[i] = uint16(balisecodec.ToValLeftMsb(b[i*10 : i*10+10]))
+		// 打印输出
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", b[i*10+j])
+		}
+		print(" ")
+		if i != 0 && i%10 == 9 {
+			println()
+		}
+	}
+	println()
+	// 将除了第一个10位字整数求和
+	sum := uint64(0)
+	for i := 1; i < 83; i++ {
+		sum += uint64(bits[i])
+	}
+	// 循环2的10次方次与其他值求和结果相加后模2的10次方
+	for i := 0; i < 1024; i++ {
+		test := sum + uint64(i)
+		if test%1024 == uint64(bits[0]) {
+			bits[0] = uint16(i)
+			break
+		}
+	}
+	slog.Info("还原第一个10位值", "sum", sum, "bits[0]", bits[0], "bits[0]b", fmt.Sprintf("%010b", bits[0]))
+	rbits := make([]byte, 830)
+	// 将整个10位数组转换为二进制数组，依然是MSB
+	u0bits := balisecodec.ToBitsLeftMsb(int(bits[0]), 10)
+	for i := 0; i < 10; i++ {
+		rbits[i] = u0bits[i]
+	}
+	for i := 10; i < 830; i++ {
+		rbits[i] = b[i]
+	}
+	// compare830(b, rbits)
+	return rbits
+}
+
+// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组，然后求和后模2的10次方，得到的结果覆盖第一个10位值，然后将整个10位数组转换为二进制数组，依然是左边为MSB
+func replaceFirst10Bits(b []byte) []byte {
+	if len(b) != 830 {
+		panic("invalid length")
+	}
+	// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组
+	bits := make([]uint16, 83)
+	for i := 0; i < 83; i++ {
+		bits[i] = uint16(balisecodec.ToValLeftMsb(b[i*10 : i*10+10]))
+		// 打印输出
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", b[i*10+j])
+		}
+		print(" ")
+		if i != 0 && i%10 == 9 {
+			println()
+		}
+	}
+	println()
+	// 将每一个10位字整数求和后模2的10次方，得到的结果覆盖第一个10位值
+	sum := uint64(0)
+	for i := 0; i < 83; i++ {
+		sum += uint64(bits[i])
+		// fmt.Printf("i=%d, v10=%d, v10b=%010b\n", i, bits[i], bits[i])
+	}
+	bits[0] = uint16(sum % 1024)
+	slog.Info("替换第一个10位值", "sum", sum, "bits[0]", bits[0], "bits[0]b", fmt.Sprintf("%010b", bits[0]))
+	rbits := make([]byte, 830)
+	// 将整个10位数组转换为二进制数组，依然是MSB
+	u0bits := balisecodec.ToBitsLeftMsb(int(bits[0]), 10)
+	for i := 0; i < 10; i++ {
+		rbits[i] = u0bits[i]
+	}
+	for i := 10; i < 830; i++ {
+		rbits[i] = b[i]
+	}
+	// compare830(b, rbits)
+	return rbits
+}
+
+// 由加扰位计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+func calculateS(sb []byte) uint32 {
+	// 由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+	if len(sb) != 12 {
+		panic("invalid length")
+	}
+	B := balisecodec.ToValLeftMsb(sb)
+	const A uint64 = 2801775573
+	S := uint32((A * uint64(B)) % (1 << 32))
+	slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
+	return S
+}
+
+// 由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+// 1. 生成一个32位的线性反馈移位寄存器，其初始状态为S（左边为MSB）
+// 2. 系数h31,h30,h29,h27,h25和h0等于1(表示连接)，所有其他系数都为0（表示不连接）
+// 3. 然后电路被时钟驱动m-1次，其中m是数据位的数量，同时输入dn的每一位dn(m-1),dn(m-2),...,dn(0),便生成加扰后的码位（在第一个时钟之前读取第一个输出out(m-1)）
+// 4. 生成的加扰码位是dn的每一位与S的最高位的异或值
+// 5. 生成的加扰码位会根据系数进行异或反馈回S的最低位
+// 几种可能性：
+func scrambling(dn []byte, S uint32) []byte {
+	if len(dn) != 830 {
+		panic("invalid length")
+	}
+	// const Polynomial = 0x000000AF
+	out := make([]byte, len(dn))
+	t := S // 寄存器初始值
+	for i := 0; i < len(dn); i++ {
+		msb := (t >> 31) & 1
+		out[i] = (dn[i] ^ byte(msb)) & 1
+		// fmt.Printf("i=%d, t=%032b, msb=%d, dn=%d, out=%d\n", i, t, msb, dn[i], out[i])
+		xor := uint32(out[i])
+		t = (xor << 30) ^ (xor << 29) ^ (xor << 28) ^ (xor << 26) ^ (xor << 24) ^ t
+		t = (t << 1) | xor
+	}
+	return out
+}
+
+func descrambling(dn []byte, S uint32) []byte {
+	if len(dn) != 830 {
+		panic("invalid length")
+	}
+	// const Polynomial = 0x000000AF
+	out := make([]byte, len(dn))
+	t := S // 寄存器初始值
+	for i := 0; i < len(dn); i++ {
+		msb := (t >> 31) & 1
+		out[i] = (dn[i] ^ byte(msb)) & 1
+		// fmt.Printf("i=%d, t=%032b, msb=%d, dn=%d, out=%d\n", i, t, msb, dn[i], out[i])
+		xor := uint32(dn[i])
+		t = (xor << 30) ^ (xor << 29) ^ (xor << 28) ^ (xor << 26) ^ (xor << 24) ^ t
+		t = (t << 1) | xor
+	}
+	return out
+}
+
+// 将830位的二进制数组先以10位为一组分别转换为11位并组合
+func convert830To913(b830 []byte) []byte {
+	if len(b830) != 830 {
+		panic("invalid length")
+	}
+	b913 := make([]byte, 913)
+	for i := 0; i < 83; i++ {
+		b11 := balisecodec.To11(b830[i*10 : i*10+10])
+		for j := 0; j < 11; j++ {
+			b913[i*11+j] = b11[j]
+		}
+	}
+	return b913
+}
+
+func convert913To830(b913 []byte) []byte {
+	if len(b913) != 913 {
+		panic("invalid length")
+	}
+	b830 := make([]byte, 830)
+	for i := 0; i < 83; i++ {
+		b10, err := balisecodec.From11(b913[i*11 : i*11+11])
+		if err != nil {
+			panic(err)
+		}
+		for j := 0; j < 10; j++ {
+			b830[i*10+j] = b10[j]
+		}
+	}
+	return b830
+}
+
+func compare830(b830 []byte, compare830 []byte) {
+	if len(b830) != 830 {
+		panic("invalid length")
+	}
+	for i := 0; i < 83; i++ {
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", b830[i*10+j])
+		}
+		println()
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", compare830[i*10+j])
+		}
+		println()
+		println()
+	}
+	for i := 0; i < 830; i++ {
+		if b830[i] != compare830[i] {
+			slog.Info("error", "index", i, "b830", b830[i], "compare", compare830[i])
+			panic("830 bit compare error")
+		}
+	}
+}
+
+// 以11位为一组比较两个913位的报文
+func compare913(b913 []byte, b1023 *Balise1023) {
+	if len(b913) != 913 {
+		panic("invalid length")
+	}
+	compare := b1023.data
+	for i := 0; i < 913; i += 11 {
+		for j := 0; j < 11; j++ {
+			print(b913[i+j])
+		}
+		println()
+		for j := 0; j < 11; j++ {
+			print(compare[i+j])
+		}
+		println()
+		println()
+	}
+}

example/balise_1023_830/read_excel.go

@@ -0,0 +1,156 @@
+package main
+
+import (
+	"log/slog"
+	"runtime/debug"
+	"strconv"
+	"strings"
+
+	"github.com/xuri/excelize/v2"
+)
+
+const (
+	fileName         = "北岗子-应答器报文清单.xlsx"
+	sheetName        = "应答器报文清单"
+	codeColumn       = "应答器编号"
+	nameColumn       = "应答器名称"
+	typeColumn       = "类型"
+	checkSumColumn   = "校验码"
+	msg830strColumn  = "用户报文（830bits）"
+	msg1023strColumn = "报文（1023bits）"
+)
+
+var heads []string
+
+func init() {
+	initHeads()
+}
+
+func initHeads() {
+	heads = append(heads, codeColumn)
+	heads = append(heads, nameColumn)
+	heads = append(heads, typeColumn)
+	heads = append(heads, checkSumColumn)
+	heads = append(heads, msg830strColumn)
+	heads = append(heads, msg1023strColumn)
+}
+
+func buildHeadIndex(row []string) map[string]int {
+	headIdx := make(map[string]int)
+	for i, column := range row {
+		column = HandleStringSpace(column)
+		if column == codeColumn {
+			headIdx[column] = i
+		} else if column == nameColumn {
+			headIdx[column] = i
+		} else if column == typeColumn {
+			headIdx[column] = i
+		} else if column == checkSumColumn {
+			headIdx[column] = i
+		} else if column == msg830strColumn {
+			headIdx[column] = i
+		} else if column == msg1023strColumn {
+			headIdx[column] = i
+		}
+	}
+	// 检查headIndex是否完整
+	if len(headIdx) <= 0 {
+		return nil
+	}
+	checkHeadsIndex(headIdx, fileName, sheetName, heads)
+	return headIdx
+}
+
+func checkHeadsIndex(headIdx map[string]int, fileName, sheetName string, heads []string) {
+	// 检查headIndex是否完整
+	for _, v := range heads {
+		if _, ok := headIdx[v]; !ok {
+			slog.Error("表头缺失", "文件名", fileName, "SheetName", sheetName, "表头", v)
+			panic("课时表头缺失")
+		}
+	}
+}
+
+func ReadTransponders() map[string]Transponder {
+	return readExcel(fileName, sheetName, readRows)
+}
+
+func readExcel[T any](fileName, sheetName string, handle func(rows [][]string) map[string]T) map[string]T {
+	f, err := excelize.OpenFile(fileName)
+	if err != nil {
+		slog.Error("打开表文件异常", "表名", fileName, "error", err)
+		debug.PrintStack()
+		panic("打开表文件异常")
+	}
+	defer func() {
+		if err := f.Close(); err != nil {
+			slog.Error("文件关闭异常", "error", err)
+		}
+	}()
+
+	rows, err := f.GetRows(sheetName)
+	if err != nil {
+		slog.Error("读取Sheet异常", "SheetName", sheetName, "error", err)
+		panic(err)
+	}
+	// fmt.Println(rows)
+	return handle(rows)
+}
+
+func readRows(rows [][]string) map[string]Transponder {
+	dataMap := make(map[string]Transponder)
+	var headIdx map[string]int
+	for _, row := range rows {
+		if headIdx == nil {
+			headIdx = buildHeadIndex(row)
+			// if headIdx != nil {
+			// 	slog.Info("读取到表头索引", "文件名", fileName, "表名", sheetName, "索引", headIdx)
+			// }
+		} else {
+			rowSize := len(row)
+			if rowSize <= 0 {
+				continue
+			}
+			if rowSize <= headIdx[msg1023strColumn] {
+				// slog.Info("非数据行", "row", row, "rowIndex", i)
+				continue
+			}
+			codeStr := row[headIdx[codeColumn]]
+			if codeStr == "" {
+				continue
+			}
+			codeStr = HandleStringSpace(codeStr)
+			code, err := strconv.ParseInt(codeStr, 10, 32)
+			if err != nil {
+				slog.Error("应答器编号错误", "编号", codeStr, "error", err)
+				panic("应答器编号错误")
+			}
+			name := row[headIdx[nameColumn]]
+			if name == "" {
+				continue
+			}
+			name = HandleStringSpace(name)
+			tp := row[headIdx[typeColumn]]
+			checkSum := row[headIdx[checkSumColumn]]
+			msg830 := row[headIdx[msg830strColumn]]
+			msg1023 := row[headIdx[msg1023strColumn]]
+			dataMap[name] = Transponder{
+				Code:     int(code),
+				Name:     name,
+				Type:     tp,
+				CheckSum: checkSum,
+				Msg830:   msg830,
+				Msg1023:  msg1023,
+			}
+		}
+	}
+	slog.Info("读取结果", "文件名", fileName, "SheetName", sheetName, "总数", len(dataMap))
+	// fmt.Println(dataMap)
+	return dataMap
+}
+
+func HandleStringSpace(s string) string {
+	s = strings.ReplaceAll(s, " ", "")
+	s = strings.ReplaceAll(s, "\n", "")
+	return s
+}

example/ex1/main.go

@@ -0,0 +1,32 @@
+package main
+
+import "log/slog"
+
+func main() {
+	a1 := calculateAvgAcc(136960.88, 24.41978)
+	a2 := calculateAvgAcc(34874, 14.97515)
+	slog.Info("根据位移和时间计算平均加速度", "通号平均加速度", a1, "动力学平均加速度", a2)
+	avt1 := calculateAvgAccByV(6.94444, 24.41978)
+	avt2 := calculateAvgAccByV(6.94444, 14.97515)
+	slog.Info("根据速度和时间计算平均加速度", "通号平均加速度", avt1, "动力学平均加速度", avt2)
+	s1 := calculateS(0.28437766432762146, 24.41978)
+	s2 := calculateS(0.46373090147972107, 14.97515)
+	slog.Info("根据加速度和时间计算位移", "通号最小位移", s1, "动力学最小位移", s2)
+	slog.Info("实际位移", "通号实际位移差", 136960.88-s1, "动力学实际位移差", 34874-s2)
+}
+
+// 根据位移和时间计算平均加速度（初始速度为0）
+// s单位为mm，t单位为s
+func calculateAvgAcc(s float32, t float32) float32 {
+	return 2 * s / (t * t) / 1000
+}
+
+// 根据速度和时间计算平均加速度(初始速度为0)
+func calculateAvgAccByV(v float32, t float32) float32 {
+	return v / t
+}
+
+// 根据加速度和时间计算位移（初始速度为0）
+func calculateS(a float32, t float32) float32 {
+	return 0.5 * a * t * t * 1000
+}

example/lfsr/main.go

@@ -0,0 +1,56 @@
+package main
+
+import (
+	"fmt"
+	"log/slog"
+)
+
+func main() {
+	// fib_lfsr()
+	galois_lfsr()
+}
+
+/* taps: 16 14 13 11; feedback polynomial: x^16 + x^14 + x^13 + x^11 + 1 */
+func fib_lfsr() {
+	startState := uint16(0xACE1)
+	lfsr := startState
+	var bit uint16
+	period := uint64(0)
+	for {
+		slog.Info("fib_lfsr", "bit", fmt.Sprintf("%01b", lfsr&1), "lfsr", fmt.Sprintf("%016b", lfsr))
+		bit = ((lfsr >> 0) ^ (lfsr >> 2) ^ (lfsr >> 3) ^ (lfsr >> 5)) & 1
+		lfsr = (lfsr >> 1) | (bit << 15)
+		period++
+		if period == 15 {
+			break
+		}
+		if lfsr == startState {
+			break
+		}
+	}
+	println(period)
+}
+
+/* taps: 16 14 13 11; feedback polynomial: x^16 + x^14 + x^13 + x^11 + 1 */
+func galois_lfsr() {
+	startState := uint16(0xACE1)
+	lfsr := startState
+	var bit uint16
+	period := uint64(0)
+	for {
+		slog.Info("galois_lfsr", "bit", fmt.Sprintf("%01b", lfsr&1), "lfsr", fmt.Sprintf("%016b", lfsr))
+		bit = lfsr & 1
+		lfsr >>= 1
+		if bit == 1 {
+			lfsr ^= 0xB400
+		}
+		period++
+		// if period == 15 {
+		// 	break
+		// }
+		if lfsr == startState {
+			break
+		}
+	}
+	println(period)
+}

example/test/main.go

@@ -0,0 +1,52 @@
+package main
+
+import (
+	"fmt"
+	"math"
+)
+
+func main() {
+	d2, d1, d0 := encodeAcc(6.742071875)
+	a := decode2Acc(d2, d1, d0)
+	fmt.Println(a)
+}
+
+const G = 9.80665
+
+func encodeAcc(a float32) (d2, d1, d0 byte) {
+	d2 = 0
+	d1 = 0
+	d0 = 0
+	x := a / G
+	v := uint32(0)
+	for i := 17; i >= 0; i-- {
+		t := float32(1.0 / math.Pow(2, float64(17-i)))
+		if t > x {
+			continue
+		} else {
+			v |= 1 << i
+			x -= t
+		}
+	}
+	fmt.Printf("%b, %b\n", v, v<<6)
+	v <<= 6
+	d0 = byte(v)
+	d1 = byte(v >> 8)
+	d2 = byte(v >> 16)
+	fmt.Printf("%b, %b, %b\n", d2, d1, d0)
+	return
+}
+
+func decode2Acc(d2, d1, d0 byte) float32 {
+	v := uint32(d2)<<10 | uint32(d1)<<2 | uint32(d0>>6)
+	fmt.Printf("%b\n", v)
+	x := float32(0)
+	for i := 17; i >= 0; i-- {
+		if v&(1<<i) != 0 {
+			t := float32(1.0 / math.Pow(2, float64(17-i)))
+			x += t
+		}
+	}
+	fmt.Println(x)
+	return x * G
+}

go.mod

@@ -4,10 +4,11 @@ go 1.21
 
 require (
 	github.com/appleboy/gin-jwt/v2 v2.9.1
-	github.com/eclipse/paho.golang v0.12.0
+	//github.com/eclipse/paho.golang v0.12.0
+	github.com/eclipse/paho.golang v0.21.0
 	github.com/gin-contrib/cors v1.4.0
 	github.com/golang/protobuf v1.5.3
-	github.com/google/uuid v1.4.0
+	github.com/google/uuid v1.6.0
 	github.com/sagikazarmark/slog-shim v0.1.0
 	github.com/snksoft/crc v1.1.0
 	github.com/spf13/viper v1.18.1
@@ -40,21 +41,25 @@ require (
 	github.com/go-sql-driver/mysql v1.7.0 // indirect
 	github.com/goburrow/serial v0.1.0 // indirect
 	github.com/golang-jwt/jwt/v4 v4.4.3 // indirect
-	github.com/gorilla/websocket v1.5.0 // indirect
+	github.com/gorilla/websocket v1.5.1 // indirect
 	github.com/jinzhu/inflection v1.0.0 // indirect
 	github.com/jinzhu/now v1.1.5 // indirect
 	github.com/josharian/intern v1.0.0 // indirect
 	github.com/mailru/easyjson v0.7.7 // indirect
+	github.com/mohae/deepcopy v0.0.0-20170929034955-c48cc78d4826 // indirect
 	github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect
+	github.com/richardlehane/mscfb v1.0.4 // indirect
+	github.com/richardlehane/msoleps v1.0.3 // indirect
 	github.com/sagikazarmark/locafero v0.4.0 // indirect
 	github.com/simonvetter/modbus v1.6.0 // indirect
 	github.com/sourcegraph/conc v0.3.0 // indirect
+	github.com/xuri/efp v0.0.0-20231025114914-d1ff6096ae53 // indirect
+	github.com/xuri/nfp v0.0.0-20230919160717-d98342af3f05 // indirect
 	github.com/yohamta/donburi v1.3.9 // indirect
 	go.uber.org/atomic v1.9.0 // indirect
 	go.uber.org/multierr v1.9.0 // indirect
 	golang.org/x/exp v0.0.0-20230905200255-921286631fa9 // indirect
 	golang.org/x/mod v0.12.0 // indirect
-	golang.org/x/sync v0.5.0 // indirect
 	golang.org/x/tools v0.13.0 // indirect
 	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
 	gorm.io/datatypes v1.1.1-0.20230130040222-c43177d3cf8c // indirect
@@ -92,11 +97,13 @@ require (
 	github.com/twitchyliquid64/golang-asm v0.15.1 // indirect
 	github.com/ugorji/go/codec v1.2.11 // indirect
 	golang.org/x/arch v0.3.0 // indirect
-	golang.org/x/crypto v0.16.0 // indirect
-	golang.org/x/net v0.19.0 // indirect
-	golang.org/x/sys v0.15.0 // indirect
+	golang.org/x/crypto v0.19.0 // indirect
+	golang.org/x/net v0.21.0 // indirect
+	golang.org/x/sys v0.17.0 // indirect
 	golang.org/x/text v0.14.0 // indirect
 	google.golang.org/protobuf v1.32.0
 	gopkg.in/ini.v1 v1.67.0 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 )
+
+require github.com/xuri/excelize/v2 v2.8.1

go.sum

@@ -17,8 +17,8 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/eclipse/paho.golang v0.12.0 h1:EXQFJbJklDnUqW6lyAknMWRhM2NgpHxwrrL8riUmp3Q=
-github.com/eclipse/paho.golang v0.12.0/go.mod h1:TSDCUivu9JnoR9Hl+H7sQMcHkejWH2/xKK1NJGtLbIE=
+github.com/eclipse/paho.golang v0.21.0 h1:cxxEReu+iFbA5RrHfRGxJOh8tXZKDywuehneoeBeyn8=
+github.com/eclipse/paho.golang v0.21.0/go.mod h1:GHF6vy7SvDbDHBguaUpfuBkEB5G6j0zKxMG4gbh6QRQ=
 github.com/frankban/quicktest v1.14.6 h1:7Xjx+VpznH+oBnejlPUj8oUpdxnVs4f8XU8WnHkI4W8=
 github.com/frankban/quicktest v1.14.6/go.mod h1:4ptaffx2x8+WTWXmUCuVU6aPUX1/Mz7zb5vbUoiM6w0=
 github.com/fsnotify/fsnotify v1.7.0 h1:8JEhPFa5W2WU7YfeZzPNqzMP6Lwt7L2715Ggo0nosvA=
@@ -83,10 +83,10 @@ github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/
 github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
 github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/gofuzz v1.0.0/go.mod h1:dBl0BpW6vV/+mYPU4Po3pmUjxk6FQPldtuIdl/M65Eg=
-github.com/google/uuid v1.4.0 h1:MtMxsa51/r9yyhkyLsVeVt0B+BGQZzpQiTQ4eHZ8bc4=
-github.com/google/uuid v1.4.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
-github.com/gorilla/websocket v1.5.0 h1:PPwGk2jz7EePpoHN/+ClbZu8SPxiqlu12wZP/3sWmnc=
-github.com/gorilla/websocket v1.5.0/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/google/uuid v1.6.0 h1:NIvaJDMOsjHA8n1jAhLSgzrAzy1Hgr+hNrb57e+94F0=
+github.com/google/uuid v1.6.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
+github.com/gorilla/websocket v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
+github.com/gorilla/websocket v1.5.1/go.mod h1:x3kM2JMyaluk02fnUJpQuwD2dCS5NDG2ZHL0uE0tcaY=
 github.com/hashicorp/hcl v1.0.0 h1:0Anlzjpi4vEasTeNFn2mLJgTSwt0+6sfsiTG8qcWGx4=
 github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ=
 github.com/jackc/chunkreader/v2 v2.0.1 h1:i+RDz65UE+mmpjTfyz0MoVTnzeYxroil2G82ki7MGG8=
@@ -153,6 +153,8 @@ github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd h1:TRLaZ9cD/w
 github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd/go.mod h1:6dJC0mAP4ikYIbvyc7fijjWJddQyLn8Ig3JB5CqoB9Q=
 github.com/modern-go/reflect2 v1.0.2 h1:xBagoLtFs94CBntxluKeaWgTMpvLxC4ur3nMaC9Gz0M=
 github.com/modern-go/reflect2 v1.0.2/go.mod h1:yWuevngMOJpCy52FWWMvUC8ws7m/LJsjYzDa0/r8luk=
+github.com/mohae/deepcopy v0.0.0-20170929034955-c48cc78d4826 h1:RWengNIwukTxcDr9M+97sNutRR1RKhG96O6jWumTTnw=
+github.com/mohae/deepcopy v0.0.0-20170929034955-c48cc78d4826/go.mod h1:TaXosZuwdSHYgviHp1DAtfrULt5eUgsSMsZf+YrPgl8=
 github.com/natefinch/lumberjack v2.0.0+incompatible h1:4QJd3OLAMgj7ph+yZTuX13Ld4UpgHp07nNdFX7mqFfM=
 github.com/natefinch/lumberjack v2.0.0+incompatible/go.mod h1:Wi9p2TTF5DG5oU+6YfsmYQpsTIOm0B1VNzQg9Mw6nPk=
 github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e/go.mod h1:zD1mROLANZcx1PVRCS0qkT7pwLkGfwJo4zjcN/Tysno=
@@ -164,6 +166,11 @@ github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsK
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 h1:Jamvg5psRIccs7FGNTlIRMkT8wgtp5eCXdBlqhYGL6U=
 github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/richardlehane/mscfb v1.0.4 h1:WULscsljNPConisD5hR0+OyZjwK46Pfyr6mPu5ZawpM=
+github.com/richardlehane/mscfb v1.0.4/go.mod h1:YzVpcZg9czvAuhk9T+a3avCpcFPMUWm7gK3DypaEsUk=
+github.com/richardlehane/msoleps v1.0.1/go.mod h1:BWev5JBpU9Ko2WAgmZEuiz4/u3ZYTKbjLycmwiWUfWg=
+github.com/richardlehane/msoleps v1.0.3 h1:aznSZzrwYRl3rLKRT3gUk9am7T/mLNSnJINvN0AQoVM=
+github.com/richardlehane/msoleps v1.0.3/go.mod h1:BWev5JBpU9Ko2WAgmZEuiz4/u3ZYTKbjLycmwiWUfWg=
 github.com/rogpeppe/go-internal v1.6.1/go.mod h1:xXDCJY+GAPziupqXw64V24skbSoqbTEfhy4qGm1nDQc=
 github.com/rogpeppe/go-internal v1.8.0/go.mod h1:WmiCO8CzOY8rg0OYDC4/i/2WRWAB6poM+XZ2dLUbcbE=
 github.com/rogpeppe/go-internal v1.9.0 h1:73kH8U+JUqXU8lRuOHeVHaa/SZPifC7BkcraZVejAe8=
@@ -220,6 +227,12 @@ github.com/ugorji/go v1.2.7/go.mod h1:nF9osbDWLy6bDVv/Rtoh6QgnvNDpmCalQV5urGCCS6
 github.com/ugorji/go/codec v1.2.7/go.mod h1:WGN1fab3R1fzQlVQTkfxVtIBhWDRqOviHU95kRgeqEY=
 github.com/ugorji/go/codec v1.2.11 h1:BMaWp1Bb6fHwEtbplGBGJ498wD+LKlNSl25MjdZY4dU=
 github.com/ugorji/go/codec v1.2.11/go.mod h1:UNopzCgEMSXjBc6AOMqYvWC1ktqTAfzJZUZgYf6w6lg=
+github.com/xuri/efp v0.0.0-20231025114914-d1ff6096ae53 h1:Chd9DkqERQQuHpXjR/HSV1jLZA6uaoiwwH3vSuF3IW0=
+github.com/xuri/efp v0.0.0-20231025114914-d1ff6096ae53/go.mod h1:ybY/Jr0T0GTCnYjKqmdwxyxn2BQf2RcQIIvex5QldPI=
+github.com/xuri/excelize/v2 v2.8.1 h1:pZLMEwK8ep+CLIUWpWmvW8IWE/yxqG0I1xcN6cVMGuQ=
+github.com/xuri/excelize/v2 v2.8.1/go.mod h1:oli1E4C3Pa5RXg1TBXn4ENCXDV5JUMlBluUhG7c+CEE=
+github.com/xuri/nfp v0.0.0-20230919160717-d98342af3f05 h1:qhbILQo1K3mphbwKh1vNm4oGezE1eF9fQWmNiIpSfI4=
+github.com/xuri/nfp v0.0.0-20230919160717-d98342af3f05/go.mod h1:WwHg+CVyzlv/TX9xqBFXEZAuxOPxn2k1GNHwG41IIUQ=
 github.com/yohamta/donburi v1.3.9 h1:sYAPaelSnxmoTGjgH9ZlYt4pUKrnwvAv4YGXxLZCK6E=
 github.com/yohamta/donburi v1.3.9/go.mod h1:5QkyraUjkzbMVTD2b8jaPFy1Uwjm/zdFN1c1lZGaezg=
 github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
@@ -237,10 +250,12 @@ golang.org/x/crypto v0.0.0-20210711020723-a769d52b0f97/go.mod h1:GvvjBRRGRdwPK5y
 golang.org/x/crypto v0.0.0-20210921155107-089bfa567519/go.mod h1:GvvjBRRGRdwPK5ydBHafDWAxML/pGHZbMvKqRZ5+Abc=
 golang.org/x/crypto v0.0.0-20211215153901-e495a2d5b3d3/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4=
 golang.org/x/crypto v0.4.0/go.mod h1:3quD/ATkf6oY+rnes5c3ExXTbLc8mueNue5/DoinL80=
-golang.org/x/crypto v0.16.0 h1:mMMrFzRSCF0GvB7Ne27XVtVAaXLrPmgPC7/v0tkwHaY=
-golang.org/x/crypto v0.16.0/go.mod h1:gCAAfMLgwOJRpTjQ2zCCt2OcSfYMTeZVSRtQlPC7Nq4=
+golang.org/x/crypto v0.19.0 h1:ENy+Az/9Y1vSrlrvBSyna3PITt4tiZLf7sgCjZBX7Wo=
+golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU=
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g=
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k=
+golang.org/x/image v0.14.0 h1:tNgSxAFe3jC4uYqvZdTr84SZoM1KfwdC9SKIFrLjFn4=
+golang.org/x/image v0.14.0/go.mod h1:HUYqC05R2ZcZ3ejNQsIHQDQiwWM4JBqmm6MKANTp4LE=
 golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4=
 golang.org/x/mod v0.12.0 h1:rmsUpXtvNzj340zd98LZ4KntptpfRHwpFOHG188oHXc=
 golang.org/x/mod v0.12.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs=
@@ -251,8 +266,8 @@ golang.org/x/net v0.0.0-20220722155237-a158d28d115b/go.mod h1:XRhObCWvk6IyKnWLug
 golang.org/x/net v0.3.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
 golang.org/x/net v0.4.0/go.mod h1:MBQ8lrhLObU/6UmLb4fmbmk5OcyYmqtbGd/9yIeKjEE=
 golang.org/x/net v0.7.0/go.mod h1:2Tu9+aMcznHK/AK1HMvgo6xiTLG5rD5rZLDS+rp2Bjs=
-golang.org/x/net v0.19.0 h1:zTwKpTd2XuCqf8huc7Fo2iSy+4RHPd10s4KzeTnVr1c=
-golang.org/x/net v0.19.0/go.mod h1:CfAk/cbD4CthTvqiEl8NpboMuiuOYsAr/7NOjZJtv1U=
+golang.org/x/net v0.21.0 h1:AQyQV4dYCvJ7vGmJyKki9+PBdyvhkSd8EIx/qb0AYv4=
+golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.5.0 h1:60k92dhOjHxJkrqnwsfl8KuaHbn/5dl0lUPUklKo3qE=
@@ -270,8 +285,8 @@ golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.3.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.5.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.15.0 h1:h48lPFYpsTvQJZF4EKyI4aLHaev3CxivZmv7yZig9pc=
-golang.org/x/sys v0.15.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
+golang.org/x/sys v0.17.0 h1:25cE3gD+tdBA7lp7QfhuV+rJiE9YXTcS3VG1SqssI/Y=
+golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
 golang.org/x/term v0.3.0/go.mod h1:q750SLmJuPmVoN1blW3UFBPREJfb1KmY3vwxfr+nFDA=

go.work.sum

@@ -176,6 +176,7 @@ github.com/gogo/protobuf v1.3.2 h1:Ov1cvc58UF3b5XjBnZv7+opcTcQFZebYjWzi34vdm4Q=
 github.com/gogo/protobuf v1.3.2/go.mod h1:P1XiOD3dCwIKUDQYPy72D8LYyHL2YPYrpS2s69NZV8Q=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da h1:oI5xCqsCo564l8iNU+DwB5epxmsaqB+rhGL0m5jtYqE=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
+github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/gofuzz v1.0.0 h1:A8PeW59pxE9IoFRqBp37U+mSNaQoZ46F1f0f863XSXw=
 github.com/google/s2a-go v0.1.7 h1:60BLSyTrOV4/haCDW4zb1guZItoSq8foHCXrAnjBo/o=
 github.com/google/s2a-go v0.1.7/go.mod h1:50CgR4k1jNlWBu4UfS4AcfhVe1r6pdZPygJ3R8F0Qdw=
@@ -265,12 +266,17 @@ go.uber.org/zap v1.21.0 h1:WefMeulhovoZ2sYXz7st6K0sLj7bBhpiFaud4r4zST8=
 go.uber.org/zap v1.21.0/go.mod h1:wjWOCqI0f2ZZrJF/UufIOkiC8ii6tm1iqIsLo76RfJw=
 golang.org/x/image v0.1.0 h1:r8Oj8ZA2Xy12/b5KZYj3tuv7NG/fBz3TwQVvpJ9l8Rk=
 golang.org/x/image v0.1.0/go.mod h1:iyPr49SD/G/TBxYVB/9RRtGUT5eNbo2u4NamWeQcD5c=
+golang.org/x/image v0.14.0/go.mod h1:HUYqC05R2ZcZ3ejNQsIHQDQiwWM4JBqmm6MKANTp4LE=
 golang.org/x/mobile v0.0.0-20221012134814-c746ac228303 h1:K4fp1rDuJBz0FCPAWzIJwnzwNEM7S6yobdZzMrZ/Zws=
 golang.org/x/mobile v0.0.0-20221012134814-c746ac228303/go.mod h1:M32cGdzp91A8Ex9qQtyZinr19EYxzkFqDjW2oyHzTDQ=
+golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg=
+golang.org/x/net v0.17.0/go.mod h1:NxSsAGuq816PNPmqtQdLE42eU2Fs7NoRIZrHJAlaCOE=
 golang.org/x/oauth2 v0.15.0 h1:s8pnnxNVzjWyrvYdFUQq5llS1PX2zhPXmccZv99h7uQ=
 golang.org/x/oauth2 v0.15.0/go.mod h1:q48ptWNTY5XWf+JNten23lcvHpLJ0ZSxF5ttTHKVCAM=
 golang.org/x/term v0.15.0 h1:y/Oo/a/q3IXu26lQgl04j/gjuBDOBlx7X6Om1j2CPW4=
 golang.org/x/term v0.15.0/go.mod h1:BDl952bC7+uMoWR75FIrCDx79TPU9oHkTZ9yRbYOrX0=
+golang.org/x/term v0.17.0 h1:mkTF7LCd6WGJNL3K1Ad7kwxNfYAW6a8a8QqtMblp/4U=
+golang.org/x/term v0.17.0/go.mod h1:lLRBjIVuehSbZlaOtGMbcMncT+aqLLLmKrsjNrUguwk=
 golang.org/x/time v0.5.0 h1:o7cqy6amK/52YcAKIPlM3a+Fpj35zvRj2TP+e1xFSfk=
 golang.org/x/time v0.5.0/go.mod h1:3BpzKBy/shNhVucY/MWOyx10tF3SFh9QdLuxbVysPQM=
 golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 h1:H2TDz8ibqkAF6YGhCdN3jS9O0/s90v0rJh3X/OLHEUk=

logger/logger.go

@@ -36,7 +36,11 @@ func InitSlog() {
 
 	if logging.Stdout {
 		// 日志输出到控制台
-		slog.SetDefault(slog.New(slog.NewJSONHandler(os.Stdout, &slog.HandlerOptions{
+		//slog.SetDefault(slog.New(slog.NewJSONHandler(os.Stdout, &slog.HandlerOptions{
+		//	Level:     level,
+		//	AddSource: false,
+		//})))
+		slog.SetDefault(slog.New(newMyJsonHandler(os.Stdout, &slog.HandlerOptions{
 			Level:     level,
 			AddSource: false,
 		})))
@@ -50,7 +54,11 @@ func InitSlog() {
 			LocalTime:  true,                                          // 日志备份使用本地时间
 			Compress:   logging.Compress,                              // 是否压缩日志
 		}
-		slog.SetDefault(slog.New(slog.NewJSONHandler(lumberJackLogger, &slog.HandlerOptions{
+		//slog.SetDefault(slog.New(slog.NewJSONHandler(lumberJackLogger, &slog.HandlerOptions{
+		//	Level:     level,
+		//	AddSource: false,
+		//})))
+		slog.SetDefault(slog.New(newMyJsonHandler(lumberJackLogger, &slog.HandlerOptions{
 			Level:     level,
 			AddSource: false,
 		})))

logger/my_json_handler.go

@@ -0,0 +1,63 @@
+package logger
+
+import (
+	"context"
+	"io"
+	"log/slog"
+	"sync"
+)
+
+type MyJsonHandler struct {
+	output      io.Writer
+	mu          sync.Mutex
+	jsonHandler slog.Handler
+}
+
+var stackChan = make(chan string, 100)
+
+func newMyJsonHandler(output io.Writer, opts *slog.HandlerOptions) *MyJsonHandler {
+	if opts == nil {
+		opts = &slog.HandlerOptions{}
+	}
+	ra := opts.ReplaceAttr
+	opts.ReplaceAttr = func(groups []string, a slog.Attr) slog.Attr {
+		if a.Key == "stack" {
+			stackChan <- a.Value.String()
+			return slog.Attr{}
+		} else {
+			if ra != nil {
+				return ra(groups, a)
+			} else {
+				return a
+			}
+		}
+	}
+	return &MyJsonHandler{output: output, mu: sync.Mutex{}, jsonHandler: slog.NewJSONHandler(output, opts)}
+}
+
+func (s *MyJsonHandler) Enabled(ctx context.Context, level slog.Level) bool {
+	return s.jsonHandler.Enabled(ctx, level)
+}
+
+func (s *MyJsonHandler) Handle(ctx context.Context, record slog.Record) error {
+	err := s.jsonHandler.Handle(ctx, record)
+	if err != nil {
+		return err
+	}
+	select {
+	case stack := <-stackChan:
+		s.mu.Lock()
+		defer s.mu.Unlock()
+		_, err = s.output.Write([]byte(stack))
+	default:
+	}
+	return err
+}
+
+func (s *MyJsonHandler) WithAttrs(attrs []slog.Attr) slog.Handler {
+	return s.jsonHandler.WithAttrs(attrs)
+}
+
+func (s *MyJsonHandler) WithGroup(name string) slog.Handler {
+	return s.jsonHandler.WithGroup(name)
+}

logger/my_json_handler_test.go

@@ -0,0 +1,21 @@
+package logger
+
+import (
+	"log/slog"
+	"os"
+	"testing"
+)
+
+func BenchmarkMyJsonHandler_Handle(b *testing.B) {
+	for i := 0; i < b.N; i++ {
+		//slog.SetDefault(slog.New(slog.NewJSONHandler(os.Stdout, &slog.HandlerOptions{
+		//	AddSource: false,
+		//	Level:     nil,
+		//})))
+		slog.SetDefault(slog.New(newMyJsonHandler(os.Stdout, &slog.HandlerOptions{
+			AddSource: false,
+			Level:     nil,
+		})))
+		slog.Info("这是一条日志", "error", "错误", "stack", "goroutine 10 [running]:\nruntime/debug.Stack()\n\tD:/develop/Go/go1.21.4/src/runtime/debug/stack.go:24 +0x6b\njoylink.club/bj-rtsts-server/starter.customRecoveryWithSlog.func1.1()\n\tD:/GoProject/rts-sim-testing-service/starter/init.go:126 +0x36f\npanic({0x1f0cb40?, 0x226fd50?})\n\tD:/develop/Go/go1.21.4/src/runtime/panic.go:920 +0x290\njoylink.club/bj-rtsts-server/api.createByProjectId(0xc001a06100)\n\tD:/GoProject/rts-sim-testing-service/api/simulation.go:91 +0x26\ngithub.com/gin-gonic/gin.(*Context).Next(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/context.go:174 +0x7a\njoylink.club/bj-rtsts-server/middleware.permissionMiddleware.func1(0xc001a06100)\n\tD:/GoProject/rts-sim-testing-service/middleware/auth.go:35 +0x178\ngithub.com/gin-gonic/gin.(*Context).Next(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/context.go:174 +0x7a\ngithub.com/appleboy/gin-jwt/v2.(*GinJWTMiddleware).middlewareImpl(0xc000504340, 0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/appleboy/gin-jwt/v2@v2.9.1/auth_jwt.go:462 +0x579\ngithub.com/appleboy/gin-jwt/v2.(*GinJWTMiddleware).MiddlewareFunc.func1(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/appleboy/gin-jwt/v2@v2.9.1/auth_jwt.go:415 +0x26\ngithub.com/gin-gonic/gin.(*Context).Next(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/context.go:174 +0x7a\njoylink.club/bj-rtsts-server/starter.customRecoveryWithSlog.func1(0xc001a06100)\n\tD:/GoProject/rts-sim-testing-service/starter/init.go:135 +0xef\ngithub.com/gin-gonic/gin.(*Context).Next(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/context.go:174 +0x7a\ngithub.com/samber/slog-gin.NewWithConfig.func1(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/samber/slog-gin@v1.1.0/middleware.go:70 +0x13f\ngithub.com/gin-gonic/gin.(*Context).Next(0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/context.go:174 +0x7a\ngithub.com/gin-gonic/gin.(*Engine).handleHTTPRequest(0xc0004d51e0, 0xc001a06100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/gin.go:620 +0x427\ngithub.com/gin-gonic/gin.(*Engine).ServeHTTP(0xc0004d51e0, {0x227e480, 0xc00012aee0}, 0xc001a07100)\n\tC:/Users/thesai/go/pkg/mod/github.com/gin-gonic/gin@v1.9.1/gin.go:576 +0xbc\nnet/http.serverHandler.ServeHTTP({0xc0017f0960}, {0x227e480, 0xc00012aee0}, 0xc001a07100)\n\tD:/develop/Go/go1.21.4/src/net/http/server.go:2938 +0x257\nnet/http.(*conn).serve(0xc0019422d0, {0x2285b38, 0xc001982000})\n\tD:/develop/Go/go1.21.4/src/net/http/server.go:2009 +0x1a39\ncreated by net/http.(*Server).Serve in goroutine 1\n\tD:/develop/Go/go1.21.4/src/net/http/server.go:3086 +0xa25")
+	}
+}

message_server/ms_api/api.go

@@ -3,9 +3,8 @@ package ms_api
 import (
 	"context"
 	"fmt"
+	"log/slog"
 	"time"
-
-	"joylink.club/bj-rtsts-server/sys_error"
 )
 
 type MsgTask interface {
@@ -52,7 +51,7 @@ mainLoop:
 		}
 		err := t.fn()
 		if err != nil {
-			panic(sys_error.New(fmt.Sprintf("仿真任务【%s】状态消息收集异常", t.name), err))
+			slog.Error(fmt.Sprintf("仿真任务【%s】状态消息收集异常", t.name), err)
 		}
 		time.Sleep(t.interval)
 	}

message_server/psl_ms.go

@@ -3,6 +3,7 @@ package message_server
 import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"log/slog"
 	"time"
 
