rts-sim-testing-service/third_party/train_pc_sim/train_pc_sim.go

package train_pc_sim

import (
	"context"
	"encoding/hex"
	"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/message"
	"joylink.club/bj-rtsts-server/third_party/tcp"
	"joylink.club/bj-rtsts-server/third_party/tpapi"
	"log/slog"
	"math"
	"sync"
	"time"
)

//type TrainControlEvent struct {
//	Type byte
//	Data []byte
//}

//var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()

type TrainPcSim interface {
	tpapi.ThirdPartyApiService
	Start(pcSimManage TrainPcSimManage)
	Stop()

	// SendDriverActive Deprecated 发送驾驶端激活
	//SendDriverActive(train *state_proto.TrainState)

	// SendTrainDirection 列车运行方向
	//因文档说明不清楚，在调用的时候目前是注释状态，现场调试可能会用到
	SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool)
	//发送应答器信息数据

	SendBaliseData2(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, msgType byte, data []byte)

	//发布列车控制的相关事件
	//PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)

	SendTrainControlMsg2(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage, trainClientPort state_proto.TrainState_TrainPort)
	// CreateOrRemoveSpeedPLace 创建或删除速度位置信息
	//CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
	// CreateOrRemoveTrain 创建或删除列车
	CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
	// TrainPluseCount 计算列车脉冲
	TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
}

type TrainPcSimManage interface {
	GetTrainPcSimConfig() []config.VehiclePCSimConfig
	//GetConnTrain() *state_proto.TrainState
	GetConnTrain2() []*state_proto.TrainState
	//获取列车模拟量数据
	ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage
	// TrainPcSimDigitalOutInfoHandle 4.4.1.	车载输出数字量信息报文内容
	TrainPcSimDigitalOutInfoHandle(pc *TrainPcReciverData, train *state_proto.TrainState, data []byte) bool
	// TrainPcSimDigitalReportHandle 4.4.2.	车载输出数字反馈量信息报文内容
	TrainPcSimDigitalReportHandle(train *state_proto.TrainState, data []byte)
	FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState
	// TrainPcSimMockInfo 门模式
	//TrainDoorModeHandle(state byte)
	//处理列车pc仿真模拟量数据
	TrainPcSimMockInfo(train *state_proto.TrainState, data []byte)
	// TrainBtmQuery 处理列车btm查询

	TrainBtmQuery2(train *state_proto.TrainState, data []byte, trainClientPort state_proto.TrainState_TrainPort)
}
type trainPcSimService struct {
	state tpapi.ThirdPartyApiServiceState
	//newPcSimclientMap map[string]*TrainPcReciverData

	newPcSimclientMap3 map[string][]*TrainPcReciverData

	cancleContextFun context.CancelFunc
	context          context.Context
	trainPcSimManage TrainPcSimManage
	configs          []config.VehiclePCSimConfig
}

var (
	initLock  = &sync.Mutex{}
	singleObj *trainPcSimService
)

func Default() TrainPcSim {
	defer initLock.Unlock()
	initLock.Lock()
	if singleObj == nil {
		singleObj = &trainPcSimService{}
	}
	return singleObj
}

const Name = "车载pc仿真"

func (d *trainPcSimService) Type() state_proto.SimulationThirdPartyApiService_Type {
	return state_proto.SimulationThirdPartyApiService_Train_pc_sim
}
func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
	return tpapi.ThirdPartyState_Closed
}
func (d *trainPcSimService) FindAppendApiService() []tpapi.ThirdPartyApiService {
	return d.findAllThirdPartState()
}
func (d *trainPcSimService) TrueService() bool {
	return false
}
func (d *trainPcSimService) ServiceDesc() string {
	return Name
}

func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
	return t.ConnState.TypeName
}
func (d *trainPcSimService) findTrainConnForPort2(sta *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort) (*TrainPcReciverData, error) {
	rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
	if rds == nil {
		return nil, fmt.Errorf("")
	}
	for _, rd := range rds {
		if rd.RealTrainPort == trainClientPort {
			return rd, nil
		}
	}
	return nil, fmt.Errorf("未找到对应端口的列车 对应的端口:%v", trainClientPort.String())
}

func (d *trainPcSimService) findTrainAllConn(sta *state_proto.TrainState) []*TrainPcReciverData {
	rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
	return rds
}

func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService {
	services := make([]tpapi.ThirdPartyApiService, 0)
	for _, data := range d.newPcSimclientMap3 {
		for _, rd := range data {
			services = append(services, rd)
		}
	}
	return services
}

