487 lines
18 KiB
Go
487 lines
18 KiB
Go
package memory
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import (
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"fmt"
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"joylink.club/bj-rtsts-server/dto/common_proto"
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"joylink.club/bj-rtsts-server/service"
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"joylink.club/bj-rtsts-server/third_party/can_btm"
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"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
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"log/slog"
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"math"
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"reflect"
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"strconv"
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"time"
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"joylink.club/bj-rtsts-server/dto"
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"joylink.club/bj-rtsts-server/sys_error"
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"joylink.club/bj-rtsts-server/third_party/dynamics"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/rtsssimulation/fi"
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"joylink.club/bj-rtsts-server/dto/data_proto"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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)
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const (
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DEFULAT_TRAIN_LOAD = 160
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DEFAULT_BRAKE_FORCE = 19040
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)
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func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig {
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return &message.TrainOperationConfig{TrainIndex: trainId, Length: int(trainLen),
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DavisParamA: configTrainData.DavisParamA, DavisParamB: configTrainData.DavisParamB,
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DavisParamC: configTrainData.DavisParamC, CurveResistanceParamR1: configTrainData.CurveResistanceParamR1,
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CurveResistanceParamR2: configTrainData.CurveResistanceParamR2, CurveResistanceParamR3: configTrainData.CurveResistanceParamR3,
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CurveResistanceParamR4: configTrainData.CurveResistanceParamR4, RevolvingMassParam: configTrainData.RevolvingMassParam,
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Jump: configTrainData.Jump, Slide: configTrainData.Slide,
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SlipA: configTrainData.SlipA, SlipR: configTrainData.SlipR, SlipD: int(configTrainData.SlipD),
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IdlingA: configTrainData.IdlingA, IdlingR: configTrainData.IdlingR, IdlingD: int(configTrainData.IdlingD),
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StopSign: int(configTrainData.StopSign)}
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}
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// 增加列车状态
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func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
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trainEndsB dto.ConfigTrainEnds, mapId int32) *sys_error.BusinessError {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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value, ok := allTrainMap.Load(status.Id)
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if ok {
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trainState := value.(*state_proto.TrainState)
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if trainState.Show {
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return sys_error.New(fmt.Sprintf("列车【%s】已存在", status.Id))
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}
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}
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//tcc := createTrainControl(vs)
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//status.Tcc = tcc
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// 显示状态
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status.Show = true
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//向动力学发送初始化请求
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trainIndex, _ := strconv.ParseUint(status.Id, 10, 16)
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slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset)
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// 映射link、偏移量、运行方向
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var uid string
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if status.DevicePort == "" {
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uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Section{})
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} else {
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uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{})
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}
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// 车头所在link、link上的偏移
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linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset)
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// link上的运行方向、设备上的运行方向
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up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.RunDirection)
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// 车头所在公里标
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kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset)
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// 车尾相对车头link的偏移量
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calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up)
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// 车尾位置
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tailLink, tailDeviceId, tailDevicePort, tailLOffset, tailDeviceOffset, _, e1 := CalcInitializeLink(vs, linkId, calctailOffset, up)
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if e1 != nil {
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panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1))
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}
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status.Up = up
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status.PointTo = pointTo
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status.TrainKilometer = kilometer.Value
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status.DynamicState = &state_proto.TrainDynamicState{
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HeadLinkId: linkId,
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HeadLinkOffset: loffset,
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TailLinkId: tailLink,
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TailLinkOffset: tailLOffset,
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RunningUp: up,
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}
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status.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
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status.TailOffset = tailDeviceOffset
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status.TailDevicePort = tailDevicePort
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//初始化列车参数状态
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createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
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tl := configTrainData.TrainLoad
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if tl <= 0 {
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tl = DEFULAT_TRAIN_LOAD
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}
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status.VobcState = &state_proto.TrainVobcState{Tc1Active: true, TrainLoad: int64(tl), BrakingStatus: true, BrakeForce: DEFAULT_BRAKE_FORCE, DirectionForward: true}
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status.Tcc = initTrainTcc(vs)
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slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset)
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linkIdInt, _ := strconv.Atoi(linkId)