 	"joylink.club/bj-rtsts-server/dto/data_proto"
@@ -16,54 +17,62 @@ import (
 
 func NewPSLMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask {
 	mapData := memory.QueryGiData[*data_proto.RtssGraphicStorage](mapId)
-	return ms_api.NewScheduleTask(fmt.Sprintf("地图[%d]综合门控箱按钮状态", mapId), func() error {
-		for _, box := range mapData.GateBoxs {
-			did := memory.GetMapElementId(box.Common)
-			data_proto, err := collectGateBoxPSLState(vs.World, mapId, box)
+	uidStructure := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
+	return ms_api.NewScheduleTask(fmt.Sprintf("地图[%d]PSL按钮状态", mapId), func() error {
+		for _, psl := range mapData.PslBoxs {
+			data, err := collectPslStates(vs.World, psl.RefPslMapCode, uidStructure.PslIds[psl.Common.Id].Uid)
 			if err != nil {
-				return err
+				slog.Error(err.Error())
+				continue
 			}
-			mqtt.GetMsgClient().PubPSLState(vs.SimulationId, mapId, did, data_proto)
+			sendMsg(vs, mapId, psl.Common.Id, data)
+		}
+		for _, psl := range mapData.GarageDoors {
+			data, err := collectPslStates(vs.World, psl.RefPslMapCode, uidStructure.PslIds[psl.Common.Id].Uid)
+			if err != nil {
+				slog.Error(err.Error())
+				continue
+			}
+			sendMsg(vs, mapId, psl.Common.Id, data)
+		}
+		for _, psl := range mapData.FloodGates {
+			data, err := collectPslStates(vs.World, psl.RefPslMapCode, uidStructure.PslIds[psl.Common.Id].Uid)
+			if err != nil {
+				slog.Error(err.Error())
+				continue
+			}
+			sendMsg(vs, mapId, psl.Common.Id, data)
 		}
 		return nil
 	}, 200*time.Millisecond)
 }
 
-func collectGateBoxPSLState(world ecs.World, mapId int32, box *data_proto.GatedBox) (*state_proto.PushedDevicesStatus, error) {
-	did := memory.GetMapElementId(box.Common)
-	uidStructure := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
-	boxUid := uidStructure.PslIds[did].Uid
-	mkxEntry, ok := entity.GetEntityByUid(world, boxUid)
-	if !ok {
-		return nil, fmt.Errorf("[id:%s]的门控箱实体找不到", boxUid)
+func sendMsg(vs *memory.VerifySimulation, mapId int32, pslId uint32, data *state_proto.PushedDevicesStatus) {
+	err := mqtt.GetMsgClient().PubPSLState(vs.SimulationId, mapId, pslId, data)
+	if err != nil {
+		slog.Error(fmt.Sprintf("发送PSL状态出错：%s", err.Error()))
 	}
-	mkx := component.MkxType.Get(mkxEntry)
-	var buttonStateArr []*state_proto.ButtonState
-	if ok {
-		_, pslStorage := memory.QueryGiDataByName[*data_proto.PslGraphicStorage](box.RefGatedBoxMapCode)
-		btnUidMap := make(map[string]uint32, len(pslStorage.PslButtons))
-		for _, button := range pslStorage.PslButtons {
-			btnUidMap[boxUid+"_"+button.Code] = memory.GetMapElementId(button.Common)
-		}
-		btnArr := []*ecs.Entry{mkx.PCB, mkx.PCBPL, mkx.POB, mkx.POBPL, mkx.PAB, mkx.PABPL, mkx.WRZF, mkx.WRZFPL,
-			mkx.QKQR, mkx.QKQRPL, mkx.MPL, mkx.JXTCPL}
-		for _, btn := range btnArr {
-			if btn == nil {
-				continue
-			}
-			btnState := component.BitStateType.Get(btn)
-			buttonStateArr = append(buttonStateArr, &state_proto.ButtonState{
-				Id:     btnUidMap[component.UidType.Get(btn).Id],
-				Down:   btnState.Val,
-				Active: btnState.Val,
-				//Bypass: btnState.BypassEnable,
-			})
+}
+
+func collectPslStates(world ecs.World, pslMapCode string, pslUid string) (*state_proto.PushedDevicesStatus, error) {
+	var btnStates []*state_proto.ButtonState
+	_, pslStorage := memory.QueryGiDataByName[*data_proto.PslGraphicStorage](pslMapCode)
+	for _, button := range pslStorage.PslButtons {
+		btnEntry, ok := entity.GetEntityByUid(world, memory.BuildUid(pslUid, button.Code))
+		if !ok {
+			slog.Error(fmt.Sprintf("[id:%s]的PSL的按钮[code:%s]对应的实体找不到", pslUid, button.Code))
+			continue
 		}
+		btnStates = append(btnStates, &state_proto.ButtonState{
+			Id:     button.Common.Id,
+			Down:   component.BitStateType.Get(btnEntry).Val,
+			Active: component.BitStateType.Get(btnEntry).Val,
+		})
 	}
 	return &state_proto.PushedDevicesStatus{
 		All: true,
 		AllStatus: &state_proto.AllDevicesStatus{
-			ButtonState: buttonStateArr,
+			ButtonState: btnStates,
 		},
 	}, nil
 }

message_server/sfp_ms.go

@@ -35,15 +35,15 @@ func NewSfpMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask {
 		if err != nil {
 			return err
 		}
-		buttonStates, err := collectStationButtonStates(vs.World, mapId)
-		if err != nil {
-			return err
-		}
+		//buttonStates, err := collectStationButtonStates(vs.World, mapId)
+		//if err != nil {
+		//	return err
+		//}
 		psdStates, err := collectPsdStates(vs.World, mapId)
 		if err != nil {
 			return err
 		}
-		sectionStates, err := collectSectionStates(vs.World, mapId)
+		sectionStates, err := collectPhysicalSectionStates(vs.World, mapId)
 		if err != nil {
 			return err
 		}
@@ -59,17 +59,37 @@ func NewSfpMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask {
 		if err != nil {
 			return err
 		}
+		ckmStates, err := collectCkmStates(vs.World, mapId)
+		if err != nil {
+			return err
+		}
+		fymStates, err := collectFymStates(vs.World, mapId)
+		if err != nil {
+			return err
+		}
+		xcjStates, err := collectXcjStates(vs.World, mapId)
+		if err != nil {
+			return err
+		}
+		axleCountingSectionStates, err := collectAxleCountingSectionStates(vs.World, mapId)
+		if err != nil {
+			return err
+		}
 		ststes := &state_proto.PushedDevicesStatus{
 			All: true,
 			AllStatus: &state_proto.AllDevicesStatus{
-				TrainState:    trainState,
-				SwitchState:   turnoutStates,
-				SignalState:   signalStates,
-				ButtonState:   buttonStates,
-				PsdState:      psdStates,
-				SectionState:  sectionStates,
-				PlatformState: platformStates,
-				BaliseState:   baliseStates,
+				TrainState:  trainState,
+				SwitchState: turnoutStates,
+				SignalState: signalStates,
+				//ButtonState:   buttonStates,
+				PsdState:            psdStates,
+				SectionState:        sectionStates,
+				PlatformState:       platformStates,
+				BaliseState:         baliseStates,
+				CkmStates:           ckmStates,
+				FymStates:           fymStates,
+				XcjStates:           xcjStates,
+				AxleCountingSection: axleCountingSectionStates,
 			},
 		}
 		err = mqtt.GetMsgClient().PubSfpState(vs.SimulationId, mapId, ststes)
@@ -80,6 +100,105 @@ func NewSfpMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask {
 	}, 1000*time.Millisecond)
 }
 
+func collectAxleCountingSectionStates(world ecs.World, mapId int32) ([]*state_proto.AxleCountingSectionState, error) {
+	uidMap := memory.QueryMapUidMapByType(mapId, &data_proto.AxleCountingSection{})
+	var stateArr []*state_proto.AxleCountingSectionState
+	wd := entity.GetWorldData(world)
+	for _, u := range uidMap {
+		entry := wd.EntityMap[u.Uid]
+		if entry == nil {
+			continue
+		}
+		stateArr = append(stateArr, &state_proto.AxleCountingSectionState{
+			Id:       u.CommonId,
+			Occupied: component.AxleCountingSectionStateType.Get(entry).Occupied,
+		})
+	}
+	return stateArr, nil
+}
+
+func collectXcjStates(world ecs.World, mapId int32) ([]*state_proto.XcjState, error) {
+	uidStructure := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
+	var xcjStates []*state_proto.XcjState
+	for _, xcj := range uidStructure.XcjIds {
+		entry, ok := entity.GetEntityByUid(world, xcj.Uid)
+		if ok {
+			state := &state_proto.XcjState{Id: xcj.CommonId}
+			xcjStates = append(xcjStates, state)
+			//设置参数
+			var xcjParam *request_proto.XcjParam
+			if entry.HasComponent(appcomponent.XcjParamType) {
+				xcjParam = appcomponent.XcjParamType.Get(entry)
+			} else {
+				xcjParam = &request_proto.XcjParam{}
+			}
+			state.Param = xcjParam
+			//继电器状态
+			if entry.HasComponent(component.XcjCircuitType) {
+				circuit := component.XcjCircuitType.Get(entry)
+				state.Xqj = component.BitStateType.Get(circuit.XQJ).Val
+				for _, twj := range circuit.TWJList {
+					state.TwjList = append(state.TwjList, component.BitStateType.Get(twj).Val)
+				}
+				state.Tgqj = component.BitStateType.Get(circuit.TGQJ).Val
+				state.Xcjxj = component.BitStateType.Get(circuit.XCJXJ).Val
+				state.Xcyxj = component.BitStateType.Get(circuit.XCYXJ).Val
+				for _, cfj := range circuit.CFJList {
+					state.CfjList = append(state.CfjList, component.BitStateType.Get(cfj).Val)
+				}
+				state.Jtj = component.BitStateType.Get(circuit.JTJ).Val
+				state.Tgyxj = component.BitStateType.Get(circuit.TGYXJ).Val
+			}
+		}
+	}
+	return xcjStates, nil
+}
+
+func collectFymStates(world ecs.World, mapId int32) ([]*state_proto.CkmState, error) {
+	mapData := memory.QueryGiData[*data_proto.RtssGraphicStorage](mapId)
+	return collectCkmOrFymStates(world, mapId, mapData.FloodGates)
+}
+
+func collectCkmStates(world ecs.World, mapId int32) ([]*state_proto.CkmState, error) {
+	mapData := memory.QueryGiData[*data_proto.RtssGraphicStorage](mapId)
+	return collectCkmOrFymStates(world, mapId, mapData.GarageDoors)
+}
+
+func collectCkmOrFymStates(world ecs.World, mapId int32, gates []*data_proto.GarageDoor) ([]*state_proto.CkmState, error) {
+	uidStructure := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
+	ckmUidMap := uidStructure.CkmIds
+	var ckmStates []*state_proto.CkmState
+	for _, ckm := range gates {
+		commonId := ckm.Common.Id
+		entry, ok := entity.GetEntityByUid(world, ckmUidMap[commonId].Uid)
+		if ok {
+			mgj := false
+			local := false
+			mplj := false
+			if entry.HasComponent(component.CkmCircuitType) {
+				circuit := component.CkmCircuitType.Get(entry)
+				mgj = component.BitStateType.Get(circuit.MGJ).Val
+				local = component.BitStateType.Get(circuit.MMSJ).Val
+				mplj = component.BitStateType.Get(circuit.MPLJ).Val
+			}
+			var ckmParam *request_proto.CkmParam
+			if entry.HasComponent(appcomponent.CkmParamType) {
+				ckmParam = appcomponent.CkmParamType.Get(entry)
+			} else {
+				ckmParam = &request_proto.CkmParam{}
+			}
+			ckmStates = append(ckmStates, &state_proto.CkmState{
+				Id:    commonId,
+				Mgj:   mgj,
+				Param: ckmParam,
+				Local: local,
+				Mplj:  mplj,
+			})
+		}
+	}
+	return ckmStates, nil
+}
+
 // 收集应答器状态
 func collectBaliseStates(world ecs.World, mapId int32) ([]*state_proto.BaliseState, error) {
 	uidStructure := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
@@ -158,7 +277,7 @@ func collectPsdStates(world ecs.World, mapId int32) ([]*state_proto.PsdState, er
 }
 
 // 收集区段状态
-func collectSectionStates(world ecs.World, mapId int32) ([]*state_proto.SectionState, error) {
+func collectPhysicalSectionStates(world ecs.World, mapId int32) ([]*state_proto.SectionState, error) {
 	uidMap := memory.QueryMapUidMapByType(mapId, &data_proto.Section{})
 	var sectionArr []*state_proto.SectionState
 	for _, u := range uidMap {
@@ -178,22 +297,23 @@ 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.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
-			}
+	if entry.HasComponent(component.PhysicalSectionManagerType) { //计轴区段
+		axleManager := component.PhysicalSectionManagerType.Get(entry)
+		sectionState := &state_proto.SectionState{
+			Occupied:  axleManager.Occupied,
+			AxleFault: entry.HasComponent(component.PhysicalSectionForceOccupied),
+			AxleDrst:  false,
+			AxlePdrst: axleManager.PDRST,
+		}
+		sectionState.Occupied = axleManager.Occupied
+		sectionState.AxleFault = entry.HasComponent(component.PhysicalSectionForceOccupied)
+		return sectionState
+	} else if entry.HasComponent(component.TrackCircuitType) { //轨道电路
+		sectionState := &state_proto.SectionState{
+			Occupied:  component.BitStateType.Get(component.TrackCircuitType.Get(entry).GJ).Val,
+			AxleFault: false,
+			AxleDrst:  false,
+			AxlePdrst: false,
 		}
 		return sectionState
 	}
@@ -338,20 +458,20 @@ func collectTrainStates(vs *memory.VerifySimulation) ([]*state_proto.TrainMapSta
 
 func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 	t := &state_proto.TrainMapState{
-		Id:               v.Id,
-		Up:               v.Up,
-		InitialSpeed:     v.Speed,
-		TrainLength:      v.TrainLength,
-		Show:             v.Show,
-		HeadDeviceId:     v.HeadDeviceId,
-		HeadOffset:       v.HeadOffset,
-		DevicePort:       v.DevicePort,
-		PointTo:          v.PointTo,
-		RunDirection:     v.RunDirection,
-		HeadDirection:    v.HeadDirection,
-		TrainKilometer:   v.TrainKilometer,
-		ControlDelayTime: v.ControlDelayTime,
-		WheelDiameter:    v.WheelDiameter,
+		Id:                   v.Id,
+		Up:                   v.Up,
+		InitialSpeed:         v.Speed,
+		TrainLength:          v.TrainLength,
+		Show:                 v.Show,
+		HeadDeviceId:         v.HeadDeviceId,
+		HeadOffset:           v.HeadOffset,
+		DevicePort:           v.DevicePort,
+		DriftTo:              v.DriftTo,
+		TrainRunUp:           v.TrainRunUp,
+		TrainActiveDirection: v.TrainActiveDirection,
+		TrainKilometer:       v.TrainKilometer,
+		ControlDelayTime:     v.ControlDelayTime,
+		WheelDiameter:        v.WheelDiameter,
 		// 动力学
 		DynamicHeartbeat:     v.DynamicState.Heartbeat,
 		HeadLinkId:           v.DynamicState.HeadLinkId,
@@ -408,15 +528,17 @@ func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 		TailDeviceId:           v.TailDeviceId,
 		TailOffset:             v.TailOffset,
 		TailDevicePort:         v.TailDevicePort,
-		BtmState:               v.BtmState,
-		ConnState:              v.ConnState,
+		//BtmState:               v.BtmState,
+		ConnState: v.ConnState,
 	}
 	convertDynamicConfig(v.TrainDynamicConfig, t.TrainDynamicConfig)
 	convertDynamicConfig(v.TrainEndsA, t.TrainEndsA)
 	convertDynamicConfig(v.TrainEndsB, t.TrainEndsB)
+	//now := time.Now().Unix()
 
 	return t
 }
+
 func convertDynamicConfig(config, dest interface{}) {
 	configType := reflect.TypeOf(config).Elem()
 	for index := 0; index < configType.NumField(); index++ {
@@ -428,17 +550,6 @@ func convertDynamicConfig(config, dest interface{}) {
 	}
 }
 
-/*func convertDynamicConfig(config *common_proto.TrainDynamicConfig, dest *state_proto.TrainDynamicConfigMqtt) {
-	configType := reflect.TypeOf(config).Elem()
-	for index := 0; index < configType.NumField(); index++ {
-		field := configType.Field(index)
-		if field.IsExported() {
-			fieldName := field.Name
-			setVal(config, dest, fieldName)
-		}
-	}
-}*/
-
 func setVal(source, dest interface{}, fieldName string) {
 	destVal := reflect.ValueOf(dest).Elem().FieldByName(fieldName)
 	sourceType := reflect.ValueOf(source).Elem().FieldByName(fieldName)
@@ -450,7 +561,10 @@ func setVal(source, dest interface{}, fieldName string) {
 			debug.PrintStack()
 		}
 	}()
-
+	if destVal.Kind() == reflect.Invalid {
+		//slog.Warn(fieldName, "赋值失败,源数据类型", sourceType.Kind().String(), "目标数据类型:", destVal.Kind().String())
+		return
+	}
 	if destVal.Kind() == reflect.String {
 		destVal.Set(reflect.ValueOf(fmt.Sprintf("%v", sourceData)))
 	} else {

message_server/train_control_ms.go

@@ -10,27 +10,81 @@ import (
 	"time"
 )
 
+func lowPower(power bool) bool {
+	if power {
+		return false
+	} else {
+		return true
+	}
+}
+
 // 综合后备盘IBP消息服务
 func NewTrainControlMs(vs *memory.VerifySimulation, mapId int32) ms_api.MsgTask {
-	/*	var findMapId int32 = 0
-		for _, d := range vs.MapIds {
-			mapData := memory.QueryGiType(d)
-			if mapData == data_proto.PictureType_TrainControlCab {
-				findMapId = d
-				break
-			}
-		}
-
-		if findMapId == 0 {
-			slog.Error("未找到对应的列城控制图形")
-			return nil
-		}*/
 	return ms_api.NewScheduleTask(fmt.Sprintf("地图[%d]列车控制", mapId), func() error {
 		allTrainMap := &vs.Memory.Status.TrainStateMap
 		allTrainMap.Range(func(key, value any) bool {
 			trainId := fmt.Sprintf("%v", key)
 			ts := value.(*state_proto.TrainState)
-			err := mqtt.GetMsgClient().PubTrainControlState(vs.SimulationId, trainId, ts.Tcc)
+			ttcc := ts.Tcc
+			vobc := ts.VobcState
+			lights := make([]*state_proto.TrainControlState_ControlLight, 0)
+			for lightKey, light := range ttcc.LightMaps {
+				switch lightKey {
+				case memory.LIGHT_JJZD:
+					state := lowPower(vobc.LightEmergencyBrakingStatus)
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: state})
+				case memory.LIGHT_QQY:
+					state := lowPower(vobc.LightTractionSafetyCircuit)
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: state})
+				case memory.LIGHT_JSSJH:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LightDriverActive})
+				case memory.LIGHT_TFZDHJ:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.StopNotAllBrake})
+				case memory.LIGHT_QYYX:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.TractionEffective})
+				case memory.LIGHT_ZDYX:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.BrakeEffective})
+				case memory.LIGHT_TFZDSJ:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.ParkingBrakeStatus})
+				case memory.LIGHT_CYZD:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.MostUseBrake})
+				case memory.LIGHT_ZDGL:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.BrakeQuarantine})
+
+				case memory.LIGHT_LSXH:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.NoSpeedSigle})
+				case memory.LIGHT_ZMYX:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LeftDoorState})
+				case memory.LIGHT_YMYX:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.RightDoorState})
+				case memory.LIGHT_ZFZSD:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.TurnbackStatus})
+				case memory.LIGHT_BDATPKC:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LocalAtpControl})
+				case memory.LIGHT_ATOFCZSD:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.LightAtoSend})
+				case memory.LIGHT_ATO_OPEN_LEFT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoOpenLeftDoor})
+				case memory.LIGHT_ATO_OPEN_RIGHT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoOpenRightDoor})
+				case memory.LIGHT_ATO_CLOSE_LEFT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoCloseLeftDoor})
+				case memory.LIGHT_ATO_CLOSE_RIGHT_DOOR:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: vobc.AtoCloseRightDoor})
+				default:
+					lights = append(lights, &state_proto.TrainControlState_ControlLight{Id: light.Id, Val: light.Val})
+				}
+			}
+			buttons := make([]*state_proto.TrainControlState_ControlButton, 0)
+			for _, button := range ttcc.Buttons {
+				buttons = append(buttons, button)
+			}
+			sks := make([]*state_proto.TrainControlState_SwitchKeyChange, 0)
+			for _, sk := range ttcc.SwitchKeyMap {
+				sks = append(sks, sk)
+			}
+			tcc := &state_proto.TrainControlStateMsg{Buttons: buttons, DriverKey: ttcc.DriverKey, SwitchKeys: sks, PushHandler: ttcc.PushHandler, Lights: lights}
+			err := mqtt.GetMsgClient().PubTrainControlState(vs.SimulationId, trainId, tcc)
 			if err != nil {
 				slog.Error("发送列车控制mqtt失败", err)
 			}

middleware/auth.go

@@ -2,6 +2,7 @@ package middleware
 
 import (
 	"log/slog"
+	"net/http"
 	"regexp"
 	"strings"
 
@@ -36,12 +37,16 @@ func permissionMiddleware() gin.HandlerFunc {
 			return
 		}
 		path, method := c.Request.URL.Path, c.Request.Method
+		if method == http.MethodGet {
+			c.Next()
+			return
+		}
 		if validateUserPath(path, method, userAuth.AuthPaths) { // 用户有权限
 			c.Next()
 			return
 		}
 		slog.Error("无权限操作请求路径", "path", path, "method", method)
-		panic(sys_error.New("权限不足"))
+		panic(sys_error.NewCode("权限不足", 403))
 	}
 }
 

mqtt/client.go

@@ -29,10 +29,15 @@ func Startup(cmc *MqttOptions) error {
 	if err != nil {
 		return err
 	}
-	cm, err := autopaho.NewConnection(context.Background(), *cc)
+	ctx := context.Background()
+	cm, err := autopaho.NewConnection(ctx, *cc)
 	if err != nil {
 		return err
 	}
+	//添加等待连接，如果连接失败，则等待重连
+	if err = cm.AwaitConnection(ctx); err != nil {
+		panic(err)
+	}
 	mqttClient = &MqttClient{cc: cc, cm: cm}
 	return nil
 }
@@ -90,6 +95,20 @@ func (client *MqttClient) pub(topic string, data protoreflect.ProtoMessage) erro
 	return err
 }
 
+// 订阅mqtt服务
+/*func subHandle(p *paho.Publish) {
+	fmt.Println(fmt.Sprintf("%v-%v"), hex.EncodeToString(p.Payload), len(p.Payload))
+}
+func (client *MqttClient) SubSimulationState(simulationId string) (*paho.Suback, error) {
+	topIc := GetStateTopic(simulationId)
+	_, err2 := client.cm.Subscribe(context.Background(), &paho.Subscribe{Subscriptions: []paho.SubscribeOptions{{Topic: topIc, QoS: 0}}})
+	if err2 != nil {
+		fmt.Println(err2)
+	}
+	client.cc.Router.RegisterHandler(topIc, subHandle)
+	return nil, nil
+}*/
+
 // 发送仿真状态数据
 func (client *MqttClient) PubSimulationState(simulationId string, msg *state_proto.SimulationStatus) error {
 	return client.pub(GetStateTopic(simulationId), msg)
@@ -120,6 +139,6 @@ func (client *MqttClient) PubSfpState(simulationId string, mapId int32, msg *sta
 }
 
 // 发送列车控制状态
-func (client *MqttClient) PubTrainControlState(simulationId string, trainId string, msg *state_proto.TrainControlState) error {
+func (client *MqttClient) PubTrainControlState(simulationId string, trainId string, msg *state_proto.TrainControlStateMsg) error {
 	return client.pub(GetTrainControlTopic(simulationId, trainId), msg)
 }

mqtt/config.go

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

protobuf/main.go

@@ -15,12 +15,12 @@ var (
 	basePath, _  = os.Getwd()
 	protoFolder  = filepath.Join(basePath, "rts-sim-testing-message", "protos")
 	protocPath   = filepath.Join(basePath, "rts-sim-testing-message", "protoc-23.1", "bin", "win64", "protoc")
-	modulePrefix = "joylink.club/rts-sim-testing-service"
+	modulePrefix = "joylink.club/bj-rtsts-server"
 )
 
 func main() {
 	//先安装以下插件
-	//go install google.golang.org/protobuf/cmd/protoc-gen-go@latest
+	//go install google.golang.org/protobuf/cmd/protoc-gen-go@v1.33.0
 
 	protoFiles := getProtoFiles()
 	// 编译proto文件为Go文件

rts-sim-module

@@ -1 +1 @@
-Subproject commit 21ca336b0ce32cec941685d2d37feb9d69c92970
+Subproject commit 88b24dff6589615d68c83f19196904bc7bb64077

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 0e19775ba6eae193bd5e7156d8f33ae6bc704023
+Subproject commit a6293366a132680309a62855d4c4e19546ba3aa8

service/projectRunConfig.go

@@ -1,7 +1,10 @@
 package service
 
 import (
+	"encoding/json"
 	"fmt"
+	"joylink.club/bj-rtsts-server/config"
+	"strings"
 	"time"
 
 	"joylink.club/bj-rtsts-server/db/dbquery"
@@ -33,8 +36,31 @@ func ListProjectRunConfigQuery() []*dto.ProjectRunConfigDto {
 	return dto.ConvertToRunConfigFromSlice(records)
 }
 
+func checkRunConfig(jsonConfigStr string) *sys_error.BusinessError {
+	var configMap config.ThirdPartyConfig
+	err := json.Unmarshal([]byte(jsonConfigStr), &configMap)
+	if err != nil {
+		return sys_error.New("运行环境序列化错误", err)
+	}
+	checkSameMap := make(map[string]bool)
+	for _, simConfig := range configMap.PcSimConfigs {
+		if simConfig.ConfigName == "" || len(strings.TrimSpace(simConfig.ConfigName)) == 0 {
+			return sys_error.New(fmt.Sprintf("车载运行配置名称不能为空 "), err)
+		}
+		if checkSameMap[simConfig.ConfigName] {
+			return sys_error.New(fmt.Sprintf("车载运行配置重复的名称:%v", simConfig.ConfigName), err)
+		}
+		checkSameMap[simConfig.ConfigName] = true
+	}
+	return nil
+}
+
 // 创建项目运行环境
 func CreateProjectRunConfig(dd *dto.ProjectRunConfigReqDto) bool {
+	if checkErr := checkRunConfig(dd.ConfigContent); checkErr != nil {
+		panic(checkErr)
+	}
+
 	d := model.ProjectRunConfig{
 		Name:          dd.Name,
 		Description:   dd.Description,
@@ -42,6 +68,7 @@ func CreateProjectRunConfig(dd *dto.ProjectRunConfigReqDto) bool {
 		CreateTime:    time.Now(),
 		UpdateTime:    time.Now(),
 	}
+
 	err := dbquery.ProjectRunConfig.Save(&d)
 	if err != nil {
 		panic(sys_error.New("保存失败，数据库错误请联系运维人员", err))
@@ -75,6 +102,9 @@ func QueryRunConfig(id int32) *dto.ProjectRunConfigDto {
 
 // 更新项目运行环境
 func UpdateProjectRunConfig(id int32, dd *dto.ProjectRunConfigReqDto) bool {
+	if checkErr := checkRunConfig(dd.ConfigContent); checkErr != nil {
+		panic(checkErr)
+	}
 	findOldQuery := dbquery.ProjectRunConfig
 	oldD, err := findOldQuery.Where(findOldQuery.ID.Eq(id)).Debug().First()
 	if oldD == nil || err != nil {

service/trainManage.go

@@ -79,10 +79,15 @@ func TrainConfigToProtoConvert(t *dto.ConfigTrainData) *common_proto.TrainDynami
 // 转成列车proto
 func convertTrainDtoToProto(t *dto.TrainInfoDto) []byte {
 	message := &data_proto.Train{
-		TrainModel:        data_proto.Train_TrainModel(t.TrainModel),
-		CarriageLength:    t.CarriageLength,
-		TotalLength:       t.TotalLength,
-		TrainControlMapId: t.TrainControlMapId,
+		TrainModel:          data_proto.Train_TrainModel(t.TrainModel),
+		CarriageLength:      t.CarriageLength,
+		TotalLength:         t.TotalLength,
+		TrainControlMapId:   t.TrainControlMapId,
+		TrainMaxSpeed:       t.TrainMaxSpeed,
+		TrainLoad:           t.TrainLoad,
+		TrainMaxAcc:         t.TrainMaxAcc,
+		TrainMaxBrake:       t.TrainMaxBrake,
+		TrainEmergencyBrake: t.TrainEmergencyBrake,
 		//TrainControlMapCode: t.TrainControlMapCode,
 		//MinDiameter:    t.MinDiameter,
 		//MaxDiameter:    t.MaxDiameter,

starter/init.go

@@ -86,7 +86,11 @@ func initServer() *gin.Engine {
 			}
 		}
 		c.Error(be)
-		c.JSON(http.StatusInternalServerError, &dto.ErrorDto{
+		statusCode := http.StatusInternalServerError
+		if be.ErrorCode > 0 {
+			statusCode = http.StatusForbidden
+		}
+		c.JSON(statusCode, &dto.ErrorDto{
 			Tip:     be.UserMsg,
 			Message: be.Error(),
 		})
@@ -122,11 +126,7 @@ func customRecoveryWithSlog(logger *slog.Logger, stack bool, recovery gin.Recove
 				}
 
 				if stack {
-					logger.Error("请求处理Panic异常",
-						"error", err,
-						"stack", string(debug.Stack()),
-					)
-					debug.PrintStack()
+					logger.Error("请求处理Panic异常", "error", err, "stack", string(debug.Stack()))
 				} else {
 					logger.Error("请求处理Panic异常",
 						"error", err,

sys_error/error.go

@@ -10,7 +10,8 @@ type BusinessError struct {
 	// 用户提示信息
 	UserMsg string
 	// 错误信息传递(用于开发回溯定位,不给用户展示)
-	Errors []string
+	Errors    []string
+	ErrorCode int
 }
 
 // 新建业务错误
@@ -34,7 +35,26 @@ func New(userMsg string, errs ...error) *BusinessError {
 		// Errors:  convert(errs),
 	}
 }
-
+func NewCode(userMsg string, errCode int, errs ...error) *BusinessError {
+	if len(errs) == 1 {
+		be, ok := errs[0].(*BusinessError)
+		if ok {
+			be.prependUserMsg(userMsg)
+			return be
+		} else {
+			return &BusinessError{
+				UserMsg:   userMsg,
+				ErrorCode: errCode,
+				Errors:    []string{errs[0].Error()},
+			}
+		}
+	}
+	return &BusinessError{
+		UserMsg:   userMsg,
+		ErrorCode: errCode,
+		// Errors:  convert(errs),
+	}
+}
 func IsBusinessError(err error) bool {
 	_, ok := err.(*BusinessError)
 	return ok

third_party/acc/acc_server_test.go

@@ -5,13 +5,14 @@ import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
+	"math"
 	"testing"
 )
 
 func TestAccUdp(t *testing.T) {
 
 	fmt.Println("准备启动ACC服务...")
-	addr := fmt.Sprintf("%v:%v", "127.0.0.1", "8899")
+	addr := fmt.Sprintf("%v:%v", "127.0.0.1", "9998")
 	server := udp.NewServer(addr, handle)
 	server.Listen()
 	select {}
@@ -23,6 +24,305 @@ func handle(d []byte) {
 	if err == nil {
 
 		jsonD, _ := json.Marshal(ri)
-		fmt.Println(string(jsonD))
+		fmt.Println("接受数据:", string(jsonD))
 	}
 }
+func TestAcc(t *testing.T) {
+	d2, d1, d0 := encodeAcc(6.742071875)
+	a := decode2Acc(d2, d1, d0)
+	fmt.Println(a)
+}
+
+const G = 9.80665
+
+func encodeAcc(a float32) (d2, d1, d0 byte) {
+	d2 = 0
+	d1 = 0
+	d0 = 0
+	x := a / G
+	fmt.Println(x)
+	v := uint32(0)
+	for i := 17; i >= 0; i-- {
+		t := float32(1.0 / math.Pow(2, float64(17-i)))
+		if t > x {
+			continue
+		} else {
+			v |= 1 << i
+			x -= t
+		}
+	}
+	fmt.Printf("%b, %b\n", v, v<<6)
+	v <<= 6
+	d0 = byte(v)
+	d1 = byte(v >> 8)
+	d2 = byte(v >> 16)
+	fmt.Printf("%b, %b, %b\n", d2, d1, d0)
+	return
+}
+
+func decode2Acc(d2, d1, d0 byte) float32 {
+	v := uint32(d2)<<10 | uint32(d1)<<2 | uint32(d0>>6)
+	fmt.Printf("%b\n", v)
+	x := float32(0)
+	for i := 17; i >= 0; i-- {
+		if v&(1<<i) != 0 {
+			t := float32(1.0 / math.Pow(2, float64(17-i)))
+			x += t
+		}
+	}
+	fmt.Println(x)
+	return x * G
+}
+
+func setBit(b uint32, bitNum uint32, value uint32) uint32 {
+	if value != 0 && value != 1 {
+		panic("value must be 0 or 1")
+	}
+	mask := uint32(1 << bitNum) // 创建掩码
+	b &= ^(mask)                // 清除位
+	b |= (mask & (value << bitNum))
+
+	return b
+}
+func setBit2(b byte, bitNum int, value byte) byte {
+	if value != 0 && value != 1 {
+		panic("value must be 0 or 1")
+	}
+	mask := byte(1 << uint(bitNum)) // 创建掩码
+	b &= ^(mask)                    // 清除位
+	b |= (mask & (value << uint(bitNum)))
+	return b
+}
+
+func encode(accSpeed float32) (d2, d1, d0 byte) {
+	//var accCode uint32 = math.Float32bits(accSpeed) >> 8
+	var accCode uint32 = 0
+	var sum float32 = accSpeed
+	for i := 17; i >= 0; i-- {
+		flag := float32(1 / math.Pow(2, float64(17-i)))
+		//更改对应bit位数据
+		if flag > sum {
+			//大于加速度，设置对应的bit为0
+			accCode = setBit(accCode, uint32(i), 0)
+		} else {
+			//设置对应的bit位1
+			accCode = setBit(accCode, uint32(i), 1)
+			sum = sum - flag
+		}
+		fmt.Println(i, flag, fmt.Sprintf("%032b", accCode), sum)
+	}
+	accCode = accCode << 8       //数据向左移动8位,取后3个字节
+	d2 = byte(accCode >> 16)     //取出d2数据
+	d1 = byte(accCode >> 8 << 8) // & 0xff //取出d1
+	d0 = byte(accCode << 20)     //& 0xf //取出d0高2位
+
+	//d2 = byte(accCode >> 16)     //取出d2数据
+	//d1 = byte(accCode << 8 >> 8) //取出d1
+	//d0 = byte(accCode << 16)     //取出d0高2位
+
+	return d2, d1, d0
+}
+func decode(d2, d1, d0 byte) float32 {
+	accCode := uint32(d2)<<16 | uint32(d1)<<8 | uint32(d0)>>4
+
+	// 因为编码时进行了左移8位的操作，所以这里需要右移回来
+	accCode >>= 8
+
+	// 重建浮点数
+	var accSpeed float32
+	for i := 0; i <= 17; i++ {
+		bitValue := accCode & (1 << uint32(i))
+		if bitValue != 0 {
+			// 如果该位为1，则累加相应的值到accSpeed
+			accSpeed += float32(1 / math.Pow(2, float64(17-i)))
+		}
+	}
+
+	return accSpeed
+}
+func TestAccSpeed(t *testing.T) {
+
+	speed := float32(0.54 / G)
+	fmt.Println("输入acc加速度g", speed)
+	d2, d1, d0 := encode(speed)
+	decode(d2, d1, d0)
+	accSpeed := decode(d2, d1, d0)
+	fmt.Println("输出速度:", accSpeed*G, "加速度:", accSpeed)
+}
+
+func TestCode66(t *testing.T) {
+	var accSpeed float32 = 0.44 / 9.8
+	fmt.Println(accSpeed)
+	//生成4字节返回数据
+	var accCode uint32 = 0
+	var sum float32 = 0
+	for i := 16; i >= 0; i-- {
+		flag := float32(1 / math.Pow(2, float64(17-i)))
+		//更改对应bit位数据
+		if flag > accSpeed {
+			//大于加速度，设置对应的bit为0
+			accCode = setBit(accCode, uint32(i), 0)
+		} else {
+			//设置对应的bit位1
+			accCode = setBit(accCode, uint32(i), 1)
+			if sum+flag > accSpeed {
+				//累加和超过accCode停止
+				break
+			}
+			sum = sum + flag
+		}
+		fmt.Println(i, flag, fmt.Sprintf("%b", accCode), sum)
+	}
+	//因为获取但是18位数据，这里向左移动14位（获取之前设置的bit数据）
+	fmt.Println(fmt.Sprintf("%032b", accCode))
+	fmt.Println(math.Float32frombits(accCode&0xffffc000) / 0x80000000)
+	accCode = accCode << 14
+	fmt.Println(fmt.Sprintf("%032b", accCode))
+	fmt.Println(float32(accCode) / 0x80000000)
+}
+func TestCode5(t *testing.T) {
+
+	var accSpeed float32 = (0.54 / 9.8) * 2
+	bbc := math.Float32bits(accSpeed)
+	fmt.Println(accSpeed, bbc, fmt.Sprintf("%08b", bbc), float32(bbc))
+	d2 := byte(bbc) & 0xFF
+	d1 := byte((bbc << 8) & 0xFF)
+	d0 := byte((bbc << 16) & 0xFF)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	result := (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+
+	fmt.Println(fmt.Sprintf("%08b", result), float32(result)/float32(0xFFFFFF), math.Float32frombits(result))
+	//arr := []byte{d2, d1, d0}
+	//var sum float32 = 0
+	//isBreak := false
+	//index := 1
+	//for i := 0; i < len(arr); i++ {
+	//	d := arr[i]
+	//
+	//}
+	/*	for i := 22; i >= 0; i-- {
+		d := float32(1 / math.Pow(2, float64(17-i)))
+		if isBreak {
+			result = setBit(result, uint32(i), 1)
+
+		} else {
+			if d > accSpeed {
+				result = setBit(result, uint32(i), 0)
+			} else if d < accSpeed {
+				result = setBit(result, uint32(i), 1)
+				if sum+d > accSpeed {
+					isBreak = true
+					//break
+				} else {
+					sum += d
+				}
+			}
+		}
+
+		fmt.Println(i, i, d, "--------", fmt.Sprintf("%8b", result), result, sum)
+	}*/
+	//aas := math.Float32frombits(result)
+	//fmt.Println(aas)
+	result = result & 0xffffc000
+	fmt.Println(result, float32(result)/dd, fmt.Sprintf("%08b", result))
+	fmt.Println(math.Float32frombits(result) / dd)
+}
+func TestCode3(t *testing.T) {
+	var accSpeed float32 = 0.54 / 9.8
+	bbc := math.Float32bits(accSpeed)
+	fmt.Println(accSpeed, bbc, fmt.Sprintf("%08b", math.Float32bits(accSpeed)))
+
+	d2 := byte(bbc) & 0xFF
+	d1 := byte((bbc << 8) & 0xFF)
+	d0 := byte((bbc << 16) & 0xFF)
+	//result := (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+
+	//d0 := byte(bbc & 0xFF)
+	// 提取 D1 字节
+	//d1 := byte((bbc >> 8) & 0xFF)
+	// 提取 D2 字节
+	//d2 := byte((bbc >> 16) & 0xFF)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	fmt.Println("----------------------------")
+	d2 = setBit2(d2, 7, 0)
+	d2 = setBit2(d2, 6, 0)
+	d2 = setBit2(d2, 5, 0)
+	d2 = setBit2(d2, 4, 0)
+	d2 = setBit2(d2, 3, 0)
+	d2 = setBit2(d2, 2, 0)
+	d2 = setBit2(d2, 1, 0)
+	d2 = setBit2(d2, 0, 1)
+
+	fmt.Println(fmt.Sprintf("%08b", d2))
+	fmt.Println(fmt.Sprintf("%08b", d1))
+	fmt.Println(fmt.Sprintf("%08b", d0))
+	var result uint32
+
+	//arr := []byte{d2, d1, d0}
+	//buf := bytes.NewBuffer(arr)
+	//binary.Read(buf, binary.BigEndian, &result)
+	result = (uint32(d2) << 16) | (uint32(d1) << 8) | (uint32(d0))
+	aas := math.Float32frombits(result)
+	fmt.Println(aas)
+	result = result & 0xffffc000
+	fmt.Println(result, fmt.Sprintf("%08b", result))
+	fmt.Println(aas / dd)
+
+}
+
+func TestCode2(t *testing.T) {
+	var accSpeed float32 = 0.54 / 9.8
+	fmt.Println(accSpeed)
+	var acc uint32 = math.Float32bits(0)
+	var sum float32 = 0
+	bit := 13
+	for i := 16; i >= 1; i-- {
+		d := float32(1 / math.Pow(2, float64(17-i)))
+		if d > accSpeed {
+			acc = setBit(acc, uint32(i+bit), 0)
+		} else if d < accSpeed {
+			acc = setBit(acc, uint32(i+bit), 1)
+			if sum+d > accSpeed {
+				break
+			} else {
+				sum += d
+			}
+		}
+		fmt.Println(i, i+bit, d, "--------", fmt.Sprintf("%8b", acc), acc, sum)
+	}
+
+	//d2 := byte(acc >> 24)
+	//d1 := byte((acc << 8) >> 24)
+	//d0 := byte((bbc << 16) >> 24)
+	//arr := []byte{d2, d1, 0, 0}
+	//u3 := binary.BigEndian.Uint32(arr)
+	u3 := acc & 0xffffc000
+	fmt.Println(u3, sum)
+	aas := math.Float32frombits(u3) / 0x80000000
+	fmt.Println(aas)
+}
+
+const dd = 0x80000000
+
+func encodeDecimal(decimal float64) ([]byte, []byte) {
+	// 将小数转换为二进制形式
+	binary := fmt.Sprintf("%.15f", decimal)
+
+	// 提取二进制小数部分
+	binaryDecimal := binary[2:]
+
+	// 左对齐并添加零
+	paddedBinaryDecimal := fmt.Sprintf("%015s", binaryDecimal)
+
+	// 将二进制小数转换为字节数组
+	d2 := []byte(paddedBinaryDecimal[:8])
+	d1 := []byte(paddedBinaryDecimal[8:])
+
+	return d2, d1
+}

third_party/acc/acc_vobc.go

@@ -2,19 +2,25 @@ package acc
 
 import (
 	"context"
+	"encoding/hex"
 	"fmt"
 	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/dto/common_proto"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
 	"math"
 	"sync"
 	"time"
 )
 