// 速度(单位mm/s)对应的脉冲数：速度*200/pi/840；
// 里程（单位mm）对应的脉冲：总里程*200/pi/840
func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {

	pluseCountData := speedMeter * 200 / math.Pi / float32(wheelDiameter)
	return uint32(pluseCountData)
}

func (d *trainPcSimService) pluseSpeed(pc *state_proto.SensorSpeedPulseCount, wheelDiameter int32) (uint32, float32) {
	defer initLock.Unlock()
	initLock.Lock()

	var sum float32 = 0
	pcLen := len(pc.PulseCount3)
	if pcLen == 0 {
		return 0, 0
	}
	for _, f := range pc.PulseCount3 {
		sum += f
	}
	d.trainPluseCountReset(pc)
	speed := sum / float32(pcLen)
	return pluseCountSpeed(wheelDiameter, speed*1000), speed
}

func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
	defer initLock.Unlock()
	initLock.Lock()

	select {
	case <-d.context.Done():
		return
	default:
	}
	if h1 < 0 || t1 < 0 {
		return
	}
	//slog.Info(fmt.Sprintf("接受列车速度:%v", h1))
	for _, sd := range d.findTrainAllConn(sta) {
		if sd.speedPlace != nil {
			sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
		}
	}
	for _, pc := range sta.PulseCountMap {
		if sta.TrainRunUp {
			if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
				pc.PulseCount3 = append(pc.PulseCount3, h1)
			}
		} else {
			if sta.TrainEndsB.SpeedSensorEnableA || sta.TrainEndsB.SpeedSensorEnableB {
				pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
				pc.PulseCount3 = append(pc.PulseCount3, t1)
			}
		}
	}

}

func (d *trainPcSimService) trainPluseCountReset(pc *state_proto.SensorSpeedPulseCount) {
	pc.PulseCount1 = 0
	pc.PulseCount3 = make([]float32, 0)
}

func (d *trainPcSimService) newCloseAllConn() {
	if d.trainPcSimManage != nil {
		trains := d.trainPcSimManage.GetConnTrain2()
		for _, train := range trains {
			d.CreateOrRemoveTrain(train, false)
		}
	}

}

func (d *trainPcSimService) newCloseConn(clientKey string) {
	rds := d.newPcSimclientMap3[clientKey]
	if rds != nil {
		for _, rd := range rds {
			rd.tcpClient.Close()
			rd.tcpClient = nil
			rd.train = nil
			rd.speedPlace = nil
		}
	}

}

func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {

	for _, cfg := range d.configs {
		if cfg.Open && cfg.ConfigName == configName {
			return &cfg, nil
		}
	}
	return nil, fmt.Errorf("未找到对应的车载pc连接配置")
}

func (d *trainPcSimService) initConn2(clientKey string) error {

	rds := d.newPcSimclientMap3[clientKey]
	rd1 := rds[0]
	rd2 := rds[1]
	cfg, cfgErr := d.findConfig(clientKey)
	if cfgErr != nil {
		return sys_error.New(fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey), cfgErr)
	}
	if !cfg.OpenB && !cfg.OpenA {
		return sys_error.New(fmt.Sprintf("配置：%v A，B端配置均为打开", clientKey))
	}
	e1 := d.connServer(cfg.OpenA, cfg.APcSimIp, cfg.APcSimPort, rd1)
	if e1 != nil {
		rd1.updateState(tpapi.ThirdPartyState_Broken)
		return sys_error.New(fmt.Sprintf("配置：%v 端口A连接失败", clientKey))
	}
	e2 := d.connServer(cfg.OpenB, cfg.BPcSimIp, cfg.BPcSimPort, rd2)
	if e2 != nil {
		rd1.updateState(tpapi.ThirdPartyState_Broken)
		return sys_error.New(fmt.Sprintf("配置：%v 端口B连接失败", clientKey))
	}
	if rd1.success {
		rd1.RealTrainPort = state_proto.TrainState_PORT_A
	}
	if rd2.success {
		rd2.RealTrainPort = state_proto.TrainState_PORT_B
	}
	return nil
}

func (d *trainPcSimService) connServer(open bool, ip string, port uint32, rd *TrainPcReciverData) *sys_error.BusinessError {
	if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
		return nil
	} else {
		rd.tcpClient = nil
	}
	if !open {
		rd.success = false
		return nil
	}
	addr := fmt.Sprintf("%v:%v", ip, port)
	client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
	if err != nil {
		return sys_error.New(fmt.Sprintf("车载atp连接失败,add:%v ,message:%v", addr, err))
	} else {
		rd.success = true
		rd.tcpClient = client2
	}
	return nil
}

