549 lines
18 KiB
Go
549 lines
18 KiB
Go
package train_pc_sim
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import (
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"context"
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"encoding/hex"
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"fmt"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"joylink.club/bj-rtsts-server/sys_error"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/bj-rtsts-server/third_party/tcp"
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"joylink.club/bj-rtsts-server/third_party/tpapi"
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"log/slog"
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"math"
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"sync"
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"time"
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)
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//type TrainControlEvent struct {
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// Type byte
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// Data []byte
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//}
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//var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()
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type TrainPcSim interface {
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tpapi.ThirdPartyApiService
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Start(pcSimManage TrainPcSimManage)
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Stop()
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// SendDriverActive Deprecated 发送驾驶端激活
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//SendDriverActive(train *state_proto.TrainState)
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// SendTrainDirection 列车运行方向
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//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
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SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool)
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//发送应答器信息数据
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SendBaliseData2(train *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort, msgType byte, data []byte)
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//发布列车控制的相关事件
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//PublishTrainControlEvent(train *state_proto.TrainState, events []TrainControlEvent)
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SendTrainControlMsg2(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage, trainClientPort state_proto.TrainState_TrainPort)
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// CreateOrRemoveSpeedPLace 创建或删除速度位置信息
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//CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
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// CreateOrRemoveTrain 创建或删除列车
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CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error
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// TrainPluseCount 计算列车脉冲
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TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32)
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}
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type TrainPcSimManage interface {
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GetTrainPcSimConfig() []config.VehiclePCSimConfig
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//GetConnTrain() *state_proto.TrainState
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GetConnTrain2() []*state_proto.TrainState
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//获取列车模拟量数据
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ObtainTrainDigitalMockData(train *state_proto.TrainState) []message.TrainPcSimBaseMessage
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// TrainPcSimDigitalOutInfoHandle 4.4.1. 车载输出数字量信息报文内容
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TrainPcSimDigitalOutInfoHandle(pc *TrainPcReciverData, train *state_proto.TrainState, data []byte) bool
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// TrainPcSimDigitalReportHandle 4.4.2. 车载输出数字反馈量信息报文内容
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TrainPcSimDigitalReportHandle(train *state_proto.TrainState, data []byte)
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FindConnTrain(ct state_proto.TrainConnState_TrainConnType) *state_proto.TrainState
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// TrainPcSimMockInfo 门模式
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//TrainDoorModeHandle(state byte)
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//处理列车pc仿真模拟量数据
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TrainPcSimMockInfo(train *state_proto.TrainState, data []byte)
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// TrainBtmQuery 处理列车btm查询
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TrainBtmQuery2(train *state_proto.TrainState, data []byte, trainClientPort state_proto.TrainState_TrainPort)
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}
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type trainPcSimService struct {
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state tpapi.ThirdPartyApiServiceState
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//newPcSimclientMap map[string]*TrainPcReciverData
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newPcSimclientMap3 map[string][]*TrainPcReciverData
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cancleContextFun context.CancelFunc
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context context.Context
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trainPcSimManage TrainPcSimManage
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configs []config.VehiclePCSimConfig
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}
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var (
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initLock = &sync.Mutex{}
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singleObj *trainPcSimService
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)
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func Default() TrainPcSim {
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defer initLock.Unlock()
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initLock.Lock()
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if singleObj == nil {
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singleObj = &trainPcSimService{}
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}
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return singleObj
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}
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const Name = "车载pc仿真"
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func (d *trainPcSimService) Name() string {
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return ""
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}
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func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
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return tpapi.ThirdPartyState_Closed
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}
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func (d *trainPcSimService) FindAppendApiService() []tpapi.ThirdPartyApiService {
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return d.findAllThirdPartState()
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}
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func (d *trainPcSimService) TrueService() bool {
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return false
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}
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func (d *trainPcSimService) ServiceDesc() string {
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return Name
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}
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func FindTrainPcSimClientKey2(t *state_proto.TrainState) string {