+// AccVobc 加速度计通信服务接口
 type AccVobc interface {
 	Start(accManager AccVobcManager)
 	Stop()
+	SendAcc(acc *message.Accelerometer)
+	TrainAccSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState)
 }
 
 type AccVobcManager interface {
@@ -27,11 +33,6 @@ var (
 	singleObj *accVobcService
 )
 
-const (
-	accInterval  = 15
-	accSpeedUnit = 9.8
-)
-
 func Default() AccVobc {
 	defer initLock.Unlock()
 	initLock.Lock()
@@ -50,15 +51,59 @@ type accVobcService struct {
 func (acc *accVobcService) Start(accManager AccVobcManager) {
 	config := accManager.GetRunAccConfig()
 	if config.RemoteIp == "" || config.RemotePort <= 0 || !config.Open {
+		return
 	}
 	acc.vobcClient = udp.NewClient(fmt.Sprintf("%v:%v", config.RemoteIp, config.RemotePort))
-	ctx, cancleFunc := context.WithCancel(context.Background())
-	acc.controlContext = cancleFunc
 	acc.radarVobcManager = accManager
-	go acc.sendTask(ctx)
 }
 
-func (acc *accVobcService) sendTask(ctx context.Context) {
+func (avs *accVobcService) SendAcc(acc *message.Accelerometer) {
+	if avs.vobcClient != nil {
+		data := acc.Encode()
+		hexStr := hex.EncodeToString(data)
+		slog.Info("发送 加速度消息数据:", hexStr)
+		err := avs.vobcClient.Send(data)
+		if err != nil {
+			slog.Info("发送 加速度消息数据失败:", hexStr)
+			return
+		}
+	}
+	//avs.vobcClient.Send(acc.BuildCanData())
+}
+func (avs *accVobcService) TrainAccSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
+	if trainState.VobcState.Tc1Active && trainState.TrainEndsA.AccEnable {
+		s := parseAccSpeedData(info.Acceleration, trainState.TrainEndsA)
+		avs.SendAcc(&message.Accelerometer{Acc: s})
+	} else if trainState.VobcState.Tc2Active && trainState.TrainEndsB.AccEnable {
+		s := parseAccSpeedData(info.Acceleration, trainState.TrainEndsB)
+		avs.SendAcc(&message.Accelerometer{Acc: s})
+	} else {
+		avs.SendAcc(&message.Accelerometer{Acc: 0})
+	}
+}
+
+func parseAccSpeedData(accSpeed float32, trainEndState *common_proto.TrainEndsState) float32 {
+	//如果差值速度和速度输出都填写，那么就以速度输出为优先
+	//如果动力学速度-差值速度小于0，呢么输出的就是0（不能小于0）
+
+	trainEndState.AccCheckTime = int32(trainEndState.AccCheckTimeOverAt - time.Now().Unix())
+	if trainEndState.AccCheckTime <= 0 {
+		//判断雷达检测时间是否到期
+		trainEndState.AccCheckTime = 0
+		if trainEndState.AccCheckTimeOverAt != 0 {
+			trainEndState.AccCheckSpeedDiff = 0
+			return accSpeed
+		}
+	}
+	if trainEndState.AccCheckSpeedDiff > 0 {
+		//如果雷达检测速度差值填写，那么就以速度差值为主
+		return float32(math.Abs(float64(accSpeed - trainEndState.AccCheckSpeedDiff)))
+	} else {
+		return accSpeed
+	}
+}
+
+/*func (acc *accVobcService) sendTask(ctx context.Context) {
 	for {
 		select {
 		case <-ctx.Done():
@@ -67,13 +112,14 @@ func (acc *accVobcService) sendTask(ctx context.Context) {
 		}
 		trainStatus := acc.radarVobcManager.FindAccTrain()
 		if trainStatus != nil {
+			// 发送加速度信息
 			speedAcc := trainStatus.DynamicState.Acceleration
 			t := speedAcc / accSpeedUnit
 			acc.vobcClient.SendMsg(&message.Accelerometer{Acc: math.Float32bits(t)})
 		}
 		time.Sleep(time.Millisecond * accInterval)
 	}
-}
+}*/
 
 func (acc *accVobcService) Stop() {
 	if acc.controlContext != nil {

third_party/axle_device/beijing12/msg/common.go

@@ -0,0 +1,61 @@
+package msg
+
+import (
+	"bytes"
+	"encoding/binary"
+)
+
+const (
+	ProtocolType_Sync   = 0x01
+	ProtocolType_NoSync = 0x02
+)
+
+const (
+	MessageType_A   = 0x80
+	MessageType_B   = 0x81
+	MessageType_SSE = 0x90
+	MessageType_SSR = 0x91
+)
+
+const (
+	CRC_POLY_1 = 0x100D4E63 //通道1的CRC多项式
+	CRC_POLY_2 = 0x8CE56011 //通道2的CRC多项式
+)
+
+const (
+	SCW_1 = 0xAE390B5A //通道1的SCW
+	SCW_2 = 0xC103589C //通道2的SCW
+)
+
+const (
+	T_POLY_1 uint32 = 0x0FC22F87 //通道1的时间戳生成多项式
+	T_POLY_2 uint32 = 0xC3E887E1 //通道2的时间戳生成多项式
+)
+
+const Twait_sse = 3 //默认sse等待回应的周期数
+
+func GetMessageType(data []byte) byte {
+	return data[1]
+}
+
+type MsgHeader struct {
+	ProtocolType byte   //协议交互类别
+	MessageType  byte   //报文类型
+	SourceAddr   uint16 //源地址
+	TargetAddr   uint16 //目的地址
+}
+
+func (m *MsgHeader) encode() []byte {
+	var data []byte
+	data = append(data, m.ProtocolType)
+	data = append(data, m.MessageType)
+	data = binary.LittleEndian.AppendUint16(data, m.SourceAddr)
+	data = binary.LittleEndian.AppendUint16(data, m.TargetAddr)
+	return data
+}
+
+func (m *MsgHeader) decode(data []byte) error {
+	buf := bytes.NewBuffer(data)
+	err := binary.Read(buf, binary.LittleEndian, m)
+	return err
+}

third_party/axle_device/beijing12/msg/rsd.go

@@ -0,0 +1,142 @@
+package msg
+
+import (
+	"bytes"
+	"encoding/binary"
+	"joylink.club/bj-rtsts-server/third_party/message"
+)
+
+// 实时安全数据消息
+type RsdMsg struct {
+	MsgHeader
+	SeqNum      uint32 //序列号
+	UserDataLen uint16 //用户数据包字节总数+8
+	Svc1        uint32 //CRC1^SID1^T1(N)^SCW1
+	Svc2        uint32 //CRC2^SID2^T2(N)^SCW2
+
+	UserData []byte //用户数据包
+
+	Tail uint16 //报文尾 CRC16
+}
+
+func (r *RsdMsg) Encode() []byte {
+	data := r.MsgHeader.encode()
+	data = binary.LittleEndian.AppendUint32(data, r.SeqNum)
+	data = binary.LittleEndian.AppendUint16(data, r.UserDataLen)
+	data = binary.LittleEndian.AppendUint32(data, r.Svc1)
+	data = binary.LittleEndian.AppendUint32(data, r.Svc2)
+	data = append(data, r.UserData...)
+	r.Tail = message.Rssp_I_Crc16(data)
+	data = binary.LittleEndian.AppendUint16(data, r.Tail)
+	return data
+}
+
+func (r *RsdMsg) Decode(data []byte) error {
+	err := r.MsgHeader.decode(data)
+	if err != nil {
+		return err
+	}
+	buf := bytes.NewBuffer(data[6:]) //去掉报文头的6个字节
+	fields := []any{&r.SeqNum, &r.UserDataLen, &r.Svc1, &r.Svc2}
+	for _, field := range fields {
+		err := binary.Read(buf, binary.LittleEndian, field)
+		if err != nil {
+			return err
+		}
+	}
+	r.UserData = data[len(data)-buf.Len() : len(data)-2]
+	r.Tail = binary.LittleEndian.Uint16(data[len(data)-2:])
+	return nil
+}
+
+// RsdMsgBuilder 用来构建RSD，将无需用户赋值的字段去掉了
+type RsdMsgBuilder struct {
+	MsgHeader
+	SeqNum   uint32
+	Svc1     uint32
+	Svc2     uint32
+	UserData []byte
+}
+
+func (b *RsdMsgBuilder) Build() *RsdMsg {
+	return &RsdMsg{
+		MsgHeader:   b.MsgHeader,
+		SeqNum:      b.SeqNum,
+		UserDataLen: uint16(len(b.UserData) + 8),
+		Svc1:        b.Svc1,
+		Svc2:        b.Svc2,
+		UserData:    b.UserData,
+		Tail:        message.Rssp_I_Crc16(b.UserData),
+	}
+}
+
+func (b *RsdMsgBuilder) Encode() []byte {
+	return b.Build().Encode()
+}
+
+// CmdInfos 来自联锁的数据帧
+type CmdInfos []*cmdInfo
+
+func (f *CmdInfos) Decode(data []byte) error {
+	for _, b := range data {
+		cmdInfo := &cmdInfo{}
+		cmdInfo.decode(b)
+		*f = append(*f, cmdInfo)
+	}
+	return nil
+}
+
+// StateInfos 发给联锁的数据帧
+type StateInfos []*StateInfo
+
+func (t StateInfos) Encode() []byte {
+	var data []byte
+	for _, info := range t {
+		data = append(data, info.encode()...)
+	}
+	return data
+}
+
+type cmdInfo struct {
+	PRST  bool //不使用
+	RST   bool //不使用
+	DRST  bool //直接复位 位索引5
+	RRST  bool //不使用
+	RSTR  bool //不使用
+	PDRST bool //预复位 位索引2
+	PRRST bool //不使用
+}
+
+func (c *cmdInfo) decode(data byte) {
+	c.DRST = (data>>5)&1 == 1
+	c.PDRST = (data>>2)&1 == 1
+}
+
+type StateInfo struct {
+	CLR bool //计轴出清 位索引0-7（0字节的7位）
+	OCC bool //计轴占用 0-6
+	RAC bool //计轴复位反馈 1-6
+	RJO bool //运营原因拒绝计轴复位 1-5
+	RJT bool //技术原因拒绝计轴复位 1-4
+}
+
+func (s *StateInfo) encode() []byte {
+	var b0 byte
+	var b1 byte
+	if s.CLR {
+		b0 = b0 | 1<<7
+	}
+	if s.OCC {
+		b0 = b0 | 1<<6
+	}
+	if s.RAC {
+		b1 = b1 | 1<<6
+	}
+	if s.RJO {
+		b1 = b1 | 1<<5
+	}
+	if s.RJT {
+		b1 = b1 | 1<<4
+	}
+	return []byte{b0, b1}
+}

third_party/axle_device/beijing12/msg/sse.go

@@ -0,0 +1,30 @@
+package msg
+
+import (
+	"bytes"
+	"encoding/binary"
+	"joylink.club/bj-rtsts-server/third_party/message"
+)
+
+type SseMsg struct {
+	MsgHeader
+	SeqNum  uint32 // 序列号
+	SeqEnq1 uint32 //时序校正请求通道1 SID_1^T_1(NE)
+	SeqEnq2 uint32 // 时序校正请求通道2 SID_2^T_2(NE)
+	Tail    uint16 //报文位 CRC16
+}
+
+func (s *SseMsg) Encode() []byte {
+	data := s.MsgHeader.encode()
+	data = binary.LittleEndian.AppendUint32(data, s.SeqNum)
+	data = binary.LittleEndian.AppendUint32(data, s.SeqEnq1)
+	data = binary.LittleEndian.AppendUint32(data, s.SeqEnq2)
+	s.Tail = message.Rssp_I_Crc16(data)
+	data = binary.LittleEndian.AppendUint16(data, s.Tail)
+	return data
+}
+
+func (s *SseMsg) Decode(data []byte) error {
+	buf := bytes.NewBuffer(data)
+	return binary.Read(buf, binary.LittleEndian, s)
+}

third_party/axle_device/beijing12/msg/ssr.go

@@ -0,0 +1,34 @@
+package msg
+
+import (
+	"bytes"
+	"encoding/binary"
+	"joylink.club/bj-rtsts-server/third_party/message"
+)
+
+type SsrMsg struct {
+	MsgHeader
+	SeqNumSsr uint32 // 应答方的序列号
+	SeqNumSse uint32 // 请求方的序列号
+	SeqInit1  uint32 // 时序初始化通道1 SEQENQ_1^SID_1^T_1(NR)^DATAVER_1
+	SeqInit2  uint32 // 时序初始化通道2 SEQENQ_2^SID_2^T_2(NR)^DATAVER_2
+	DataVer   byte   // 数据版本号 预留固定值0x01
+	Tail      uint16 // 报文位 CRC16
+}
+
+func (s *SsrMsg) Encode() []byte {
+	data := s.MsgHeader.encode()
+	data = binary.LittleEndian.AppendUint32(data, s.SeqNumSsr)
+	data = binary.LittleEndian.AppendUint32(data, s.SeqNumSse)
+	data = binary.LittleEndian.AppendUint32(data, s.SeqInit1)
+	data = binary.LittleEndian.AppendUint32(data, s.SeqInit2)
+	data = append(data, s.DataVer)
+	s.Tail = message.Rssp_I_Crc16(data)
+	data = binary.LittleEndian.AppendUint16(data, s.Tail)
+	return data
+}
+
+func (s *SsrMsg) Decode(data []byte) error {
+	buf := bytes.NewBuffer(data)
+	return binary.Read(buf, binary.LittleEndian, s)
+}

third_party/axle_device/beijing12/service.go

@@ -0,0 +1,650 @@
+package beijing12
+
+import (
+	"context"
+	"fmt"
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/sys_error"
+	"joylink.club/bj-rtsts-server/third_party/axle_device/beijing12/msg"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/tpapi"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
+	"joylink.club/rtsssimulation/component"
+	"joylink.club/rtsssimulation/entity"
+	"joylink.club/rtsssimulation/fi"
+	"joylink.club/rtsssimulation/repository/model/proto"
+	"log/slog"
+	"runtime/debug"
+	"strconv"
+	"sync"
+	"time"
+)
+
+var ( //日志
+	logTag        = "[北京12号线计轴通信]"
+	privateLogger *slog.Logger
+	loggerInit    sync.Once
+)
+
+// key-集中站编号
+var contextMap = make(map[string]*serviceContext)
+var mu = sync.Mutex{}
+
+type serviceContext struct {
+	sim                   *memory.VerifySimulation
+	config                config.RsspAxleConfig
+	server                udp.UdpServer
+	client                udp.UdpClient
+	cancelFunc            context.CancelFunc
+	ciSectionIndexConfigs []*proto.CiSectionCodePoint
+	sectionStateMap       map[string]*fi.PhysicalSectionState //存储预复位/复位请求的返回结果
+	state                 tpapi.ThirdPartyApiServiceState     // 服务状态（用于展示）
+
+	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
+	remoteSid1     uint32           //联锁SID1 从配置中的16进制字符串转来的
+	remoteSid2     uint32           //联锁SID2 从配置中的16进制字符串转来的
+	localSid1      uint32           //计轴SID1 从配置中的16进制字符串转来的
+	localSid2      uint32           //计轴SID2 从配置中的16进制字符串转来的
+	remoteSinit1   uint32           //联锁SINIT1 从配置中的16进制字符串转来的
+	remoteSinit2   uint32           //联锁SINIT2 从配置中的16进制字符串转来的
+	localSinit1    uint32           //计轴SINT1 从配置中的16进制字符串转来的
+	localSinit2    uint32           //计轴SINT2 从配置中的16进制字符串转来的
+	remoteDataVer1 uint32           //联锁DATAVER1 从配置中的16进制字符串转来的
+	remoteDataVer2 uint32           //联锁DATAVER2 从配置中的16进制字符串转来的
+	localDataVer1  uint32           //计轴DATAVER1 从配置中的16进制字符串转来的
+	localDataVer2  uint32           //计轴DATAVER2 从配置中的16进制字符串转来的
+	msgChan        <-chan []byte    //消息队列
+	seqNum         uint32           //当前的序列号
+	lastSeqParam1  uint32           //最近一次的有效时序参数 remoteSinit1~+[remoteSid1^t1(n)]
+	lastSeqParam2  uint32           //最近一次的有效时序参数 remoteSinit2~+[remoteSid2^t2(n)]
+	lfsr1          *lfsr            //用来计算时间戳的lfsr
+	lfsr2          *lfsr            //用来计算时间戳的lfsr
+	sseMsg         *msg.SseMsg      //发送出去的时序校验请求
+	sseWaitTimer   <-chan time.Time //sse超时定时器
+	precSinit1     uint32           // 用来从SSR消息的SeqInit中提取时序参数
+	precSinit2     uint32           // 用来从SSR消息的SeqInit中提取时序参数
+}
+
+func CollectAllServices() []tpapi.ThirdPartyApiService {
+	var services []tpapi.ThirdPartyApiService
+	for _, service := range contextMap {
+		services = append(services, service)
+	}
+	return services
+}
+
+func (s *serviceContext) Type() state_proto.SimulationThirdPartyApiService_Type {
+	return state_proto.SimulationThirdPartyApiService_AxleSection
+}
+
+func (s *serviceContext) State() tpapi.ThirdPartyApiServiceState {
+	return s.state
+}
+
+func (s *serviceContext) FindAppendApiService() []tpapi.ThirdPartyApiService {
+	return nil
+}
+
+func (s *serviceContext) TrueService() bool {
+	return true
+}
+
+func (s *serviceContext) ServiceDesc() string {
+	return logTag
+}
+
+func Start(simulation *memory.VerifySimulation) {
+	mu.Lock()
+	defer mu.Unlock()
+	//检查服务启动条件
+	rsspConfig := simulation.GetRunConfig().RsspAxleConfig
+	if !rsspConfig.Open {
+		return
+	}
+	if contextMap[rsspConfig.StationCode] != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]服务已启动", logTag, rsspConfig.StationCode)))
+	}
+	station := simulation.Repo.FindStationByStationName(rsspConfig.StationCode)
+	if station == nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]不存在", logTag, rsspConfig.StationCode)))
+	}
+	ref := simulation.Repo.GetCentralizedStationRef(station.Id())
+	if ref == nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]关联数据不存在", logTag, rsspConfig.StationCode)))
+	}
+	if len(ref.SectionCodePoints) == 0 {
+		logger().Warn(fmt.Sprintf("集中站[%s]无区段编码数据，服务不启动", rsspConfig.StationCode))
+		return
+	}
+	//初始化服务上下文
+	serviceCtx := initServiceContext(rsspConfig, ref, simulation)
+	//准备启动服务
+	msgChan := make(chan []byte, 100)
+	serviceCtx.msgChan = msgChan
+	netAConfig := rsspConfig.NetAConfig
+	server := udp.NewServer(fmt.Sprintf(":%d", netAConfig.LocalPort), func(b []byte) {
+		//logger().Info(fmt.Sprintf("收到数据：%x", b))
+		msgChan <- b
+	})
+	client := udp.NewClient(fmt.Sprintf("%s:%d", netAConfig.RemoteIp, netAConfig.RemotePort))
+	err := server.Listen()
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]服务启动失败", logTag, rsspConfig.StationCode)))
+	} else {
+		logger().Info(fmt.Sprintf("监听[:%d]", netAConfig.LocalPort))
+	}
+	serviceCtx.server = server
+	serviceCtx.client = client
+	cancelCtx, cancelFunc := context.WithCancel(context.Background())
+	serviceCtx.cancelFunc = cancelFunc
+	serviceCtx.runCollectTask(cancelCtx)
+	serviceCtx.runHandleMsgTask(cancelCtx)
+	contextMap[rsspConfig.StationCode] = serviceCtx
+}
+
+func initServiceContext(rsspConfig config.RsspAxleConfig, ref *proto.CentralizedStationRef, simulation *memory.VerifySimulation) *serviceContext {
+	sourceAddr, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteAddr, 16, 16)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析源地址[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteAddr)))
+	}
+	targetAddr, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalAddr, 16, 16)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析目的地址[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalAddr)))
+	}
+	remoteSid1, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteSid1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁SID1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteSid1)))
+	}
+	remoteSid2, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteSid2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁SID2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteSid2)))
+	}
+	localSid1, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalSid1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴SID1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalSid1)))
+	}
+	localSid2, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalSid2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴SID2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalSid2)))
+	}
+	remoteSinit1, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteSinit1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁SINT1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteSinit1)))
+	}
+	remoteSinit2, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteSinit2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁SINT2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteSinit2)))
+	}
+	localSinit1, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalSinit1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴SINT1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalSinit1)))
+	}
+	localSinit2, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalSinit2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴SINT2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalSinit2)))
+	}
+	remoteDataVer1, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteDataVer1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁DATAVER_1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteDataVer1)))
+	}
+	remoteDataVer2, err := strconv.ParseUint(rsspConfig.NetAConfig.RemoteDataVer2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析联锁DATAVER_2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.RemoteDataVer2)))
+	}
+	localDataVer1, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalDataVer1, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴DATAVER_1[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalDataVer1)))
+	}
+	localDataVer2, err := strconv.ParseUint(rsspConfig.NetAConfig.LocalDataVer2, 16, 32)
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s集中站[%s]解析计轴DATAVER_2[%s]出错", logTag, rsspConfig.StationCode, rsspConfig.NetAConfig.LocalDataVer2)))
+	}
+	//服务初始化及启动
+	serviceCtx := &serviceContext{
+		sim:                   simulation,
+		config:                rsspConfig,
+		ciSectionIndexConfigs: ref.SectionCodePoints,
+		sectionStateMap:       make(map[string]*fi.PhysicalSectionState),
+
+		remoteAddr: uint16(sourceAddr),
+		localAddr:  uint16(targetAddr),
+
+		remoteSid1: uint32(remoteSid1),
+		remoteSid2: uint32(remoteSid2),
+		localSid1:  uint32(localSid1),
+		localSid2:  uint32(localSid2),
+
+		remoteSinit1: uint32(remoteSinit1),
+		remoteSinit2: uint32(remoteSinit2),
+		localSinit1:  uint32(localSinit1),
+		localSinit2:  uint32(localSinit2),
+
+		remoteDataVer1: uint32(remoteDataVer1),
+		remoteDataVer2: uint32(remoteDataVer2),
+		localDataVer1:  uint32(localDataVer1),
+		localDataVer2:  uint32(localDataVer2),
+
+		lfsr1: &lfsr{value: uint32(localSid1), poly: msg.T_POLY_1},
+		lfsr2: &lfsr{value: uint32(localSid2), poly: msg.T_POLY_2},
+
+		precSinit1: calculatePrecSinit(uint32(remoteSinit1), uint32(localSid1), uint32(remoteDataVer1)),
+		precSinit2: calculatePrecSinit(uint32(remoteSinit2), uint32(localSid2), uint32(remoteDataVer2)),
+	}
+	return serviceCtx
+}
+
+func calculatePrecSinit(remoteSinit uint32, localSid uint32, remoteDataVer uint32) uint32 {
+	l1 := lfsr{value: remoteSinit, poly: msg.T_POLY_1}
+	l1.add(localSid ^ remoteDataVer)
+	valueTmp := l1.value
+	l1.load(0).post(valueTmp)
+	return l1.value
+}
+
+func Stop(simulation *memory.VerifySimulation) {
+	mu.Lock()
+	defer mu.Unlock()
+	rsspConfig := simulation.GetRunConfig().RsspAxleConfig
+	serviceCtx := contextMap[rsspConfig.StationCode]
+	if serviceCtx == nil {
+		return
+	}
+	serviceCtx.stop()
+	delete(contextMap, rsspConfig.StationCode)
+}
+
+func (s *serviceContext) stop() {
+	if s.server != nil {
+		s.server.Close()
+	}
+	if s.client != nil {
+		s.client.Close()
+	}
+	s.cancelFunc()
+}
+
+func (s *serviceContext) runCollectTask(ctx context.Context) {
+	go func() {
+		defer func() {
+			if err := recover(); err != nil {
+				logger().Error("状态收集任务出错，记录后重启", "error", err, "stack", string(debug.Stack()))
+				s.runCollectTask(ctx)
+			}
+		}()
+		for range time.Tick(time.Duration(s.config.NetAConfig.Period) * time.Millisecond) {
+			select {
+			case <-ctx.Done():
+				return
+			default:
+				frame := s.collect()
+				data := frame.Encode()
+				err := s.client.Send(data)
+				if err != nil {
+					s.state = tpapi.ThirdPartyState_Broken
+					logger().Error("发送状态数据失败", "error", err)
+				} else {
+					s.state = tpapi.ThirdPartyState_Normal
+					//logger().Info(fmt.Sprintf("发送数据：%x", data))
+				}
+			}
+		}
+	}()
+}
+
+func (s *serviceContext) collect() *msg.RsdMsgBuilder {
+	worldData := entity.GetWorldData(s.sim.World)
+	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.PhysicalSectionManagerType.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
+		}
+	}
+	userData := []byte{0x00} //检查字节
+	userData = append(userData, stateInfos.Encode()...)
+	//更新序列号及时间戳
+	s.seqNum++
+	s.lfsr1.add(0)
+	s.lfsr2.add(0)
+	//构建消息
+	builder := &msg.RsdMsgBuilder{
+		MsgHeader: msg.MsgHeader{
+			ProtocolType: msg.ProtocolType_Sync,
+			MessageType:  msg.MessageType_B, //从抓包数据里看到的
+			SourceAddr:   s.localAddr,
+			TargetAddr:   s.remoteAddr,
+		},
+		SeqNum:   s.seqNum,
+		Svc1:     s.calculateSvc1(userData),
+		Svc2:     s.calculateSvc2(userData),
+		UserData: userData,
+	}
+	return builder
+}
+
+func (s *serviceContext) calculateSvc1(userData []byte) uint32 {
+	return message.Rssp_I_Crc32C1(userData) ^ s.localSid1 ^ s.lfsr1.value ^ msg.SCW_1
+}
+
+func (s *serviceContext) calculateSvc2(userData []byte) uint32 {
+	return message.Rssp_I_Crc32C2(userData) ^ s.localSid2 ^ s.lfsr2.value ^ msg.SCW_2
+}
+
+func (s *serviceContext) runHandleMsgTask(ctx context.Context) {
+	go func() {
+		defer func() {
+			if err := recover(); err != nil {
+				logger().Error("消息处理任务出错，记录后重启", "error", err, "stack", string(debug.Stack()))
+				s.runHandleMsgTask(ctx)
+			}
+		}()
+		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
+			case <-s.sseWaitTimer: //SSE消息等待超时
+				s.sseMsg = nil
+			case data := <-s.msgChan:
+				messageType := msg.GetMessageType(data)
+				switch messageType {
+				case msg.MessageType_A, msg.MessageType_B:
+					s.handleRsdMsg(data)
+				case msg.MessageType_SSE:
+					s.handleSseMsg(data)
+				case msg.MessageType_SSR:
+					s.handleSsrMsg(data)
+				default:
+					logger().Warn(fmt.Sprintf("未知的消息类型[%x]", messageType))
+				}
+			}
+		}
+	}()
+}
+
+func (s *serviceContext) handleRsdMsg(data []byte) {
+	if s.sseMsg != nil { //正在时序校正过程中
+		return
+	}
+	rsdMsg := &msg.RsdMsg{}
+	err := rsdMsg.Decode(data)
+	if err != nil {
+		logger().Error("解析RSD数据出错", "error", err)
+		return
+	}
+	//校验
+	validateResult := s.validateRsdMsg(rsdMsg, data)
+	if validateResult == 0 {
+		return
+	} else if validateResult == 2 {
+		//开启时序校正流程
+		logger().Error("时序校验失败，开始时序校正")
+		s.startSeeProgress()
+		return
+	}
+	//流程处理
+	cmdInfos := msg.CmdInfos{}
+	err = cmdInfos.Decode(rsdMsg.UserData[1:]) //用户数据第一个字节是[检查字节]
+	if err != nil {
+		logger().Error("解析命令信息出错", "error", err)
+		return
+	}
+	//驱动
+	for i, cmdInfo := range cmdInfos {
+		sectionIndexConfig := s.ciSectionIndexConfigs[i]
+		if cmdInfo.PDRST {
+			state, err := fi.PhysicalSectionPdrstDrive(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
+		}
+		if cmdInfo.DRST {
+			state, err := fi.PhysicalSectionDrstDrive(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
+		}
+	}
+}
+
+func (s *serviceContext) handleSseMsg(data []byte) {
+	sseMsg := &msg.SseMsg{}
+	err := sseMsg.Decode(data)
+	if err != nil {
+		logger().Error("解析SSE数据出错", "error", err)
+		return
+	}
+	//校验
+	if !s.validateSseMsg(sseMsg) {
+		logger().Error("SSE数据校验失败")
+		return
+	}
+	logger().Info(fmt.Sprintf("SSE数据通过校验：%x", data))
+	//回复
+	ssrMsg := msg.SsrMsg{
+		MsgHeader: msg.MsgHeader{
+			ProtocolType: msg.ProtocolType_Sync,
+			MessageType:  msg.MessageType_SSR,
+			SourceAddr:   s.localAddr,
+			TargetAddr:   s.remoteAddr,
+		},
+		SeqNumSsr: s.seqNum,
+		SeqNumSse: sseMsg.SeqNum,
+		SeqInit1:  s.calculateSeqInit1(sseMsg.SeqEnq1),
+		SeqInit2:  s.calculateSeqInit2(sseMsg.SeqEnq2),
+		DataVer:   0x01,
+	}
+	ssrBytes := ssrMsg.Encode()
+	err = s.client.Send(ssrBytes)
+	if err != nil {
+		s.state = tpapi.ThirdPartyState_Broken
+		logger().Error("发送SSR数据失败", "error", err)
+	} else {
+		s.state = tpapi.ThirdPartyState_Normal
+		logger().Info(fmt.Sprintf("发送SSR数据：%x", ssrBytes))
+		//更新本地数据
+		s.lastSeqParam1 = (&lfsr{value: s.remoteSinit1, poly: msg.T_POLY_1}).add(sseMsg.SeqEnq1)
+		s.lastSeqParam2 = (&lfsr{value: s.remoteSinit2, poly: msg.T_POLY_2}).add(sseMsg.SeqEnq2)
+	}
+}
+
+func (s *serviceContext) handleSsrMsg(data []byte) {
+	if s.sseMsg == nil { //不在时序校正过程中
+		logger().Warn("不在时序校正流程中，丢弃SSR数据")
+		return
+	}
+	ssrMsg := &msg.SsrMsg{}
+	err := ssrMsg.Decode(data)
+	if err != nil {
+		logger().Error("解析SSR数据出错", "error", err)
+		return
+	}
+	//校验
+	if !s.validateSsrMsg(ssrMsg) {
+		logger().Error("SSR数据校验失败")
+		return
+	}
+	logger().Info("SSR数据通过校验")
+	//完成校正时序（precSinit~+t_e == Sinit_r~+(sid_r^t_r)）
+	s.lastSeqParam1 = (&lfsr{value: s.precSinit1, poly: msg.T_POLY_1}).add(ssrMsg.SeqInit1 ^ (s.sseMsg.SeqEnq1 ^ s.localSid1))
+	s.lastSeqParam2 = (&lfsr{value: s.precSinit2, poly: msg.T_POLY_2}).add(ssrMsg.SeqInit2 ^ (s.sseMsg.SeqEnq2 ^ s.localSid2))
+	s.sseMsg = nil
+}
+
+// 启动SSE流程
+func (s *serviceContext) startSeeProgress() {
+	sseMsg := &msg.SseMsg{
+		MsgHeader: msg.MsgHeader{
+			ProtocolType: msg.ProtocolType_Sync,
+			MessageType:  msg.MessageType_SSE,
+			SourceAddr:   s.localAddr,
+			TargetAddr:   s.remoteAddr,
+		},
+		SeqNum:  s.seqNum,
+		SeqEnq1: s.calculateSeqEnq1(),
+		SeqEnq2: s.calculateSeqEnq2(),
+	}
+	sseBytes := sseMsg.Encode()
+	err := s.client.Send(sseBytes)
+	if err != nil {
+		s.state = tpapi.ThirdPartyState_Broken
+		logger().Error("发送SSE数据失败", "error", err)
+	} else {
+		s.state = tpapi.ThirdPartyState_Normal
+		logger().Info(fmt.Sprintf("发送SSE数据：%x", sseBytes))
+		s.sseMsg = sseMsg
+		s.sseWaitTimer = time.After(time.Duration(s.config.NetAConfig.Period*msg.Twait_sse) * time.Millisecond)
+	}
+}
+
+// 校验RSD消息
+// return 0-时序校验之外的失败 1-成功 2-时序异常
+func (s *serviceContext) validateRsdMsg(rsdMsg *msg.RsdMsg, data []byte) int {
+	if rsdMsg.SourceAddr != s.remoteAddr {
+		logger().Error(fmt.Sprintf("源地址[%x]不正确[%s]", rsdMsg.SourceAddr, s.config.NetAConfig.RemoteAddr))
+		return 0
+	}
+	if rsdMsg.TargetAddr != s.localAddr {
+		logger().Error(fmt.Sprintf("目的地址[%x]不正确[%s]", rsdMsg.TargetAddr, s.config.NetAConfig.LocalAddr))
+		return 0
+	}
+	if len(rsdMsg.UserData)-1 != len(s.ciSectionIndexConfigs) { //用户数据第一个字节是[检查字节]
+		logger().Error(fmt.Sprintf("命令数据长度[%d]与配置长度[%d]不符", len(rsdMsg.UserData), len(s.ciSectionIndexConfigs)))
+		return 0
+	}
+	if message.Rssp_I_Crc16(data[:len(data)-2]) != rsdMsg.Tail {
+		logger().Error(fmt.Sprintf("报文尾验证失败"))
+		return 0
+	}
+	if !s.validateSvc1(rsdMsg.Svc1, rsdMsg.UserData) {
+		logger().Error(fmt.Sprintf("SVC1[%x]校验未通过", rsdMsg.Svc1))
+		return 2
+	}
+	if !s.validateSvc2(rsdMsg.Svc2, rsdMsg.UserData) {
+		logger().Error(fmt.Sprintf("SVC2[%x]校验未通过", rsdMsg.Svc2))
+		return 2
+	}
+	return 1
+}
+
+func (s *serviceContext) validateSseMsg(sseMsg *msg.SseMsg) bool {
+	return true
+}
+
+func (s *serviceContext) validateSsrMsg(ssrMsg *msg.SsrMsg) bool {
+	if s.sseMsg.SeqNum != ssrMsg.SeqNumSse {
+		logger().Error(fmt.Sprintf("SSR的时序号[%d]与请求方不符[%d]", ssrMsg.SeqNumSse, s.sseMsg.SeqNum))
+		return false
+	}
+	return true
+}
+
+func (s *serviceContext) validateSvc1(svc uint32, userData []byte) bool {
+	return s.validateSvc(svc, msg.SCW_1, message.Rssp_I_Crc32C1(userData), s.remoteSid1, s.remoteSinit1, &s.lastSeqParam1, msg.T_POLY_1)
+}
+
+func (s *serviceContext) validateSvc2(svc uint32, userData []byte) bool {
+	return s.validateSvc(svc, msg.SCW_2, message.Rssp_I_Crc32C2(userData), s.remoteSid2, s.remoteSinit2, &s.lastSeqParam2, msg.T_POLY_2)
+}
+
+func (s *serviceContext) validateSvc(svc uint32, scw uint32, crc1 uint32, sid uint32, sinit uint32, lastSeqParam *uint32, tPoly uint32) bool {
+	seqParam := crc1 ^ svc ^ scw
+	for i := 0; i <= s.config.NetAConfig.MaxDeviation; i++ {
+		seqLfsr := lfsr{value: *lastSeqParam, poly: tPoly}
+		constLfsr := lfsr{value: sinit, poly: tPoly}
+		constLfsr.add(sid)
+		for j := 0; j < i; j++ {
+			seqLfsr.add(0)
+			constLfsr.add(0)
+		}
+		if seqLfsr.add(seqParam) == constLfsr.add(sid) {
+			*lastSeqParam = seqLfsr.load(sinit).add(seqParam)
+			return true
+		}
+	}
+	return false
+}
+
+func (s *serviceContext) calculateSeqEnq1() uint32 {
+	return s.localSid1 ^ s.lfsr1.value
+}
+
+func (s *serviceContext) calculateSeqEnq2() uint32 {
+	return s.localSid2 ^ s.lfsr2.value
+}
+
+func (s *serviceContext) calculateSeqInit1(seqEnq1 uint32) uint32 {
+	return seqEnq1 ^ s.localSid1 ^ s.localDataVer1 ^ s.lfsr1.value
+}
+
+func (s *serviceContext) calculateSeqInit2(seqEnq2 uint32) uint32 {
+	return seqEnq2 ^ s.localSid2 ^ s.localDataVer2 ^ s.lfsr2.value
+}
+
+type lfsr struct {
+	value uint32
+	poly  uint32 //时间戳生成多项式
+}
+
+func (l *lfsr) load(value uint32) *lfsr {
+	l.value = value
+	return l
+}
+
+func (l *lfsr) add(x uint32) uint32 {
+	l.value = l.value ^ x
+	var carry bool
+	for i := 0; i < 32; i++ {
+		carry = l.value&0x80000000 != 0
+		l.value = l.value << 1
+		if carry {
+			l.value ^= l.poly
+		}
+	}
+	return l.value
+}
+
+func (l *lfsr) post(x uint32) uint32 {
+
+	var carry bool
+	for i := 0; i < 32; i++ {
+		carry = x&1 == 1
+		if carry {
+			x ^= l.poly
+		}
+		x = x >> 1
+		if carry {
+			x |= 0x80000000
+		}
+	}
+	l.value ^= x
+	return l.value
+}
+
+func logger() *slog.Logger {
+	loggerInit.Do(func() {
+		privateLogger = slog.Default().With("tag", logTag)
+	})
+	return privateLogger
+}

