554 lines
18 KiB
Go
554 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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// SendHandleSwitch 发送牵引制动手柄
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SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, 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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SendBaliseData(train *state_proto.TrainState, 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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SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage)
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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(train *state_proto.TrainState, data []byte)
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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)
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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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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) findTrainConn(sta *state_proto.TrainState) (*TrainPcReciverData, error) {
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trainPcReciver := d.newPcSimclientMap[sta.ConnState.TypeName]
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if trainPcReciver == nil {
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return nil, fmt.Errorf("")
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}
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return trainPcReciver, nil
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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.newPcSimclientMap {
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services = append(services, data)
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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(sta *state_proto.TrainState) (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(sta.PluseCount.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 sta.PluseCount.PulseCount3 {
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sum += f
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}
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d.TrainPluseCountReset(sta)
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speed := sum / float32(pcLen)
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return pluseCountSpeed(sta.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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if sd, err := d.findTrainConn(sta); err == nil {
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sd.speedPlace.PulseCount1 += sta.DynamicState.Displacement
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//sd.speedPlace.PulseCount1 += float32(uint32(h1 * 10))
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sd.speedPlace.PulseCount2 = sd.speedPlace.PulseCount1
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}
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if sta.TrainRunUp {
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if sta.TrainEndsA.SpeedSensorEnableA {
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sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, h1)
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sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, h1)
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}
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if sta.TrainEndsA.SpeedSensorEnableB {
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sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, h2)
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sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, h2)
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}
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} else {
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if sta.TrainEndsB.SpeedSensorEnableA {
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sta.PluseCount.PulseCount1 = pluseCountSpeed(sta.WheelDiameter, t1)
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sta.PluseCount.PulseCount3 = append(sta.PluseCount.PulseCount3, t1)
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}
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if sta.TrainEndsB.SpeedSensorEnableB {
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sta.PluseCount.PulseCount2 = pluseCountSpeed(sta.WheelDiameter, t2)
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sta.PluseCount.PulseCount4 = append(sta.PluseCount.PulseCount3, t2)
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}
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}
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}
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func (d *trainPcSimService) TrainPluseCountReset(sta *state_proto.TrainState) {
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sta.PluseCount.PulseCount1 = 0
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sta.PluseCount.PulseCount2 = 0
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sta.PluseCount.PulseCount3 = make([]float32, 0)
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sta.PluseCount.PulseCount4 = 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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rd := d.newPcSimclientMap[clientKey]
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if rd != nil {
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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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//rd.trainInit = false
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//d.cancleContextFun()
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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) initConn(clientKey string) error {
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rd := d.newPcSimclientMap[clientKey]
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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.trainInit = false
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rd.tcpClient = nil
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}
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cfg, cfgErr := d.findConfig(clientKey)
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if cfgErr != nil {
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errMsg := fmt.Sprintf("没找到对应的配置信息 key:%v", clientKey)
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//slog.Error(errMsg, cfgErr.Error())
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rd.updateState(tpapi.ThirdPartyState_Broken)
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return sys_error.New(errMsg, cfgErr)
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}
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addr := fmt.Sprintf("%v:%v", cfg.PcSimIp, cfg.PcSimPort)
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client2, err := tcp.StartTcpClient(addr, rd.receiverDataHandle, rd.readError)
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if err != nil {
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connErrMsg := fmt.Sprintf("车载pc连接失败 clientKey:%v", clientKey)
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//slog.Error(connErrMsg, err.Error())
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rd.updateState(tpapi.ThirdPartyState_Broken)
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return sys_error.New(connErrMsg, err)
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} else {
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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.newPcSimclientMap = 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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pcReciver := &TrainPcReciverData{clientKey: ck, pcSimManage: pcSimManage}
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pcReciver.updateState(tpapi.ThirdPartyState_Closed)
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d.newPcSimclientMap[ck] = pcReciver
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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 _, data := range d.newPcSimclientMap {
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data.updateState(tpapi.ThirdPartyState_Closed)
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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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err := d.initConn(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 := []byte{message.FLAG_CAMMAND_REMOVE_TRAIN}
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if isCreate {
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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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rd := d.newPcSimclientMap[clientKey]
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if rd != nil {