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err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{
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TrainIndex: uint16(trainIndex),
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LinkIndex: uint16(linkIdInt),
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LinkOffset: uint32(loffset),
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Speed: status.Speed / 3.6,
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Up: status.Up,
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TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData),
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})
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if err != nil {
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panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
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}
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// world中加车
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fi.AddTrainToWorld(vs.World, status.Id)
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fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
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TrainId: status.Id,
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Up: status.Up,
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Len: uint32(status.TrainLength),
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HeadLink: linkId,
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HeadLinkOffset: uint32(loffset),
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TailLink: tailLink,
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TailLinkOffset: uint32(tailLOffset),
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})
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// 将信息合并到当前设备状态中
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allTrainMap.Store(status.Id, status)
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return nil
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}
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// 列车连接类型更新
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func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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data, ok := allTrainMap.Load(ct.Id)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.Id)))
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}
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train := data.(*state_proto.TrainState)
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if ct.ConnType != state_proto.TrainConnState_NONE {
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//列车连接 半实物或车载pc仿真
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allTrainMap.Range(func(k, v any) bool {
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tmpTrain := v.(*state_proto.TrainState)
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if tmpTrain.ConnState.Conn {
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connTypeName := "半实物"
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if tmpTrain.ConnState.ConnType == state_proto.TrainConnState_PC_SIM {
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connTypeName = "车载pc仿真"
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}
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panic(sys_error.New(fmt.Sprintf("列车[%s]已经连接 [%v],此列车无法连接", k, connTypeName)))
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return false
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}
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return true
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})
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}
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train.ConnState.Conn = true
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train.ConnState.ConnType = ct.ConnType
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if ct.ConnType == state_proto.TrainConnState_PC_SIM {
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err := TrainPcSimConnOrRemoveHandle(train)
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if err != nil {
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train.ConnState.Conn = false
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train.ConnState.ConnType = state_proto.TrainConnState_NONE
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panic(sys_error.New(err.Error()))
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}
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train_pc_sim.Default().SendDriverActive(train.ConnState, train.VobcState)
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}
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}
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// 列车断开三方连接
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func TrainUnConn(vs *VerifySimulation, trainId string) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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data, ok := allTrainMap.Load(trainId)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", trainId)))
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}
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train := data.(*state_proto.TrainState)
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oldType := train.ConnState.ConnType
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train.ConnState.Conn = false
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train.ConnState.ConnType = state_proto.TrainConnState_NONE
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if oldType == state_proto.TrainConnState_PC_SIM {
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err := TrainPcSimConnOrRemoveHandle(train)
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if err != nil {
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panic(sys_error.New("未连接车载PC仿真，无法断开连接"))
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}
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}
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train.ConnState.Conn = false
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train.ConnState.ConnType = state_proto.TrainConnState_NONE
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}
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func createOrUpdateStateDynamicConfig(trainState *state_proto.TrainState, configTrainData dto.ConfigTrainData, trainEndsA dto.ConfigTrainEnds,
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trainEndsB dto.ConfigTrainEnds) {
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trainState.TrainDynamicConfig = service.TrainConfigToProtoConvert(&configTrainData)
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if trainState.TrainDynamicConfig != nil {
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copyTrainEnds(trainState, "TrainEndsA", trainEndsA)
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copyTrainEnds(trainState, "TrainEndsB", trainEndsB)
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}
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}
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func copyTrainEnds(trainState *state_proto.TrainState, fieldName string, configData dto.ConfigTrainEnds) {
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fieldVal := reflect.ValueOf(trainState).Elem().FieldByName(fieldName)
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endsVal := fieldVal.Interface().(*common_proto.TrainEndsState)
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if endsVal == nil {
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endsVal = &common_proto.TrainEndsState{}
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fieldVal.Set(reflect.ValueOf(endsVal))
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}
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endsVal.SpeedSensorEnableA = configData.SpeedSensorEnableA
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endsVal.SpeedSensorEnableB = configData.SpeedSensorEnableB
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endsVal.AccOutSpeed = configData.AccOutSpeed
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endsVal.RadarEnable = configData.RadarEnable
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endsVal.RadarCheckTime = configData.RadarCheckTime
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endsVal.RadarCheckSpeedDiff = configData.RadarCheckSpeedDiff
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endsVal.RadarOutSpeed = configData.RadarOutSpeed
