315 lines
9.4 KiB
Go
315 lines
9.4 KiB
Go
package train_pc_sim
|
||
|
||
import (
|
||
"context"
|
||
"fmt"
|
||
"joylink.club/bj-rtsts-server/config"
|
||
"joylink.club/bj-rtsts-server/dto/state_proto"
|
||
"joylink.club/bj-rtsts-server/third_party/message"
|
||
"joylink.club/bj-rtsts-server/third_party/tcp"
|
||
"joylink.club/bj-rtsts-server/third_party/tpapi"
|
||
"joylink.club/ecs"
|
||
"log/slog"
|
||
"strconv"
|
||
"sync"
|
||
"time"
|
||
)
|
||
|
||
type TrainControlEvent struct {
|
||
Command byte
|
||
Status byte
|
||
}
|
||
|
||
var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()
|
||
|
||
type TrainPcSim interface {
|
||
Start(wd ecs.World, pcSimManage TrainPcSimManage)
|
||
Stop()
|
||
//发送驾驶端激活
|
||
SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
|
||
//发送牵引制动手柄
|
||
SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
|
||
//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(trainForward, trainBackward bool)
|
||
//发送应答器信息数据
|
||
SendBaliseData(msgType uint16, data []byte)
|
||
//发布列车控制的相关事件
|
||
PublishTrainControlEvent(world ecs.World, events []TrainControlEvent)
|
||
|
||
CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
|
||
|
||
CreateOrRemoveTrain(msgType byte, data []byte) error
|
||
tpapi.ThirdPartyApiService
|
||
}
|
||
|
||
type TrainPcSimManage interface {
|
||
GetTrainPcSimConfig() config.VehiclePCSimConfig
|
||
GetConnTrain() *state_proto.TrainState
|
||
//4.4.1. 车载输出数字量信息报文内容
|
||
TrainPcSimDigitalOutInfoHandle(data []byte)
|
||
//4.4.2. 车载输出数字反馈量信息报文内容
|
||
TrainPcSimDigitalReportHandle(data []byte)
|
||
|
||
//门模式
|
||
//TrainDoorModeHandle(state byte)
|
||
//处理列车pc仿真模拟量数据
|
||
TrainPcSimMockInfo(data []byte)
|
||
//处理列车btm查询
|
||
TrainBtmQuery(data []byte)
|
||
}
|
||
|
||
const Name = "车载pc仿真"
|
||
|
||
func (d *trainPcSimService) Name() string {
|
||
return Name
|
||
}
|
||
func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
|
||
return d.state
|
||
}
|
||
func (d *trainPcSimService) updateState(state tpapi.ThirdPartyApiServiceState) {
|
||
d.state = state
|
||
}
|
||
|
||
var (
|
||
initLock = &sync.Mutex{}
|
||
singleObj *trainPcSimService
|
||
)
|
||
|
||
func Default() TrainPcSim {
|
||
defer initLock.Unlock()
|
||
initLock.Lock()
|
||
if singleObj == nil {
|
||
singleObj = &trainPcSimService{}
|
||
}
|
||
return singleObj
|
||
}
|
||
|
||
type trainPcSimService struct {
|
||
state tpapi.ThirdPartyApiServiceState
|
||
pcSimClient *tcp.TcpClient
|
||
cancleContext context.CancelFunc
|
||
trainPcSimManage TrainPcSimManage
|
||
speedPlace *message.TrainSpeedPlaceReportMsg
|
||
config config.VehiclePCSimConfig
|
||
}
|
||
|
||
// 接受来自pc仿真的消息
|
||
func (d *trainPcSimService) readError(err error) {
|
||
slog.Error("连接车载pc仿真tcp服务断开", err)
|
||
d.updateState(tpapi.ThirdPartyState_Broken)
|
||
d.pcSimClient.Close()
|
||
d.connTrainPcSim()
|
||
}
|
||
func (d *trainPcSimService) connTrainPcSim() {
|
||
reconnIndex := 0
|
||
ctx, ctxFun := context.WithCancel(context.Background())
|
||
go func() {
|
||
for {
|
||
|
||
select {
|
||
case <-ctx.Done():
|
||
return
|
||
default:
|
||
}
|
||
client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", d.config.PcSimIp, d.config.PcSimPort), d.reivceData, d.readError)
|
||
if err != nil {
|
||
reconnIndex++
|
||