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return t.ConnState.TypeName
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}
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func (d *trainPcSimService) findTrainConnForPort2(sta *state_proto.TrainState, trainClientPort state_proto.TrainState_TrainPort) (*TrainPcReciverData, error) {
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rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
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if rds == nil {
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return nil, fmt.Errorf("")
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}
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for _, rd := range rds {
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if rd.RealTrainPort == trainClientPort {
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return rd, nil
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}
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}
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return nil, fmt.Errorf("未找到对应端口的列车 对应的端口:%v", trainClientPort.String())
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}
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func (d *trainPcSimService) findTrainAllConn(sta *state_proto.TrainState) []*TrainPcReciverData {
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rds := d.newPcSimclientMap3[sta.ConnState.TypeName]
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return rds
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}
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func (d *trainPcSimService) findAllThirdPartState() []tpapi.ThirdPartyApiService {
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services := make([]tpapi.ThirdPartyApiService, 0)
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for _, data := range d.newPcSimclientMap3 {
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for _, rd := range data {
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services = append(services, rd)
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}
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}
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return services
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}
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// 速度(单位mm/s)对应的脉冲数：速度*200/pi/840；
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// 里程（单位mm）对应的脉冲：总里程*200/pi/840
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func pluseCountSpeed(wheelDiameter int32, speedMeter float32) uint32 {
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pluseCountData := speedMeter * 200 / math.Pi / float32(wheelDiameter)
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return uint32(pluseCountData)
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}
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func (d *trainPcSimService) pluseSpeed(pc *state_proto.SensorSpeedPulseCount, wheelDiameter int32) (uint32, float32) {
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defer initLock.Unlock()
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initLock.Lock()
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var sum float32 = 0
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pcLen := len(pc.PulseCount3)
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if pcLen == 0 {
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return 0, 0
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}
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for _, f := range pc.PulseCount3 {
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sum += f
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}
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d.trainPluseCountReset(pc)
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speed := sum / float32(pcLen)
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return pluseCountSpeed(wheelDiameter, speed*1000), speed
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}
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func (d *trainPcSimService) TrainPluseCount(sta *state_proto.TrainState, h1, h2, t1, t2 float32) {
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defer initLock.Unlock()
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initLock.Lock()
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select {
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case <-d.context.Done():
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return
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default:
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}
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//slog.Info(fmt.Sprintf("接受列车速度:%v", h1))
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for _, sd := range d.findTrainAllConn(sta) {
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if sd.speedPlace != nil {
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sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
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}
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}
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for _, pc := range sta.PulseCountMap {
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if sta.TrainRunUp {
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if sta.TrainEndsA.SpeedSensorEnableA || sta.TrainEndsA.SpeedSensorEnableB {
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pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
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pc.PulseCount3 = append(pc.PulseCount3, h1)
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}
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} else {
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if sta.TrainEndsB.SpeedSensorEnableA || sta.TrainEndsB.SpeedSensorEnableB {
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pc.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
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pc.PulseCount3 = append(pc.PulseCount3, t1)
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}
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}
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}
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}
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func (d *trainPcSimService) trainPluseCountReset(pc *state_proto.SensorSpeedPulseCount) {
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pc.PulseCount1 = 0
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pc.PulseCount3 = make([]float32, 0)
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}
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func (d *trainPcSimService) newCloseAllConn() {
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trains := d.trainPcSimManage.GetConnTrain2()
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for _, train := range trains {
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d.CreateOrRemoveTrain(train, false)
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}
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}
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func (d *trainPcSimService) newCloseConn(clientKey string) {
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rds := d.newPcSimclientMap3[clientKey]
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if rds != nil {
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for _, rd := range rds {
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rd.tcpClient.Close()
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rd.tcpClient = nil
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rd.train = nil
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rd.speedPlace = nil
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}
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}
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}
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func (d *trainPcSimService) findConfig(configName string) (*config.VehiclePCSimConfig, error) {
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for _, cfg := range d.configs {
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if cfg.Open && cfg.ConfigName == configName {