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endsVal.AccEnable = configData.AccEnable
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endsVal.AccCheckSpeedDiff = configData.AccCheckSpeedDiff
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endsVal.AccCheckTime = configData.AccCheckTime
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}
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func UpdateConfigTrain(vs *VerifySimulation, ct *dto.ConfigTrainReqDto) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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data, ok := allTrainMap.Load(strconv.Itoa(ct.TrainId))
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.TrainId)))
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}
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trainState, ok := data.(*state_proto.TrainState)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车参数修改断言:列车【%s】不存在", ct.TrainId)))
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}
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createOrUpdateStateDynamicConfig(trainState, ct.ConfigData, ct.TrainEndsA, ct.TrainEndsB)
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trainState.TrainLength = ct.Length
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trainState.WheelDiameter = ct.WheelDiameter
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requestDynamicConfig(ct)
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trainState.TrainEndsA.RadarCheckTimeOverAt = 0
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trainState.TrainEndsB.RadarCheckTimeOverAt = 0
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trainState.TrainEndsA.AccCheckTimeOverAt = 0
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trainState.TrainEndsB.AccCheckTimeOverAt = 0
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if ct.TrainEndsA.RadarCheckTime > 0 {
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timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsA.RadarCheckTime)).Unix()
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trainState.TrainEndsA.RadarCheckTimeOverAt = timeAt
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}
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if ct.TrainEndsB.RadarCheckTime > 0 {
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timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsB.RadarCheckTime)).Unix()
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trainState.TrainEndsB.RadarCheckTimeOverAt = timeAt
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}
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if ct.TrainEndsA.AccCheckTime > 0 {
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timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsA.AccCheckTime)).Unix()
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trainState.TrainEndsA.AccCheckTimeOverAt = timeAt
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}
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if ct.TrainEndsB.AccCheckTime > 0 {
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timeAt := time.Now().Add(time.Second * time.Duration(ct.TrainEndsB.AccCheckTime)).Unix()
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trainState.TrainEndsB.AccCheckTimeOverAt = timeAt
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}
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}
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func requestDynamicConfig(ct *dto.ConfigTrainReqDto) {
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msg := CreateMsgTrainConfig(ct.TrainId, ct.Length, ct.ConfigData)
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err2 := dynamics.Default().TrainOperationConfig(msg)
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err := err2
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if err != nil {
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slog.Error("列车参数变更请求动力学失败", err)
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panic(sys_error.New(fmt.Sprintf("列车参数变更请求动力学失败")))
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}
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}
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// 修改列车信息
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func UpdateTrainInfo(vs *VerifySimulation, status *state_proto.TrainState) *state_proto.TrainState {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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data, ok := allTrainMap.Load(status.Id)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", status.Id)))
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}
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sta := data.(*state_proto.TrainState)
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sta.TrainLength = status.TrainLength
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sta.WheelDiameter = status.WheelDiameter
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return sta
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}
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// 根据动力学发来的信息修改列车状态
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func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *message.DynamicsTrainInfo) *state_proto.TrainState {
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data, ok := vs.Memory.Status.TrainStateMap.Load(trainId)
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if !ok {
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panic(sys_error.New(fmt.Sprintf("动力学传输数据:列车【%s】不存在", trainId)))
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}
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sta := data.(*state_proto.TrainState)
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delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
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sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
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//slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
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inLinkId, inLinkOffset := strconv.Itoa(int(info.Link)), int64(info.LinkOffset)
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outLinkId, id, port, outLinkOffset, offset, kilometer, e1 := CalcInitializeLink(vs, inLinkId, inLinkOffset, info.Up)
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if e1 != nil {
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panic(sys_error.New("动力学传输数据:列车车头位置计算出错", e1))
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}
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runDirection, pointTo := QueryDirectionAndABByDevice(vs.Repo, id, port, info.Up)
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//slog.Debug("处理动力学转换后的消息", "number", info.Number, "车头位置", id, "偏移", offset, "是否上行", runDirection, "是否ab", pointTo)
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// 车尾相对车头link的偏移量
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calctailOffset := calcTrailTailOffset(outLinkOffset, int64(info.Len), info.Up)
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tailLinkId, tailDeviceId, tailDevicePort, tailLinkOffset, tailOffset, _, e2 := CalcInitializeLink(vs, outLinkId, calctailOffset, !info.Up)
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if e2 != nil {
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panic(sys_error.New("动力学传输数据:列车车尾位置计算出错", e2))
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}
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//slog.Debug("车尾位置", tailDeviceId, "偏移", tailDeviceOffset, "所在设备端", tailDevicePort)
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// 更新BTM中列车位置信息
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can_btm.Default().HandleTrainHeadPositionInfo(vs.World, &fi.TrainHeadPositionInfo{
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TrainId: trainId,
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Up: info.Up,
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Link: outLinkId,
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LinkOffset: outLinkOffset,
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Speed: info.Speed,
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Acceleration: info.Acceleration,
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})
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state := can_btm.Default().GetState()
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sta.BtmState = &state
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// 修改world中的列车位置