func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {

	configs := pcSimManage.GetTrainPcSimConfig()

	d.newPcSimclientMap3 = make(map[string][]*TrainPcReciverData)
	if len(configs) <= 0 {
		slog.Info("车载pc仿真配置未开启")
		return
	}
	closedCount := 0
	for _, c := range configs {
		if !c.Open {
			closedCount++
		} else {
			ck := c.ConfigName
			pcReceivers := make([]*TrainPcReciverData, 2)
			for i := 0; i < 2; i++ {
				ss := fmt.Sprintf("%v%v", c.ConfigName, i)
				pcReciver := &TrainPcReciverData{clientKey: ss, pcSimManage: pcSimManage}
				pcReciver.updateState(tpapi.ThirdPartyState_Closed)
				pcReceivers[i] = pcReciver
			}
			d.newPcSimclientMap3[ck] = pcReceivers
		}
	}
	if closedCount == len(configs) {
		slog.Error("车载pc仿真配置未开启")
		return
	}

	d.configs = configs
	ctx, ctxFun := context.WithCancel(context.Background())
	d.cancleContextFun = ctxFun
	d.context = ctx
	d.trainPcSimManage = pcSimManage
	go d.sendTrainLocationAndSpeedTask(ctx)
}

func (d *trainPcSimService) Stop() {

	for _, rds := range d.newPcSimclientMap3 {
		for _, rd := range rds {
			rd.updateState(tpapi.ThirdPartyState_Closed)
		}
	}
	if d.cancleContextFun != nil {
		d.cancleContextFun()
		d.cancleContextFun = nil
	}
	d.newCloseAllConn()
}

func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
	clientKey := FindTrainPcSimClientKey2(train)

	data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
	if isCreate {
		err := d.initConn2(clientKey)
		if err != nil {
			d.newCloseConn(clientKey)
			return err
		}
		data[0] = message.FLAG_CAMMAND_CREATE_TRAIN
	}
	msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
	rds := d.newPcSimclientMap3[clientKey]
	for index, rd := range rds {
		slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v，succ:%v", index, rd.tcpClient, rd.tcpClient == nil, rd.success))
		if rd != nil && rd.success {
			initTrainErr := d.initTrain(rd, train, isCreate, msg)
			if initTrainErr != nil {
				return initTrainErr
			}
		}
	}
	if !isCreate {
		d.newCloseConn(clientKey)
	}
	return nil
}
func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
	msgs := make([]message.TrainPcSimBaseMessage, 0)
	sendMsg := make([]byte, 0)
	rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
	train.PulseCountMap = make(map[int32]*state_proto.SensorSpeedPulseCount)
	train.PulseCountMap[int32(state_proto.TrainState_PORT_A.Number())] = &state_proto.SensorSpeedPulseCount{}
	train.PulseCountMap[int32(state_proto.TrainState_PORT_B.Number())] = &state_proto.SensorSpeedPulseCount{}
	rd.train = train
	tcc := train.Tcc
	rd.TrainConnInitComplate = false
	rd.LineInitTimeStamp = 0

	if isCreate {
		tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
		msgs = append(msgs, tmpMsgs...)
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE})          //门模式
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE})              //清空应答器
	} else {
		train.VobcState.Tc1Active = false
		train.VobcState.Tc2Active = false
		for _, key := range tcc.DriverKey {
			key.Val = false
		}
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_BRAKE_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO})         //驾驶室激活
		msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_NOT_ACTIVE})                         //驾驶室激活
	}
	for _, msg := range msgs {
		data := msg.Encode()
		sendMsg = append(sendMsg, data...)
	}
	sendMsg = append(sendMsg, trains.Encode()...)
	hexData := hex.EncodeToString(sendMsg)
	slog.Info(fmt.Sprintf("发送列车初始化消息:%v", hexData))
	rd.tcpClient.Send(sendMsg)
	return nil
}