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return &cfg, nil
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}
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}
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return nil, fmt.Errorf("未找到对应的车载pc连接配置")
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}
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func (d *trainPcSimService) initConn2(clientKey string) error {
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rds := d.newPcSimclientMap3[clientKey]
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rd1 := rds[0]
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rd2 := rds[1]
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cfg, cfgErr := d.findConfig(clientKey)
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if cfgErr != nil {
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return sys_error.New(fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey), cfgErr)
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}
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if !cfg.OpenB && !cfg.OpenA {
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return sys_error.New(fmt.Sprintf("配置：%v A，B端配置均为打开", clientKey))
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}
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e1 := d.connServer(cfg.OpenA, cfg.APcSimIp, cfg.APcSimPort, rd1)
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if e1 != nil {
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rd1.updateState(tpapi.ThirdPartyState_Broken)
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return sys_error.New(fmt.Sprintf("配置：%v 端口A连接失败", clientKey))
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}
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e2 := d.connServer(cfg.OpenB, cfg.BPcSimIp, cfg.BPcSimPort, rd2)
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if e2 != nil {
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rd1.updateState(tpapi.ThirdPartyState_Broken)
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return sys_error.New(fmt.Sprintf("配置：%v 端口B连接失败", clientKey))
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}
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if rd1.success {
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rd1.RealTrainPort = state_proto.TrainState_PORT_A
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}
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if rd2.success {
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rd2.RealTrainPort = state_proto.TrainState_PORT_B
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}
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return nil
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}
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func (d *trainPcSimService) connServer(open bool, ip string, port uint32, rd *TrainPcReciverData) *sys_error.BusinessError {
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if rd != nil && rd.tcpClient != nil && rd.tcpClient.IsConning() {
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return nil
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} else {
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rd.tcpClient = nil
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}
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if !open {
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rd.success = false
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return nil
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}
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addr := fmt.Sprintf("%v:%v", ip, port)
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client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
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if err != nil {
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return sys_error.New(fmt.Sprintf("车载atp连接失败,add:%v ,message:%v", addr, err))
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} else {
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rd.success = true
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rd.tcpClient = client2
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}
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return nil
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}
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func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
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configs := pcSimManage.GetTrainPcSimConfig()
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d.newPcSimclientMap3 = make(map[string][]*TrainPcReciverData)
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if len(configs) <= 0 {
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slog.Info("车载pc仿真配置未开启")
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return
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}
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closedCount := 0
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for _, c := range configs {
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if !c.Open {
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closedCount++
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} else {
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ck := c.ConfigName
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pcReceivers := make([]*TrainPcReciverData, 2)
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for i := 0; i < 2; i++ {
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ss := fmt.Sprintf("%v%v", c.ConfigName, i)
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pcReciver := &TrainPcReciverData{clientKey: ss, pcSimManage: pcSimManage}
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pcReciver.updateState(tpapi.ThirdPartyState_Closed)
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pcReceivers[i] = pcReciver
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}
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d.newPcSimclientMap3[ck] = pcReceivers
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}
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}
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if closedCount == len(configs) {
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slog.Error("车载pc仿真配置未开启")
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return
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}
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d.configs = configs
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ctx, ctxFun := context.WithCancel(context.Background())
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d.cancleContextFun = ctxFun
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d.context = ctx
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d.trainPcSimManage = pcSimManage
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go d.sendTrainLocationAndSpeedTask(ctx)
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}
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func (d *trainPcSimService) Stop() {
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for _, rds := range d.newPcSimclientMap3 {
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for _, rd := range rds {
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rd.updateState(tpapi.ThirdPartyState_Closed)
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}
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}
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if d.cancleContextFun != nil {
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d.cancleContextFun()
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d.cancleContextFun = nil
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}
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d.newCloseAllConn()
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}
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func (d *trainPcSimService) CreateOrRemoveTrain(train *state_proto.TrainState, isCreate bool) error {
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clientKey := FindTrainPcSimClientKey2(train)
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data := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