third_party/axle_device/beijing12/service_test.go

@@ -0,0 +1,19 @@
+package beijing12
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/axle_device/beijing12/msg"
+	"testing"
+)
+
+func Test_serviceContext_calculateSvc1(t *testing.T) {
+	serviceCtx := &serviceContext{
+		localSid1: 0x7665986c,
+		localSid2: 0x67da286e,
+		lfsr1:     &lfsr{value: uint32(0x7665986c), poly: msg.T_POLY_1},
+		lfsr2:     &lfsr{value: uint32(0x67da286e), poly: msg.T_POLY_2},
+	}
+	userData := []byte{00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x00}
+	fmt.Printf("%x\n", serviceCtx.calculateSvc1(userData))
+	fmt.Printf("%x\n", serviceCtx.calculateSvc2(userData))
+}

third_party/axle_device/rssp_axle.go

@@ -1,129 +0,0 @@
-package axle_device
-
-import (
-	"context"
-	"fmt"
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"log/slog"
-	"runtime/debug"
-	"time"
-)
-
-//计轴设备与联锁系统安全通信应用层实现
-
-type RsspAxle interface {
-	//Start 启动计轴设备与联锁系统安全通信服务
-	Start(amm AxleMessageManager) error
-	//Stop 停止计轴设备与联锁系统安全通信服务
-	Stop()
-}
-
-type rsspAxle struct {
-	//所属城市
-	city string
-	//所属线路
-	lineId string
-	//所属集中站
-	centralizedStation string
-	//接收方每个安全通信会话对应的发送周期值,单位ms
-	sendingPeriod uint32
-	//主安全通道
-	rsspChannel *RsspChannel
-	//收到应用层消息回调
-	messageManager AxleMessageManager
-	//发送区段状态任务
-	cancelSendStatus context.CancelFunc
-}
-
-func InitRsspAxle(cfg *config.RsspAxleConfig) RsspAxle {
-	ra := &rsspAxle{}
-	//
-	ra.city = cfg.City
-	ra.lineId = cfg.LineId
-	ra.centralizedStation = cfg.CentralizedStation
-	ra.sendingPeriod = cfg.RsspCfg.SendingPeriod
-	//
-	mrc := &RsspChannel{}
-	ra.rsspChannel = mrc.Init(&cfg.RsspCfg)
-	//
-	return ra
-}
-
-// rssp 安全层执行
-func (s *rsspAxle) rcvCmdMsg(data []byte) {
-	msg := &message.SectionCmdMsgPack{}
-	msg.Decode(data)
-	s.messageManager.HandleSectionCmdMsg(s.city, s.lineId, s.centralizedStation, msg)
-}
-func (s *rsspAxle) Start(amm AxleMessageManager) error {
-	s.messageManager = amm
-	//设置安全通道层
-	if s.rsspChannel != nil {
-		s.rsspChannel.handleUserData = s.rcvCmdMsg
-		s.rsspChannel.Start()
-	}
-	//
-	sendContext, sendCancel := context.WithCancel(context.Background())
-	go s.periodRun(sendContext)
-	s.cancelSendStatus = sendCancel
-	//
-	return nil
-}
-func (s *rsspAxle) Stop() {
-	if s.rsspChannel != nil {
-		s.rsspChannel.Stop()
-	}
-	//
-	if s.cancelSendStatus != nil {
-		s.cancelSendStatus()
-	}
-	s.messageManager = nil
-}
-func (s *rsspAxle) periodRun(runContext context.Context) {
-	time.Sleep(2 * time.Second)
-	defer func() {
-		if e := recover(); e != nil {
-			slog.Error(fmt.Sprintf("[%s-%s-%s]定时发送计轴区段状态任务异常", s.city, s.lineId, s.centralizedStation), "error", e, "stack", string(debug.Stack()))
-			debug.PrintStack()
-		}
-	}()
-	for {
-		select {
-		case <-runContext.Done():
-			return
-		default:
-		}
-		//slog.Debug("计轴设备periodRun")
-		if s.messageManager == nil {
-			slog.Warn(fmt.Sprintf("[%s-%s-%s]定时发送计轴区段状态任务因messageManager不存在退出", s.city, s.lineId, s.centralizedStation))
-			return
-		}
-		//收集区段状态
-		sectionStatusMsg, e := s.messageManager.CollectSectionStatus(s.city, s.lineId, s.centralizedStation)
-		if e == nil {
-			if sectionStatusMsg != nil {
-				msgPack := &message.SectionStatusMsgPack{}
-				msgPack.Ck = 0 //暂时无用
-				msgPack.Sms = sectionStatusMsg
-				s.sendStatusMsg(msgPack)
-			}
-		} else {
-			slog.Warn(e.Error())
-		}
-		//
-		time.Sleep(time.Duration(s.sendingPeriod) * time.Millisecond)
-		//更新周期性参数
-		s.rsspChannel.NextPeriod()
-	}
-}
-
-// 发送计轴区段状态给联锁
-func (s *rsspAxle) sendStatusMsg(msg *message.SectionStatusMsgPack) {
-	data := msg.Encode()
-	//向主通道发送
-	if s.rsspChannel != nil {
-		//slog.Debug("计轴设备发送SectionStatusMsgPack", "区段状态个数", len(msg.Sms), "packLen", len(data))
-		s.rsspChannel.SendUserData(data)
-	}
-}

third_party/axle_device/rssp_axle_manage.go

@@ -1,65 +0,0 @@
-package axle_device
-
-import (
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"log/slog"
-)
-
-//联锁集中站计轴与联锁通信管理
-
-type AxleMessageManager interface {
-	GetLineAllRsspAxleCfgs() []config.RsspAxleConfig
-	//HandleSectionCmdMsg 计轴设备接收到联锁发送来的控制命令
-	HandleSectionCmdMsg(city string, lineId string, centralizedStation string, msg *message.SectionCmdMsgPack)
-	//CollectSectionStatus 收集仿真中计轴区段状态
-	CollectSectionStatus(city string, lineId string, centralizedStation string) ([]*message.SectionStatusMsg, error)
-}
-
-var allRsspAxleServices []RsspAxle
-
-func StartLineAllRsspAxleServices(ram AxleMessageManager) {
-	allRsspAxleServices = nil
-	cfgs := ram.GetLineAllRsspAxleCfgs()
-	//cfgs = getTestConfig() //测试用
-	for _, cfg := range cfgs {
-		if cfg.Open {
-			as := InitRsspAxle(&cfg)
-			allRsspAxleServices = append(allRsspAxleServices, as)
-			as.Start(ram)
-			slog.Debug("启动计轴设备", "city", cfg.City, "lineId", cfg.LineId, "CentralizedStation", cfg.CentralizedStation)
-		}
-	}
-}
-func StopLineAllRsspAxleServices() {
-	for _, as := range allRsspAxleServices {
-		as.Stop()
-	}
-}
-
-// 测试用
-func getTestConfig() []config.RsspAxleConfig {
-	cfg := &config.RsspAxleConfig{}
-	cfg.Open = true
-	cfg.City = "北京"
-	cfg.LineId = "12"
-	cfg.CentralizedStation = "酒仙桥"
-	cfg.RsspCfg.SrcAddr = 0x02
-	cfg.RsspCfg.DstAddr = 0x01
-	cfg.RsspCfg.DataVer1 = 0x0011
-	cfg.RsspCfg.DataVer2 = 0x0012
-	cfg.RsspCfg.SID1 = 0x10000000
-	cfg.RsspCfg.SID2 = 0x00000001
-	cfg.RsspCfg.SINIT1 = 0x01
-	cfg.RsspCfg.SINIT2 = 0x02
-	cfg.RsspCfg.SendingPeriod = 500
-	cfg.RsspCfg.SsrRsspTimeout = 3
-	cfg.RsspCfg.Mtv = 3
-	cfg.RsspCfg.DeviceA = false
-	cfg.RsspCfg.PicType = message.PIC_MASTER
-	cfg.RsspCfg.RemoteIp = "192.168.3.5"
-	cfg.RsspCfg.RemoteUdpPort = 7777
-	cfg.RsspCfg.LocalUdpPort = 6666
-	//
-	return []config.RsspAxleConfig{*cfg}
-}

third_party/axle_device/rssp_channel.go

@@ -1,315 +0,0 @@
-package axle_device
-
-import (
-	"fmt"
-	"log/slog"
-
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"joylink.club/bj-rtsts-server/third_party/udp"
-)
-
-// 铁路信号安全通信协议实现
-
-// HandleUserData 回调应用层
-type HandleUserData func([]byte)
-
-// RsspChannel 实现rssp通信
-type RsspChannel struct {
-	//udp
-	udpServer udp.UdpServer
-	//udp
-	udpClient udp.UdpClient
-	//回调应用层
-	handleUserData HandleUserData
-	//rssp安全通信配置
-	config *config.RsspConfig
-	//rssp时钟
-	rsspTimer *RsspTimer
-	//批次编号,发送序列号
-	sn *message.RsspSn
-	//安全通道1时间戳
-	ch1Ts *message.RsspLFSR
-	//安全通道2时间戳
-	ch2Ts *message.RsspLFSR
-	//最近一次接收到的报文的安全通道1时间戳
-	rcvCh1Ts uint32
-	//最近一次接收到的报文的安全通道2时间戳
-	rcvCh2Ts uint32
-	//最近一次接收到的报文的序列号
-	rcvSn uint32
-	//时序校验请求发送记录
-	sendSseRecord *SseFireRecord
-}
-
-func (s *RsspChannel) SetRcvUserDataCallback(handleUserData HandleUserData) {
-	s.handleUserData = handleUserData
-}
-func (s *RsspChannel) Init(config *config.RsspConfig) *RsspChannel {
-	s.config = config
-	s.rsspTimer = &RsspTimer{t: 0}
-	s.sn = message.NewRsspSn(1)
-	s.ch1Ts = message.NewRsspLFSR(message.RSSP_I_C1_TS, 32, s.config.SID1, false)
-	s.ch2Ts = message.NewRsspLFSR(message.RSSP_I_C2_TS, 32, s.config.SID2, false)
-	return s
-}
-
-// Start 启动安全通道
-func (s *RsspChannel) Start() {
-	//
-	s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.config.LocalUdpPort), s.handleRsspMsg)
-	s.udpServer.Listen()
-	//
-	s.udpClient = udp.NewClient(fmt.Sprintf("%s:%d", s.config.RemoteIp, s.config.RemoteUdpPort))
-}
-
-// Stop 关闭安全通道
-func (s *RsspChannel) Stop() {
-	if s.udpServer != nil {
-		s.udpServer.Close()
-	}
-	if s.udpClient != nil {
-		s.udpClient.Close()
-	}
-}
-
-// RsspTimer rssp时钟，每一个tick周期为config.SendingPeriod
-type RsspTimer struct {
-	t uint64
-}
-
-func (s *RsspTimer) tick() {
-	s.t++
-}
-func (s *RsspTimer) now() uint64 {
-	return s.t
-}
-
-// SseFireRecord 发送时序校验请求的记录
-type SseFireRecord struct {
-	send     *message.RsspSse //已经发送的时序校验请求
-	rsspTime uint64           //发送时序校验请求时的rssp时间
-}
-
-func (s *SseFireRecord) record(send *message.RsspSse, rsspTime uint64) {
-	s.send = send
-	s.rsspTime = rsspTime
-}
-func (s *SseFireRecord) clear() {
-	s.send = nil
-	s.rsspTime = 0
-}
-func (s *SseFireRecord) hasRecord() bool {
-	return s.send != nil
-}
-
-// 处理接收到的rssp报文
-// 注意本函数由udp socket 协程执行
-func (s *RsspChannel) handleRsspMsg(pack []byte) {
-	slog.Debug("接收到RSSP报文", "len", len(pack))
-	//报文头校验
-	head := &message.RsspHead{}
-	if !head.Parse(pack) { //解析报文头失败
-		slog.Debug("丢弃接收的RSSP报文：解析报文头失败")
-		return
-	}
-	if !message.RsspHeadMcCheck(head) { //报文类别检测未通过
-		slog.Debug("丢弃接收的RSSP报文：报文类别检测未通过")
-		return
-	}
-	if !message.RsspHeadPicCheck(head) { //协议交互类别检测未通过
-		slog.Debug("丢弃接收的RSSP报文：协议交互类别检测未通过")
-		return
-	}
-	if !s.config.CheckAddress(head.Sa, head.Da) { //校验报文头中源地址和目的地址是否包含在已配置列表中
-		slog.Debug("丢弃接收的RSSP报文：报文头中源地址或目的地址不在在已配置列表中")
-		return
-	}
-	//报文尾校验
-	if !message.RsspPackCrc16Check(pack) { //整个报文crc16校验未通过
-		slog.Debug("丢弃接收的RSSP报文：报文尾CRC16校验未通过")
-		return
-	}
-	//解析得到RSD、SSE或SRE
-	rssp := message.ParseRsspPack(head, pack)
-	if rssp == nil { //解析具体rssp包失败
-		slog.Debug("丢弃接收的RSSP报文：解析具体类别包失败")
-		return
-	}
-	//处理接收到的具体类别RSSP包
-	switch rssp.Type() {
-	case message.RSD_A:
-		fallthrough
-	case message.RSD_B:
-		s.handleRsspRsd(rssp.(*message.RsspRsd))
-	case message.SSE:
-		s.handleRsspSse(rssp.(*message.RsspSse))
-	case message.SSR:
-		s.handleRsspSsr(rssp.(*message.RsspSsr))
-	}
-}
-
-// 处理接收到的实时安全数据 RSD
-func (s *RsspChannel) handleRsspRsd(rsd *message.RsspRsd) {
-	//slog.Debug("接收到的实时安全数据 RSD")
-	//如果为备机发送来的安全数据
-	if s.config.PicType == message.PIC_SLAVE { //备安全通道
-		slog.Debug("丢弃接收的RSSP-RSD报文：舍弃在备安全通道中接收到的安全数据")
-		//备安全通道收到安全数据，表示该物理通道连接正常
-		return
-	}
-	//如果为主机发送来的安全数据
-	if s.config.PicType == message.PIC_MASTER { //主安全通道
-		if !rsd.IsMaster() {
-			slog.Debug("丢弃接收的RSSP-RSD报文：舍弃在主安全通道中收到的非主机发送来的安全数据")
-			return
-		}
-	}
-	//序列号校验
-	//接收的序列号小于最近一次有效序列号，则触发SSE时序校验
-	if rsd.Sn < s.rcvSn {
-		slog.Debug("丢弃接收的RSSP-RSD报文：当前接收RSD的序列号小于最近一次接收的RSD的序列号，触发SSE")
-		s.fireSse(rsd)
-		return
-	}
-	dSn := rsd.Sn - s.rcvSn
-	if dSn > s.config.Mtv {
-		slog.Debug("丢弃接收的RSSP-RSD报文：当前接收RSD的序列号与最近一次接收的RSD的序列号差值过大，触发SSE")
-		s.fireSse(rsd)
-		return
-	}
-	//SVC校验
-	c1Crc32 := message.Rssp_I_Crc32C1(rsd.Sad)
-	c1SidTs := c1Crc32 ^ rsd.Svc1 ^ message.RSSP_I_C1_SCW //T(n)
-	//
-	c2Crc32 := message.Rssp_I_Crc32C2(rsd.Sad)
-	c2SidTs := c2Crc32 ^ rsd.Svc2 ^ message.RSSP_I_C2_SCW //T(n)
-	//todo ... SVC校验待完善
-	_ = c1SidTs
-	_ = c2SidTs
-	//校验通过
-	//记录本次接收RSD的序列号和安全校验通道时间戳
-	s.rcvSn = rsd.Sn
-	s.rcvCh1Ts = c1SidTs ^ s.config.SID1
-	s.rcvCh2Ts = c2SidTs ^ s.config.SID2
-	//通知应用层接收应用数据
-	s.handleUserData(rsd.Sad)
-}
-
-// 触发时序校正请求
-func (s *RsspChannel) fireSse(rsd *message.RsspRsd) {
-	s.sendSseRecord = &SseFireRecord{send: s.sendSse(), rsspTime: s.rsspTimer.now()}
-}
-
-// 接收到时序校正请求
-func (s *RsspChannel) handleRsspSse(sse *message.RsspSse) {
-	if s.config.PicType != message.PIC_MASTER {
-		slog.Debug("丢弃接收的RSSP-SSE报文：在非主安全通道中收到时序校正请求SSE")
-		return
-	}
-	//发送时序校正响应
-	s.sendSsr(sse)
-}
-
-// 接收到时序校正应答
-func (s *RsspChannel) handleRsspSsr(ssr *message.RsspSsr) {
-	//SSR校验
-	if !s.sendSseRecord.hasRecord() {
-		slog.Debug("丢弃接收的RSSP-SSR报文：未发起过SSE时序校正请求")
-		return
-	}
-	if s.rsspTimer.t-s.sendSseRecord.rsspTime > uint64(s.config.SsrRsspTimeout) {
-		slog.Debug("丢弃接收的RSSP-SSR报文：等待SSE响应超时")
-		return
-	}
-	if ssr.SeSn != s.sendSseRecord.send.Sn {
-		slog.Debug("丢弃接收的RSSP-SSR报文：SSR与SSE不对应")
-		return
-	}
-	//恢复时序?
-	s.rcvSn = ssr.SrSn
-	s.rcvCh1Ts = ssr.Tic1 ^ s.sendSseRecord.send.SeqEnq1 ^ s.config.SID1 ^ s.config.DataVer1
-	s.rcvCh2Ts = ssr.Tic2 ^ s.sendSseRecord.send.SeqEnq2 ^ s.config.SID2 ^ s.config.DataVer2
-}
-
-// NextPeriod 刷新与周期有关的：将序列号和时间戳更新到下一个值
-func (s *RsspChannel) NextPeriod() {
-	s.sn.GetAndAdd()
-	s.ch1Ts.GetAndMove()
-	s.ch2Ts.GetAndMove()
-	s.rsspTimer.tick()
-}
-
-// 发送时序校正应答
-func (s *RsspChannel) sendSsr(sse *message.RsspSse) {
-	ssr := &message.RsspSsr{}
-	//
-	ssr.Pic = message.PIC_MASTER
-	ssr.Mc = message.SSR
-	ssr.Sa = s.config.SrcAddr
-	ssr.Da = s.config.DstAddr
-	ssr.SrSn = s.sn.Get() //当前序列号
-	ssr.SeSn = sse.Sn
-	ssr.Tic1 = sse.SeqEnq1 ^ s.config.SID1 ^ s.ch1Ts.Get() ^ s.config.DataVer1
-	ssr.Tic2 = sse.SeqEnq2 ^ s.config.SID2 ^ s.ch2Ts.Get() ^ s.config.DataVer2
-	ssr.Dvn = 0x01 //预留固定值
-	//
-	rsspPack := ssr.Encode()
-	s.sendPack(rsspPack)
-}
-
-// 发送时序校正请求
-func (s *RsspChannel) sendSse() *message.RsspSse {
-	sse := &message.RsspSse{}
-	//
-	sse.Pic = message.PIC_MASTER
-	sse.Mc = message.SSE
-	sse.Sa = s.config.SrcAddr
-	sse.Da = s.config.DstAddr
-	//时序校正请求，把最近一次接收到的报文中的序列号时间戳发送给发送方
-	sse.Sn = s.rcvSn
-	sse.SeqEnq1 = s.createSeqNeq(s.config.SID1, s.rcvCh1Ts)
-	sse.SeqEnq2 = s.createSeqNeq(s.config.SID2, s.rcvCh2Ts)
-	//
-	rsspPack := sse.Encode()
-	s.sendPack(rsspPack)
-	//
-	return sse
-}
-
-// SendUserData 发送用户数据，即通过rssp安全通道发送应用层数据，通过rssp的RSD报文发送
-func (s *RsspChannel) SendUserData(userData []byte) {
-	rsd := &message.RsspRsd{}
-	rsd.Pic = s.config.PicType
-	if s.config.DeviceA {
-		rsd.Mc = message.RSD_A
-	} else {
-		rsd.Mc = message.RSD_B
-	}
-	rsd.Sa = s.config.SrcAddr
-	rsd.Da = s.config.DstAddr
-	//
-	rsd.Sn = s.sn.Get()
-	rsd.Sdl = uint16(len(userData) + 8)
-	//安全校验通道SVC_1
-	crc_c1 := message.Rssp_I_Crc32C1(userData)
-	rsd.Svc1 = s.createSvcCode(crc_c1, s.config.SID1, s.ch1Ts.Get(), message.RSSP_I_C1_SCW)
-	//安全校验通道SVC_2
-	crc_c2 := message.Rssp_I_Crc32C2(userData)
-	rsd.Svc1 = s.createSvcCode(crc_c2, s.config.SID2, s.ch2Ts.Get(), message.RSSP_I_C2_SCW)
-	rsd.Sad = userData
-	//
-	rsspPack := rsd.Encode()
-	s.sendPack(rsspPack)
-}
-func (s *RsspChannel) createSvcCode(crc32 uint32, sid uint32, ts uint32, scw uint32) uint32 {
-	return crc32 ^ sid ^ ts ^ scw
-}
-func (s *RsspChannel) createSeqNeq(sid uint32, ts uint32) uint32 {
-	return sid ^ ts
-}
-
-// 通过网络发送数据
-func (s *RsspChannel) sendPack(rsspPack []byte) {
-	s.udpClient.Send(rsspPack)
-}

third_party/balise/codec.go

@@ -1,29 +0,0 @@
-package balise
-
-import "fmt"
-
-// 应答器数据编解码器
-type Codec interface {
-}
-
-const (
-	Bytes1023 = 128
-	Bytes341  = 43
-)
-
-// 解码应答器数据,1023/341位解码
-// bys - 128/43字节数据
-// return - 830/210位数据
-func Decode(bys []byte) ([]int, error) {
-	size := len(bys)
-
-	if size == Bytes1023 {
-		// 1023应答器解码
-		return nil, nil
-	} else if size == Bytes341 {
-		// 341应答器解码
-		return nil, nil
-	} else {
-		return nil, fmt.Errorf("不支持的应答器类型")
-	}
-}

third_party/balisecodec/codec.go

@@ -0,0 +1,177 @@
+package balisecodec
+
+import (
+	"encoding/hex"
+	"fmt"
+	"log/slog"
+)
+
+// 应答器数据编解码器
+type Codec interface {
+}
+
+const (
+	Bytes1023 = 128
+)
+
+func Decode(byte128 []byte) ([]byte, error) {
+	if len(byte128) != Bytes1023 {
+		return nil, buildError("应答器报文长度错误, 期望长度为128字节")
+	}
+	bits1023 := convertTo1023Bits(byte128)
+	// 检查控制位
+	err := checkCb(bits1023)
+	if err != nil {
+		return nil, err
+	}
+	// 检查913位数据，并将913位数据转换为830位数据
+	data913 := getRange(bits1023, 1022, 110)
+	scrambled830, err := convert913To830(data913)
+	if err != nil {
+		return nil, err
+	}
+	// 根据加扰位计算得到加扰器初始值S
+	S := calculateS(getRange(bits1023, 106, 95))
+	// 解扰
+	descrambled830 := descrambling(scrambled830, S)
+	// 还原第一个10位值
+	reverted830 := revertFirst10Bits(descrambled830)
+	// 转换为左边为最高有效位（MSB）的字节数组
+	byte104 := toBytes(reverted830)
+	return byte104, nil
+}
+
+// 解码应答器数据,1023/341位解码
+// msg - 128字节数据
+// return - 830/210位数据
+func DecodeByteString(msg string) ([]byte, error) {
+	length := len(msg)
+	if length != 256 {
+		panic("invalid length")
+	}
+	// 字节转换为字节数组
+	slog.Debug("待解码的1023应答器报文", "msg", msg)
+	bytes := ConvertByteStringToBytes(msg)
+	return Decode(bytes)
+}
+
+// 转换字节（16进制）字符串为字节数组
+func ConvertByteStringToBytes(msg string) []byte {
+	bytes, err := hex.DecodeString(msg)
+	if err != nil {
+		panic(err)
+	}
+	return bytes
+}
+
+// 将830位补末尾补1到832位，然后转换为左边为最高有效位（MSB）的字节数组
+func toBytes(reverted830 []byte) []byte {
+	reverted830 = append(reverted830, 1, 1)
+	byte104 := make([]byte, 104)
+	for i := 0; i < 104; i++ {
+		byte104[i] = byte(ToValLeftMsb(reverted830[i*8 : i*8+8]))
+	}
+	return byte104
+}
+
+func buildError(msg string) error {
+	return fmt.Errorf("应答器1023解码错误：%s", msg)
+}
+
+// 检查控制位
+func checkCb(bits1023 []byte) error {
+	cb := getRange(bits1023, 109, 107)
+	for i, v := range cb {
+		n := 109 - i
+		//name := "b" + strconv.Itoa(109-i)
+		//slog.Info("cb", name, v)
+		if n == 109 && v == 1 {
+			return buildError("控制位cb错误，b109应该为0，实际为1")
+		} else if n == 108 && v == 1 {
+			return buildError("控制位cb错误，b108应该为0，实际为1")
+		} else if n == 107 && v == 0 {
+			return buildError("控制位cb错误，b107应该为1，实际为0")
+		}
+	}
+	return nil
+}
+
+func getRange(bits []byte, start, end int) []byte {
+	if start < 0 || end < 0 || start < end || start > 1022 {
+		panic("invalid range")
+	}
+	return bits[1022-start : 1022-(end-1)]
+}
+
+// 转换128字节数据为1023位数据
+func convertTo1023Bits(byte128 []byte) []byte {
+	if len(byte128) != 128 {
+		panic("invalid length")
+	}
+	// 字节转换为bit数组
+	bits := make([]byte, 1024)
+	for i, bt := range byte128 {
+		for j := 0; j < 8; j++ {
+			move := 7 - j
+			idx := i*8 + j
+			bits[idx] = (bt >> move) & 1
+		}
+	}
+	bits1023 := bits[0:1023]
+	return bits1023
+}
+
+// 由加扰位计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+func calculateS(sb []byte) uint32 {
+	// 由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+	if len(sb) != 12 {
+		panic("invalid length")
+	}
+	B := ToValLeftMsb(sb)
+	const A uint64 = 2801775573
+	S := uint32((A * uint64(B)) % (1 << 32))
+	//slog.Info("由12位加扰位计算得到整数S", "B", B, "S", S, "Sb", fmt.Sprintf("%032b", S))
+	return S
+}
+
+// 以11位为一组比较两个913位的报文
+func compare913(b913 []byte, compare []byte) {
+	if len(b913) != 913 {
+		panic("invalid length")
+	}
+	for i := 0; i < 913; i += 11 {
+		for j := 0; j < 11; j++ {
+			print(b913[i+j])
+		}
+		println()
+		for j := 0; j < 11; j++ {
+			print(compare[i+j])
+		}
+		println()
+		println()
+	}
+}
+
+// 比较830位数据
+func compare830(b830 []byte, compare830 []byte) {
+	if len(b830) != 830 {
+		panic("invalid length")
+	}
+	for i := 0; i < 83; i++ {
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", b830[i*10+j])
+		}
+		println()
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", compare830[i*10+j])
+		}
+		println()
+		println()
+	}
+	for i := 0; i < 830; i++ {
+		if b830[i] != compare830[i] {
+			slog.Info("error", "index", i, "b830", b830[i], "compare", compare830[i])
+			panic("830 bit compare error")
+		}
+	}
+}

third_party/balisecodec/conv.go

@@ -1,4 +1,4 @@
-package balise
+package balisecodec
 
 import (
 	"fmt"
@@ -113,14 +113,83 @@ var ConvWords = []uint16{
 var convWordMap = make(map[uint16]int, 1024)
 
 func init() {
+	if len(ConvWords) != 1024 {
+		panic(fmt.Errorf("ConvWords长度不是1024, len=%d", len(ConvWords)))
+	}
+	// 检查，前512个字的累加和为267528，所有1024个字的累加和为1048064
+	sum1 := 0
+	sum2 := 0
+	for i := 0; i < 1024; i++ {
+		if i < 512 {
+			sum1 += int(ConvWords[i])
+		}
+		sum2 += int(ConvWords[i])
+	}
+	if sum1 != 267528 {
+		panic(fmt.Errorf("前512个字的累加和不是267528, sum1=%d", sum1))
+	}
+	if sum2 != 1048064 {
+		panic(fmt.Errorf("所有1024个字的累加和不是1048064, sum2=%d", sum2))
+	}
+	// 检查，后一个字比前一个字大
+	for i := 1; i < 1024; i++ {
+		if ConvWords[i] <= ConvWords[i-1] {
+			panic(fmt.Errorf("第%d个字比第%d个字小, %04o <= %04o", i, i-1, ConvWords[i], ConvWords[i-1]))
+		}
+	}
 	for i, v := range ConvWords {
 		convWordMap[v] = i
+		//fmt.Printf("%04o: %d\n", v, i)
+		// slog.Info("构建10位到11位转换置换字", "i", i, "v", v)
 	}
+	// 检查：翻转有效字的所有位能形成另一个有效字
+	for _, v := range ConvWords {
+		rv := revertBits(v)
+		_, ok := convWordMap[rv]
+		if !ok {
+			panic(fmt.Errorf("构建10位到11位转换置换字失败, v=%04o, rv=%04o", v, rv))
+		}
+	}
+}
+
+// 翻转11位bit数组
+func revertBits(word uint16) uint16 {
+	bits11 := ToBitsLeftMsb(int(word), 11)
+	revert := make([]byte, 11)
+	for i := 0; i < 11; i++ {
+		if bits11[i] == 1 {
+			revert[i] = 0
+		} else {
+			revert[i] = 1
+		}
+	}
+	rw := ToValLeftMsb(revert)
+	// slog.Info("反转11位bit数组", "word", fmt.Sprintf("%04o", word), "bits11", bits11, "revert", revert, "revertWord", fmt.Sprintf("%04o", rw))
+	return rw
 }
 
 // bit数组转换为数字,左边为最高有效位
 // v - 0/1数组,数组的每个值都只能是0或1
-func ToVal(v []int) uint16 {
+func ToValLeftMsb(v []byte) uint16 {
+	if len(v) > 15 {
+		panic(fmt.Errorf("不支持15位以上"))
+	}
+	val := uint16(0)
+	l := len(v)
+	//elems := make([]string, l)
+	for i := 0; i < l; i++ {
+		//elems[i] = fmt.Sprintf("%d", v[i])
+		if v[i] == 1 {
+			val += (1 << (l - i - 1))
+		}
+	}
+	// slog.Info("ToValLeftMsb", "len", l, "v", strings.Join(elems, ""), "val", fmt.Sprintf("%04o", val))
+	return val
+}
+
+// bit数组转换为数字,右边为最高有效位
+// v - 0/1数组,数组的每个值都只能是0或1
+func ToValRightMsb(v []byte) uint16 {
 	if len(v) > 15 {
 		panic(fmt.Errorf("不支持15位以上"))
 	}
@@ -128,15 +197,15 @@ func ToVal(v []int) uint16 {
 	l := len(v)
 	for i := 0; i < l; i++ {
 		if v[i] == 1 {
-			val += (1 << (l - i - 1))
+			val += (1 << i)
 		}
 	}
 	return val
 }
 
 // 数字转换为bit数组,左边为最高有效位
-func ToBits(val int, count int) []int {
-	bs := make([]int, count)
+func ToBitsLeftMsb(val int, count int) []byte {
+	bs := make([]byte, count)
 	for i := 0; i < count; i++ {
 		tmp := 1 << (count - 1 - i)
 		if (val & (tmp)) == (tmp) {
@@ -148,26 +217,42 @@ func ToBits(val int, count int) []int {
 	return bs
 }
 
+// 数字转换为bit数组,右边为最高有效位
+func ToBitsRightMsb(val int, count int) []byte {
+	bs := make([]byte, count)
+	for i := 0; i < count; i++ {
+		tmp := 1 << i
+		if (val & (tmp)) == (tmp) {
+			bs[i] = 1
+		} else {
+			bs[i] = 0
+		}
+	}
+	return bs
+}
+
 // 11位字转换回10位字
-func From11(b11 []int) ([]int, error) {
-	v11 := ToVal(b11)
-	v10, ok := convWordMap[uint16(v11)]
+func From11(b11 []byte) ([]byte, error) {
+	v11 := ToValLeftMsb(b11)
+	v10, ok := convWordMap[v11]
+	// slog.Info("11位字转换回10位字", "v11", fmt.Sprintf("%04o", v11), "v11b", fmt.Sprintf("%011b", v11), "v10", v10, "ok", ok, "v10bits", fmt.Sprintf("%010b", v10), "to10Bits", ToBitsLeftMsb(v10, 10))
 	if ok {
-		return ToBits(v10, 10), nil
+		return ToBitsLeftMsb(v10, 10), nil
 	} else {
-		return nil, fmt.Errorf("错误的11位字")
+		return nil, fmt.Errorf("错误的11位字，word11=%04o", v11)
 	}
 }
 
 // 10位字转换为11位字
-func To11(b10 []int) []int {
+func To11(b10 []byte) []byte {
 	if len(b10) != 10 {
 		panic(fmt.Errorf("应答器编码10位字转换为11位字参数异常: 位数不是10, len=%d", len(b10)))
 	}
-	v10 := ToVal(b10)
+	v10 := ToValLeftMsb(b10)
 	if v10 > 1023 {
 		panic(fmt.Errorf("应答器编码10位字转换为11位字参数异常: 10位字转为整数不能大于1023, v10=%d", v10))
 	}
 	v11 := ConvWords[v10]
-	return ToBits(int(v11), 11)
+	// slog.Info("10位字转换为11位字", "v10", v10, "v10b", fmt.Sprintf("%010b", v10), "v11", fmt.Sprintf("%04o", v11), "v11bits", fmt.Sprintf("%011b", v11), "to11Bits", ToBitsLeftMsb(int(v11), 11))
+	return ToBitsLeftMsb(int(v11), 11)
 }

third_party/balisecodec/conv_test.go

@@ -1,10 +1,10 @@
-package balise_test
+package balisecodec_test
 
 import (
 	"testing"
 
