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

package dynamics

import (
	"bytes"
	"context"
	"encoding/json"
	"fmt"
	"log/slog"
	"net/http"
	"runtime/debug"
	"time"

	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/udp"
)

type DynamicsMessageManager interface {
	CollectDynamicsTurnoutInfo() []*message.DynamicsTurnoutInfo
	HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo)
}

// 动力学接口
type Dynamics interface {
	// 请求启动仿真
	RequestStartSimulation(base *message.LineBaseInfo) error
	// 请求停止仿真
	RequestStopSimulation() error
	// 请求添加列车
	RequestAddTrain(info *message.InitTrainInfo) error
	// 请求移除列车
	RequestRemoveTrain(req *message.RemoveTrainReq) error

	// 启动动力学消息功能
	Start(manager DynamicsMessageManager)
	// 停止动力学消息功能
	Stop()

	// 发送列车控制消息
	SendTrainControlMessage(b []byte)
}

var _default Dynamics

func Default() Dynamics {
	if !config.Config.Dynamics.Open {
		panic("动力学接口模块未开启")
	}
	return _default
}

func Init() {
	if !config.Config.Dynamics.Open {
		return
	}
	slog.Info("初始化动力学接口模块")
	_default = newDynamics()
}

type dynamics struct {
	trainInfoUdpServer    udp.UdpServer
	turnoutStateUdpClient udp.UdpClient
	trainControlUdpClient udp.UdpClient

	baseUrl           string
	httpClient        *http.Client
	manager           DynamicsMessageManager
	turnoutTaskCancel context.CancelFunc
}

func newDynamics() Dynamics {
	d := &dynamics{
		turnoutStateUdpClient: udp.NewClient(fmt.Sprintf("%v:%v", config.Config.Dynamics.Ip, config.Config.Dynamics.UdpRemotePort)),
		trainControlUdpClient: udp.NewClient(fmt.Sprintf("%v:%v", config.Config.Dynamics.Ip, config.Config.Dynamics.UdpRemoteTrainPort)),
		baseUrl:               getUrlBase(),
		httpClient: &http.Client{
			Timeout: time.Second * 5,
		},
	}
	d.trainInfoUdpServer = udp.NewServer(fmt.Sprintf(":%d", config.Config.Dynamics.UdpLocalPort), d.handleDynamicsTrainInfo)
	d.trainInfoUdpServer.Listen()
	return d
}

// 解码列车信息并处理
func (d *dynamics) handleDynamicsTrainInfo(b []byte) {
	trainInfo := &message.DynamicsTrainInfo{}
	err := trainInfo.Decode(b)
	if err != nil {
		panic(err)
	}
	handler := d.manager
	if handler != nil {
		handler.HandleDynamicsTrainInfo(trainInfo)
	}
}

func getUrlBase() string {
	ip := config.Config.Dynamics.Ip
	var port string
	if config.Config.Dynamics.HttpPort != 0 {
		port = fmt.Sprintf(":%d", config.Config.Dynamics.HttpPort)
	}
	urlBase := "http://" + ip + port
	return urlBase
}

func (d *dynamics) buildUrl(uri string) string {
	return d.baseUrl + uri
}

func (d *dynamics) RequestStartSimulation(base *message.LineBaseInfo) error {
	if !config.Config.Dynamics.Open {
		return nil
	}
	url := d.buildUrl("/api/start/")
	data, _ := json.Marshal(base)
	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
	if err != nil {
		return fmt.Errorf("请求启动仿真异常: %v", err)
	}
	defer resp.Body.Close()

	var buf []byte
	_, err = resp.Body.Read(buf)
	if err != nil {
		return fmt.Errorf("请求启动仿真读取相应异常: %v", err)
	}
	return nil
}

func (d *dynamics) RequestStopSimulation() error {
	if !config.Config.Dynamics.Open {
		return nil
	}
	url := d.buildUrl("/api/end/")
	resp, err := d.httpClient.Post(url, "application/json", nil)
	if err != nil {
		return fmt.Errorf("停止仿真请求异常: %v", err)
	}
	defer resp.Body.Close()
	var buf []byte
	_, err = resp.Body.Read(buf)
	if err != nil {
		return fmt.Errorf("停止仿真响应读取异常: %v", err)
	}
	return nil
}

func (d *dynamics) RequestAddTrain(info *message.InitTrainInfo) error {
	if !config.Config.Dynamics.Open {
		return nil
	}
	url := d.buildUrl("/api/aerodynamics/init/train/")
	data, _ := json.Marshal(info)
	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)
	}
	defer resp.Body.Close()
	var buf []byte
	_, err = resp.Body.Read(buf)
	if err != nil {
		return fmt.Errorf("动力学添加列车响应读取异常: %v", err)
	}
	return nil
}

func (d *dynamics) RequestRemoveTrain(req *message.RemoveTrainReq) error {
	if !config.Config.Dynamics.Open {
		return nil
	}
	url := d.buildUrl("/api/aerodynamics/remove/train/")
	data, _ := json.Marshal(req)
	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
	if err != nil {
		return fmt.Errorf("动力学移除列车请求异常: %v", err)
	}
	defer resp.Body.Close()
	var buf []byte
	_, err = resp.Body.Read(buf)
	if err != nil {
		return fmt.Errorf("动力学移除列车响应读取异常: %v", err)
	}
	return nil
}

func (d *dynamics) Start(manager DynamicsMessageManager) {
	if manager == nil {
		panic("启动动力学消息服务错误: DynamicsMessageManager不能为nil")
	}
	if d.manager != nil {
		panic("启动动力学消息服务错误: 存在正在运行的任务")
	}
	d.manager = manager
	ctx, cancle := context.WithCancel(context.Background())
	go d.sendTurnoutStateTask(ctx)
	d.turnoutTaskCancel = cancle
}

func (d *dynamics) Stop() {
	if d.turnoutTaskCancel != nil {
		d.turnoutTaskCancel()
		d.manager = nil
	}
}

const (
	// 道岔消息发送间隔,单位ms
	TurnoutMessageSendInterval = 50
)

var turnoutStateLifeSignal uint16 //道岔消息生命信号

// 定时发送道岔状态任务
func (d *dynamics) sendTurnoutStateTask(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:
		}
		turnoutStates := d.manager.CollectDynamicsTurnoutInfo()
		// slog.Debug("发送道岔状态", "count", len(turnoutStates))
		for _, state := range turnoutStates {
			turnoutStateLifeSignal++
			state.LifeSignal = turnoutStateLifeSignal
			d.turnoutStateUdpClient.SendMsg(state)
		}
		time.Sleep(time.Millisecond * TurnoutMessageSendInterval)
	}
}

func (d *dynamics) SendTrainControlMessage(b []byte) {
	d.trainControlUdpClient.Send(b)
}