slog.Error("连接车载pc平台失败，尝试=", strconv.Itoa(reconnIndex), err)
|
||
d.updateState(tpapi.ThirdPartyState_Broken)
|
||
} else {
|
||
d.pcSimClient = client
|
||
ctxFun()
|
||
return
|
||
}
|
||
time.Sleep(time.Second)
|
||
}
|
||
}()
|
||
|
||
}
|
||
func (d *trainPcSimService) Start(wd ecs.World, pcSimManage TrainPcSimManage) {
|
||
config := pcSimManage.GetTrainPcSimConfig()
|
||
if config.PcSimIp == "" || !config.Open {
|
||
slog.Info("车载pc仿真配置未开启")
|
||
return
|
||
}
|
||
d.config = config
|
||
d.connTrainPcSim()
|
||
ctx, ctxFun := context.WithCancel(context.Background())
|
||
d.cancleContext = ctxFun
|
||
d.trainPcSimManage = pcSimManage
|
||
|
||
//FireTrainControlEventType.Subscribe(wd, d.trainControlEventHandle)
|
||
d.updateState(tpapi.ThirdPartyState_Normal)
|
||
go d.sendTrainLocationAndSpeedTask(ctx)
|
||
|
||
}
|
||
func (d *trainPcSimService) Stop() {
|
||
d.updateState(tpapi.ThirdPartyState_Closed)
|
||
if d.cancleContext != nil {
|
||
d.cancleContext()
|
||
|
||
d.cancleContext = nil
|
||
}
|
||
if d.pcSimClient != nil {
|
||
//d.pcSimClient.
|
||
d.pcSimClient.Close()
|
||
}
|
||
}
|
||
func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
|
||
if train.ConnState.Conn {
|
||
train.PluseCount = &state_proto.SensorSpeedPulseCount{}
|
||
d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
|
||
} else {
|
||
train.PluseCount = nil
|
||
d.speedPlace = nil
|
||
}
|
||
}
|
||
func (d *trainPcSimService) CreateOrRemoveTrain(msgType byte, data []byte) error {
|
||
msg := &message.TrainPcSimBaseMessage{Data: data, Type: uint16(msgType)}
|
||
return d.pcSimClient.Send(msg.Encode())
|
||
|
||
}
|
||
|
||
// 依据文档80ms发送列车速度位置
|
||
func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
|
||
for {
|
||
select {
|
||
case <-ctx.Done():
|
||
return
|
||
default:
|
||
}
|
||
train := d.trainPcSimManage.GetConnTrain()
|
||
if train != nil && train.ConnState.Conn && train.PluseCount != nil {
|
||
|
||
s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
|
||
d.speedPlace.ParsePulseCount1(s1, s2)
|
||
data := d.speedPlace.Encode(train.RunDirection, s1, s2)
|
||
bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data}
|
||
train.PluseCount.PulseCount1 = 0
|
||
train.PluseCount.PulseCount2 = 0
|
||
d.pcSimClient.Send(bm.Encode())
|
||
}
|
||
time.Sleep(time.Millisecond * 80)
|
||
}
|
||
}
|
||
|
||
// 发送驾驶激活
|
||
func (d *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||
if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
|
||
defulatBuf := make([]byte, 0)
|
||
msg := &message.TrainPcSimBaseMessage{Data: defulatBuf}
|
||
if vobc.Tc1Active || vobc.Tc2Active {
|
||
msg.Type = SENDER_TRAIN_TC_ACTIVE
|
||
} else if vobc.Tc1Active == false && vobc.Tc2Active == false {
|
||
msg.Type = SENDER_TRAIN_TC_NOT_ACTIVE
|
||
}
|
||
d.pcSimClient.Send(msg.Encode())
|
||
}
|
||
}
|
||
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
|
||
if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
|
||
msg := &message.TrainPcSimBaseMessage{}
|
||
newTraction := vobc.TractionForce
|
||
newBrake := -vobc.BrakeForce
|
||
newOldBrakeForce := -oldBrakeForce
|
||
if tractionState {
|
||
if newTraction <= oldTraction && newTraction == 0 {
|
||
//手柄取消前进
|
||
msg.Type = RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
|