 	"github.com/stretchr/testify/assert"
-	"joylink.club/bj-rtsts-server/third_party/balise"
+	"joylink.club/bj-rtsts-server/third_party/balisecodec"
 )
 
 var by830 = []int{
@@ -18,27 +18,27 @@ var by830 = []int{
 
 func TestConvList(t *testing.T) {
 	// 数量
-	assert.Equal(t, 1024, len(balise.ConvWords))
+	assert.Equal(t, 1024, len(balisecodec.ConvWords))
 	// 后面的数比前面大
 	for i := 0; i < 1023; i++ {
-		assert.Less(t, balise.ConvWords[i], balise.ConvWords[i+1])
+		assert.Less(t, balisecodec.ConvWords[i], balisecodec.ConvWords[i+1])
 	}
 	// 前512项和
 	sum_q := 0
 	for i := 0; i < 512; i++ {
-		sum_q += int(balise.ConvWords[i])
+		sum_q += int(balisecodec.ConvWords[i])
 	}
 	assert.Equal(t, 267528, sum_q)
 	// 后512项和
 	sum_b := 0
 	for i := 512; i < 1024; i++ {
-		sum_b += int(balise.ConvWords[i])
+		sum_b += int(balisecodec.ConvWords[i])
 	}
 	// 总1024项和
 	assert.Equal(t, 1048064, sum_q+sum_b)
 }
 
 func TestTo11(t *testing.T) {
-	b10 := []int{0, 0, 0, 0, 0, 0, 0, 0, 0, 1}
-	balise.To11(b10)
+	b10 := []byte{0, 0, 0, 0, 0, 0, 0, 0, 0, 1}
+	balisecodec.To11(b10)
 }

third_party/balisecodec/decode.go

@@ -0,0 +1,83 @@
+package balisecodec
+
+// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组，除了第一个10位值，其余值求和，然后循环2的10次方次与其他值求和结果相加后模2的10次方，若结果和第一个10位值相同，则结束，此值即为原始的第一个10位值，将此值替换为第一个10位二进制数组，依然是左边为MSB
+func revertFirst10Bits(b []byte) []byte {
+	if len(b) != 830 {
+		panic("invalid length")
+	}
+	// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组
+	w10s := make([]uint16, 83)
+	for i := 0; i < 83; i++ {
+		w10s[i] = uint16(ToValLeftMsb(b[i*10 : i*10+10]))
+		//// 打印输出
+		//for j := 0; j < 10; j++ {
+		//	fmt.Printf("%01b", b[i*10+j])
+		//}
+		//print(" ")
+		//if i != 0 && i%10 == 9 {
+		//	println()
+		//}
+	}
+	//println()
+	// 将除了第一个10位字整数求和
+	sum := uint64(0)
+	for i := 1; i < 83; i++ {
+		sum += uint64(w10s[i])
+	}
+	// 循环2的10次方次与其他值求和结果相加后模2的10次方
+	for i := 0; i < 1024; i++ {
+		test := sum + uint64(i)
+		if test%1024 == uint64(w10s[0]) {
+			w10s[0] = uint16(i)
+			break
+		}
+	}
+	//slog.Info("还原第一个10位值", "sum", sum, "bits[0]", w10s[0], "bits[0]b", fmt.Sprintf("%010b", w10s[0]))
+	bits := make([]byte, 830)
+	// 将整个10位数组转换为二进制数组，依然是MSB
+	u0bits := ToBitsLeftMsb(int(w10s[0]), 10)
+	for i := 0; i < 10; i++ {
+		bits[i] = u0bits[i]
+	}
+	for i := 10; i < 830; i++ {
+		bits[i] = b[i]
+	}
+	return bits
+}
+
+// 解扰，由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行解扰
+func descrambling(dn []byte, S uint32) []byte {
+	if len(dn) != 830 {
+		panic("invalid length")
+	}
+	// const Polynomial = 0x000000AF
+	out := make([]byte, len(dn))
+	t := S // 寄存器初始值
+	for i := 0; i < len(dn); i++ {
+		msb := (t >> 31) & 1
+		out[i] = (dn[i] ^ byte(msb)) & 1
+		// fmt.Printf("i=%d, t=%032b, msb=%d, dn=%d, out=%d\n", i, t, msb, dn[i], out[i])
+		xor := uint32(dn[i])
+		t = (xor << 30) ^ (xor << 29) ^ (xor << 28) ^ (xor << 26) ^ (xor << 24) ^ t
+		t = (t << 1) | xor
+	}
+	return out
+}
+
+// 转换913位数据为830位数据
+func convert913To830(b913 []byte) ([]byte, error) {
+	if len(b913) != 913 {
+		panic("invalid length")
+	}
+	b830 := make([]byte, 830)
+	for i := 0; i < 83; i++ {
+		b10, err := From11(b913[i*11 : i*11+11])
+		if err != nil {
+			return nil, buildError(err.Error())
+		}
+		for j := 0; j < 10; j++ {
+			b830[i*10+j] = b10[j]
+		}
+	}
+	return b830, nil
+}

third_party/balisecodec/encode.go

@@ -0,0 +1,86 @@
+package balisecodec
+
+import (
+	"fmt"
+	"log/slog"
+)
+
+// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组，然后求和后模2的10次方，得到的结果覆盖第一个10位值，然后将整个10位数组转换为二进制数组，依然是左边为MSB
+func replaceFirst10Bits(b []byte) []byte {
+	if len(b) != 830 {
+		panic("invalid length")
+	}
+	// 将830位的二进制数组以10位为单位组成一个左边为最高有效位（MSB）的无符号整数数组
+	bits := make([]uint16, 83)
+	for i := 0; i < 83; i++ {
+		bits[i] = uint16(ToValLeftMsb(b[i*10 : i*10+10]))
+		// 打印输出
+		for j := 0; j < 10; j++ {
+			fmt.Printf("%01b", b[i*10+j])
+		}
+		print(" ")
+		if i != 0 && i%10 == 9 {
+			println()
+		}
+	}
+	println()
+	// 将每一个10位字整数求和后模2的10次方，得到的结果覆盖第一个10位值
+	sum := uint64(0)
+	for i := 0; i < 83; i++ {
+		sum += uint64(bits[i])
+		// fmt.Printf("i=%d, v10=%d, v10b=%010b\n", i, bits[i], bits[i])
+	}
+	bits[0] = uint16(sum % 1024)
+	slog.Info("替换第一个10位值", "sum", sum, "bits[0]", bits[0], "bits[0]b", fmt.Sprintf("%010b", bits[0]))
+	rbits := make([]byte, 830)
+	// 将整个10位数组转换为二进制数组，依然是MSB
+	u0bits := ToBitsLeftMsb(int(bits[0]), 10)
+	for i := 0; i < 10; i++ {
+		rbits[i] = u0bits[i]
+	}
+	for i := 10; i < 830; i++ {
+		rbits[i] = b[i]
+	}
+	// compare830(b, rbits)
+	return rbits
+}
+
+// 由加扰计算得到的S，作为初始状态为S的32位线性反馈移位寄存器对数据进行加扰
+// 1. 生成一个32位的线性反馈移位寄存器，其初始状态为S（左边为MSB）
+// 2. 系数h31,h30,h29,h27,h25和h0等于1(表示连接)，所有其他系数都为0（表示不连接）
+// 3. 然后电路被时钟驱动m-1次，其中m是数据位的数量，同时输入dn的每一位dn(m-1),dn(m-2),...,dn(0),便生成加扰后的码位（在第一个时钟之前读取第一个输出out(m-1)）
+// 4. 生成的加扰码位是dn的每一位与S的最高位的异或值
+// 5. 生成的加扰码位会根据系数进行异或反馈回S的最低位
+// 几种可能性：
+func scrambling(dn []byte, S uint32) []byte {
+	if len(dn) != 830 {
+		panic("invalid length")
+	}
+	// const Polynomial = 0x000000AF
+	out := make([]byte, len(dn))
+	t := S // 寄存器初始值
+	for i := 0; i < len(dn); i++ {
+		msb := (t >> 31) & 1
+		out[i] = (dn[i] ^ byte(msb)) & 1
+		// fmt.Printf("i=%d, t=%032b, msb=%d, dn=%d, out=%d\n", i, t, msb, dn[i], out[i])
+		xor := uint32(out[i])
+		t = (xor << 30) ^ (xor << 29) ^ (xor << 28) ^ (xor << 26) ^ (xor << 24) ^ t
+		t = (t << 1) | xor
+	}
+	return out
+}
+
+// 将830位的二进制数组先以10位为一组分别转换为11位并组合
+func convert830To913(b830 []byte) []byte {
+	if len(b830) != 830 {
+		panic("invalid length")
+	}
+	b913 := make([]byte, 913)
+	for i := 0; i < 83; i++ {
+		b11 := To11(b830[i*10 : i*10+10])
+		for j := 0; j < 11; j++ {
+			b913[i*11+j] = b11[j]
+		}
+	}
+	return b913
+}

third_party/btm_vobc/beijing11/msg.go

@@ -0,0 +1,311 @@
+package beijing11
+
+import (
+	"encoding/binary"
+	"github.com/snksoft/crc"
+	"joylink.club/bj-rtsts-server/util/myreader"
+)
+
+const ( //数据帧外层增加用于区分ID命令帧和请求帧的帧类型字段
+	id_Tupe   = 0xF8
+	rqst_Type = 0xE6
+)
+
+type frameType = byte
+
+const (
+	frameType_ID       frameType = 0x90 //ID命令帧
+	frameType_Req      frameType = 0x91 //请求帧
+	frameType_Telegram frameType = 0x92 //报文帧
+	frameType_Free     frameType = 0x94 //空闲帧
+)
+
+type frameState = byte //帧正确/不正确（不好起名字，就这么着吧）
+const (                //以下以外的值无效
+	fs_Correct frameState = 0x06 //帧正确
+	fs_Error   frameState = 0x15 //不正确
+	fs_Init    frameState = 0x00 //开机
+)
+
+type telegramState = byte //空闲/报文数据
+const (                   //以下以外的值无效
+	telegram_free = 0x05 //空闲
+	telegram_on   = 0x0A //报文数据
+	telegram_init = 0x00 //开机
+)
+
+type btmWorkState byte
+
+const (
+	bws_normal     btmWorkState = 0x00 //正常工作
+	bws_minorFault btmWorkState = 0x04 //警告BTM有轻微故障（单套故障，整机能工作），向 BDMS 汇报；
+	bws_fault      btmWorkState = 0xFF //BTM故障，不能正常工作；在MMI进行故障提示并向 ATS 汇报。
+)
+
+type ivState uint16 //电流/电压的状态
+const (
+	iv_under  ivState = 1 //欠流/欠压状态
+	iv_over   ivState = 2 //过流/过压状态
+	iv_normal ivState = 3 //正常
+)
+
+type cableState uint16 //线缆状态
+const (
+	cable_open   cableState = 1 //开路
+	cable_short  cableState = 2 //短路
+	cable_normal cableState = 3 //正常
+)
+
+type receiverBoardState uint16
+
+const (
+	rbs_doubleFault receiverBoardState = 0 //双通道故障
+	rbs_singleFault receiverBoardState = 1 //单通道故障
+	rbs_normal      receiverBoardState = 3 //正常
+)
+
+type powerBoardState uint16
+
+const (
+	pbs_fault       powerBoardState = 0 //故障
+	pbs_singleFault powerBoardState = 1 //单通道故障
+	pbs_doubleFault powerBoardState = 2 //双通道故障（文档写的单通道，应该是写错了）
+	pbs_normal      powerBoardState = 3 //正常
+)
+
+type cpuWorkTemperatureState uint16
+
+const (
+	wts_tooHigh cpuWorkTemperatureState = 0 //过高
+	wts_alarm   cpuWorkTemperatureState = 1 //温度报警
+	wts_unknown cpuWorkTemperatureState = 2 //未知
+	wts_normal  cpuWorkTemperatureState = 3 //正常
+)
+
+type baseFrame struct {
+	frameType frameType //帧类型
+	len       byte      //帧长
+	id        byte      //递增的ID码
+}
+
+func (b *baseFrame) decode(data []byte) error {
+	b.frameType = data[0]
+	b.len = data[1]
+	b.id = data[2]
+	return nil
+}
+
+type idFrame struct {
+	baseFrame
+	btmId         uint16 //BTM的ID
+	vobcId        uint16 //VOBC的ID
+	vobcCycle     uint32 //VOBC周期号（1~0xFFFFFFFF，0不使用）
+	reservedBytes []byte //预留字节（4字节）
+}
+
+func (i *idFrame) decode(data []byte) error {
+	err := i.baseFrame.decode(data)
+	if err != nil {
+		return err
+	}
+	reader := myreader.NewReader(data[3:])
+	i.btmId = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	i.vobcId = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	i.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
+	return reader.Err
+}
+
+type reqFrame struct {
+	baseFrame
+	frameState        frameState    //帧正确/不正确
+	telegramState     telegramState //空闲/报文数据
+	sn                byte          //报文序列号。1-255；开机时使用 0
+	reservedBytes     []byte        //预留字节（10字节）
+	vobcCycle         uint32        //VOBC周期号（1~0xFFFFFFFF，0不使用）
+	time              []byte        //年月日时分秒各占一个字节
+	speed             uint16        //速度 单位：cm/s
+	vobcCycleDistance uint16        //周期走行距离 单位：cm
+}
+
+func (r *reqFrame) decode(data []byte) error {
+	err := r.baseFrame.decode(data)
+	if err != nil {
+		return err
+	}
+	reader := myreader.NewReader(data[3:])
+	r.frameState = reader.ReadByte()
+	r.telegramState = reader.ReadByte()
+	r.sn = reader.ReadByte()
+	r.reservedBytes = reader.ReadBytes(10)
+	r.vobcCycle = binary.BigEndian.Uint32(reader.ReadBytes(4))
+	r.time = reader.ReadBytes(6)
+	r.speed = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	r.vobcCycleDistance = binary.BigEndian.Uint16(reader.ReadBytes(2))
+	return reader.Err
+}
+
+type telegramFrame struct {
+	id                  byte         //递增的id码
+	headTTLTime         uint16       //前沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
+	sn                  byte         //报文序列号。1-255，不使用0
+	btmWorkState        btmWorkState //BTM工作状态
+	channel1GoodBitRate byte         //1通道好码率（0~100）
+	channel2GoodBitRate byte         //2通道好码率（0~100）
+	decodeDuration      uint16       //解码时间。从包络前沿到解码成功的时间（没写单位，猜测是ms）
+	//reservedBytes       []byte       //预留（9字节）
+	tailTTLTime      uint16 //后沿TTL时间。单位为ms，溢出为0xffff，高字节在前；车体及应答器地面环境理想情况下误差小于5ms
+	telegram         []byte //应答器报文（104字节）
+	responseDuration byte   //响应时间。0~150，其他非法，单位0.1ms，误差小于3ms
+	vobcReqCycle     uint32 //VOBC请求帧周期号。（1~0xFFFFFFFF，不使用0）
+}
+
+func (t *telegramFrame) encode() []byte {
+	data := make([]byte, 0, 150)
+	data = append(data, frameType_Telegram)
+	data = append(data, 0) //帧长度，占位
+	data = append(data, t.id)
+	data = binary.BigEndian.AppendUint16(data, t.headTTLTime)
+	data = append(data, t.sn)
+	data = append(data, byte(t.btmWorkState))
+	data = append(data, t.channel1GoodBitRate)
+	data = append(data, t.channel2GoodBitRate)
+	data = binary.BigEndian.AppendUint16(data, t.decodeDuration)
+	data = append(data, make([]byte, 9)...)
+	data = binary.BigEndian.AppendUint16(data, t.tailTTLTime)
+	data = append(data, t.telegram...)
+	data = append(data, t.responseDuration)
+	data = binary.BigEndian.AppendUint32(data, t.vobcReqCycle)
+	data[1] = byte(len(data) + 4) //帧长度赋值
+	data = binary.BigEndian.AppendUint32(data, crc32(data))
+	return data
+}
+
+func (t *telegramFrame) getSn() byte {
+	if t == nil {
+		return 0
+	} else {
+		return t.sn
+	}
+}
+
+type freeFrame struct {
+	id byte //递增的id码
+	//reservedBytes   []byte       //保留（2个1字节）
+	sn              byte         //报文序列号。1-255，开机时为0
+	btmWorkState    btmWorkState //BTM工作状态
+	workTemperature byte         //工作温度。单位℃
+	//reservedBytes   []byte       //预留（6字节）
+	//14-15字节。功放板、天线状态
+	amp1CurrentState ivState    //功放1电流状态（0-1位）
+	amp1VoltageState ivState    //功放1电压状态（2-3位）
+	amp2CurrentState ivState    //功放2电流状态（4-5位）
+	amp2VoltageState ivState    //功放2电压状态（6-7位）
+	antenna1Fault    bool       //天线1状态（8-9位）（1故障，3正常）
+	cable1State      cableState //线缆1状态（10-11位）
+	antenna2Fault    bool       //天线1状态（12-13位）（1故障，3正常）
+	cable2State      cableState //线缆2状态（14-15位）
+	//16-17字节。接收板状态
+	selfCheckChannel1Fault bool               //上行自检码检测通道1（0位）（1正常，0故障）
+	selfCheckChannel2Fault bool               //上行自检码检测通道2（1位）（1正常，0故障）
+	fskChannel1Fault       bool               //FSK连接线状态通道1（2位）（1正常，0故障）
+	fskChannel2Fault       bool               //FSK连接线状态通道2（3位）（1正常，0故障）
+	receiverBoardState     receiverBoardState //接收板状态（6-7位）
+	//18-19字节。电源板状态
+	channel1_24v      ivState         //通道1 24V状态（0-1位）
+	channel2_24v      ivState         //通道2 24V状态（2-3位）
+	channel1_23vFault bool            //通道1 23V状态（4位）（1正常，0故障）
+	channel2_23vFault bool            //通道2 23V状态（5位）（1正常，0故障）
+	powerBoardState   powerBoardState //电源板状态（14-15位）
+	//20-21字节。处理器板
+	cpuBoardId              byte                    //板卡ID槽位号（0-1位）（0-1号板卡，1-2号板卡，类推）
+	cpuWorkTemperatureState cpuWorkTemperatureState //工作温度状态（2-3位）
+
+	//freeData         []byte //空闲数据（104字节，全填0）
+	responseDuration byte   //相应时间，0-150，其他非法，单位0.1ms
+	vobcCycle        uint32 //VOBC请求帧周期号
+}
+
+func (f *freeFrame) encode() []byte {
+	data := make([]byte, 0, 150)
+	data = append(data, frameType_Free)
+	data = append(data, 0) //帧长度，占位
+	data = append(data, f.id)
+	data = append(data, 0, 0)
+	data = append(data, f.sn)
+	data = append(data, byte(f.btmWorkState))
+	data = append(data, f.workTemperature)
+	data = append(data, make([]byte, 6)...)
+	//功放板、天线状态
+	var ampState uint16
+	ampState += uint16(f.amp1CurrentState) << 15
+	ampState += uint16(f.amp1VoltageState) << 13
+	ampState += uint16(f.amp2CurrentState) << 11
+	ampState += uint16(f.amp2VoltageState) << 9
+	if f.antenna1Fault {
+		ampState += uint16(1) << 7
+	} else {
+		ampState += uint16(3) << 7
+	}
+	ampState += uint16(f.cable1State) << 5
+	if f.antenna2Fault {
+		ampState += uint16(1) << 3
+	} else {
+		ampState += uint16(3) << 3
+	}
+	ampState += uint16(f.cable2State)
+	data = binary.BigEndian.AppendUint16(data, ampState)
+	//接收板状态
+	var receiverState uint16
+	if !f.selfCheckChannel1Fault {
+		receiverState += uint16(1) << 15
+	}
+	if !f.selfCheckChannel2Fault {
+		receiverState += uint16(1) << 14
+	}
+	if !f.fskChannel1Fault {
+		receiverState += uint16(1) << 13
+	}
+	if !f.fskChannel2Fault {
+		receiverState += uint16(1) << 12
+	}
+	receiverState += uint16(f.receiverBoardState) << 9
+	data = binary.BigEndian.AppendUint16(data, receiverState)
+	//电源板状态
+	var powerState uint16
+	powerState += uint16(f.channel1_24v) << 15
+	powerState += uint16(f.channel2_24v) << 13
+	if !f.channel1_23vFault {
+		powerState += uint16(1) << 11
+	}
+	if !f.channel2_23vFault {
+		powerState += uint16(1) << 10
+	}
+	powerState += uint16(f.powerBoardState)
+	data = binary.BigEndian.AppendUint16(data, powerState)
+	//处理器板
+	var cpuState uint16
+	cpuState += uint16(f.cpuBoardId) << 15
+	cpuState += uint16(f.cpuWorkTemperatureState) << 13
+	data = binary.BigEndian.AppendUint16(data, cpuState)
+	//其它
+	data = append(data, make([]byte, 104)...)
+	data = append(data, f.responseDuration)
+	data = binary.BigEndian.AppendUint32(data, f.vobcCycle)
+
+	data[1] = byte(len(data) + 4) //帧长度赋值
+	data = binary.BigEndian.AppendUint32(data, crc32(data))
+	return data
+}
+
+var crcHash = crc.NewHash(&crc.Parameters{
+	Width:      32,
+	Polynomial: crc.CRC32.Polynomial,
+	ReflectIn:  false,
+	ReflectOut: false,
+	Init:       0xFFFFFFFF,
+	FinalXor:   0,
+})
+
+func crc32(data []byte) uint32 {
+	return uint32(crcHash.CalculateCRC(data))
+}

third_party/btm_vobc/beijing11/service.go

@@ -0,0 +1,247 @@
+package beijing11
+
+import (
+	"bytes"
+	"encoding/hex"
+	"fmt"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/tpapi"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
+	"log/slog"
+	"sync"
+)
+
+var (
+	logTag        = "[北京11号线BTM-VOBC通信]"
+	privateLogger *slog.Logger
+	loggerInit    sync.Once
+)
+
+var (
+	mu         = sync.Mutex{}  //启动任务时使用，避免重复启动任务
+	serviceCtx *serviceContext //当前正在运行的服务
+)
+
+type serviceContext struct {
+	simulation *memory.VerifySimulation
+	client     udp.UdpClient
+	server     udp.UdpServer
+
+	id           byte           //无论何时传输数据，该数都在 1-255 范围内递增，在错误重传时也是递增的，255 之后是 1，不使用 0
+	sn           byte           //报文序列号。1-255；开机时使用0
+	lastTelFrame *telegramFrame //最后发送的报文帧
+	sendSuccess  bool           //如果报文帧后第一个请求帧的报文序列号与BTM刚发送的报文帧中的报文序列号不一样，BTM就认为发送是不成功的，BTM会将同样的数据再发一次；
+
+	lastCmdId byte   //vobc ID命令帧最新的ID码（1~255，不使用0）
+	lastReqId byte   //vobc 请求帧最新的ID码（1~255，不使用0）
+	btmId     uint16 //BTM的id
+	vobcId    uint16 //VOBC的id
+
+	state tpapi.ThirdPartyApiServiceState
+}
+
+func Start(sim *memory.VerifySimulation) {
+	mu.Lock()
+	defer mu.Unlock()
+	if serviceCtx != nil {
+		logger().Warn("重复启动服务")
+		return
+	}
+	config := sim.GetRunConfig().BtmVobc
+	client := udp.NewClient(fmt.Sprintf("%s:%d", config.RemoteIp, config.RemoteUdpPort))
+	serviceCtx = &serviceContext{
+		simulation:  sim,
+		client:      client,
+		sendSuccess: true,
+	}
+	server := udp.NewServer(fmt.Sprintf(":%d", config.LocalUdpPort), serviceCtx.handle)
+	err := server.Listen()
+	if err != nil {
+		Stop(sim)
+		return
+	}
+	serviceCtx.server = server
+	serviceCtx.state = tpapi.ThirdPartyState_Normal
+}
+
+func Stop(sim *memory.VerifySimulation) {
+	if serviceCtx != nil && serviceCtx.simulation == sim {
+		if serviceCtx.server != nil {
+			serviceCtx.server.Close()
+		}
+		if serviceCtx.client != nil {
+			serviceCtx.client.Close()
+		}
+		serviceCtx = nil
+		logger().Info("服务停止")
+	}
+}
+
+func (s *serviceContext) handle(data []byte) {
+	logger().Info(fmt.Sprintf("收到数据：%x", data))
+	if !bytes.HasPrefix(data, []byte{0xFF, 0xFE}) || !bytes.HasSuffix(data, []byte{0xFF, 0xFD}) {
+		logger().Error("帧头/帧尾不对，丢弃数据")
+		return
+	}
+	decodeBytes, _ := message.TranslateFromFFFE(data[3 : len(data)-2])
+	switch data[2] {
+	case id_Tupe:
+		frame := idFrame{}
+		err := frame.decode(decodeBytes)
+		if err != nil {
+			logger().Error(fmt.Sprintf("id命令帧解析出错：%s", err))
+			return
+		}
+		s.handleIdFrame(&frame)
+	case rqst_Type:
+		frame := reqFrame{}
+		err := frame.decode(decodeBytes[20 : len(decodeBytes)-2]) //RSSP-I协议部分不做校验，直接忽略
+		if err != nil {
+			logger().Error(fmt.Sprintf("请求帧解析出错：%s", err))
+			return
+		}
+		s.handleReqFrame(&frame)
+	}
+}
+
+func (s *serviceContext) handleIdFrame(frame *idFrame) {
+	if frame.id < s.lastCmdId && s.lastCmdId-frame.id < 250 { //第二个条件保证id没有突破255
+		logger().Error(fmt.Sprintf("vobc ID命令帧id倒退[%d：%d]", s.lastCmdId, frame.id))
+	}
+	s.lastCmdId = frame.id
+	s.btmId = frame.btmId
+	s.vobcId = frame.vobcId
+}
+
+func (s *serviceContext) handleReqFrame(frame *reqFrame) {
+	if frame.frameState == fs_Error {
+		logger().Info("上一帧的报文序列或者CRC检查不正确")
+	}
+	if frame.id <= s.lastReqId && s.lastReqId-frame.id < 250 { //第二个条件保证id没有突破255
+		logger().Info(fmt.Sprintf("vobc请求帧id倒退【%d：%d】", s.lastReqId, frame.id))
+		return
+	}
+	s.lastReqId = frame.id
+	if !s.sendSuccess {
+		if frame.sn != s.lastTelFrame.getSn() { //报文帧后第一条请求帧的报文序列号对应不上
+			logger().Error(fmt.Sprintf("报文帧后第一条请求帧的报文序列号对应不上[%s：%s]", frame.sn, s.lastTelFrame.getSn()))
+			err := s.client.Send(s.lastTelFrame.encode())
+			if err != nil {
+				logger().Error(fmt.Sprintf("发送上一次的报文帧出错：%s", err))
+			} else {
+				logger().Error("BTM重发上一次的报文帧成功")
+			}
+			return
+		}
+		s.sendSuccess = true
+	}
+
+	var telegram []byte
+	s.simulation.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
+		trainState := value.(*state_proto.TrainState)
+		if trainState.ConnState.Conn && trainState.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
+			for _, bs := range trainState.BtmBaliseCacheA.BaliseList {
+				if !bs.IsSend {
+					bs.IsSend = true
+					tel, err := hex.DecodeString(bs.Telegram)
+					if err != nil {
+						logger().Error(fmt.Sprintf("用户报文解码出错：%s", err))
+						break
+					}
+					telegram = tel
+					break
+				}
+			}
+			return false
+		}
+		return true
+	})
+	if len(telegram) != 0 { //有未发送报文，发送报文帧
+		telFrame := telegramFrame{}
+		telFrame.id = s.nextId()
+		telFrame.headTTLTime = 1
+		telFrame.sn = s.nextSn()
+		telFrame.btmWorkState = bws_normal
+		telFrame.channel1GoodBitRate = 100
+		telFrame.channel2GoodBitRate = 100
+		telFrame.decodeDuration = 1
+		telFrame.tailTTLTime = 1
+		telFrame.telegram = telegram
+		telFrame.responseDuration = 10
+		telFrame.vobcReqCycle = frame.vobcCycle
+
+		encode := telFrame.encode()
+		err := s.client.Send(encode)
+		if err != nil {
+			logger().Error("发送数据失败")
+		} else {
+			logger().Info(fmt.Sprintf("发送报文帧：%x", encode))
+			s.sendSuccess = false
+		}
+	} else { //否则发送空闲帧
+		freeFrame := freeFrame{
+			id:                      s.nextId(),
+			sn:                      s.lastTelFrame.getSn(),
+			btmWorkState:            bws_normal,
+			workTemperature:         20,
+			amp1CurrentState:        iv_normal,
+			amp1VoltageState:        iv_normal,
+			amp2CurrentState:        iv_normal,
+			amp2VoltageState:        iv_normal,
+			antenna1Fault:           false,
+			cable1State:             cable_normal,
+			antenna2Fault:           false,
+			cable2State:             cable_normal,
+			selfCheckChannel1Fault:  false,
+			selfCheckChannel2Fault:  false,
+			fskChannel1Fault:        false,
+			fskChannel2Fault:        false,
+			receiverBoardState:      rbs_normal,
+			channel1_24v:            iv_normal,
+			channel2_24v:            iv_normal,
+			channel1_23vFault:       false,
+			channel2_23vFault:       false,
+			powerBoardState:         pbs_normal,
+			cpuBoardId:              0,
+			cpuWorkTemperatureState: wts_normal,
+			responseDuration:        0,
+			vobcCycle:               frame.vobcCycle,
+		}
+		encode := freeFrame.encode()
+		err := s.client.Send(encode)
+		if err != nil {
+			logger().Error("发送数据失败")
+		} else {
+			logger().Info(fmt.Sprintf("发送空闲帧：%x", encode))
+		}
+	}
+}
+
+func (s *serviceContext) nextId() byte {
+	s.id++
+	if s.id == 0 {
+		s.id++
+	}
+	return s.id
+}
+
+func (s *serviceContext) nextSn() byte {
+	if s.sn == 0 {
+		return 0
+	}
+	tmp := s.sn
+	s.sn++
+	if s.sn == 0 {
+		s.sn++
+	}
+	return tmp
+}
+
+func logger() *slog.Logger {
+	loggerInit.Do(func() {
+		privateLogger = slog.Default().With("tag", logTag)
+	})
+	return privateLogger
+}

third_party/can_btm/balise_btm.go

@@ -3,7 +3,6 @@ package can_btm
 import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
@@ -11,7 +10,6 @@ import (
 	"joylink.club/rtsssimulation/entity"
 	"log/slog"
 	"sort"
-	"strings"
 	"sync"
 	"time"
 )
@@ -46,7 +44,7 @@ type btmCanetClient struct {
 	//最近一次车载ATP系统查询帧CRC16校验结果,true-校验通过
 	atpReqCrc16Check bool
 	//btm系统时间,每次接收到ATP查询请求帧时同步一次时间
-	btmTime btmClock
+	btmTime BtmClock
 	//数据流水号
 	dsn byte
 	//重发的数据
@@ -55,31 +53,14 @@ type btmCanetClient struct {
 	baliseDetector *BaliseDetector
 }
 
-func (s *btmCanetClient) GetState() state_proto.BTMState {
-	detector := s.baliseDetector
-	var telegram string
-	info := detector.eq[len(detector.eq)-1]
-	if /*detector.aboveBalise &&*/ info != nil && len(info.telegram) != 0 {
-		telegram = fmt.Sprintf("%X", info.telegram)
-	} else {
-		telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
-	}
-	return state_proto.BTMState{
-		DataSerialNumber: uint32(s.dsn),
-		BaliseCount:      uint32(detector.baliseCounter),
-		MessageCounter:   uint32(detector.messageCounter),
-		Telegram:         telegram,
-	}
-}
-
-type btmClock struct {
-	btmTk uint32    //与ATP系统同步的时间ms
-	sysTk time.Time //本地系统时间
+type BtmClock struct {
+	BtmTk uint32    //与ATP系统同步的时间ms
+	SysTk time.Time //本地系统时间
 }
 
 // 获取以btmTk为基准的当前时间ms
-func (c *btmClock) tkNow() uint32 {
-	return c.btmTk + uint32(time.Now().UnixMilli()-c.sysTk.UnixMilli())
+func (c *BtmClock) TkNow() uint32 {
+	return c.BtmTk + uint32(time.Now().UnixMilli()-c.SysTk.UnixMilli())
 }
 
 type BtmCanetClient interface {
@@ -87,8 +68,7 @@ type BtmCanetClient interface {
 	Stop()
 	//HandleTrainHeadPositionInfo 处理收到列车位置信息
 	HandleTrainHeadPositionInfo(w ecs.World, h *TrainHeadPositionInfo)
-	//获取BTM显示状态
-	GetState() state_proto.BTMState
+	HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainState, h *TrainHeadPositionInfo)
 }
 
 var (
@@ -97,13 +77,33 @@ var (
 )
 
 func Default() BtmCanetClient {
-	btmClientLocker.Lock()
 	defer btmClientLocker.Unlock()
+	btmClientLocker.Lock()
 	if btmClient == nil {
 		btmClient = &btmCanetClient{baliseDetector: &BaliseDetector{}}
 	}
 	return btmClient
 }
+func (s *btmCanetClient) HandleTrainHeadPositionInfoForTrain(w ecs.World, train *state_proto.TrainState, h *TrainHeadPositionInfo) {
+	wd := entity.GetWorldData(w)
+	repo := wd.Repo
+	h2 := &TrainHeadPositionInfo{
+		TrainId:      h.TrainId,
+		Up:           h.Up,
+		Link:         h.OldLink,
+		LinkOffset:   h.OldLinkOffset,
+		Speed:        h.Speed,
+		Acceleration: h.Acceleration}
+	s.baliseDetector.newDetect(wd, repo, h, h2, train.BtmBaliseCacheA, h.IsLine12, false, "11")
+	h.Up = h.TailUp
+	h.Link = h.TailLink
+	h.LinkOffset = h.TailLinkOffset
+	h2.Up = h.TailUp
+	h2.Link = h.OldTailLink
+	h2.LinkOffset = h.OldTailLinkOffset
+	s.baliseDetector.newDetect(wd, repo, h, h2, train.BtmBaliseCacheB, h.IsLine12, false, "222")
+
+}
 
 // HandleTrainHeadPositionInfo 处理来自动力学的列车位置信息
 func (s *btmCanetClient) HandleTrainHeadPositionInfo(w ecs.World, h *TrainHeadPositionInfo) {
@@ -143,6 +143,9 @@ func (s *btmCanetClient) Stop() {
 		s.udpClient.Close()
 		s.udpClient = nil
 	}
+	for d := range s.baliseDetector.eq {
+		s.baliseDetector.eq[d] = nil
+	}
 }
 func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
 	defer func() {
@@ -206,8 +209,8 @@ func (s *btmCanetClient) dealWithAptReq(f *message.CanetFrame) {
 	//处理查询请求
 	//slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
 	//
-	s.btmTime.btmTk = atpReq.Time
-	s.btmTime.sysTk = now
+	s.btmTime.BtmTk = atpReq.Time
+	s.btmTime.SysTk = now
 	s.atpReqSn = atpReq.FId.ID4
 	s.atpReqCrc16Check = atpReq.Crc16CheckOk
 	s.baliseDetector.powerAmplifierSwitch = atpReq.PowerAmplifierTurnOn
@@ -263,7 +266,7 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 	statusF.BaliseCounter = byte(btmStatus.BaliseCounter)
 	statusF.MessageCounter = byte(btmStatus.MessageCounter)
 	statusF.PowerAmplifierOn = btmStatus.PowerAmplifierOn
-	statusF.TkTimeA = s.btmTime.tkNow()
+	statusF.TkTimeA = s.btmTime.TkNow()
 	statusF.PowerAmplifierFailure = btmStatus.PowerAmplifierFault
 	statusF.DetailedCode = 0
 	if btmStatus.AboveBalise {
@@ -271,16 +274,17 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 	}
 	statusF.AtpReqCrcCheckWrong = !s.atpReqCrc16Check
 	statusF.Dsn = s.dsn
+
 	s.dsnAdd1()
 	//
 	//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())
 		if statusDataCfOk {
 			timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
-			timeSyncF.T2 = s.btmTime.btmTk
-			timeSyncF.T3 = s.btmTime.tkNow()
+			timeSyncF.T2 = s.btmTime.BtmTk
+			timeSyncF.T3 = s.btmTime.TkNow()
 			s.sendCanetFrame(timeSyncF.Encode().Encode())
 			//
 			s.resendData = newResendData(statusDataCf)
@@ -290,8 +294,8 @@ func (s *btmCanetClient) rspToAtp(sb *BtmAntennaScanningBaliseInfo) {
 		}
 	} 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.T2 = s.btmTime.btmTk
-		timeSyncF.T3 = s.btmTime.tkNow()
+		timeSyncF.T2 = s.btmTime.BtmTk
+		timeSyncF.T3 = s.btmTime.TkNow()
 		s.sendCanetFrame(timeSyncF.Encode().Encode())
 		//
 		statusCf := statusF.Encode().Encode()

third_party/can_btm/balise_detection.go

@@ -2,6 +2,7 @@ package can_btm
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/fi"
 	"joylink.club/rtsssimulation/repository"
@@ -27,20 +28,26 @@ type BtmAntennaRunningInfo struct {
 }
 
 const (
-	BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
+	//BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
+	BtmAntennaOffsetHead = int64(0) //车载BTM天线距车头端点的距离，mm
 )
 
 // TrainHeadPositionInfo 列车车头运行位置信息
 type TrainHeadPositionInfo = fi.TrainHeadPositionInfo
 type BtmAntennaToBaliseInfo struct {
-	Distance int64  //BTM天线中心到应答器的距离，mm
-	BaliseId string //应答器id
+	Distance   int64                  //BTM天线中心到应答器的距离，mm
+	BaliseId   string                 //应答器id
+	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    //应答器报文
+	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
+	IsSend      bool
 }
 
 // BaliseDetector 车载BTM天线，应答器探测器
@@ -67,9 +74,47 @@ func (t *BaliseDetector) tryRebind(th *TrainHeadPositionInfo) {
 		t.clearExpectedBalise()
 		t.baliseCounter = 0
 		t.messageCounter = 0
-		slog.Debug(fmt.Sprintf("列车[%s]与CAN-BTM绑定", t.trianId))
+		//slog.Debug(fmt.Sprintf("列车[%s]与CAN-BTM绑定", t.trianId))
 	}
 }
+func (t *BaliseDetector) newDetect(wd *component.WorldData, repo *repository.Repository, th, th2 *TrainHeadPositionInfo, btmCache *state_proto.TrainBtmCache, isLine12, show bool, id string) {
+	//BTM天线中心点运行信息
+	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)   //目前车头
+	curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, th2) //上次车头
+	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)
+	}
+	balises := make([]*repository.Transponder, 0)
+	for _, balise := range startBalises {
+		find := false
+		for _, transponder := range balises {
+			if transponder.Id() == balise.Id() {
+				find = true
+				break
+			}
+		}
+		if !find {
+			balises = append(balises, balise)
+		}
+	}
+	if len(balises) > 0 {
+		balise := balises[0]
+		telegram, utel := t.rcvTelegram(wd, balise.Id())
+		/*if show {
+			slog.Info(fmt.Sprintf("%v  --------------------id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", id, balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
+		}*/
+		if AddNewExpectedBalise(balise, btmCache, telegram, utel, isLine12) {
+			if show {
+				slog.Info(fmt.Sprintf("%v  +++++++++++++id:%v ,offset:%v, up: %v,linkeId:%v ,headoffset:%v,tailOffset:%v", id, balise.Id(), balise.LinkPosition().Offset(), th.Up, curAntennaRi.LinkId, curAntennaRi.LinkOffset, curAntennaRi2.LinkOffset))
+
+			}
+		}
+	}
+
+}
 
 func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo) {
 	t.tryRebind(th)
@@ -81,14 +126,17 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 	curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)
 	//预测BTM天线到最近一个应答器的时刻
 	curExpect := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi)
+
 	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)
+
 		//记录即将经过的应答器
 		if t.addExpectedBalise(curExpect) {
 			t.baliseCounterAdd1() //应答器计数器
-			telegram := t.rcvTelegram(wd, curExpect.BaliseId)
 			if len(telegram) > 0 {
-				curExpect.telegram = telegram
+				curExpect.telegram = utel
+				curExpect.telegram128 = telegram
 				t.baliseMessageCounterAdd1() //报文计数器
 			}
 		}
@@ -97,6 +145,7 @@ func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Reposi
 	} else {
 		t.aboveBalise = false
 	}
+
 }
 
 // 应答器计数器加1，[0,255]
@@ -115,15 +164,43 @@ 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 {
-	entry, ok := wd.EntityMap[baliseId]
-	if ok {
-		if component.BaliseWorkStateType.Get(entry).Work {
-			return component.BaliseFixedTelegramType.Get(entry).Telegram
+func BaliseCounterAdd(counter uint32, isLine12 bool) byte {
+	c := byte(counter)
+	c++
+	if c > 255 {
+		c = 1
+		if isLine12 {
+			c = 0
 		}
 	}
-	return nil
+	return c
+}
+
+// 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) {
+
+	if entry, ok := wd.EntityMap[baliseId]; ok {
+		workedState := component.BaliseWorkStateType.Get(entry)
+		fixBalise := component.BaliseFixedTelegramType.Get(entry)
+		if entry.HasComponent(component.BaliseVariableTelegramType) {
+			baliseVar := component.BaliseVariableTelegramType.Get(entry)
+			if !workedState.Work {
+				return fixBalise.Telegram, fixBalise.UserTelegram
+			} else if baliseVar.UserTelegram == nil || len(baliseVar.UserTelegram) == 0 {
+				//slog.Warn(fmt.Sprintf("BTM天线未接受到应答器可变报文，即将使用对应的固定报文, baliseId: %v", baliseId))
+				return fixBalise.Telegram, fixBalise.UserTelegram
+			} else {
+				return baliseVar.Telegram, baliseVar.UserTelegram
+			}
+		} else if workedState.Work {
+			return fixBalise.Telegram, fixBalise.UserTelegram
+		} else {
+			//slog.Warn(fmt.Sprintf("BTM天线未接受到应答器报文，应答器未工作 baliseId: %v", baliseId))
+		}
+	} else {
+		//slog.Warn(fmt.Sprintf("BTM天线接收应答器报文，未找到 baliseId: %v", baliseId))
+	}
+	return nil, nil
 }
 
 // true-新增；false-更新
@@ -139,10 +216,17 @@ func (t *BaliseDetector) addExpectedBalise(curExpect *BtmAntennaScanningBaliseIn
 	//	}
 	//}
 	//检查是否已经记录过
-	eq := t.eq[len(t.eq)-1]
-	if eq != nil && eq.BaliseId == curExpect.BaliseId {
-		return false
+
+	for _, tt := range t.eq {
+		if tt != nil && tt.BaliseId == curExpect.BaliseId {
+			return false
+		}
 	}
+
+	/*	eq := t.eq[len(t.eq)-1]
+		if eq != nil && eq.BaliseId == curExpect.BaliseId {
+			return false
+		}*/
 	//左移
 	for i := 1; i < len(t.eq); i++ {
 		t.eq[i-1] = t.eq[i]
@@ -184,8 +268,10 @@ func (t *BaliseDetector) timeScanNearestBalise(curTime time.Time, wd *component.
 		curAc := float64(ba.Acceleration)
 		s := float64(expectedBalise.Distance) / 1000
 		st, ok := t.calculateBtmAntennaScanNextBaliseTime(curTime, curV, curAc, s)
+
 		if ok {
-			return &BtmAntennaScanningBaliseInfo{BaliseId: expectedBalise.BaliseId, Time: st}
+
+			return &BtmAntennaScanningBaliseInfo{BaliseId: expectedBalise.BaliseId, Time: st, Distance: expectedBalise.Distance, BaliseType: expectedBalise.BaliseType}
 		}
 	}
 	return nil
@@ -208,25 +294,29 @@ func (t *BaliseDetector) calculateBtmAntennaScanNextBaliseTime(curTime time.Time
 }
 