// 依据文档80ms发送列车速度位置
func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
	for range time.Tick(time.Millisecond * 80) {
		select {
		case <-ctx.Done():
			return
		default:
		}

		trains := d.trainPcSimManage.GetConnTrain2()
		for _, train := range trains {
			for numKey, pc := range train.PulseCountMap {
				trainPort := state_proto.TrainState_TrainPort(numKey)
				trainClient, _ := d.findTrainConnForPort2(train, trainPort)
				if trainClient == nil {
					continue
				}
				if trainClient.success {
					if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
						slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空  列车id:%v", train.Id))
						continue
					}
					if trainClient.ConnError() {
						continue
					}
					/*ds := &strings.Builder{}
					for i, s := range pc.PulseCount3 {
						ds.WriteString(fmt.Sprintf("i:%v,s:%v  ", i, s))
					}
					slog.Info(fmt.Sprintf("列车速度统计 列车id:%v 列车方向：%v ,列车速度信息:%v", train.Id, trainClient.RealTrainPort.String(), ds.String()))*/
					s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
					runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
					disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
					data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
					bm := &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_LOCATION_INFO, Data: data}
					dataCode := bm.Encode()
					//slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车服务端:%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%X", train.Id, trainClient.RealTrainPort.String(), speed, s1, trainClient.speedPlace.PulseCount1, dataCode))
					err := trainClient.tcpClient.Send(dataCode)
					if err != nil {
						slog.Error(fmt.Sprintf("发送列车速度位置失败,列车：%v,发送数据:%v", train.Id, hex.EncodeToString(dataCode)))
					}
				}
			}
		}
	}
}

func (d *trainPcSimService) trainDirection(speed float32, train *state_proto.TrainState, clientPort state_proto.TrainState_TrainPort) uint16 {
	runDir := uint16(2)
	vobc := train.VobcState
	if speed == 0 || train.TrainPort == state_proto.TrainState_PORT_NONE || (vobc.DirectionForward == false && vobc.DirectionBackward == false) {
		return runDir
	}
	if vobc.DirectionForward {
		runDir = 1
	} else if vobc.DirectionBackward {
		runDir = 0
	}
	if train.TrainPort != clientPort {
		if vobc.DirectionForward {
			runDir = 0
		} else if vobc.DirectionBackward {
			runDir = 1
		}
	}

	return runDir
}

func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool) {
	//trainClient, trainDataErr := d.findTrainConn(train)
	trainClient, trainDataErr := d.findTrainConnForPort2(train, train.TrainPort)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车方向失败，未找到列车连接，trainId：%s", train.Id))
		return
	}
	baseMsgs := make([]*message.TrainPcSimBaseMessage, 0)
	if !trainForward && !trainBackward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD})
	} else if trainForward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.SENDER_TRAIN_HAND_KEY_FORWARD})
	} else if trainBackward {
		baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: message.RECIVE_TRAIN_HAND_KEY_BACKWARD})
	}

	for _, msg := range baseMsgs {
		da := msg.Encode()
		//slog.Info(fmt.Sprintf("发送列车方向列车:%v ,数据:%v", train.Id, hex.EncodeToString(da)))
		err := trainClient.tcpClient.Send(da)

		if err != nil {
			slog.Error(fmt.Sprintf("发送列车方向失败列车:%v ,数据:%v,err:%v", train.Id, hex.EncodeToString(da), err.Error()))
		}
	}
}

func (d *trainPcSimService) SendBaliseData2(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, msgType byte, data []byte) {

	trainClient, trainDataErr := d.findTrainConnForPort2(train, trainClientPort)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车PC仿真应答器信息失败，未找到列车连接，trainId：%v", train.Id))
		return
	}
	msg := &message.TrainPcSimBaseMessage{}
	msg.Type = msgType
	msg.Data = data

	da := msg.Encode()
	//slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息,数据类型:0x%x，源数据长度:%v,数据:%v", msgType, len(data), hex.EncodeToString(da)))
	err := trainClient.tcpClient.Send(da)
	if err != nil {
		slog.Info(fmt.Sprintf("发送列车PC仿真应答器信息失败,数据:%v", hex.EncodeToString(da)))
	}
}

func (d *trainPcSimService) SendTrainControlMsg2(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage, trainClientPort state_proto.TrainState_TrainPort) {
	if len(baseMessage) <= 0 {
		return
	}
	//trainClient, trainDataErr := d.findTrainConn(train)
	trainClient, trainDataErr := d.findTrainConnForPort2(train, trainClientPort)
	if trainDataErr != nil {
		slog.Error(fmt.Sprintf("发送列车控制信息失败,无连接,列车Id:%v", train.Id))
		return
	}

	for _, msg := range baseMessage {
		dd := msg.Encode()
		//slog.Info(fmt.Sprintf("发送操控列车控制信息:%x", dd), aport)
		d.sendData(trainClient.tcpClient, dd)
	}
}

func (d *trainPcSimService) sendData(client *tcp.TcpClient, data []byte) {
	err := client.Send(data)
	if err != nil {
		slog.Error(fmt.Sprintf("列车数字量信息发送失败,数据:%v", err.Error()))
	}
}