||
} else if newTraction > oldTraction {
|
||
//手柄前进
|
||
msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
|
||
} else {
|
||
//手柄前进
|
||
msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
|
||
}
|
||
|
||
} else {
|
||
if newBrake >= newOldBrakeForce && newBrake == 0 {
|
||
//手柄取消后退
|
||
msg.Type = RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
|
||
} else if newBrake < newOldBrakeForce {
|
||
//手柄后退
|
||
msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
|
||
} else {
|
||
//手柄后退
|
||
msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
|
||
}
|
||
}
|
||
d.pcSimClient.Send(msg.Encode())
|
||
}
|
||
}
|
||
func (d *trainPcSimService) SendTrainDirection(trainForward, trainBackward bool) {
|
||
|
||
baseMsgs := make([]*message.TrainPcSimBaseMessage, 0)
|
||
if !trainForward && !trainBackward {
|
||
baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
|
||
baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD})
|
||
} else if trainForward {
|
||
baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_HAND_KEY_FORWARD})
|
||
} else if trainBackward {
|
||
baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_BACKWARD})
|
||
}
|
||
for _, msg := range baseMsgs {
|
||
d.pcSimClient.Send(msg.Encode())
|
||
}
|
||
}
|
||
|
||
func (d *trainPcSimService) SendBaliseData(msgType uint16, data []byte) {
|
||
msg := &message.TrainPcSimBaseMessage{}
|
||
msg.Type = msgType
|
||
msg.Data = data
|
||
//fmt.Println(fmt.Sprintf("%X", msg.Encode()))
|
||
|
||
d.pcSimClient.Send(msg.Encode())
|
||
}
|
||
|
||
func (d *trainPcSimService) trainControlEventHandle(w ecs.World, event TrainControlEvent) {
|
||
msg := &message.TrainPcSimBaseMessage{}
|
||
msg.Type = SENDER_TRAIN_OUTR_INFO
|
||
data := []byte{event.Command, event.Status}
|
||
msg.Data = data
|
||
d.pcSimClient.Send(msg.Encode())
|
||
}
|
||
func (d *trainPcSimService) PublishTrainControlEvent(world ecs.World, events []TrainControlEvent) {
|
||
if len(events) <= 0 {
|
||
slog.Warn("发布事件数量为空")
|
||
return
|
||
}
|
||
for _, event := range events {
|
||
msg := &message.TrainPcSimBaseMessage{}
|
||
msg.Type = SENDER_TRAIN_OUTR_INFO
|
||
data := []byte{event.Command, event.Status}
|
||
msg.Data = data
|
||
d.pcSimClient.Send(msg.Encode())
|
||
//FireTrainControlEventType.Publish(world, &event)
|
||
|
||
}
|
||
}
|
||
|
||
// 接受来自pc仿真的消息
|
||
func (d *trainPcSimService) reivceData(len int, data []byte) {
|
||
baseMsg := &message.TrainPcSimBaseMessage{}
|
||
err := baseMsg.Decode(data)
|
||
if err != nil {
|
||
slog.Error("车载pc仿真接受数据解析失败 ")
|
||
return
|
||
}
|
||
|
||
switch baseMsg.Type {
|
||
//case RECIVE_TRAIN_CREATE_REMOVE:
|
||
// pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
|
||
case RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
|
||
d.trainPcSimManage.TrainPcSimDigitalOutInfoHandle(baseMsg.Data)
|
||
case RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
|
||
d.trainPcSimManage.TrainPcSimDigitalReportHandle(baseMsg.Data)
|
||
case RECIVE_TRAIN_QUERY_STATUS:
|
||
d.trainPcSimManage.TrainBtmQuery(baseMsg.Data)
|
||
case RECIVE_TRAIN_MOCK_DATA:
|
||
d.trainPcSimManage.TrainPcSimMockInfo(baseMsg.Data)
|
||
//case RECIVE_TRAIN_DOOR_MODE:
|
||
// pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])
|
||
}
|
||
}
|