 // 获取车载BTM天线中心点运行方向最近的1个应答器
-func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
+func (t *BaliseDetector) findBaliseWillScanByBtmAntenna2(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
 	//BTM天线中心点所在轨道
 	baLink := repo.FindLink(ba.LinkId)
 	rs1 := t.searchBalisesFromLinkPosition(repo, ba.LinkId, ba.Up, ba.LinkOffset)
 	if ba.Up {
 		if len(rs1) > 0 {
-			return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: rs1[0].LinkPosition().Offset() - ba.LinkOffset}
+			rs := rs1[0]
+			return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: rs.LinkPosition().Offset() - ba.LinkOffset, BaliseType: rs.BaliseType()}
 		} else {
 			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
 			if nextLinkPort != nil {
 				if nextLinkPort.IsPortA() {
 					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
 					if len(rs2) > 0 {
-						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: baLink.Length() - ba.LinkOffset + rs2[0].LinkPosition().Offset()}
+						rs := rs2[0]
+
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
 					}
 				} else {
 					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
 					if len(rs2) > 0 {
-						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
+						rs := rs2[0]
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
 					}
 				}
 			}
@@ -254,6 +344,90 @@ func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData,
 	return nil
 }
 
+// 获取车载BTM天线中心点运行方向最近的1个应答器
+func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
+	//BTM天线中心点所在轨道
+	baLink := repo.FindLink(ba.LinkId)
+	rs1 := t.searchBalisesFromLinkPosition(repo, ba.LinkId, ba.Up, ba.LinkOffset)
+	if ba.Up {
+		if len(rs1) > 0 {
+			rs := rs1[0]
+			return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: rs.LinkPosition().Offset() - ba.LinkOffset, BaliseType: rs.BaliseType()}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						rs := rs2[0]
+
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						rs := rs2[0]
+						return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
+					}
+				}
+			}
+		}
+	} else {
+		if len(rs1) > 0 {
+			return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: ba.LinkOffset - rs1[0].LinkPosition().Offset()}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
+			if nextLinkPort != nil {
+				if nextLinkPort.IsPortA() {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + rs2[0].LinkPosition().Offset()}
+					}
+				} else {
+					rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
+					if len(rs2) > 0 {
+						return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
+					}
+				}
+			}
+		}
+	}
+	return nil
+}
+
+func (t *BaliseDetector) searchBalisesFromBetweenLinkPosition(repo *repository.Repository, up bool, linkId string, fromOffset int64, toOffset int64) []*repository.Transponder {
+	rs := repo.ResponderListByLink(linkId)
+	balises := make([]*repository.Transponder, 0)
+	if up {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[i].LinkPosition().Offset() < rs[j].LinkPosition().Offset()
+		})
+		for _, r := range rs {
+
+			if r.LinkPosition().Offset() >= fromOffset && r.LinkPosition().Offset() <= toOffset {
+				//slog.Info(fmt.Sprintf("up  id:%v,offset:%v,from:%v,to:%v", r.Id(), r.LinkPosition().Offset(), fromOffset, toOffset))
+				balises = append(balises, r)
+			}
+		}
+	} else {
+		sort.SliceStable(rs, func(i, j int) bool {
+			return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
+		})
+		for _, r := range rs {
+			//slog.Info(fmt.Sprintf("down  id:%v,offset:%v,from:%v,to:%v", r.Id(), r.LinkPosition().Offset(), fromOffset, toOffset))
+			if r.LinkPosition().Offset() <= toOffset {
+				cha := int64(math.Abs(float64(toOffset - fromOffset)))
+				cha2 := int64(math.Abs(float64(toOffset - r.LinkPosition().Offset())))
+				if cha2 <= cha {
+					balises = append(balises, r)
+				}
+
+			}
+		}
+	}
+	return balises
+}
+
 // up-在轨道上的搜索方向
 func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Repository, linkId string, up bool, fromOffset int64) []*repository.Transponder {
 	rs := repo.ResponderListByLink(linkId)
@@ -281,6 +455,34 @@ func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Reposito
 }
 
 // 列车车头端点运行信息转换为车载BTM天线中心点运行信息
+func (t *BaliseDetector) createBtmAntennaRunningInfo2(wd *component.WorldData, isSameLink bool, repo *repository.Repository, head *TrainHeadPositionInfo) *BtmAntennaRunningInfo {
+	headLink := repo.FindLink(head.Link)
+	if head.Up {
+		if isSameLink { //车头与BTM天线在同一个轨道上
+			return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset + int64(math.Abs(float64(BtmAntennaOffsetHead))), Speed: head.Speed, Acceleration: head.Acceleration}
+		} else { //车头与BTM天线在同一个轨道上
+			nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
+			nextLink := nextLinkPort.Link()
+			if nextLinkPort.IsPortA() {
+				return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
+			} else {
+				return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
+			}
+		}
+	} else {
+		if isSameLink { //车头与BTM天线在同一个轨道上
+			return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset + BtmAntennaOffsetHead, Speed: head.Speed, Acceleration: head.Acceleration}
+		} else {
+			nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
+			nextLink := nextLinkPort.Link()
+			if nextLinkPort.IsPortA() {
+				return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
+			} else {
+				return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
+			}
+		}
+	}
+}
 func (t *BaliseDetector) createBtmAntennaRunningInfo(wd *component.WorldData, repo *repository.Repository, head *TrainHeadPositionInfo) *BtmAntennaRunningInfo {
 	headLink := repo.FindLink(head.Link)
 	if head.Up {

third_party/can_btm/train_balise_cache.go

@@ -0,0 +1,121 @@
+package can_btm
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/const/balise_const"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/rtsssimulation/repository"
+	"strings"
+	"sync"
+)
+
+var baliseLock = &sync.Mutex{}
+
+func IsLine12(train *state_proto.TrainState) bool {
+	if strings.Contains(train.ProjectCode, "12") {
+		return true
+	}
+	return false
+}
+func AddNewExpectedBalise(balise *repository.Transponder, btmCache *state_proto.TrainBtmCache, telegram, userTelegram []byte, isLine12 bool) bool {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	bl := btmCache.BaliseList
+	for _, tt := range bl {
+		if tt != nil && tt.BaliseId == balise.Id() {
+			return false
+		}
+	}
+	for i := 1; i < len(bl); i++ {
+		bl[i-1] = bl[i]
+	}
+	unpack := false
+	bc := BaliseCounterAdd(btmCache.BaliseCount, isLine12)
+	mc := btmCache.MessageCounter
+	if userTelegram != nil && len(userTelegram) > 0 {
+		mc = uint32(BaliseCounterAdd(mc, isLine12))
+		unpack = true
+	}
+
+	btmCache.BaliseCount = uint32(bc)
+	btmCache.MessageCounter = mc
+	btmS := &state_proto.BTMState{BaliseId: balise.Id(),
+		Telegram:    fmt.Sprintf("%x", userTelegram),
+		Telegram128: fmt.Sprintf("%X", telegram),
+		Unpack:      unpack,
+		BaliseType:  int32(balise.BaliseType().Number()),
+		AboveBalise: true, HasData: true}
+
+	if userTelegram == nil || len(userTelegram) == 0 {
+		btmS.Telegram = strings.Repeat("00", balise_const.UserTelegramByteLen)
+		btmS.Telegram128 = strings.Repeat("00", balise_const.TelegramByteLen)
+		btmS.HasData = false
+	}
+	//存入队尾
+	bl[len(bl)-1] = btmS
+	return true
+}
+
+// HandleTrainHeadPositionInfoForTrain 处理列车位置信息
+// 参数1： 参数2：发送序列号，参数3：应答器计数（每过一个应答器加一，在同一个应答器内不变)，参数4：报文计数器 (每解出一个报文加一)（0~255）
+func FindBaliseResend(cache *state_proto.TrainBtmCache, isLine12 bool) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	for _, balise := range cache.BaliseList {
+		if balise != nil && balise.BaliseId == cache.ResendBaliseId && balise.ResendCount < 3 {
+			balise.ResendCount++
+			ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+			cache.Dsn = uint32(ndsn)
+			return balise, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+	return nil, ndsn, 0, 0
+}
+
+func FindBaliseByNotSend(cache *state_proto.TrainBtmCache, isLine12 bool) (*state_proto.BTMState, byte, byte, byte) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil && !btmCache.IsSend {
+			ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+			cache.Dsn = uint32(ndsn)
+			cache.ResendBaliseId = btmCache.BaliseId
+			return btmCache, ndsn, byte(cache.BaliseCount), byte(cache.MessageCounter)
+		}
+	}
+	ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+	return nil, ndsn, 0, 0
+}
+func ClearBalise(train *state_proto.TrainState) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+	train.BtmBaliseCacheA.BaliseList = make([]*state_proto.BTMState, 3)
+	train.BtmBaliseCacheB.BaliseList = make([]*state_proto.BTMState, 3)
+}
+
+// 11号线根据序列号查询
+func FindBaliseByMessageSerial(cache *state_proto.TrainBtmCache, isLine12 bool, ms byte) (*state_proto.BTMState, byte, bool) {
+	baliseLock.Lock()
+	defer baliseLock.Unlock()
+
+	for _, btmCache := range cache.BaliseList {
+		if btmCache != nil {
+			if btmCache.BaliseId == cache.ResendBaliseId {
+				if byte(btmCache.PackageDataSN) == ms {
+					bt, dsn, _, _ := FindBaliseByNotSend(cache, isLine12)
+					return bt, dsn, true
+				} else {
+					ndsn := BaliseCounterAdd(cache.Dsn, isLine12)
+					cache.Dsn = uint32(ndsn)
+					return btmCache, ndsn, false
+				}
+			}
+		}
+	}
+
+	bt, dsn, _, _ := FindBaliseByNotSend(cache, isLine12)
+	return bt, dsn, true
+
+}

third_party/dynamics/dynamics.go

@@ -5,6 +5,7 @@ import (
 	"context"
 	"encoding/json"
 	"fmt"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"log/slog"
 	"net/http"
 	"runtime/debug"
@@ -20,6 +21,8 @@ import (
 
 type DynamicsMessageManager interface {
 	CollectDynamicsTurnoutInfo() *message.DynamicsTurnoutInfo
+
+	CollectTrainControlState() []message.TrainControlMsg
 	HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo)
 	GetDynamicsRunConfig() *config.DynamicsConfig
 	GetDynamicsRunRepository() *message.LineBaseInfo
@@ -41,6 +44,8 @@ type Dynamics interface {
 
 	// 发送列车控制消息
 	SendTrainControlMessage(b []byte)
+
+	SendTrainControl(cm *message.TrainControlMsg)
 }
 
 var _default *dynamics
@@ -89,8 +94,16 @@ func (d *dynamics) updateState(state tpapi.ThirdPartyApiServiceState) {
 func (d *dynamics) State() tpapi.ThirdPartyApiServiceState {
 	return d.state
 }
-
-func (d *dynamics) Name() string {
+func (d *dynamics) FindAppendApiService() []tpapi.ThirdPartyApiService {
+	return nil
+}
+func (d *dynamics) Type() state_proto.SimulationThirdPartyApiService_Type {
+	return state_proto.SimulationThirdPartyApiService_Dynamics
+}
+func (d *dynamics) TrueService() bool {
+	return true
+}
+func (d *dynamics) ServiceDesc() string {
 	return Name
 }
 
@@ -129,6 +142,7 @@ func (d *dynamics) requestStartSimulation(base *message.LineBaseInfo) error {
 	}
 	url := d.buildUrl("/api/start/")
 	data, _ := json.Marshal(base)
+	slog.Info(string(data))
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
 		return sys_error.New("动力学开始仿真请求发送错误", err)
@@ -167,6 +181,7 @@ func (d *dynamics) RequestAddTrain(info *message.InitTrainInfo) error {
 	}
 	url := d.buildUrl("/api/aerodynamics/init/train/")
 	data, _ := json.Marshal(info)
+	//fmt.Println(string(data))
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
 		return fmt.Errorf("动力学添加列车请求异常: %v", err)
@@ -205,6 +220,7 @@ func (d *dynamics) TrainOperationConfig(req *message.TrainOperationConfig) error
 		return nil
 	}
 	data, _ := json.Marshal(req)
+	//fmt.Println(string(data))
 	url := d.buildUrl("/api/config/")
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
@@ -244,11 +260,24 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
 	}
 	ctx, cancle := context.WithCancel(context.Background())
 	go d.sendTurnoutStateTask(ctx)
+	go d.sendTrainControlStateTask(ctx)
 	d.turnoutTaskCancel = cancle
 	d.updateState(tpapi.ThirdPartyState_Normal)
 	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 {
@@ -301,10 +330,32 @@ func (d *dynamics) Stop() {
 
 const (
 	// 道岔消息发送间隔,单位ms
-	TurnoutMessageSendInterval = 50
+	TurnoutMessageSendInterval      = 50
+	TrainControlMessageSendInterval = 15
 )
 
 var turnoutStateLifeSignal uint16 //道岔消息生命信号
+// 定时发送列车控制状态
+func (d *dynamics) sendTrainControlStateTask(ctx context.Context) {
+	defer func() {
+		if err := recover(); err != nil {
+			slog.Error("定时发送列车控制状态任务异常", "error", err, "stack", string(debug.Stack()))
+			debug.PrintStack()
+		}
+	}()
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+		tccs := d.manager.CollectTrainControlState()
+		for _, tcc := range tccs {
+			d.SendTrainControl(&tcc)
+		}
+		time.Sleep(time.Millisecond * TrainControlMessageSendInterval)
+	}
+}
 
 // 定时发送道岔状态任务
 func (d *dynamics) sendTurnoutStateTask(ctx context.Context) {
@@ -329,5 +380,11 @@ func (d *dynamics) sendTurnoutStateTask(ctx context.Context) {
 }
 
 func (d *dynamics) SendTrainControlMessage(b []byte) {
-	d.trainControlUdpClient.Send(b)
+	if d.trainControlUdpClient != nil {
+		d.trainControlUdpClient.Send(b)
+	}
+
+}
+func (d *dynamics) SendTrainControl(cm *message.TrainControlMsg) {
+	d.SendTrainControlMessage(cm.Encode())
 }

third_party/electrical_machinery/electrical_machinery.go

@@ -1,7 +1,11 @@
 package electrical_machinery
 
 import (
+	"encoding/hex"
 	"fmt"
+	"joylink.club/bj-rtsts-server/dto/common_proto"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"log/slog"
 	"sync"
 
 	"joylink.club/bj-rtsts-server/config"
@@ -9,22 +13,30 @@ import (
 	"joylink.club/bj-rtsts-server/third_party/udp"
 )
 
-// 电机转速UDP
+const (
+	PointA = iota + 1
+	PointB
+)
+
+// ElectricMachinery 速传通信服务接口
 type ElectricMachinery interface {
-	Start(manager ElectricMachineryMessageManager)                // 启动电机转速UDP消息处理
-	Stop()                                                        // 停止电机转速消息处理
-	SendElectricMachineryMessage(info *message.ElectricMachinery) // 发送电机转速消息
+	Start(manager ElectricMachineryMessageManager)                                                     // 启动电机转速UDP消息处理
+	Stop()                                                                                             // 停止电机转速消息处理
+	SendElectricMachineryMessage(emMap map[int]*message.ElectricMachinery)                             // 发送电机转速消息
+	SendElectricMachineryMessage2(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) // 发送电机转速消息
+	ClearOrRemoveTrain(trainState *state_proto.TrainState)
 }
 
 type ElectricMachineryMessageManager interface {
-	GetElectricMachineryRunConfig() *config.ElectricMachineryConfig // 获取电机转速参数
+	GetElectricMachineryRunConfig() []config.ElectricMachineryConfig // 获取电机转速参数
 }
 
 type electricalMachineryImpl struct {
-	electricalMachineryUdpClient udp.UdpClient
+	//electricalMachineryUdpClient udp.UdpClient
 
-	manager   ElectricMachineryMessageManager
-	runConfig *config.ElectricMachineryConfig
+	electricalMachineryUdpClientMap map[int]udp.UdpClient
+	manager                         ElectricMachineryMessageManager
+	runConfig                       []config.ElectricMachineryConfig
 }
 
 func (s *electricalMachineryImpl) Start(manager ElectricMachineryMessageManager) {
@@ -35,7 +47,13 @@ func (s *electricalMachineryImpl) Start(manager ElectricMachineryMessageManager)
 		panic("启动电机转速消息服务错误: 存在正在运行的任务")
 	}
 	s.runConfig = manager.GetElectricMachineryRunConfig()
-	if s.runConfig == nil || s.runConfig.Ip == "" || !s.runConfig.Open {
+	allNotOpen := true
+	for _, c := range s.runConfig {
+		if &c != nil && c.Open {
+			allNotOpen = false
+		}
+	}
+	if allNotOpen {
 		return
 	}
 	// 初始化客户端、服务端
@@ -47,21 +65,95 @@ func (s *electricalMachineryImpl) Stop() {
 	initMutex.Lock()
 	defer initMutex.Unlock()
 	_default = nil
-	if s.electricalMachineryUdpClient != nil {
-		s.electricalMachineryUdpClient.Close()
+	//if s.electricalMachineryUdpClient != nil {
+	//	s.electricalMachineryUdpClient.Close()
+	//}
+	for _, c := range s.electricalMachineryUdpClientMap {
+		if &c != nil {
+			c.Close()
+		}
 	}
 	s.manager = nil
 }
+func (s *electricalMachineryImpl) ClearOrRemoveTrain(trainState *state_proto.TrainState) {
+	collectSpeedMap := initEMMsg(trainState)
+	if trainState.VobcState.Tc1Active {
+		collectSpeed(0, 0, trainState.TrainEndsA, collectSpeedMap)
 
-func (s *electricalMachineryImpl) SendElectricMachineryMessage(info *message.ElectricMachinery) {
-	if s.electricalMachineryUdpClient == nil {
-		return
+	} else if trainState.VobcState.Tc2Active {
+		collectSpeed(0, 0, trainState.TrainEndsB, collectSpeedMap)
 	}
-	s.electricalMachineryUdpClient.Send(info.Encode())
+	// 更新电机转速
+	s.SendElectricMachineryMessage(collectSpeedMap)
+}
+func (s *electricalMachineryImpl) SendElectricMachineryMessage(emMap map[int]*message.ElectricMachinery) {
+	for key, em := range emMap {
+		client := s.electricalMachineryUdpClientMap[key]
+		if client != nil {
+			data := em.Encode()
+			hexStr := hex.EncodeToString(data)
+			slog.Info("发送电机转速消息key", hexStr)
+			err := client.Send(data)
+			if err != nil {
+				slog.Info("发送电机转速消息失败key", hexStr)
+			}
+		}
+	}
+}
+func (s *electricalMachineryImpl) SendElectricMachineryMessage2(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
+	collectSpeedMap := initEMMsg(trainState)
+	if trainState.VobcState.Tc1Active {
+		collectSpeed(info.HeadSpeed1, info.HeadSpeed2, trainState.TrainEndsA, collectSpeedMap)
+
+	} else if trainState.VobcState.Tc2Active {
+		collectSpeed(info.TailSpeed1, info.TailSpeed2, trainState.TrainEndsB, collectSpeedMap)
+	}
+	// 更新电机转速
+	s.SendElectricMachineryMessage(collectSpeedMap)
+}
+func collectSpeed(speed1, speed2 float32, endP *common_proto.TrainEndsState, resultMap map[int]*message.ElectricMachinery) {
+	pa := resultMap[PointA]
+	pb := resultMap[PointB]
+	if endP.SpeedSensorEnableA || endP.SpeedSensorEnableB {
+		if endP.AccOutSpeed > 0 {
+			pa.Speed = float32(endP.AccOutSpeed) / 3.6
+			pb.Speed = float32(endP.AccOutSpeed) / 3.6
+		} else {
+			if endP.SpeedSensorEnableA {
+				pa.Speed = speed1
+			}
+			if endP.SpeedSensorEnableB {
+				pb.Speed = speed2
+			}
+		}
+	}
+}
+
+func initEMMsg(trainState *state_proto.TrainState) map[int]*message.ElectricMachinery {
+
+	collectSpeedMap := map[int]*message.ElectricMachinery{
+		PointA: {
+			Speed:         0,
+			WheelDiameter: trainState.WheelDiameter,
+			IsBack:        trainState.VobcState.DirectionBackward},
+		PointB: {Speed: 0,
+			WheelDiameter: trainState.WheelDiameter,
+			IsBack:        trainState.VobcState.DirectionBackward},
+	}
+	return collectSpeedMap
 }
 
 func (s *electricalMachineryImpl) initElectricalMachinery() {
-	s.electricalMachineryUdpClient = udp.NewClient(fmt.Sprintf("%v:%v", s.runConfig.Ip, s.runConfig.RemotePort))
+	s.electricalMachineryUdpClientMap = map[int]udp.UdpClient{}
+	for _, c := range s.runConfig {
+		if &c != nil && c.Ip != "" && c.Open {
+			ep := PointA
+			if !c.EndPointA {
+				ep = PointB
+			}
+			s.electricalMachineryUdpClientMap[ep] = udp.NewClient(fmt.Sprintf("%v:%v", c.Ip, c.RemotePort))
+		}
+	}
 }
 
 var _default ElectricMachinery

third_party/electrical_machinery/electrical_machinery_test.go

@@ -0,0 +1,25 @@
+package electrical_machinery
+
+import (
+	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"testing"
+	"time"
+)
+
+func TestServer(t *testing.T) {
+	udpServer := udp.NewServer(fmt.Sprintf("127.0.0.1:%d", 9999), handleCanetFrames)
+	udpServer.Listen()
+	select {}
+}
+func handleCanetFrames(d []byte) {
+	msg := &message.ElectricMachinery{}
+	msg.Decode(d)
+}
+
+func TestOther(t *testing.T) {
+	dd := 1714024680 - time.Now().Unix()
+	fmt.Println(dd)
+	fmt.Println(int32(dd))
+}

third_party/example/main.go

@@ -4,7 +4,7 @@ import (
 	"fmt"
 	"log/slog"
 
-	"joylink.club/bj-rtsts-server/third_party/balise"
+	"joylink.club/bj-rtsts-server/third_party/balisecodec"
 )
 
 type TestMsg struct {
@@ -40,19 +40,19 @@ func main() {
 	// }
 
 	// time.Sleep(time.Second * 60)
-	// for i, v := range balise.ConvWords {
+	// for i, v := range balisecodec.ConvWords {
 	// 	fmt.Printf("0%o,", v)
 	// 	if i%10 == 9 {
 	// 		fmt.Println()
 	// 	}
 	// }
-	v10 := balise.ToVal([]int{
+	v10 := balisecodec.ToValLeftMsb([]byte{
 		1, 1, 1,
 		1, 1, 1, 1,
 		1, 1, 1, 1,
 		1, 1, 1, 1})
 	fmt.Println(v10)
-	bs := balise.ToBits(1982, 11)
+	bs := balisecodec.ToBitsLeftMsb(1982, 11)
 	fmt.Println(bs)
-	// fmt.Printf("%o\n", balise.ConvWords[511])
+	// fmt.Printf("%o\n", balisecodec.ConvWords[511])
 }

third_party/example/rssp/ci/ci_server.go

@@ -1,155 +0,0 @@
-package ci
-
-import (
-	"context"
-	"fmt"
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/axle_device"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"sort"
-	"sync"
-	"time"
-)
-
-type CiServer interface {
-	Start()
-	Stop()
-	//SendSectionReset 向计轴设备发送计轴命令
-	SendSectionReset(sectionId string, drst bool, pdrst bool)
-	//HandleSectionStatus 收到来自计轴设备的物理区段状态
-	HandleSectionStatus(status []*message.SectionStatusMsg)
-}
-
-// 北京12号线酒仙桥集中站物理区段码表
-var codePointMap = map[int]string{0: "北京_12_酒仙桥_9G", 1: "北京_12_酒仙桥_1DG", 2: "北京_12_酒仙桥_11G", 3: "北京_12_酒仙桥_13G", 4: "北京_12_酒仙桥_15G", 5: "北京_12_酒仙桥_6G", 6: "北京_12_酒仙桥_8G", 7: "北京_12_酒仙桥_2DG", 8: "北京_12_酒仙桥_10G", 9: "北京_12_酒仙桥_12G", 10: "北京_12_酒仙桥_14G"}
-var idRowMap = make(map[string]int)
-var sectionCmds []*message.SectionCmdMsg
-var cmdsLock = sync.Mutex{}
-
-// rssp 测试
-type ciServer struct {
-	//所属城市
-	city string
-	//所属线路
-	lineId string
-	//所属集中站
-	centralizedStation string
-	//接收方每个安全通信会话对应的发送周期值,单位ms
-	sendingPeriod uint32
-	//主安全通道
-	rsspChannel *axle_device.RsspChannel
-	//
-	cancel context.CancelFunc
-}
-
-func (s *ciServer) HandleSectionStatus(status []*message.SectionStatusMsg) {
-	if len(codePointMap) != len(status) {
-		fmt.Println("==>>接收到的区段状态与码表不对应:", "codePointsLen=", len(codePointMap), ",statusLen=", len(status))
-		return
-	}
-	fmt.Println("==>>接收到的区段状态----------------------------------------------------------------------------i")
-	for row, state := range status {
-		sectionId := codePointMap[row]
-		fmt.Printf("==>>[%d]区段[%s]状态: Clr=%t  Occ=%t  Rac=%t  Rjo=%t  Rjt=%t\n", row, sectionId, state.Clr, state.Occ, state.Rac, state.Rjo, state.Rjt)
-	}
-	fmt.Println("==>>接收到的区段状态----------------------------------------------------------------------------o")
-}
-func (s *ciServer) periodRun(runContext context.Context) {
-	defer func() {
-		fmt.Println("==>>CI Server 周期运行退出 ...")
-	}()
-	for {
-		select {
-		case <-runContext.Done():
-			return
-		default:
-		}
-		s.doSendSectionCmdMsg()
-		time.Sleep(time.Duration(s.sendingPeriod) * time.Millisecond)
-		//更新周期性参数
-		s.rsspChannel.NextPeriod()
-	}
-}
-func (s *ciServer) doSendSectionCmdMsg() {
-	if s.rsspChannel != nil {
-		data := s.collectSectionCmdsData()
-		fmt.Println("==>>CI发送区段指令数据", ",len=", len(data))
-		s.rsspChannel.SendUserData(data)
-	}
-}
-func (s *ciServer) collectSectionCmdsData() []byte {
-	defer func() {
-		cmdsLock.Unlock()
-	}()
-	cmdsLock.Lock()
-	//
-	data := (&message.SectionCmdMsgPack{Ck: 0x80, Scs: sectionCmds}).Encode()
-	return data
-}
-
-// SendSectionReset 发送区段复位指令
-func (s *ciServer) SendSectionReset(sectionId string, drst bool, pdrst bool) {
-	defer func() {
-		cmdsLock.Unlock()
-	}()
-	cmdsLock.Lock()
-	//
-	sec := sectionCmds[idRowMap[sectionId]]
-	sec.Drst = drst
-	sec.Pdrst = pdrst
-}
-
-type rowId struct {
-	row int
-	id  string
-}
-
-func (s *ciServer) Start() {
-	s.rsspChannel.SetRcvUserDataCallback(s.rcvUserData)
-	s.rsspChannel.Start()
-	ctx, cancel := context.WithCancel(context.Background())
-	go s.periodRun(ctx)
-	s.cancel = cancel
-}
-func (s *ciServer) Stop() {
-	if s.rsspChannel != nil {
-		s.rsspChannel.Stop()
-		s.rsspChannel = nil
-	}
-	if s.cancel != nil {
-		s.cancel()
-	}
-}
-func (s *ciServer) rcvUserData(data []byte) {
-	fmt.Println("==>>CI接收到区段状态数据", ",len=", len(data))
-	msg := &message.SectionStatusMsgPack{}
-	msg.Decode(data)
-	s.HandleSectionStatus(msg.Sms)
-}
-func NewRsspCiServer(cfg *config.RsspAxleConfig) CiServer {
-	ra := &ciServer{}
-	//
-	ra.city = cfg.City
-	ra.lineId = cfg.LineId
-	ra.centralizedStation = cfg.CentralizedStation
-	ra.sendingPeriod = cfg.RsspCfg.SendingPeriod
-	//
-	mrc := &axle_device.RsspChannel{}
-	ra.rsspChannel = mrc.Init(&cfg.RsspCfg)
-	//
-	return ra
-}
-
-func InitCiServerCodePoints() {
-	var ris []*rowId
-	for row, id := range codePointMap {
-		idRowMap[id] = row
-		ris = append(ris, &rowId{row: row, id: id})
-	}
-	sort.SliceStable(ris, func(i, j int) bool {
-		return ris[i].row < ris[j].row
-	})
-	for range ris {
-		sectionCmds = append(sectionCmds, &message.SectionCmdMsg{Drst: false, Pdrst: false})
-	}
-}

third_party/example/rssp/main.go

@@ -1,46 +0,0 @@
-package main
-
-import (
-	"fmt"
-	"time"
-
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/example/rssp/ci"
-	"joylink.club/bj-rtsts-server/third_party/message"
-)
-
-func main() {
-	// message.InitRsspCrcTable()
-	ci.InitCiServerCodePoints()
-	//
-	cfg := &config.RsspAxleConfig{}
-	cfg.City = "北京"
-	cfg.LineId = "12"
-	cfg.CentralizedStation = "酒仙桥"
-	cfg.RsspCfg.SrcAddr = 0x01
-	cfg.RsspCfg.DstAddr = 0x02
-	cfg.RsspCfg.DataVer1 = 0x0011
-	cfg.RsspCfg.DataVer2 = 0x0012
-	cfg.RsspCfg.SID1 = 0x10000000
-	cfg.RsspCfg.SID2 = 0x00000001
-	cfg.RsspCfg.SINIT1 = 0x01
-	cfg.RsspCfg.SINIT2 = 0x02
-	cfg.RsspCfg.SendingPeriod = 500
-	cfg.RsspCfg.SsrRsspTimeout = 3
-	cfg.RsspCfg.Mtv = 3
-	cfg.RsspCfg.DeviceA = true
-	cfg.RsspCfg.PicType = message.PIC_MASTER
-	cfg.RsspCfg.RemoteIp = "192.168.3.5"
-	cfg.RsspCfg.RemoteUdpPort = 6666
-	cfg.RsspCfg.LocalUdpPort = 7777
-	//
-	ciServer := ci.NewRsspCiServer(cfg)
-	ciServer.Start()
-	fmt.Println("==>>ci server ...")
-	for {
-		time.Sleep(2 * time.Second)
-		ciServer.SendSectionReset("北京_12_酒仙桥_9G", true, false)
-	}
-	//
-	time.Sleep(3600 * time.Second)
-}

third_party/interlock/beijing11/msg.go

@@ -0,0 +1,398 @@
+package beijing11
+
+import (
+	"encoding/binary"
+	"github.com/snksoft/crc"
+)
+
+const ( //不知道对不对，问也不回，先瞎写吧
+	ON  = 0x55 //按钮-按下；道岔-定位；屏蔽门-关门；计轴区段-占用
+	OFF = 0xAA //按钮-抬起；道岔-反位；屏蔽门-开门；计轴区段-出清
+)
+
+const (
+	SignalAspect_H  = 0x01 //红灯
+	SignalAspect_L  = 0x04 //绿灯
+	SignalAspect_U  = 0x02 //黄灯
+	SignalAspect_HU = 0x03 //红黄
+	SignalAspect_B  = 0x08 //白灯
+)
+
+func GetStateByte(state bool) byte {
+	if state {
+		return ON
+	} else {
+		return OFF
+	}
+}
+
+// FromInterlockFrame 来自联锁的数据帧
+type FromInterlockFrame struct {
+	Len             uint16
+	InterlockCode   uint16         //联锁编号（联锁->轨旁：OC的编号，轨旁->联锁：联锁站编号）
+	WaysideCode     uint16         //轨旁编号
+	TurnoutData     *DeviceData    //道岔数据
+	PSDData         *DeviceData    //屏蔽门数据
+	ESBData         *ESBData       //紧急停车按钮数据
+	HoldTrainData   *HoldTrainData //扣车按钮数据
+	SignalData      *DeviceData    //信号机数据
+	AxleSectionData *DeviceData    //计轴区段数据
+	WrzfData        *DeviceData    //无人折返数据
+	FymData         *DeviceData    //防淹门数据
+	SPKSData        *SPKSData      //SPKS数据
+	CkmData         *DeviceData    //车库门数据
+	//XcjData         *DeviceData    //洗车机数据
+}
+
+func (f *FromInterlockFrame) Decode(data []byte) error {
+	f.Len = binary.BigEndian.Uint16(data[1:3])
+	//if int(f.Len) != len(data)-3 {
+	//	return errors.New(fmt.Sprintf("%s数据长度不对[%d:%d]", logTag, f.Len, len(data)-3))
+	//}
+	f.InterlockCode = binary.BigEndian.Uint16(data[3:5])
+	f.WaysideCode = binary.BigEndian.Uint16(data[5:7])
+
+	turnoutData, i := decodeDeviceData(data, 7)
+	f.TurnoutData = turnoutData
+	psdData, i := decodeDeviceData(data, i)
+	f.PSDData = psdData
+	esbData, i := decodeESBData(data, i)
+	f.ESBData = esbData
+	holdTrainData, i := decodeHoldTrainData(data, i)
+	f.HoldTrainData = holdTrainData
+	signalData, i := decodeDeviceData(data, i)
+	f.SignalData = signalData
+	axleSectionData, i := decodeDeviceData(data, i)
+	f.AxleSectionData = axleSectionData
+	wrzfData, i := decodeDeviceData(data, i)
+	f.WrzfData = wrzfData
+	fymData, i := decodeDeviceData(data, i)
+	f.FymData = fymData
+	spksData, i := decodeSPKSData(data, i)
+	f.SPKSData = spksData
+	ckmData, i := decodeDeviceData(data, i)
+	f.CkmData = ckmData
+	//xcjData, i := decodeDeviceData(data, i)
+	//f.XcjData = xcjData
+	return nil
+}
+
+func decodeDeviceData(data []byte, index uint16) (*DeviceData, uint16) {
+	data = data[index:]
+	num := binary.BigEndian.Uint16(data[0:2])
+	i := 2 + 3*num
+	data = data[2:i]
+	var cmdList []*DeviceCmd
+	for i := 0; i < len(data); i += 3 {
+		cmdList = append(cmdList, &DeviceCmd{
+			Id:  binary.BigEndian.Uint16(data[i : i+2]),
+			Cmd: data[i+2],
+		})
+	}
+	deviceData := &DeviceData{
+		Num:     num,
+		CmdList: cmdList,
+	}
+	return deviceData, index + i
+}
+
+func decodeESBData(data []byte, index uint16) (*ESBData, uint16) {
+	data = data[index:]
+	num := binary.BigEndian.Uint16(data[0:2])
+	nextIndex := 2 + 4*num
+	data = data[2:nextIndex]
+	var cmdList []*ESBCmd
+	for i := 0; i < len(data); i += 4 {
+		cmdList = append(cmdList, &ESBCmd{
+			Id:        binary.BigEndian.Uint16(data[i : i+2]),
+			JjtcCmd:   data[i+2],
+			JjtcplCmd: data[i+3],
+			//JjtcfmqCmd: data[i+4],
+			//Ess1Cmd:    data[i+5],
+		})
+	}
+	deviceData := &ESBData{
+		Num:     num,
+		CmdList: cmdList,
+	}
+	return deviceData, index + nextIndex
+}
+
+func decodeHoldTrainData(data []byte, index uint16) (*HoldTrainData, uint16) {
+	data = data[index:]
+	num := binary.BigEndian.Uint16(data[0:2])
+	nextIndex := 2 + 6*num
+	data = data[2:nextIndex]
+	var cmdList []*HoldTrainCmd
+	for i := 0; i < len(data); i += 6 {
+		cmdList = append(cmdList, &HoldTrainCmd{
+			Id:       binary.BigEndian.Uint16(data[i : i+2]),
+			KcCmd:    data[i+2],
+			KcplCmd:  data[i+3],
+			Kc2Cmd:   data[i+4],
+			Kcpl2Cmd: data[i+5],
+		})
+	}
+	deviceData := &HoldTrainData{
+		Num:     num,
+		CmdList: cmdList,
+	}
+	return deviceData, index + nextIndex
+}
+
+func decodeSPKSData(data []byte, index uint16) (*SPKSData, uint16) {
+	data = data[index:]
+	num := binary.BigEndian.Uint16(data[0:2])
+	nextIndex := 2 + 4*num
+	data = data[2:nextIndex]
+	var cmdList []*SPKSCmd
+	for i := 0; i < len(data); i += 4 {
+		cmdList = append(cmdList, &SPKSCmd{
+			Id:        binary.BigEndian.Uint16(data[i : i+2]),
+			SPKSCmd:   data[i+2],
+			SPKSPLCmd: data[i+3],
+		})
+	}
+	deviceData := &SPKSData{
+		Num:     num,
+		CmdList: cmdList,
+	}
+	return deviceData, index + nextIndex
+}
+
+type DeviceData struct {
+	Num     uint16 //设备数量
+	CmdList []*DeviceCmd
+}
+
+type ESBData struct {
+	Num     uint16 //紧急停车按钮的数量
+	CmdList []*ESBCmd
+}
+
+type HoldTrainData struct {
+	Num     uint16 //扣车的数量
+	CmdList []*HoldTrainCmd
+}
+
+type SPKSData struct {
+	Num     uint16 //SPKS的数量
+	CmdList []*SPKSCmd
+}
+
+type ESBCmd struct {
+	Id        uint16 //紧急停车ID
+	JjtcCmd   byte   //紧急停车按钮命令
+	JjtcplCmd byte   //紧急停车旁路按钮命令
+	//JjtcfmqCmd byte   //紧急停车蜂鸣器命令
+	//Ess1Cmd    byte   //Ess1指示灯状态
+}
+
+type HoldTrainCmd struct {
+	Id       uint16 //扣车ID
+	KcCmd    byte   //扣车命令
+	KcplCmd  byte   //扣车旁路命令
+	Kc2Cmd   byte   //2号扣车命令
+	Kcpl2Cmd byte   //2号扣车旁路命令
+}
+
+type SPKSCmd struct {
+	Id        uint16 //SPKS ID
+	SPKSCmd   byte   //SPKS按钮
+	SPKSPLCmd byte   //SPKSPL按钮
+}
+
+type DeviceCmd struct {
+	Id  uint16 //设备ID
+	Cmd byte   //设备命令
+}
+
+// ToInterlockFrame 发往联锁的数据帧
+type ToInterlockFrame struct {
+	WaysideCode   uint16
+	InterlockCode uint16
+	TurnoutStates []*TurnoutState //道岔状态
+	PsdStates     []*PSDState     //屏蔽门状态
+	ESBStates     []*ESBState     //紧急停车按钮状态
+	//HoldTrainData   []*HoldTrainState   //扣车按钮状态（数量0）
+	SignalStates      []*SignalState      //信号机状态
+	AxleSectionStates []*AxleSectionState //计轴区段状态
+	//WrzfData        []*WrzfState        //无人折返状态（数量0）
+	//FymData         []*FymState         //防淹门状态（数量0）
+	SPKSStates []*SPKSState //SPKS状态
+	//CkmData         []*CkmState         //车库门状态（数量0）
+	//XcjData         []*XcjState         //洗车机状态（无）
+}
+
+func (t *ToInterlockFrame) encode() []byte {
+	data := make([]byte, 0, 128)
+	data = append(data, 0x83) //报文类型
+	data = append(data, 0, 0) //报文长度占位
+	data = binary.BigEndian.AppendUint16(data, t.WaysideCode)
+	data = binary.BigEndian.AppendUint16(data, t.InterlockCode)
+	//道岔
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.TurnoutStates)))
+	for _, state := range t.TurnoutStates {
+		data = state.encode(data)
+	}
+	//屏蔽门
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.PsdStates)))
+	for _, state := range t.PsdStates {
+		data = state.encode(data)
+	}
+	//紧急停车
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.ESBStates)))
+	for _, state := range t.ESBStates {
+		data = state.encode(data)
+	}
+	//扣车，数量0
+	data = binary.BigEndian.AppendUint16(data, 0)
+	//信号机状态
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.SignalStates)))
+	for _, state := range t.SignalStates {
+		data = state.encode(data)
+	}
+	//计轴区段
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.AxleSectionStates)))
+	for _, state := range t.AxleSectionStates {
+		data = state.encode(data)
+	}
+	//无人折返，数量0
+	data = binary.BigEndian.AppendUint16(data, 0)
+	//防淹门，数量0
+	data = binary.BigEndian.AppendUint16(data, 0)
+	//SPKS
+	data = binary.BigEndian.AppendUint16(data, uint16(len(t.SPKSStates)))
+	for _, state := range t.SPKSStates {
+		data = state.encode(data)
+	}
+	//填充字节
+	fillSlice := make([]byte, 19)
+	fillSlice[2] = 1
+	data = append(data, fillSlice...)
+	//CRC32
+	data = binary.BigEndian.AppendUint32(data, crc32(data[3:]))
+	//填充报文长度
+	binary.BigEndian.PutUint16(data[1:3], uint16(len(data)-7))
+	return data
+}
+
+type TurnoutState struct {
+	Id    uint16 //道岔ID
+	State byte   //道岔的采集状态
+	//Alarm    byte   //道岔的报警状态
+	//Current1 byte   //转辙机1电流值，单位A
+	//Current2 byte   //转辙机2电流值，单位A
+}
+
+func (s *TurnoutState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State /*, s.Alarm, s.Current1, s.Current2*/)
+	return data
+}
+
+type PSDState struct {
+	Id    uint16 //屏蔽门ID
+	State byte   //屏蔽门开关门状态
+	Hsjc  byte   //互锁解除状态
+	PCB   byte   //PCB状态
+	POB   byte   //POB状态
+	DPB   byte   //DPB状态
+}
+
+func (s *PSDState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State, s.Hsjc, s.PCB, s.POB, s.DPB)
+	return data
+}
+
+type ESBState struct {
+	Id      uint16 //紧急停车ID
+	State   byte   //紧急停车按钮状态
+	PlState byte   //紧急停车按钮旁路状态
+	//ESS     byte   //ESS状态（按下55，抬起aa）（解析驱动数据，没有此状态对应的驱动）
+}
+
+func (s *ESBState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State, s.PlState)
+	return data
+}
+
+type HoldTrainState struct {
+	Id       uint16 //扣车ID
+	State    byte   //扣车按钮状态（按下55，抬起aa）
+	PlState  byte   //扣车按钮旁路状态（按下55，抬起aa）
+	State2   byte   //2号扣车按钮状态（55开启，aa关闭）
+	PlState2 byte   //2号扣车按钮旁路状态（55开启，aa关闭）
+}
+
+type SignalState struct {
+	Id    uint16 //信号机ID
+	State byte   //信号机的采集状态
+	//Current byte   //信号机当前亮灯的电流值
+}
+
+func (s *SignalState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State /*s.Current*/)
+	return data
+}
+
+type AxleSectionState struct {
+	Id    uint16 //计轴区段Id
+	State byte   //计轴区段的采集状态
+}
+
+func (s *AxleSectionState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State)
+	return data
+}
+
+type WrzfState struct {
+	Id    uint16 //无人折返ID
+	State byte   //无人折返的采集状态
+}
+
+type FymState struct {
+	Id          uint16 //防淹门ID
+	OpenAndLock byte   //防淹门打开锁闭状态
+	CloseReq    byte   //防淹门关闭请求状态
+}
+
+type SPKSState struct {
+	Id      uint16 //SPKS ID
+	State   byte   //SPKS按钮状态
+	PlState byte   //SPKSPL按钮状态
+}
+
+func (s *SPKSState) encode(data []byte) []byte {
+	data = binary.BigEndian.AppendUint16(data, s.Id)
+	data = append(data, s.State, s.PlState)
+	return data
+}
+
+type CkmState struct {
+	Id         uint16 //车库门ID
+	State      byte   //车库门采集状态
+	ModeState  byte   //车库门模式状态
+	FaultState byte   //车库门故障状态
+}
+
+type XcjState struct {
+	Id              uint16 //洗车机ID
+	Ready           byte   //洗车机就绪状态
+	ResponseConfirm byte   //回复确认状态
+	GoState1        byte   //出发状态1
+	GoState2        byte   //出发状态2
+	StopState       byte   //急停状态
+	BackConfirm     byte   //返回确认状态
+	BackMode        byte   //模式
+}
+
+var crcHash = crc.NewHash(&crc.Parameters{Width: 32, Polynomial: 0x4c11db7, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0})
+
+func crc32(data []byte) uint32 {
+	return uint32(crcHash.CalculateCRC(data))
+}