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initTrainErr := d.initTrain(rd, train, isCreate, msg)
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if !isCreate {
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d.newCloseConn(clientKey)
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}
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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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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.PluseCount = &state_proto.SensorSpeedPulseCount{}
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rd.train = train
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tcc := train.Tcc
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tcc.LineInitTimeStamp12 = 0
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tcc.Line12ConnErr = false
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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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} 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 {
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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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if train.ConnState.Conn && train.PluseCount != nil {
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trainClient, trainDataErr := d.findTrainConn(train)
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if trainDataErr != nil {
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slog.Error(fmt.Sprintf("pc仿真速度位置未找到对应的列车 id:%v", train.Id))
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continue
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}
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if trainClient.speedPlace == 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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connState := tpapi.ThirdPartyState_Normal
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if train.Tcc.Line12ConnErr {
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connState = tpapi.ThirdPartyState_Broken
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}
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trainClient.updateState(connState)
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s1, speed := d.pluseSpeed(train)
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runDir := uint16(2)
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if train.VobcState.DirectionForward {
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runDir = 1
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}
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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}
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dataCode := bm.Encode()
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slog.Info(fmt.Sprintf("发送列车速度位置,列车：%v,列车速度:%v,计数脉冲: %v,累计里程: %v ,发送数据:%v", train.Id, speed, s1, trainClient.speedPlace.PulseCount1, hex.EncodeToString(dataCode)))
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err := trainClient.tcpClient.Send(dataCode)
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if err != nil {
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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)))
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}
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}
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}
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time.Sleep(time.Millisecond * 80)
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}
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}
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// SendDriverActive Deprecated 发送驾驶激活
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func (d *trainPcSimService) SendDriverActive(train *state_proto.TrainState) {
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trainClient, trainDataErr := d.findTrainConn(train)
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if trainDataErr != nil {
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slog.Error(fmt.Sprintf("发送驾驶激活，未找到对应的列车连接，列车id：%v", train.Id))
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return
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}
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vobc := train.VobcState
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msg := &message.TrainPcSimBaseMessage{}
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if train.TrainRunUp {
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if vobc.Tc1Active {
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msg.Type = message.SENDER_TRAIN_TC_ACTIVE
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} else if vobc.Tc1Active == false {
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msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
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}
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} else if !train.TrainRunUp {
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if vobc.Tc2Active {
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msg.Type = message.SENDER_TRAIN_TC_ACTIVE
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} else if vobc.Tc2Active == false {
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msg.Type = message.SENDER_TRAIN_TC_NOT_ACTIVE
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}
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}
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msgs := make([]byte, 0)
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if msg.Type == message.SENDER_TRAIN_TC_ACTIVE {
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dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 1}, Type: message.SENDER_TRAIN_OUTR_INFO}
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msgs = append(msgs, dd3.Encode()...)
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} else {
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dd3 := message.TrainPcSimBaseMessage{Data: []byte{message.KEY_STATE, 0}, Type: message.SENDER_TRAIN_OUTR_INFO}
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msgs = append(msgs, dd3.Encode()...)
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}
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msgs = append(msgs, msg.Encode()...)
|
||
hexData := hex.EncodeToString(msgs)
|
||
//slog.Info(fmt.Sprintf("发送驾驶激活列车id:%v,数据:%v", train.Id, hexData))
|
||
err := trainClient.tcpClient.Send(msgs)
|
||
|
||
if err != nil {
|
||
slog.Error(fmt.Sprintf("发送驾驶激活失败列车id:%v,数据:%v,err:%v", train.Id, hexData, err.Error()))
|
||
}
|
||
}
|
||
func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, train *state_proto.TrainState) {
|
||
trainClient, trainDataErr := d.findTrainConn(train)
|
||
if trainDataErr != nil {
|
||
slog.Error(fmt.Sprintf("发送列车牵引失败，未找到对应的列车id:%v", train.Id))
|
||
return
|
||
}
|
||
tc := train.ConnState
|
||
if tc.Conn {
|
||
vobc := train.VobcState
|
||
msg := &message.TrainPcSimBaseMessage{}
|
||
newTraction := vobc.TractionForce
|
||
if tractionState {
|
||
if newTraction <= oldTraction && newTraction <= 0 {
|
||
//手柄取消前进
|
||
msg.Type = message.RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
|
||
} else {
|
||
//手柄前进
|
||
msg.Type = message.SENDER_TRAIN_HAND_KEY_FORWARD
|
||
}
|
||
|
||
} else {
|
||
/*if newBrake >= newOldBrakeForce && newBrake == 0 {
|
||
//手柄取消后退
|
||
msg.Type = message.RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
|
||
} else if newBrake < newOldBrakeForce {
|
||
//手柄后退
|
||
msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
|
||
} else {
|
||
//手柄后退
|
||
msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
|
||
}*/
|
||
msg.Type = message.RECIVE_TRAIN_HAND_KEY_BACKWARD
|
||
}
|
||
da := msg.Encode()
|
||
//slog.Info("发送列车手柄消息", "msg", hex.EncodeToString(da))
|
||
err := trainClient.tcpClient.Send(da)
|
||
//err := client.Send(da)
|
||
if err != nil {
|
||
slog.Error("发送列车手柄消息失败", "msg", hex.EncodeToString(da))
|
||
}
|
||
}
|
||
}
|
||
func (d *trainPcSimService) SendTrainDirection(train *state_proto.TrainState, trainForward, trainBackward bool) {
|
||
trainClient, trainDataErr := d.findTrainConn(train)
|
||
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) SendBaliseData(train *state_proto.TrainState, msgType byte, data []byte) {
|
||
trainClient, trainDataErr := d.findTrainConn(train)
|
||
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) SendTrainControlMsg(train *state_proto.TrainState, baseMessage []message.TrainPcSimBaseMessage) {
|
||
if len(baseMessage) <= 0 {
|
||
return
|
||
}
|
||
trainClient, trainDataErr := d.findTrainConn(train)
|
||
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("发送列车控制信息:%x", dd))
|
||
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()))
|
||
}
|
||
}
|