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if isCreate {
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err := d.initConn2(clientKey)
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if err != nil {
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d.newCloseConn(clientKey)
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return err
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}
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data[0] = message.FLAG_CAMMAND_CREATE_TRAIN
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}
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msg := &message.TrainPcSimBaseMessage{Data: data, Type: message.RECIVE_TRAIN_CREATE_REMOVE}
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rds := d.newPcSimclientMap3[clientKey]
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for index, rd := range rds {
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slog.Info(fmt.Sprintf("index%v---rd client：%v clientnil :%v，succ:%v", index, rd.tcpClient, rd.tcpClient == nil, rd.success))
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if rd != nil && rd.success {
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initTrainErr := d.initTrain(rd, train, isCreate, msg)
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if initTrainErr != nil {
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return initTrainErr
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}
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}
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}
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if !isCreate {
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d.newCloseConn(clientKey)
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}
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return nil
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}
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func (d *trainPcSimService) initTrain(rd *TrainPcReciverData, train *state_proto.TrainState, isCreate bool, trains *message.TrainPcSimBaseMessage) error {
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msgs := make([]message.TrainPcSimBaseMessage, 0)
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sendMsg := make([]byte, 0)
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rd.speedPlace = &message.TrainSpeedPlaceReportMsg{}
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train.PulseCountMap = make(map[int32]*state_proto.SensorSpeedPulseCount)
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train.PulseCountMap[int32(state_proto.TrainState_PORT_A.Number())] = &state_proto.SensorSpeedPulseCount{}
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train.PulseCountMap[int32(state_proto.TrainState_PORT_B.Number())] = &state_proto.SensorSpeedPulseCount{}
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rd.train = train
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tcc := train.Tcc
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rd.TrainConnInitComplate = false
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rd.LineInitTimeStamp = 0
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if isCreate {
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tmpMsgs := d.trainPcSimManage.ObtainTrainDigitalMockData(train)
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msgs = append(msgs, tmpMsgs...)
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{0x00}, Type: message.RECIVE_TRAIN_DOOR_MODE}) //门模式
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.RECIVE_TRAIN_BTN_CLEAR_ALL_PRE_DATA}) //清空应答器
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_ACTIVE}) //清空应答器
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} else {
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train.VobcState.Tc1Active = false
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train.VobcState.Tc2Active = false
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for _, key := range tcc.DriverKey {
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key.Val = false
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}
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.TRAIN_BRAKE_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}) //驾驶室激活
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msgs = append(msgs, message.TrainPcSimBaseMessage{Data: []byte{}, Type: message.SENDER_TRAIN_TC_NOT_ACTIVE}) //驾驶室激活
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}
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for _, msg := range msgs {
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data := msg.Encode()
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sendMsg = append(sendMsg, data...)
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}
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sendMsg = append(sendMsg, trains.Encode()...)
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hexData := hex.EncodeToString(sendMsg)
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slog.Info(fmt.Sprintf("发送列车初始化消息:%v", hexData))
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rd.tcpClient.Send(sendMsg)
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return nil
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}
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// 依据文档80ms发送列车速度位置
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func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
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for range time.Tick(time.Millisecond * 80) {
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select {
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case <-ctx.Done():
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return
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default:
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}
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trains := d.trainPcSimManage.GetConnTrain2()
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for _, train := range trains {
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for numKey, pc := range train.PulseCountMap {
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trainPort := state_proto.TrainState_TrainPort(numKey)
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trainClient, _ := d.findTrainConnForPort2(train, trainPort)
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if trainClient == nil {
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continue
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}
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if trainClient.success {
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if trainClient.speedPlace == nil || trainClient.tcpClient == nil {
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slog.Error(fmt.Sprintf("pc仿真速度位置脉冲对象为空 列车id:%v", train.Id))
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continue
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}
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if trainClient.ConnError() {
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continue
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}
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/*ds := &strings.Builder{}
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for i, s := range pc.PulseCount3 {
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ds.WriteString(fmt.Sprintf("i:%v,s:%v ", i, s))
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}
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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()))*/
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s1, speed := d.pluseSpeed(pc, train.WheelDiameter)
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runDir := d.trainDirection(speed, train, trainClient.RealTrainPort)
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disPluse := pluseCountSpeed(train.WheelDiameter, trainClient.speedPlace.PulseCount1)
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data := trainClient.speedPlace.Encode(runDir, s1, disPluse)
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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()))
|
||
}
|
||
}
|