third_party/interlock/beijing11/msg_test.go

@@ -0,0 +1,193 @@
+package beijing11
+
+import (
+	"encoding/binary"
+	"encoding/hex"
+	"fmt"
+	"joylink.club/bj-rtsts-server/util/myreader"
+	"testing"
+)
+
+func TestFromInterlockFrame_Decode(t *testing.T) {
+	str := "58bea4c65e0e583f5bdedc310800450000c949950000801100003d0b0a0d3d0b7814413c40d800b5fcfd8200a63c0363010003000400000500000900000200040000080000020004aaaa0008aaaa0000000f000d01000e01000f060010060021060023010011060012060026060027010013060014010022060024060025010010001300001400001500001600001700001800001900001a00002c00002d00002e00002f00003000003100003200003300000000000004000daaaa000eaaaa000faaaa0010aaaa0000000000000000000000007a91cfc2"
+	data, err := hex.DecodeString(str)
+	if err != nil {
+		t.Fatal(err)
+	}
+	if data[0] != 0x82 {
+		data = data[42:] //去掉wireshark抓包携带的额外字节
+	}
+	reader := myreader.NewReader(data)
+	fmt.Printf("%x\t【报文类型】\n", reader.ReadByte())
+	fmt.Printf("%x\t【报文长度】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【联锁编号】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【轨旁编号】\n", reader.ReadBytes(2))
+	{ //道岔
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【道岔】")
+	}
+	{ //屏蔽门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【屏蔽门】")
+	}
+	{ //紧急停车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【紧急停车按钮】")
+	}
+	{ //扣车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【扣车按钮】")
+	}
+	{ //信号机
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【信号机】")
+	}
+	{ //计轴区段
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【计轴区段】")
+	}
+	{ //无人折返
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【无人折返】")
+	}
+	{ //防淹门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【防淹门】")
+	}
+	{ //SPKS
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【SPKS】")
+	}
+	{ //车库门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【车库门】")
+	}
+	{ //预留
+		deviceNum := reader.ReadBytes(10)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【预留】")
+	}
+	//CRC32
+	fmt.Printf("%x【CRC32】\n", reader.ReadBytes(4))
+	//{ //json
+	//	frame := &FromInterlockFrame{}
+	//	err = frame.Decode(data)
+	//	if err != nil {
+	//		t.Fatal(err)
+	//	}
+	//	marshal, err := json.Marshal(frame)
+	//	if err != nil {
+	//		t.Fatal(err)
+	//	}
+	//	fmt.Println(string(marshal))
+	//}
+}
+
+func TestToInterlockFrame_Decode(t *testing.T) {
+	str := "583f5bdedc315871778a9d89080045000172f6950000801146ae3d0b78143d0b0a0d40d8413c015ef35583014f63013c0200030004010005010009010006000202eeaaaaaa000302eeaaaaaa000402eeaaaaaa000602eeaaaaaa000702eeaaaaaa000802eeaaaaaa00060002aa000003aa000004aa000006aa000007aa000008aa000000001b000806000901000a06000b06000c06000d06000e01000f06001006001106001206001306001401001c01001d06001e01001f06002006002106002206002306002406002506002606002701002801002b01001e000b00000c00000d00000e00000f00001000001100001200001300001400001500001600001700001800001900001a00002600002700002800002900002a00002b00002c00002d00002e00002f0000300000310000320000330000000000000c0005aaff0006aaff0007aaff0008aaff0009aaff000aaaff000baaff000caaff000daaff000eaaff000faaff0010aa0400000100000000000000000000000000000000a0313220"
+	data, err := hex.DecodeString(str)
+	if err != nil {
+		t.Fatal(err)
+	}
+	if data[0] != 0x83 {
+		data = data[42:] //去掉wireshark抓包携带的额外字节
+	}
+	reader := myreader.NewReader(data)
+	fmt.Printf("%x\t【报文类型】\n", reader.ReadByte())
+	fmt.Printf("%x\t【报文长度】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【轨旁编号】\n", reader.ReadBytes(2))
+	fmt.Printf("%x\t【联锁编号】\n", reader.ReadBytes(2))
+	{ //道岔
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【道岔】")
+	}
+	{ //屏蔽门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(7))
+		}
+		fmt.Println("【屏蔽门】")
+	}
+	{ //紧急停车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【紧急停车按钮】")
+	}
+	{ //扣车按钮
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【扣车按钮】")
+	}
+	{ //信号机
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【信号机】")
+	}
+	{ //计轴区段
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(3))
+		}
+		fmt.Println("【计轴区段】")
+	}
+	{ //无人折返
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【无人折返】")
+	}
+	{ //防淹门
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		fmt.Println("【防淹门】")
+	}
+	{ //SPKS
+		deviceNum := reader.ReadBytes(2)
+		fmt.Printf("%x\t", deviceNum)
+		for i := 0; i < int(binary.BigEndian.Uint16(deviceNum)); i++ {
+			fmt.Printf("%x ", reader.ReadBytes(4))
+		}
+		fmt.Println("【SPKS】")
+	}
+	//CRC32
+	fmt.Printf("%x【CRC32】\n", reader.ReadBytes(reader.Len()))
+}

third_party/interlock/beijing11/repo.go

@@ -0,0 +1,52 @@
+package beijing11
+
+// StationDeviceIndexTable 联锁站设备索引表
+type StationDeviceIndexTable struct {
+	//StationName    string          //地图数据中车站的Code属性
+	//InterlockCode  uint16          //通信数据中的“联锁编号”
+	TurnoutMap     map[uint16]*Row //key-联锁编号
+	PsdMap         map[uint16]*Row //key-联锁编号
+	EsbMap         map[uint16]*Row //key-联锁编号
+	HoldTrainMap   map[uint16]*Row //key-联锁编号
+	SignalMap      map[uint16]*Row //key-联锁编号
+	AxleSectionMap map[uint16]*Row //key-联锁编号
+	WrzfMap        map[uint16]*Row //key-联锁编号
+	FymMap         map[uint16]*Row //key-联锁编号
+	SpksMap        map[uint16]*Row //key-联锁编号
+	CkmMap         map[uint16]*Row //key-联锁编号
+	XcjMap         map[uint16]*Row //key-联锁编号
+}
+
+func NewStationDeviceIndexTable( /*stationName string,  interlockIndex uint16*/ ) *StationDeviceIndexTable {
+	return &StationDeviceIndexTable{
+		//StationName:    stationName,
+		//InterlockCode:  0x3C00 + interlockIndex,
+		TurnoutMap:     make(map[uint16]*Row),
+		PsdMap:         make(map[uint16]*Row),
+		EsbMap:         make(map[uint16]*Row),
+		HoldTrainMap:   make(map[uint16]*Row),
+		SignalMap:      make(map[uint16]*Row),
+		AxleSectionMap: make(map[uint16]*Row),
+		WrzfMap:        make(map[uint16]*Row),
+		FymMap:         make(map[uint16]*Row),
+		SpksMap:        make(map[uint16]*Row),
+		CkmMap:         make(map[uint16]*Row),
+		XcjMap:         make(map[uint16]*Row),
+	}
+}
+
+type Row struct {
+	interlockCode   uint16            //所属联锁站编号
+	commonId        uint32            //地图中设备的ID
+	uid             string            //模型仓库中的设备模型ID
+	index           uint16            //联锁通信中的设备ID
+	relateDeviceMap map[string]string //此设备关联的其它设备 key-查找设备所用的标识，val-uid
+}
+
+const ( //屏蔽门相关的继电器
+	POB = "POB"
+	PCB = "PCB"
+	DPB = "DPB"
+	S   = "S" //屏蔽门短编组开门继电器索引
+	L   = "L" //屏蔽门长编组开门继电器索引
+)

third_party/interlock/beijing11/service.go

@@ -0,0 +1,741 @@
+// Package beijing11 北京11号线联锁通信
+package beijing11
+
+import (
+	"context"
+	"fmt"
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/dto/data_proto"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/tpapi"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
+	"joylink.club/rtsssimulation/component"
+	"joylink.club/rtsssimulation/entity"
+	"joylink.club/rtsssimulation/fi"
+	"log/slog"
+	"math"
+	"net"
+	"runtime/debug"
+	"sort"
+	"sync"
+	"time"
+)
+
+var (
+	logTag        = "[北京11号线联锁通信]"
+	privateLogger *slog.Logger
+	loggerInit    sync.Once
+)
+
+var (
+	mu                       = sync.Mutex{}                     //启动任务时使用，避免重复启动任务
+	serviceContextMap        = make(map[string]*serviceContext) //每个集中站的服务上下文，key-集中站code
+	waysideCode       uint16 = 0x6301
+)
+
+type serviceContext struct {
+	cancelFunc        context.CancelFunc              //用来结束各个协程的函数
+	ioAddr            *net.UDPAddr                    //向联锁发送数据的客户端
+	server            udp.UdpServer                   //接收联锁数据的服务端（同时也是向联锁发送数据的udp客户端）
+	sim               *memory.VerifySimulation        //启动服务所使用的仿真
+	iConfig           config.InterlockConfig          //启动服务使用的联锁配置
+	deviceTable       *StationDeviceIndexTable        //联锁站的设备ID表，key-车站名
+	toInterlockFrames []*ToInterlockFrame             //发给联锁的消息，因为需要按车站划分范围、排序，故将数据提前整理好，仅替换设备状态
+	state             tpapi.ThirdPartyApiServiceState //服务状态（用于展示）
+}
+
+func CollectAllServices() []tpapi.ThirdPartyApiService {
+	var services []tpapi.ThirdPartyApiService
+	for _, service := range serviceContextMap {
+		services = append(services, service)
+	}
+	return services
+}
+
+func (s *serviceContext) Type() state_proto.SimulationThirdPartyApiService_Type {
+	return state_proto.SimulationThirdPartyApiService_CI
+}
+
+func (s *serviceContext) State() tpapi.ThirdPartyApiServiceState {
+	return s.state
+}
+
+func (s *serviceContext) FindAppendApiService() []tpapi.ThirdPartyApiService {
+	return nil
+}
+
+func (s *serviceContext) TrueService() bool {
+	return true
+}
+
+func (s *serviceContext) ServiceDesc() string {
+	return logTag
+}
+
+func Start(interlockConfig config.InterlockConfig, simulation *memory.VerifySimulation) {
+	if interlockConfig.Ip == "" || !interlockConfig.Open {
+		return
+	}
+	mu.Lock()
+	defer mu.Unlock()
+	//制表
+	table, toInterlockFrames := preprocessingData(simulation, interlockConfig.Code)
+	if table == nil { //当前仿真内没有11号线联锁通信所需数据
+		return
+	}
+	serviceCtx := serviceContextMap[interlockConfig.Code]
+	if serviceCtx != nil {
+		panic(fmt.Sprintf("%s重复启动联锁站[%s]通信服务", logTag, interlockConfig.Code))
+	}
+	//仿真IO地址
+	ioAddr, err := net.ResolveUDPAddr("udp", fmt.Sprintf("%s:%d", interlockConfig.Ip, interlockConfig.RemotePort))
+	if err != nil {
+		panic(fmt.Sprintf("%s解析IP地址出错：%s", logTag, err))
+	}
+
+	ctx, cancelFunc := context.WithCancel(context.Background())
+	serviceCtx = &serviceContext{
+		cancelFunc:        cancelFunc,
+		ioAddr:            ioAddr,
+		sim:               simulation,
+		iConfig:           interlockConfig,
+		deviceTable:       table,
+		toInterlockFrames: toInterlockFrames,
+	}
+	//UDP服务端
+	server := udp.NewServer(fmt.Sprintf(":%d", interlockConfig.LocalPort), serviceCtx.handleDriveMsg)
+	serviceCtx.server = server
+	err = server.Listen()
+	if err != nil {
+		panic(fmt.Sprintf("%s启动UDP服务失败：%s", logTag, err))
+	}
+
+	serviceCtx.runCollectTask(ctx)
+	serviceContextMap[interlockConfig.Code] = serviceCtx
+}
+
+func Stop(stationCode string) {
+	mu.Lock()
+	defer mu.Unlock()
+	serviceContext := serviceContextMap[stationCode]
+	if serviceContext != nil {
+		serviceContext.cancelFunc()
+		if serviceContext.server != nil {
+			serviceContext.server.Close()
+		}
+		delete(serviceContextMap, stationCode)
+	}
+}
+
+func (s *serviceContext) handleDriveMsg(data []byte) {
+	logger().Info(fmt.Sprintf("收到消息：%x", data))
+	frame := &FromInterlockFrame{}
+	err := frame.Decode(data)
+	if err != nil {
+		logger().Error("解析数据出错", "error", err)
+		return
+	}
+
+	wd := entity.GetWorldData(s.sim.World)
+	for _, cmd := range frame.TurnoutData.CmdList {
+		uid := s.deviceTable.TurnoutMap[cmd.Id].uid
+		if cmd.Cmd == 0x01 {
+			err = fi.DriveTurnoutDCOn(s.sim.World, uid)
+		} else if cmd.Cmd == 0x02 {
+			err = fi.DriveTurnoutFCOn(s.sim.World, uid)
+		} else {
+			err = fi.DriveTurnoutDCOff(s.sim.World, uid)
+		}
+		if err != nil {
+			logger().Error("驱动道岔出错", "error", err)
+		}
+	}
+	for _, cmd := range frame.PSDData.CmdList {
+		row := s.deviceTable.PsdMap[cmd.Id]
+		entry := wd.EntityMap[row.uid]
+		circuit := component.PsdCircuitType.Get(entry)
+		switch cmd.Cmd {
+		case 0xAA: //短编组开门
+			wd.SetQdBit(row.relateDeviceMap[S], true)
+			wd.SetQdBit(row.relateDeviceMap[L], false)
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, false)
+		case 0xBB: //长编组开门
+			wd.SetQdBit(row.relateDeviceMap[S], false)
+			wd.SetQdBit(row.relateDeviceMap[L], true)
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, false)
+		case 0x55: //关门
+			wd.SetQdBit(row.relateDeviceMap[S], false)
+			wd.SetQdBit(row.relateDeviceMap[L], false)
+			wd.SetQdBit(component.UidType.Get(circuit.GMJ).Id, true)
+		}
+	}
+	for _, cmd := range frame.ESBData.CmdList {
+		uid := s.deviceTable.EsbMap[cmd.Id].uid
+		esb := s.sim.Repo.FindEsb(uid)
+		if cmd.JjtcplCmd == 0x55 {
+			err = fi.PressDownButton(s.sim.World, esb.PlaId())
+			if err != nil {
+				logger().Error("驱动ESB出错", "error", err)
+			}
+			continue
+		} else {
+			err = fi.PressUpButton(s.sim.World, esb.PlaId())
+			if err != nil {
+				logger().Error("驱动ESB出错", "error", err)
+			}
+		}
+		if cmd.JjtcCmd == 0x55 {
+			err := fi.DriveRelayDown(s.sim.World, esb.RelayId())
+			if err != nil {
+				logger().Error("驱动ESB出错", "error", err)
+			}
+		} else {
+			err := fi.DriveRelayUp(s.sim.World, esb.RelayId())
+			if err != nil {
+				logger().Error("驱动ESB出错", "error", err)
+			}
+		}
+	}
+	for _, cmd := range frame.SignalData.CmdList {
+		uid := s.deviceTable.SignalMap[cmd.Id].uid
+		entry := wd.EntityMap[uid]
+		if entry.HasComponent(component.Signal2XH1ElectronicType) { // 2XH1信号机
+			signal2XH1 := component.Signal2XH1ElectronicType.Get(entry)
+			switch cmd.Cmd {
+			case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, false)
+			case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, true)
+			default:
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_DDJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal2XH1.Z2XH1_LXJ).Id, false)
+			}
+		} else if entry.HasComponent(component.Signal3XH1ElectronicType) { // 3XH1信号机
+			signal3XH1 := component.Signal3XH1ElectronicType.Get(entry)
+			switch cmd.Cmd {
+			case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
+			case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
+			case SignalAspect_U:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
+			case SignalAspect_HU:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, true)
+			default:
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_DDJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_ZXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH1.Z3XH1_YXJ).Id, false)
+			}
+		} else if entry.HasComponent(component.Signal3XH2ElectronicType) { // 3XH2信号机
+			signal3XH2 := component.Signal3XH2ElectronicType.Get(entry)
+			switch cmd.Cmd {
+			case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
+			case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
+			case SignalAspect_HU:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, true)
+			default:
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_DDJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH2.Z3XH2_YXJ).Id, false)
+			}
+		} else if entry.HasComponent(component.Signal3XH3ElectronicType) { // 3XH3信号机
+			signal3XH3 := component.Signal3XH3ElectronicType.Get(entry)
+			switch cmd.Cmd {
+			case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
+			case SignalAspect_U:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
+			case SignalAspect_HU:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, true)
+			default:
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_DDJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH3.Z3XH3_YXJ).Id, false)
+			}
+		} else if entry.HasComponent(component.Signal3XH4ElectronicType) { // 3XH4信号机
+			signal3XH4 := component.Signal3XH4ElectronicType.Get(entry)
+			switch cmd.Cmd {
+			case SignalAspect_H:
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
+			case SignalAspect_L:
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, true)
+			case SignalAspect_U:
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
+			default:
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_DDJ).Id, true)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_LXJ).Id, false)
+				wd.SetQdBit(component.UidType.Get(signal3XH4.Z3XH4_ZXJ).Id, false)
+			}
+
+		} else {
+			logger().Error(fmt.Sprintf("信号机[%s]的型号未知", uid))
+		}
+	}
+	//{ //采集状态赋值
+	//	signalAspectMap := make(map[uint16]byte)
+	//	for _, cmd := range frame.SignalData.CmdList {
+	//		signalAspectMap[cmd.Id] = cmd.Cmd
+	//	}
+	//	for _, interlockFrame := range s.toInterlockFrames {
+	//		for _, state := range interlockFrame.SignalStates {
+	//			b := signalAspectMap[state.Id]
+	//			if b != 0 {
+	//				state.State = b
+	//			}
+	//		}
+	//	}
+	//}
+	for _, cmd := range frame.AxleSectionData.CmdList {
+		if cmd.Cmd == 0x80 {
+			uid := s.deviceTable.AxleSectionMap[cmd.Id].uid
+			physicalSectionUid := s.sim.Repo.FindAxleCountingSection(uid).PhysicalSection().Id()
+			_, err := fi.PhysicalSectionDrstDrive(s.sim.World, physicalSectionUid)
+			if err != nil {
+				logger().Error(fmt.Sprintf("计轴区段[%s]复位出错：%s", uid, err))
+			}
+		}
+	}
+	for _, cmd := range frame.SPKSData.CmdList {
+		uid := s.deviceTable.SpksMap[cmd.Id].uid
+		spks := s.sim.Repo.FindSpks(uid)
+		if cmd.SPKSPLCmd == 0x55 {
+			err = fi.PressDownButton(s.sim.World, spks.PlaId())
+		} else {
+			err = fi.PressUpButton(s.sim.World, spks.PlaId())
+		}
+		if cmd.SPKSCmd == 0x55 {
+			err = fi.DriveRelayDown(s.sim.World, spks.Relay())
+		} else {
+			err = fi.DriveRelayUp(s.sim.World, spks.Relay())
+		}
+	}
+}
+
+func preprocessingData(sim *memory.VerifySimulation, stationCode string) (*StationDeviceIndexTable, []*ToInterlockFrame) {
+	for _, mapId := range sim.MapIds {
+		giType := memory.QueryGiType(mapId)
+		if giType != data_proto.PictureType_StationLayout {
+			continue
+		}
+		stationGi := memory.QueryGiData[*data_proto.RtssGraphicStorage](mapId)
+		if stationGi.LianSuoData == nil {
+			continue
+		}
+
+		frameMap := make(map[uint16]*ToInterlockFrame)
+		frameSlice := make([]*ToInterlockFrame, 0, 2)
+		getFrame := func(interlockCode uint16) *ToInterlockFrame {
+			frame := frameMap[interlockCode]
+			if frame == nil {
+				frame = &ToInterlockFrame{InterlockCode: interlockCode, WaysideCode: waysideCode}
+				frameMap[interlockCode] = frame
+				frameSlice = append(frameSlice, frame)
+			}
+			return frame
+		}
+
+		uids := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
+		table := NewStationDeviceIndexTable()
+		stationMap := make(map[uint32]uint16)
+		for _, station := range stationGi.LianSuoData.Stations {
+			stationMap[station.Id] = uint16(0x3c00 + station.Index)
+		}
+		//道岔
+		for _, data := range stationGi.LianSuoData.Switchs {
+			if data.Index <= 0 {
+				continue
+			}
+			for _, station := range uids.TurnoutIds[data.Id].CentralizedStations {
+				interlockCode := stationMap[station.Common.Id]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.TurnoutStates = append(frame.TurnoutStates, &TurnoutState{Id: uint16(data.Index)})
+					table.TurnoutMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.TurnoutIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: nil,
+					}
+				}
+			}
+		}
+		//屏蔽门
+		for _, data := range stationGi.LianSuoData.ScreenDoors {
+			if data.Index <= 0 {
+				continue
+			}
+			relateDeviceMap := make(map[string]string)
+			wd := entity.GetWorldData(sim.World)
+			entry := wd.EntityMap[uids.PsdIds[data.Id].Uid]
+			circuit := component.PsdCircuitType.Get(entry)
+			var s, l int32 = math.MaxInt32, 0
+			var sRelayId, lRelayId string
+			for i, relay := range circuit.KMJMap {
+				if i <= s {
+					s = i
+					sRelayId = component.UidType.Get(relay).Id
+				}
+				if i >= l {
+					l = i
+					lRelayId = component.UidType.Get(relay).Id
+				}
+			}
+			relateDeviceMap[S] = sRelayId
+			relateDeviceMap[L] = lRelayId
+			for _, station := range uids.PsdIds[data.Id].CentralizedStations {
+				interlockCode := stationMap[station.Common.Id]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.PsdStates = append(frame.PsdStates, &PSDState{Id: uint16(data.Index)})
+					for _, mkx := range sim.Repo.MkxList() {
+						if mkx.Psd().Id() == uids.PsdIds[data.Id].Uid {
+							relateDeviceMap[POB] = mkx.Pobj().Id()
+							relateDeviceMap[PCB] = mkx.Pcbj().Id()
+							relateDeviceMap[DPB] = mkx.Pabj().Id()
+						}
+					}
+					table.PsdMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.PsdIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: relateDeviceMap,
+					}
+				}
+			}
+		}
+		//紧急停车
+		for _, data := range stationGi.LianSuoData.EsbButtons {
+			if data.Index <= 0 {
+				continue
+			}
+			for _, station := range uids.EsbIds[data.Id].CentralizedStations {
+				interlockCode := stationMap[station.Common.Id]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.ESBStates = append(frame.ESBStates, &ESBState{Id: uint16(data.Index)})
+					table.EsbMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.EsbIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: nil,
+					}
+				}
+			}
+		}
+		//扣车，实际数据中数量为0
+		//信号机
+		for _, data := range stationGi.LianSuoData.Signals {
+			if data.Index <= 0 {
+				continue
+			}
+			for _, station := range uids.SignalIds[data.Id].CentralizedStations {
+				interlockCode := stationMap[station.Common.Id]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.SignalStates = append(frame.SignalStates, &SignalState{Id: uint16(data.Index)})
+					table.SignalMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.SignalIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: nil,
+					}
+				}
+			}
+		}
+		{ //临时补充一个信号机
+			table.SignalMap[40] = &Row{
+				interlockCode:   0x3c02,
+				commonId:        0,
+				uid:             "",
+				index:           40,
+				relateDeviceMap: nil,
+			}
+			frame := getFrame(0x3c02)
+			frame.SignalStates = append(frame.SignalStates, &SignalState{Id: 40})
+		}
+		//计轴区段
+		for _, data := range stationGi.LianSuoData.AcSections {
+			if data.Index <= 0 {
+				continue
+			}
+			sectionModule := sim.Repo.FindAxleCountingSection(uids.AxleCountingSectionIds[data.Id].Uid)
+			for _, station := range sectionModule.PhysicalSection().CentralizedStation() {
+				//目前没发现一个计轴区段属于两个联锁区的情况，暂不处理
+				interlockCode := stationMap[sim.UidMap[station.Id()].CommonId]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.AxleSectionStates = append(frame.AxleSectionStates, &AxleSectionState{Id: uint16(data.Index)})
+					table.AxleSectionMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.AxleCountingSectionIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: nil,
+					}
+				}
+			}
+		}
+		//无人折返，实际数据中数量为0
+		//防淹门，实际数据中数量为0
+		//人员防护
+		for _, data := range stationGi.LianSuoData.SpksSwitchs {
+			if data.Index <= 0 {
+				continue
+			}
+			for _, station := range uids.SpksIds[data.Id].CentralizedStations {
+				interlockCode := stationMap[station.Common.Id]
+				if interlockCode != 0 {
+					frame := getFrame(interlockCode)
+					frame.SPKSStates = append(frame.SPKSStates, &SPKSState{Id: uint16(data.Index)})
+					table.SpksMap[uint16(data.Index)] = &Row{
+						interlockCode:   interlockCode,
+						commonId:        data.Id,
+						uid:             uids.SpksIds[data.Id].Uid,
+						index:           uint16(data.Index),
+						relateDeviceMap: nil,
+					}
+				}
+			}
+		}
+		//车库门，实际数据中数量为0
+		//洗车机，实际数据中没有
+		//按设备id大小排序
+		for _, frame := range frameSlice {
+			sort.Slice(frame.TurnoutStates, func(i, j int) bool {
+				return frame.TurnoutStates[i].Id < frame.TurnoutStates[j].Id
+			})
+			sort.Slice(frame.PsdStates, func(i, j int) bool {
+				return frame.PsdStates[i].Id < frame.PsdStates[j].Id
+			})
+			sort.Slice(frame.ESBStates, func(i, j int) bool {
+				return frame.ESBStates[i].Id < frame.ESBStates[j].Id
+			})
+			sort.Slice(frame.SignalStates, func(i, j int) bool {
+				return frame.SignalStates[i].Id < frame.SignalStates[j].Id
+			})
+			sort.Slice(frame.AxleSectionStates, func(i, j int) bool {
+				return frame.AxleSectionStates[i].Id < frame.AxleSectionStates[j].Id
+			})
+			sort.Slice(frame.SPKSStates, func(i, j int) bool {
+				return frame.SPKSStates[i].Id < frame.SPKSStates[j].Id
+			})
+		}
+
+		return table, frameSlice
+	}
+	return nil, nil
+}
+
+func (s *serviceContext) runCollectTask(ctx context.Context) {
+	go func() {
+		defer func() {
+			if err := recover(); err != nil {
+				logger().Error("状态收集任务出错，记录后重启", "error", err, "stack", string(debug.Stack()))
+				s.runCollectTask(ctx)
+			}
+		}()
+		for range time.Tick(time.Duration(s.iConfig.Period) * time.Millisecond) {
+			select {
+			case <-ctx.Done():
+				return
+			default:
+				s.collectDeviceState()
+				for _, frame := range s.toInterlockFrames {
+					data := frame.encode()
+					_, err := s.server.WriteToUdp(data, s.ioAddr)
+					if err != nil {
+						logger().Error("向联锁发送数据失败", "error", err)
+						s.state = tpapi.ThirdPartyState_Broken
+					} else {
+						logger().Info(fmt.Sprintf("向联锁发送数据：%x", data))
+						s.state = tpapi.ThirdPartyState_Broken
+					}
+				}
+			}
+		}
+	}()
+}
+
+func (s *serviceContext) collectDeviceState() {
+	wd := entity.GetWorldData(s.sim.World)
+	for _, frame := range s.toInterlockFrames {
+		//道岔
+		for _, state := range frame.TurnoutStates {
+			row := s.deviceTable.TurnoutMap[state.Id]
+			entry := wd.EntityMap[row.uid]
+			tp := component.TurnoutPositionType.Get(entry)
+			var stateByte byte
+			if entry.HasComponent(component.TurnoutFaultCiqdType) {
+				stateByte = 0xff
+			} else {
+				if tp.Dw {
+					stateByte = 0x01
+				} else if tp.Fw {
+					stateByte = 0x02
+				} else {
+					stateByte = 0x08
+				}
+			}
+
+			state.State = stateByte
+		}
+		//屏蔽门
+		for _, state := range frame.PsdStates {
+			row := s.deviceTable.PsdMap[state.Id]
+			entry := wd.EntityMap[row.uid]
+			psdState := component.PsdStateType.Get(entry)
+			mkxBytes := make([]byte, 0, 3)
+			for _, mkxRelayUid := range []string{row.relateDeviceMap[POB], row.relateDeviceMap[PCB], row.relateDeviceMap[DPB]} {
+				if mkxRelayUid == "" {
+					continue
+				}
+				mkxBytes = append(mkxBytes, GetStateByte(component.BitStateType.Get(wd.EntityMap[mkxRelayUid]).Val))
+			}
+			var stateByte byte
+			if psdState.Close {
+				stateByte = 0x02
+			} else {
+				stateByte = 0x01
+			}
+			var hsjc byte
+			if psdState.InterlockRelease {
+				hsjc = 0xff
+			} else {
+				hsjc = 0xee
+			}
+
+			state.State = stateByte
+			state.Hsjc = hsjc
+			state.PCB = mkxBytes[0]
+			state.POB = mkxBytes[1]
+			state.DPB = mkxBytes[2]
+		}
+		//紧急停车
+		for _, state := range frame.ESBStates {
+			row := s.deviceTable.EsbMap[state.Id]
+			esb := s.sim.Repo.FindEsb(row.uid)
+			relay := wd.EntityMap[esb.RelayId()]
+			pla := wd.EntityMap[esb.PlaId()]
+
+			state.State = GetStateByte(!component.BitStateType.Get(relay).Val)
+			state.PlState = GetStateByte(component.BitStateType.Get(pla).Val)
+		}
+		//信号机
+		for _, state := range frame.SignalStates {
+			row := s.deviceTable.SignalMap[state.Id]
+			entry := wd.EntityMap[row.uid]
+			if entry == nil {
+				continue
+			}
+			lights := component.SignalLightsType.Get(entry)
+			isL := false
+			isH := false
+			isU := false
+			isA := false
+			isB := false
+			for _, light := range lights.Lights {
+				switch {
+				case light.HasComponent(component.LdTag):
+					isL = component.BitStateType.Get(light).Val
+				case light.HasComponent(component.HdTag):
+					isH = component.BitStateType.Get(light).Val
+				case light.HasComponent(component.UdTag):
+					isU = component.BitStateType.Get(light).Val
+				case light.HasComponent(component.BdTag):
+					isB = component.BitStateType.Get(light).Val
+				case light.HasComponent(component.AdTag):
+					isA = component.BitStateType.Get(light).Val
+				}
+			}
+			var stateByte byte
+			if isH && isU {
+				stateByte = 0x03
+			} else {
+				switch {
+				case isL:
+					stateByte = 0x04
+				case isH:
+					stateByte = 0x01
+				case isU:
+					stateByte = 0x02
+				case isB:
+					stateByte = 0x08
+				case isA:
+					stateByte = 0x09
+				default:
+					stateByte = 0x06
+				}
+			}
+			state.State = stateByte
+		}
+		//计轴区段
+		for _, state := range frame.AxleSectionStates {
+			row := s.deviceTable.AxleSectionMap[state.Id]
+			entry := wd.EntityMap[row.uid]
+			sectionState := component.AxleCountingSectionStateType.Get(entry)
+			var stateByte byte = 0x00
+			if sectionState.Occupied {
+				stateByte = 0x40
+			}
+
+			state.State = stateByte
+		}
+		//SPKS
+		for _, state := range frame.SPKSStates {
+			row := s.deviceTable.SpksMap[state.Id]
+			spks := s.sim.Repo.FindSpks(row.uid)
+			relay := wd.EntityMap[spks.Relay()]
+			pla := wd.EntityMap[spks.PlaId()]
+
+			state.State = GetStateByte(!component.BitStateType.Get(relay).Val)
+			state.PlState = GetStateByte(component.BitStateType.Get(pla).Val)
+		}
+	}
+}
+
+func logger() *slog.Logger {
+	loggerInit.Do(func() {
+		privateLogger = slog.Default().With("tag", logTag)
+	})
+	return privateLogger
+}

third_party/interlock/beijing12/interlock.go

@@ -0,0 +1,267 @@
+// Package beijing12 北京12号线联锁通信
+package beijing12
+
+import (
+	"bytes"
+	"context"
+	"fmt"
+	"joylink.club/bj-rtsts-server/dto/data_proto"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/sys_error"
+	"joylink.club/bj-rtsts-server/third_party/balisecodec"
+	"joylink.club/bj-rtsts-server/third_party/tcp"
+	"joylink.club/bj-rtsts-server/third_party/tpapi"
+	"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
+	"joylink.club/rtsssimulation/fi"
+	"joylink.club/rtsssimulation/repository"
+	"log/slog"
+	"runtime/debug"
+	"sync"
+	"time"
+
+	"joylink.club/bj-rtsts-server/config"
+	"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
+)
+
+// 联锁代理通信接口
+type InterlockMessageManager interface {
+	CollectInterlockRelayInfo(code string) *message.InterlockSendMsgPkg
+	HandleInterlockDriverInfo(code string, b []byte)
+}
+
+var interlockMap = make(map[string]*interlockProxy)
+var initMutex sync.Mutex
+
+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),
+	}
+	//构建应答器的索引映射
+	for _, mapId := range simulation.MapIds {
+		giType := memory.QueryGiType(mapId)
+		if giType != data_proto.PictureType_StationLayout {
+			continue
+		}
+		uids := memory.QueryUidStructure[*memory.StationUidStructure](mapId)
+		for _, baliseRelationship := range uids.TransponderIds {
+			balise := simulation.Repo.FindTransponder(baliseRelationship.Uid)
+			if balise.LeuIndex() == 0 {
+				continue
+			}
+			for _, station := range baliseRelationship.CentralizedStations {
+				if station.StationName != c.Code {
+					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)
+	interlockMap[c.Code] = proxy
+}
+
+func Stop(c config.InterlockConfig) {
+	proxy := interlockMap[c.Code]
+	if proxy != nil {
+		proxy.Stop()
+	}
+}
+
+type interlockProxy struct {
+	tcpClient *tcp.TcpClient
+
+	simulation            *memory.VerifySimulation
+	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
+
+	state tpapi.ThirdPartyApiServiceState // 服务状态（用于展示）
+}
+
+func CollectAllServices() []tpapi.ThirdPartyApiService {
+	var services []tpapi.ThirdPartyApiService
+	for _, service := range interlockMap {
+		services = append(services, service)
+	}
+	return services
+}
+
+func (i *interlockProxy) Type() state_proto.SimulationThirdPartyApiService_Type {
+	return state_proto.SimulationThirdPartyApiService_CI
+}
+
+func (i *interlockProxy) State() tpapi.ThirdPartyApiServiceState {
+	return i.state
+}
+
+func (i *interlockProxy) FindAppendApiService() []tpapi.ThirdPartyApiService {
+	return nil
+}
+
+func (i *interlockProxy) TrueService() bool {
+	return true
+}
+
+func (i *interlockProxy) ServiceDesc() string {
+	return logTag
+}
+
+func (i *interlockProxy) Start(simulation *memory.VerifySimulation) {
+	if i.runConfig.Ip == "" || !i.runConfig.Open {
+		return
+	}
+	if simulation == 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 {
+		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
+}
+
+// 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+"定时发送采集状态任务异常", "error", err, "stack", string(debug.Stack()))
+		}
+	}()
+	for range time.Tick(time.Duration(i.runConfig.Period) * time.Millisecond) {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+		collectInfoState := i.simulation.CollectInterlockRelayInfo(i.runConfig.Code)
+		if collectInfoState != nil {
+			i.serialNumber++
+			collectInfoState.SetSerialNumber(i.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))
+				i.state = tpapi.ThirdPartyState_Broken
+			} else {
+				i.state = tpapi.ThirdPartyState_Normal
+				//logger().Info(fmt.Sprintf("向联锁发送继电器数据成功：%x", collectInfoState.Encode()))
+			}
+		}
+	}
+}
+
+func (i *interlockProxy) Stop() {
+	initMutex.Lock()
+	defer initMutex.Unlock()
+	delete(interlockMap, i.runConfig.Code)
+	i.collectInfoTaskCancel()
+	if i.tcpClient != nil {
+		i.tcpClient.Close()
+	}
+	if i.collectInfoTaskCancel != nil {
+		i.collectInfoTaskCancel()
+	}
+	i.simulation = 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))
+		i.Stop()
+	})
+	if err != nil {
+		panic(sys_error.New(fmt.Sprintf("%s启动TCP客户端失败", logTag), err))
+	}
+	i.tcpClient = client
+}
+
+func (i *interlockProxy) handleFromCiData(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))
+		station := i.simulation.Repo.FindStationByStationName(i.runConfig.Code)
+		if station != nil {
+			i.simulation.HandleInterlockDriverInfo(station.Id(), msg.driveData)
+		} else {
+			logger().Error(fmt.Sprintf("没有找到名为%s的车站", i.runConfig.Code))
+		}
+	}
+	//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
+		}
+		userTelegram, err := balisecodec.Decode(datum.telegram)
+		if err != nil {
+			logger().Error(fmt.Sprintf("解析应答器报文[%x]出错：%s", datum.telegram, err.Error()))
+			continue
+		} else {
+			//logger().Info(fmt.Sprintf("解析出应答器[%s]的可变报文", balise.Id()))
+		}
+		err = fi.BaliseUpdateVariableTelegram(i.simulation.World, balise.Id(), datum.telegram, userTelegram, false)
+		if err != nil {
+			logger().Error(fmt.Sprintf("更新leuIndex[%d]leu内索引[%d]的应答器[%s]数据出错：%s", datum.leuIndex, datum.index, balise.Id(), err.Error()))
+		} else {
+			//logger().Info(fmt.Sprintf("更新leuIndex[%d]leu内索引[%d]的应答器[%s]数据成功", datum.leuIndex, datum.index, balise.Id()))
+		}
+	}
+}
+
+func logger() *slog.Logger {
+	loggerInit.Do(func() {
+		privateLogger = slog.Default().With("tag", logTag)
+	})
+	return privateLogger
+}

third_party/interlock/beijing12/msg.go

@@ -0,0 +1,79 @@
+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
+}

third_party/interlock/interlock.go

@@ -1,133 +0,0 @@
-package interlock
-
-import (
-	"context"
-	"fmt"
-	"log/slog"
-	"runtime/debug"
-	"sync"
-	"time"
-
-	"joylink.club/bj-rtsts-server/config"
-	"joylink.club/bj-rtsts-server/third_party/message"
-	"joylink.club/bj-rtsts-server/third_party/udp"
-)
-
-// 联锁代理通信接口
-type InterlockMessageManager interface {
-	CollectInterlockRelayInfo(code string) *message.InterlockSendMsgPkg
-	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()
-	// 发送联锁采集消息
-	SendCollectMessage(b []byte)
-}
-
-var interlockMap = make(map[string]InterlockProxy)
-var initMutex sync.Mutex
-
-func Default(c *config.InterlockConfig) InterlockProxy {
-	initMutex.Lock()
-	defer initMutex.Unlock()
-	if interlockMap[c.Code] == nil {
-		interlockMap[c.Code] = &interlockProxy{runConfig: c}
-	}
-	return interlockMap[c.Code]
-}
-
-type interlockProxy struct {
-	driveInfoUdpServer   udp.UdpServer
-	sendCollectUdpClient udp.UdpClient
-
-	manager               InterlockMessageManager
-	collectInfoTaskCancel context.CancelFunc
-	runConfig             *config.InterlockConfig
-}
-
-// 驱动信息进行转发
-func (i *interlockProxy) handleDriverInfo(b []byte) {
-	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 manager == nil {
-		panic("启动联锁消息服务错误: InterlockMessageManager不能为nil")
-	}
-	if i.manager != nil {
-		panic("启动联锁消息服务错误: 存在正在运行的任务")
-	}
-	i.manager = manager
-	// 初始化客户端、服务端
-	i.initInterlockProxy()
-	ctx, cancle := context.WithCancel(context.Background())
-	go i.collectInfoStateTask(ctx)
-	i.collectInfoTaskCancel = cancle
-}
-
-// 采集电路状态发送间隔,单位ms
-const InterlockMessageSendInterval = 50
-
-// 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 {
-			slog.Error("定时发送道岔状态任务异常", "error", err, "stack", string(debug.Stack()))
-			debug.PrintStack()
-		}
-	}()
-	for {
-		select {
-		case <-ctx.Done():
-			return
-		default:
-		}
-		collectInfoState := i.manager.CollectInterlockRelayInfo(i.runConfig.Code)
-		if collectInfoState != nil {
-			serialNumber++
-			collectInfoState.SetSerialNumber(serialNumber)
-			i.sendCollectUdpClient.SendMsg(collectInfoState)
-		}
-		time.Sleep(time.Millisecond * InterlockMessageSendInterval)
-	}
-}
-
-func (i *interlockProxy) Stop() {
-	initMutex.Lock()
-	defer initMutex.Unlock()
-	delete(interlockMap, i.runConfig.Code)
-	if i.sendCollectUdpClient != nil {
-		i.sendCollectUdpClient.Close()
-	}
-	if i.driveInfoUdpServer != nil {
-		i.driveInfoUdpServer.Close()
-	}
-	if i.collectInfoTaskCancel != nil {
-		i.collectInfoTaskCancel()
-	}
-	i.manager = nil
-}
-
-func (i *interlockProxy) SendCollectMessage(b []byte) {
-	i.sendCollectUdpClient.Send(b)
-}
-
-func (i *interlockProxy) initInterlockProxy() {
-	i.sendCollectUdpClient = udp.NewClient(fmt.Sprintf("%v:%v", i.runConfig.Ip, i.runConfig.RemotePort))
-	i.driveInfoUdpServer = udp.NewServer(fmt.Sprintf(":%d", i.runConfig.LocalPort), i.handleDriverInfo)
-	i.driveInfoUdpServer.Listen()
-}

third_party/message/accelerometer.go

@@ -1,49 +1,113 @@
 package message
 
 import (
-	"bytes"
-	"encoding/binary"
 	"fmt"
+	"math"
 )
 
 const (
 	accHeader   = 0xA6
-	uaidDefault = 0x1C
+	uaidDefault = 0x71
+	G           = 9.80665
 )
 
 type Accelerometer struct {
-	Acc uint32
+	Acc float32
+	Aux byte
 }
 
+func encodeAcc(a float32) (d2, d1, d0 byte) {
+	d2 = 0
+	d1 = 0
+	d0 = 0
+	x := a / G
+	//fmt.Println(x)
+	v := uint32(0)
+	for i := 16; i >= 0; i-- {
+		t := float32(1.0 / math.Pow(2, float64(17-i)))
+		if t > x {
+			continue
+		} else {
+			v |= 1 << i
+			x -= t
+		}
+	}
+	//fmt.Printf("%b, %b\n", v, v<<6)
+	v <<= 6
+	d0 = byte(v)
+	d1 = byte(v >> 8)
+	d2 = byte(v >> 16)
+
+	//accCode := v << 8            //数据向左移动8位,取后3个字节
+	//d2 = byte(accCode >> 16)     //取出d2数据
+	//d1 = byte(accCode >> 8 << 8) // & 0xff //取出d1
+	//d0 = byte(accCode << 20)     //& 0xf //取出d0高2位
+
+	//fmt.Printf("%b, %b, %b\n", d2, d1, d0)
+	return
+}
+
+func decode2Acc(d2, d1, d0 byte) float32 {
+	v := uint32(d2)<<10 | uint32(d1)<<2 | uint32(d0>>6)
+	fmt.Printf("%b\n", v)
+	x := float32(0)
+	for i := 17; i >= 0; i-- {
+		if v&(1<<i) != 0 {
+			t := float32(1.0 / math.Pow(2, float64(17-i)))
+			x += t
+		}
+	}
+	//fmt.Println(x)
+	return x * G
+}
+
+func (acc *Accelerometer) BuildCanData() []byte {
+	accData := acc.Encode()
+	appData := make([]byte, 0)
+	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}
+	return canNet.Encode()
+}
 func (acc *Accelerometer) Encode() []byte {
+	d2, d1, d0 := encodeAcc(acc.Acc)
+	if acc.Acc > 0 {
+		setBit(d2, 7, 0)
+	} else {
+		setBit(d2, 7, 1)
+	}
 	data := make([]byte, 0)
 	data = append(data, accHeader)
 	data = append(data, uaidDefault)
-	acc.Acc = acc.Acc | 0x0000FF
-	data = binary.LittleEndian.AppendUint32(data, acc.Acc)
+	data = append(data, d0)
+	data = append(data, d1)
+	data = append(data, d2)
+	data = append(data, byte(0))
 	cs := checkSum(data)
-	data = append(data, ^cs+1)
+	data = append(data, cs)
 	return data
 }
 
 func checkSum(data []byte) byte {
-	var sum byte = 0
+	var sum uint16 = 0
+
 	for _, d := range data {
-		sum += d
+		sum += uint16(d)
 	}
-	return sum
+	highByte := byte(sum >> 8)      // 取高8位
+	lowByte := byte(sum)            // 取低8位
+	secondSum := highByte + lowByte // 再次累加
+
+	//inverse := ^secondSum
+	return ^secondSum
 }
 
-func (acc *Accelerometer) Decode(data []byte) error {
-	if len(data) < 7 {
+func (acc *Accelerometer) Decode(Packet []byte) error {
+	if len(Packet) < 7 {
 		return fmt.Errorf("")
 	}
-	buf := bytes.NewBuffer(data)
-	_, _ = buf.ReadByte()
-	_, _ = buf.ReadByte()
-	var dataInt uint32 = 0
-	binary.Read(buf, binary.LittleEndian, &dataInt)
-	//newData := math.Float32frombits(dataInt & 0xffffc000)
-	acc.Acc = dataInt & 0xffffc000
+	decode2Acc(Packet[4], Packet[3], Packet[2])
+
 	return nil
 }

third_party/message/btm_data.go

@@ -0,0 +1,94 @@
+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),
+	}
+}

third_party/message/btm_net.go

@@ -0,0 +1,67 @@
+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()
+}

third_party/message/btm_vobc_data.go

@@ -0,0 +1,347 @@
+package message
+
+import (
+	"bytes"
+	"encoding/binary"
+	"encoding/hex"
+	"fmt"
+	"github.com/snksoft/crc"
+	"log/slog"
+	"strconv"
+	"sync"
+)
+
+const (
+	TRAIN_BTM_ENDA  = 0x75E1
+	TRAIN_BTM_ENDB  = 0x75E2
+	ID_COMMAND_TYPE = 0xF8 //命令帧
+	REQT_TYPE       = 0xE6 //请求帧
+
+)
+
+const (
+	COMMAND_TYPE      = 0x90 //ID 命令帧 VOBC→BTM20 字节
+	REQUEST_TYPE      = 0x91 //请求帧 VOBC→BTM34 字节
+	MESSAGE_TYPE      = 0x92 //报文帧 BTM→VOBC 135 字节
+	FREE_MESSAGE_TYPE = 0x94 //空闲帧 BTM→VOBC 135 字节
+)
+
+var PACKAGE_HEAD = []byte{0xFF, 0xFE}
+var PACKAGE_END = []byte{0xFF, 0xFD}
+
+func BtmVobcDecode(packData []byte) (byte, []byte, error) {
+	head := packData[:2]
+	end := packData[len(packData)-2:]
+
+	if !bytes.Equal(head, PACKAGE_HEAD) || !bytes.Equal(end, PACKAGE_END) {
+		slog.Error("btm vobc 数据包头或包尾尾错误", hex.EncodeToString(packData))
+		return 0, nil, fmt.Errorf("btm vobc 数据包头或包尾尾错误")
+	}
+	data := packData[2 : len(packData)-2]
+	command := data[0]
+	if command != ID_COMMAND_TYPE && command != REQT_TYPE {
+		slog.Error("btm vobc 解析未知命令帧", strconv.FormatInt(int64(command), 16), command)
+		return 0, nil, fmt.Errorf("btm vobc 解析未知命令帧")
+	}
+	dataText := data[1:]
+	if command == ID_COMMAND_TYPE {
+
+		frameType := dataText[0]
+		return frameType, dataText, nil
+	} else if command == REQT_TYPE {
+		newDatatext, _ := TranslateFromFFFE(dataText)
+		rssp := &RsspRsd{}
+		rsspErr := rssp.Decode(newDatatext)
+		if rsspErr != nil {
+			//slog.Error("解析请求帧rssp-i失败,元数据:", hex.EncodeToString(cfs), "错误信息:", rsspErr.Error())
+			return 0, nil, fmt.Errorf("解析请求帧rssp-i失败")
+		}
+		return rssp.Sad[0], rssp.Sad, nil
+	}
+	return 0, nil, fmt.Errorf("btm vobc 解析未知命令帧")
+}
+
+const (
+	WAIT_FF_C1     = 0x00
+	WAIT_FF_C2     = 0x01
+	WAIT_NO_FF     = 0x02
+	WAIT_FF_POS    = 0x03
+	ABNORMAL_STATE = 0x04
+
+	/*FFFE数据接收状态*/
+	COM_WAIT_START_FF = 0x00
+	COM_WAIT_START_FE = 0x01
+	COM_WAIT_STOP_FF  = 0x02
+	COM_WAIT_STOP_FD  = 0x03
+)
+
+/*
+	func SourceDataDecode(packData []byte) []BaseBtmVobc {
+		data, _ := TranslateFromFFFE(packData)
+		buf := bytes.NewBuffer(data)
+
+}
+
+	func parseData(buf *bytes.Buffer) {
+		h1, _ := buf.ReadByte()
+		h2, _ := buf.ReadByte()
+		if bytes.Equal(PACKAGE_HEAD, []byte{h1, h2}) {
+			t, _ := buf.ReadByte()
+			var ft byte = 0
+			if t == ID_COMMAND_TYPE || t == REQT_TYPE {
+				ft, _ = buf.ReadByte()
+				if t == ID_COMMAND_TYPE {
+					return parseIdFrame(ft, buf.Bytes())
+				} else if t == REQT_TYPE {
+
+				}
+			} else {
+
+			}
+		}
+	}
+*/
+func parseIdFrame(frame byte, data []byte) BtmVobcIdCommand {
+	buf := bytes.NewBuffer(data)
+	dataLen, _ := buf.ReadByte()
+	dsn, _ := buf.ReadByte()
+	var btmId uint16
+	var vobcId uint16
+	var vobcLifeId uint32
+	var yuliu [5]byte
+	var crc32 uint32
+	binary.Read(buf, binary.BigEndian, &btmId)
+	binary.Read(buf, binary.BigEndian, &vobcId)
+	binary.Read(buf, binary.BigEndian, &vobcLifeId)
+	binary.Read(buf, binary.BigEndian, &yuliu)
+	binary.Read(buf, binary.BigEndian, &crc32)
+	return BtmVobcIdCommand{BaseBtmVobc: BaseBtmVobc{Frame: frame, FrameLen: dataLen, AutoIdFrame: dsn, Crc32: crc32}}
+}
+
+type BaseBtmVobc struct {
+	Frame       byte //帧类型
+	FrameLen    byte //帧长定义为 TEXT+CRC32，ID 命令帧为 20 字节；
+	AutoIdFrame byte // 无论何时传输数据，该数都在 1-255 范围内递增，在错误重传时也是递增的，255 之后是 1，不使用 0；
+	Crc32       uint32
+}
+
+func baseDecode(d []byte) (BaseBtmVobc, *bytes.Buffer) {
+	buf := bytes.NewBuffer(d)
+
+	frame, _ := buf.ReadByte()
+	frameLen, _ := buf.ReadByte()
+	autoIdFrame, _ := buf.ReadByte()
+	crc32 := binary.BigEndian.Uint32(d[len(d)-4:])
+
+	return BaseBtmVobc{Frame: frame, FrameLen: frameLen, Crc32: crc32, AutoIdFrame: autoIdFrame}, buf
+}
+func baseEncode(source []byte) []byte {
+	data := make([]byte, 0)
+	crc32 := crc.CalculateCRC(crc.CRC32, source)
+	newSource := binary.BigEndian.AppendUint32(source, uint32(crc32))
+
+	f2 := make([]byte, len(newSource)*2)
+	lens := aa(newSource, f2)
+	fffeData := f2[:lens]
+	data = append(data, PACKAGE_HEAD...)
+	data = append(data, fffeData...)
+	data = append(data, PACKAGE_END...)
+	return data
+}
+
+// ID 命令帧的正文
+type BtmVobcIdCommand struct {
+	BaseBtmVobc
+	BtmId       uint16 //VOBC 向 BTM 分配的 ID，暂定 0x75E1 或者0x75A2，其他无效；
+	VobcId      uint16 //暂定 0x5511，其他无效
+	VobcLifeNum uint32 //7~10 1~FFFFFFFF，0 不使用
+	yuliu       []byte //11-15 预留字节
+}
+
+func (b *BtmVobcIdCommand) Decode(data []byte) {
+	base, buf := baseDecode(data)
+	b.BaseBtmVobc = base
+	var btmId uint16
+	var vobcId uint16
+	var lifeNum uint32
+	binary.Read(buf, binary.BigEndian, &btmId)
+	binary.Read(buf, binary.BigEndian, &vobcId)
+	binary.Read(buf, binary.BigEndian, &lifeNum)
+
+	b.BtmId = btmId
+	b.VobcId = vobcId
+	b.VobcLifeNum = lifeNum
+}
+
+const (
+	REQ_FRAME_STATUS_OK    = 0x06
+	REQ_FRAME_STATUS_ERROR = 0x15
+	REQ_FRAME_STATUS_BOOT  = 0x00
+
+	REQ_PACKETS_TYPE_FREE = 0x05
+	REQ_PACKETS_TYPE_MSG  = 0x0A
+	REQ_PACKETS_TYPE_BOOT = 0x00
+)
+
+// 请求帧的正文
+type BtmVobcReq struct {
+	BaseBtmVobc
+	FrameStatus          byte   //帧正确/不正确 06h：帧正确15h：不正确00h：开机状态填00 其它无效
+	MessageType          byte   // 空闲/报文数据 05h：空闲0Ah：报文数据00h：开机状态填00 其它无效
+	MessageSerial        byte   //报文序列号 1-255；开机时使用0
+	yuliu                []byte //预留字节（10 字节）
+	VobcLifeNum          uint32 // VOBC 周期号 1~FFFFFFFF，0 不使用
+	TimeStamp            []byte //年月日时分秒各占一个字节
+	Speed                uint16 //速度 单位：cm/s
+	VobcLifeWalkDistance uint16 //VOBC 周期走行距离 单位：cm
+}
+
+func (b *BtmVobcReq) Decode(data []byte) {
+	base, buf := baseDecode(data)
+
+	b.BaseBtmVobc = base
+
+	b.FrameStatus, _ = buf.ReadByte()
+	b.MessageType, _ = buf.ReadByte()
+	b.MessageSerial, _ = buf.ReadByte()
+	var tyuli = make([]byte, 10)
+	buf.Read(tyuli)
+	//b.yuliu = data[5:15]
+	var lifeNum uint32
+	ts := make([]byte, 6)
+	var speed uint16
+	var walkDis uint16
+	binary.Read(buf, binary.BigEndian, &lifeNum)
+	buf.Read(ts)
+	binary.Read(buf, binary.BigEndian, &speed)
+	binary.Read(buf, binary.BigEndian, &walkDis)
+	b.VobcLifeNum = lifeNum
+	b.TimeStamp = ts
+	b.Speed = speed
+	b.VobcLifeWalkDistance = walkDis
+}
+
+var lock sync.Mutex
+
+const (
+	btm_status_ok   = 0x00
+	btm_status_warn = 0x04
+)
+
+var mesage_yuliu = []byte{0, 0, 0, 0, 0, 0, 0, 0, 0} //11~19 预留
+var yuliu3 = []byte{0, 0, 0, 0, 0, 0}                //8~13 保留
+
+const (
+	BTM_STSTUS_NORMAL = 0x00
+	BTM_STSTUS_WARN   = 0x04
+)
+
+// 报文帧的正文
+type BtmVobcMessage struct {
+	BaseBtmVobc
+	FontTtl      uint16 //前沿 TTL 时间 单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms
+	MsgSerial    byte   //报文序列号 1-255；不使用 0
+	BtmStatus    byte   //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI进行故障提示并向ATS 汇报
+	Enter1       byte   //1 通道好码率 0~100
+	Enter2       byte   //2 通道好码率 0~100
+	DecodeTime   uint16 //解码时间：从包络前沿到解码成功的时间，单位0.1ms。
+	yuliu        []byte //11~19 预留 填 0
+	BackTtl      uint16 //后沿 TTL 时间单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms.
+	BtmMsg       []byte //22~125 应答器报文
+	ResponseTime byte   //0~150，其他非法，单位0.1ms 误差小于 3ms
+	VobcLifeNum  uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
+}
+
+func (b *BtmVobcMessage) Encode() []byte {
+
+	data := make([]byte, 0)
+	buf := bytes.NewBuffer(data)
+
+	binary.Write(buf, binary.BigEndian, byte(MESSAGE_TYPE))
+	binary.Write(buf, binary.BigEndian, byte(0x87))
+
+	//binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	binary.Write(buf, binary.BigEndian, b.FontTtl)
+	binary.Write(buf, binary.BigEndian, b.MsgSerial)
+	binary.Write(buf, binary.BigEndian, b.BtmStatus)
+	binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter1
+	binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter2
+	binary.Write(buf, binary.BigEndian, b.DecodeTime)
+	binary.Write(buf, binary.BigEndian, mesage_yuliu)
+	binary.Write(buf, binary.BigEndian, b.BackTtl)
+	binary.Write(buf, binary.BigEndian, b.BtmMsg)
+	binary.Write(buf, binary.BigEndian, b.ResponseTime)
+	binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
+
+	return baseEncode(buf.Bytes())
+}
+
+type BtmVobcMsgFree struct {
+	BaseBtmVobc
+	//yuliu1          byte
+	//yuliu2          byte
+	MsgSerial       byte //1-255；开机时为0
+	BtmStatus       byte //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI 进行故障提示并向ATS 汇报
+	WorkTemperature byte
+	//yuliu3          []byte //8~13 保留 填 0
+
+	//0-1 位 功放 1 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
+	//2-3 位 功放 1 电压状态 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
+	//4-5 位 （预留） 功放 2 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
+	//6-7 位 功放 2 电压状 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
+	//8-9 位 天线 1 状态 天线 1 状态：“1”-故障；“3”-正常。
+	//10-11 位 线缆 1 状态 线缆 1 状态：“1”-开路；“2”-短路；“3”-正常。
+	//12-13 位 （预留） 天线 2 状态 天线 2 状态：“1”-故障；“3”-正常。
+	//14-15 位 （预留） 线缆 2 状态 线缆 2 状态：“1”-开路；“2”-短路；“3”-正常。
+	Fun1 uint16 //第 14-15 字节（功放板、天线状态）
+	//第 0 位 上行自检码检测通道 1 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
+	//第 1 位 上行自检码检测通道 2 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
+	//第 2 位 FSK 连接线状态通道 1状态：“1”-正常；“0”-故障。
+	//第 3 位 FSK 连接线状态通道 2状态：“1”-正常；“0”-故障。
+	//第 4-5 位 保留 保留
+	//第 6-7 位 接收板状态 状态：“0”-双通道故障；“1”-单通道故障；“3”-正常第
+	//8-15位保留 保留
+	Fun2 uint16 //第 16-17 字节（接收板状态）
+	//第 0-1 位 通 道 1-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
+	//第 2-3 位 通 道 2-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
+	//第 4 位 通 道 1-23V 状态 状态：“1”-正常；“0”-故障。
+	//第 5 位 通 道 2-23V 状态 状态：“1”-正常；“0”-故障。
+	//第 6-13位保留 保留
+	//第 14-15位 电源板状态 电源板状态：“0”-故障；“1”-单通道故障；“2”-单通道故障；“3”- 正常。
+	Fun3 uint16 //第 18-19 字节（电源板状态）
+	//第 0-1 位 板卡 ID 槽位号 “0”-1 号板卡；“1”-2 号板卡；“2”-3 号板卡；“3”-4 号板卡机箱正面从右往左顺序为处理器板1,2,3（预留）,4（预留），同一个通信周期只有一个板卡报警
+	//第 2-3 位 工作温度状态 “0”-过高；“1”-温度报警；“2”-未知；“3”-正常。
+	//其他位保留 注：保留位全部为1
+	Fun4 uint16 //第 20-21 字节（处理器板）
+
+	FreeMsg     []byte //22~125 空闲数据 全填 00H
+	RespTime    byte   //响应时间 0~150，其他非法，单位0.1ms
+	VobcLifeNum uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
+}
+
+func (b *BtmVobcMsgFree) Encode() []byte {
+	data := make([]byte, 0)
+	buf := bytes.NewBuffer(data)
+
+	binary.Write(buf, binary.BigEndian, byte(FREE_MESSAGE_TYPE))
+	binary.Write(buf, binary.BigEndian, byte(0x87))
+
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	binary.Write(buf, binary.BigEndian, byte(0)) //保留
+	binary.Write(buf, binary.BigEndian, byte(0)) //保留
+	binary.Write(buf, binary.BigEndian, b.MsgSerial)
+	binary.Write(buf, binary.BigEndian, b.BtmStatus)
+	//binary.Write(buf, binary.BigEndian, b.WorkTemperature)
+	binary.Write(buf, binary.BigEndian, byte(35))
+	binary.Write(buf, binary.BigEndian, yuliu3)
+	binary.Write(buf, binary.BigEndian, b.Fun1)
+	binary.Write(buf, binary.BigEndian, b.Fun2)
+	binary.Write(buf, binary.BigEndian, b.Fun3)
+	binary.Write(buf, binary.BigEndian, b.Fun4)
+	binary.Write(buf, binary.BigEndian, b.FreeMsg)
+	binary.Write(buf, binary.BigEndian, b.RespTime)
+	binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
+
+	return baseEncode(buf.Bytes())
+}

third_party/message/btm_vobc_translate_fffe.go

@@ -0,0 +1,283 @@
+package message
+
+import (
+	"fmt"
+)
+
+func aa(src []byte, dest []byte) uint16 {
+	var (
+		SrcPos, TgtPos, Pos1, Pos2, iii, Gap uint16
+		Got1stFF                             uint8
+	)
+	srouceLen := uint16(len(src))
+	for SrcPos = 0; SrcPos < srouceLen; SrcPos++ {
+		if Got1stFF == 1 {
+			if src[SrcPos] == 0xff {
+				//Got2ndFF = 1
+				Pos2 = SrcPos
+				dest[TgtPos] = byte(Pos2 - Pos1)
+				TgtPos++
+
+				for iii = Pos1 + 1; iii < Pos2; iii++ {
+					dest[TgtPos] = src[iii]
+					TgtPos++
+				}
+				Got1stFF = 0
+				//Got2ndFF = 0
+				Pos1 = 0
+				Pos2 = 0
+				Gap = 0
+			} else {
+				/*已遇到前一个FF，且当前遇到非FF*/
+				Gap++
+				if 252 == Gap {
+					Got1stFF = 0
+					Gap = 0
+					dest[TgtPos] = 0
+					TgtPos++
+					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
+						dest[TgtPos] = src[iii]
+						TgtPos++
+					}
+				}
+			}
+		} else {
+			/*尚未遇到前一个FF*/
+			dest[TgtPos] = src[SrcPos]
+			TgtPos++
+			if 0xFF == src[SrcPos] {
+				/*遇到前一个FF*/
+				Got1stFF = 1
+				Pos1 = SrcPos
+				Gap = 0
+			}
+		}
+	}
+	if 1 == Got1stFF {
+		dest[TgtPos] = 0
+		TgtPos++
+		for iii = Pos1 + 1; iii < srouceLen; iii++ {
+			dest[TgtPos] = src[iii]
+			TgtPos++
+		}
+	}
+	return TgtPos
+}
+
+func TranslateFromFFFE(pSrc []byte) ([]byte, uint16) {
+	var (
+		srcPos, tgtPos, nonFFCount, nextFFPos uint16
+		char                                  uint8
+		state                                 int
+	)
+
+	if len(pSrc) == 0 {
+		return nil, 0 // 入参错误
+	}
+
+	pTgt := make([]byte, len(pSrc)) // 预分配与输入等长的缓冲区
+	tgtPos = 0
+	state = WAIT_FF_C1
+	nonFFCount = 0
+
+	for srcPos = 0; srcPos < uint16(len(pSrc)); srcPos++ {
+		char = pSrc[srcPos]
+		switch state {
+		case WAIT_FF_C1:
+			if char == 0xFF {
+				pTgt[tgtPos] = char
+				tgtPos++
+				state = WAIT_FF_C2
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+			}
+		case WAIT_FF_C2:
+			if char == 0xFD || char == 0xFE || char == 0xFF {
+				state = ABNORMAL_STATE
+			} else {
+				if char == 0 {
+					state = WAIT_NO_FF
+				} else if char == 1 {
+					pTgt[tgtPos] = 0xFF
+					tgtPos++
+					state = WAIT_FF_C1
+				} else {
+					nextFFPos = srcPos + uint16(char) - 1
+					state = WAIT_FF_POS
+				}
+			}
+		case WAIT_NO_FF:
+			nonFFCount++
+			if char == 0xFF && nonFFCount < 252 {
+				state = ABNORMAL_STATE
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+				if nonFFCount == 252 {
+					nonFFCount = 0
+					state = WAIT_FF_C1
+				}
+			}
+		case WAIT_FF_POS:
+			if char == 0xFF {
+				state = ABNORMAL_STATE
+			} else {
+				pTgt[tgtPos] = char
+				tgtPos++
+				if srcPos == nextFFPos {
+					pTgt[tgtPos] = 0xFF
+					tgtPos++
+					state = WAIT_FF_C1
+				}
+			}
+		default:
+			state = ABNORMAL_STATE
+		}
+
+		if state == ABNORMAL_STATE {
+			tgtPos = 0
+			break
+		}
+	}
+
+	// 退出时的状态判断
+	if state == WAIT_FF_C2 || state == WAIT_FF_POS {
+		tgtPos = 0
+	}
+
+	return pTgt[:tgtPos], tgtPos
+}
+
+// TranslateToFFFE 对给定的字节切片进行FFFE转义处理
+func TranslateToFFFE(src []byte) ([]byte, error) {
+	if src == nil {
+		return nil, fmt.Errorf("source data is nil")
+	}
+	var tgt []byte
+	var pos1, pos2 int
+	var gap int
+	var got1stFF bool
+
+	for i, b := range src {
+		if got1stFF {
+			if b == 0xFF {
+				// 已遇到前一个FF，且当前又遇到FF
+				got1stFF = false
+				pos2 = i
+				if gap > 252 {
+					// 间隙过大，特殊处理
+					tgt = append(tgt, 0)
+					tgt = append(tgt, src[pos1+1:pos2]...)
+				} else {
+					// 写入间隙长度
+					tgt = append(tgt, byte(gap))
+					// 写入间隙中的字节
+					tgt = append(tgt, src[pos1+1:pos2]...)
+				}
+			} else {
+				// 已遇到前一个FF，且当前遇到非FF，增加gap计数
+				gap++
+			}
+		} else {
+			// 尚未遇到前一个FF
+			tgt = append(tgt, b)
+			if b == 0xFF {
+				// 遇到前一个FF
+				got1stFF = true
+				pos1 = i
+				gap = 0
+			}
+		}
+	}
+
+	// 如果在数据末尾遇到了FF且没有第二个FF
+	if got1stFF {
+		if gap > 252 {
+			tgt = append(tgt, 0)
+			tgt = append(tgt, src[pos1+1:]...)
+		} else {
+			tgt = append(tgt, 0)
+			tgt = append(tgt, src[pos1+1:len(src)]...)
+		}
+	}
+
+	return tgt, nil
+}
+
+func TranslateToFFFE3(pSrc []uint8, SrcLen uint16) ([]byte, uint16) {
+	var (
+		SrcPos, TgtPos, Pos1, Pos2, iii uint16
+		Gap                             uint16
+		Got1stFF                        uint8
+		pTgt                            []uint8
+	)
+
+	if pSrc == nil {
+		fmt.Println("入口参数错误")
+		return nil, 0
+	}
+
+	pTgt = make([]uint8, 0, SrcLen*2) // 预分配足够的空间以避免频繁扩容
+	TgtPos = 0
+
+	for SrcPos = 0; SrcPos < SrcLen; SrcPos++ {
+		if Got1stFF == 1 {
+			if pSrc[SrcPos] == 0xFF {
+				// 已遇到前一个FF，且当前又遇到FF
+				//Got2ndFF = 1
+				Pos2 = SrcPos
+				pTgt = append(pTgt, uint8(Pos2-Pos1-1))
+				TgtPos++
+
+				for iii = Pos1 + 1; iii < Pos2; iii++ {
+					pTgt = append(pTgt, pSrc[iii])
+					TgtPos++
+				}
+
+				Got1stFF = 0
+				//Got2ndFF = 0
+				Pos1 = 0
+				Pos2 = 0
+				Gap = 0
+			} else {
+				// 已遇到前一个FF，且当前遇到非FF
+				Gap++
+				if Gap == 252 {
+					Got1stFF = 0
+					Gap = 0
+					pTgt = append(pTgt, 0)
+					TgtPos++
+
+					for iii = Pos1 + 1; iii <= SrcPos; iii++ {
+						pTgt = append(pTgt, pSrc[iii])
+						TgtPos++
+					}
+				}
+			}
+		} else {
+			// 尚未遇到前一个FF
+			pTgt = append(pTgt, pSrc[SrcPos])
+			TgtPos++
+			if pSrc[SrcPos] == 0xFF {
+				// 遇到前一个FF
+				Got1stFF = 1
+				Pos1 = SrcPos
+				Gap = 0
+			}
+		}
+	}
+
+	// 已经遇到了前一个FF, 且源数据已到了末尾仍未遇到后一个FF
+	if Got1stFF == 1 {
+		pTgt = append(pTgt, 0)
+		TgtPos++
+
+		for iii = Pos1 + 1; iii < SrcLen; iii++ {
+			pTgt = append(pTgt, pSrc[iii])
+			TgtPos++
+		}
+	}
+
+	return pTgt, TgtPos
+}

third_party/message/can_atp_req.go

@@ -1,6 +1,8 @@
 package message
 
 import (
+	"bytes"
+	"encoding/binary"
 	"fmt"
 	"log/slog"
 	"strings"
@@ -68,6 +70,14 @@ type AtpRequestFrame struct {
 	Crc16 uint16
 	//解码时CRC16校验结果,true-校验通过
 	Crc16CheckOk bool
+	//IsTrainPcSim bool
+}
+
+func (f *AtpRequestFrame) IsResend() bool {
+	if f.ResendRequest == 2 {
+		return true
+	}
+	return false
 }
 
 // NewAtpRequestFrame 创建ATP查询帧
@@ -89,6 +99,44 @@ 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)
+		rr := byte(0)
+		rr = setBit(rr, 0, GetBit(d, 4))
+		rr = setBit(rr, 1, GetBit(d, 5))
+		f.ResendRequest = rr
+		f.PowerAmplifierControlledByAtp = true
+		f.PowerAmplifierTurnOn = true
+		if rr == 2 {
+			slog.Error(fmt.Sprintf("获取ATP请求帧数据：%b,rr :=%v ,result:%v id1:%v,id2:%v,id3:%v,id4:%v", d, rr, rr, f.FId.ID1, f.FId.ID2, f.FId.ID3, f.FId.ID4))
+
+		}
+	} 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
 	//
@@ -145,7 +193,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 	} else {
 		return false
 	}
-	crc16 := Can_Crc16(timeArr)
+	crc16 := Can_Crc16BtmReq(timeArr)
 	t1 := uint32(timeArr[0])
 	t2 := uint32(timeArr[1])
 	t3 := uint32(timeArr[2])
@@ -178,6 +226,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 }
 func (f *AtpRequestFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_btm_data.go

@@ -18,17 +18,18 @@ func NewBtmDataMessageFrame(sn byte, offset byte) *BtmDataMessageFrame {
 }
 func (f *BtmDataMessageFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
+
 	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
 }
@@ -67,29 +68,31 @@ func NewBtmDataMessageTimeAFrame(sn byte) *BtmDataMessageTimeAFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x0d, sn),
 	}
 }
+
 func (f *BtmDataMessageTimeAFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
+
 	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
 }
 
@@ -177,21 +180,21 @@ func (f *BtmDataMessageTimeBFrame) Encode() *CanetFrame {
 	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 {
@@ -271,8 +274,10 @@ func NewBtmDataMessageEndFrame(sn byte) *BtmDataMessageEndFrame {
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+0x7f, sn),
 	}
 }
+
 func (f *BtmDataMessageEndFrame) Encode() *CanetFrame {
 	cf := &CanetFrame{}
+
 	cf.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_btm_rsp.go

@@ -1,20 +1,115 @@
 package message
 
-import "log/slog"
+import (
+	"encoding/binary"
+	"fmt"
+	"log/slog"
+)
 
-//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
+// 返回应答器数据帧(数据帧 + timeA+timeB+结束帧)
+func CreateBtmAtpDataRspFramesData(statusRsp *BtmHeadFrame, msg []byte, msgPackError, haxBaliseData 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, haxBaliseData)
+	dtB := createTimeA(sn, DATA_TIME_B_OFFSET, msgTimeB, msgPackError, msg, haxBaliseData)
+	dtACf := dtA.Encode()
+	dtBCf := dtB.Encode()
 
-// CreateBtmRspFramesData 数据帧与状态应答帧同时发送给ATP
+	//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, hasBaliseData bool) *BtmDataMessageAtpTimeAndEndFrame {
+	tf := CreateBtmDataMessageTimeAtpFrame(sn, offset)
+	tf.Time = time
+	if !msgPackError {
+		var crcData []byte
+		crcData = append(crcData, msg...)
+		crcData = binary.BigEndian.AppendUint32(crcData, time)
+		if !hasBaliseData {
+			tf.Crc32 = 0
+		} else {
+			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) {
-	if len(msg) > 104 { //数据帧最多存储13*8个字节
+	/*	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))
@@ -96,5 +191,6 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		slog.Warn("len(rt)!=221")
 		return nil, false
 	}
+
 	return rt, true
 }

third_party/message/can_btm_status_rsp.go

@@ -1,6 +1,7 @@
 package message
 
 import (
+	"encoding/binary"
 	"fmt"
 	"strings"
 )
@@ -32,6 +33,8 @@ type BtmStatusRspFrame struct {
 func NewBtmStatusRspFrame(sn byte) *BtmStatusRspFrame {
 	return &BtmStatusRspFrame{
 		FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, CAN_FRAME_STATUS_RSP, sn),
+		//FId:          *NewCanFrameId(0x00, 0x00, 0x05, sn),
+
 	}
 }
 func (f *BtmStatusRspFrame) Decode(cf *CanetFrame) bool {
@@ -111,6 +114,33 @@ 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.CanId = f.FId
@@ -122,6 +152,7 @@ func (f *BtmStatusRspFrame) Encode() *CanetFrame {
 	writer.AddByte(f.Dsn)
 	writer.AddByte(f.BaliseCounter)
 	writer.AddByte(f.MessageCounter)
+
 	//
 	if f.PowerAmplifierOn {
 		writer.AddBits(1, 1)

third_party/message/can_btm_time_sync_rsp.go

@@ -1,6 +1,7 @@
 package message
 
 import (
+	"encoding/binary"
 	"fmt"
 	"strings"
 )
@@ -20,6 +21,8 @@ type BtmTimeSyncCheckFrame struct {
 func NewBtmTimeSyncCheckFrame(sn byte) *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),
+
 	}
 }
 
@@ -74,8 +77,21 @@ 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.CanId = f.FId
 	cf.CanLen = 8
 	cf.FF = true

third_party/message/can_bus.go

@@ -1,6 +1,8 @@
 package message
 
-import "github.com/snksoft/crc"
+import (
+	"github.com/snksoft/crc"
+)
 
 /////////////////////CAN串行总线 bit 流处理 ////////////////////////
 
@@ -199,47 +201,53 @@ 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: true, ReflectOut: true, FinalXor: 0xFFFFFFFF}
+	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
 )
 
 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 {