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fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{
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TrainId: trainId,
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Up: info.Up,
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Len: info.Len,
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HeadLink: outLinkId,
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HeadLinkOffset: uint32(outLinkOffset),
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TailLink: tailLinkId,
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TailLinkOffset: uint32(tailLinkOffset),
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})
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sta.HeadDeviceId = vs.GetComIdByUid(id)
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sta.DevicePort = port
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sta.HeadOffset = offset
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sta.PointTo = pointTo
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sta.TrainKilometer = kilometer.Value
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sta.RunDirection = runDirection
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//判定车头方向
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sta.HeadDirection = runDirection
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if sta.VobcState != nil {
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if sta.VobcState.DirectionForward {
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sta.HeadDirection = runDirection
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} else if sta.VobcState.DirectionBackward {
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sta.HeadDirection = !runDirection
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}
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}
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if info.Speed < 0 {
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sta.RunDirection = !sta.RunDirection
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}
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sta.TailDeviceId = vs.GetComIdByUid(tailDeviceId)
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sta.TailOffset = tailOffset
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sta.TailDevicePort = tailDevicePort
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// 赋值动力学信息
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sta.DynamicState.Heartbeat = int32(info.LifeSignal)
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sta.DynamicState.HeadLinkId = outLinkId
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sta.DynamicState.HeadLinkOffset = outLinkOffset
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sta.DynamicState.TailLinkId = tailLinkId
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sta.DynamicState.TailLinkOffset = tailLinkOffset
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sta.DynamicState.Slope = int32(info.Slope)
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sta.DynamicState.Upslope = info.UpSlope
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sta.DynamicState.RunningUp = info.Up
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sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
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sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
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sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
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sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
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sta.DynamicState.Speed = speedParse(info.Speed)
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sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
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sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
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sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
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sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
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sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
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sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
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sta.DynamicState.Acceleration = info.Acceleration
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sta.DynamicState.Displacement = int32(info.Displacement)
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pluseCount(sta)
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return sta
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}
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// 接受动力学时间15毫米
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const RECEIVE_DYNAMIC_DATA_RATE = 15
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func formatSpeedTime(s int32) int32 {
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//d3, _ := strconv.ParseFloat(fmt.Sprintf("%.2f", s), 64)
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return int32(math.Abs(math.Round(float64(s))))
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}
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func pluseCount(sta *state_proto.TrainState) {
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if sta.PluseCount == nil {
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return
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}
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if sta.RunDirection {
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p1 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
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p2 := uint32(formatSpeedTime(sta.DynamicState.HeadSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
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if sta.TrainEndsA.SpeedSensorEnableA {
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sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + p1
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}
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if sta.TrainEndsA.SpeedSensorEnableB {
|
||
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + p2
|
||
}
|
||
} else {
|
||
t1 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed1 * RECEIVE_DYNAMIC_DATA_RATE))
|
||
t2 := uint32(formatSpeedTime(sta.DynamicState.TailSensorSpeed2 * RECEIVE_DYNAMIC_DATA_RATE))
|
||
if sta.TrainEndsB.SpeedSensorEnableA {
|
||
sta.PluseCount.PulseCount1 = sta.PluseCount.PulseCount1 + t1
|
||
}
|
||
if sta.TrainEndsB.SpeedSensorEnableB {
|
||
sta.PluseCount.PulseCount2 = sta.PluseCount.PulseCount2 + t2
|
||
}
|
||
}
|
||
}
|
||
func RemoveAllTrain(vs *VerifySimulation) {
|
||
allTrainMap := &vs.Memory.Status.TrainStateMap
|
||
if allTrainMap == nil {
|
||
slog.Info("当前没有列车不能执行")
|
||
return
|
||
}
|
||
allTrainMap.Range(func(k any, t any) bool {
|
||
id := k.(string)
|
||
RemoveTrainState(vs, id)
|
||
return true
|
||
})
|
||
}
|
||
|
||
func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainState) error {
|
||
trainIndex, _ := strconv.ParseUint(trainId, 10, 16)
|
||
err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
|
||
TrainIndex: uint16(trainIndex),
|
||
})
|
||
if err != nil {
|
||
return err
|
||
}
|
||
if train.ConnState.Conn {
|
||
train.ConnState.Conn = false
|
||
err = TrainPcSimConnOrRemoveHandle(train)
|
||
if err != nil {
|
||
train.ConnState.Conn = true
|
||
return err
|
||
}
|
||
}
|
||
|
||
train.Show = false
|
||
train.ConnState.ConnType = state_proto.TrainConnState_NONE
|
||
return fi.RemoveTrainFromWorld(vs.World, trainId)
|
||
}
|
||
|
||
// 删除列车状态
|
||
/*func RemoveTrainState(vs *VerifySimulation, id string) {
|
||
allTrainMap := &vs.Memory.Status.TrainStateMap
|
||
d, ok := allTrainMap.Load(id)
|
||
if ok {
|
||
t := d.(*state_proto.TrainState)
|
||
trainIndex, _ := strconv.ParseUint(id, 10, 16)
|
||
err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
|
||
TrainIndex: uint16(trainIndex),
|
||
})
|
||
if err != nil {
|
||
panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
|
||
}
|
||
// 从仿真内存中移除列车
|
||
t.Show = false
|
||
// 移除车
|
||
fi.RemoveTrainFromWorld(vs.World, id)
|
||
allTrainMap.Store(id, t)
|
||
} else {
|
||
panic(fmt.Sprintf("列车【%s】不存在", id))
|
||
}
|
||
}*/
|
||
func RemoveTrainState(vs *VerifySimulation, id string) {
|
||
allTrainMap := &vs.Memory.Status.TrainStateMap
|
||
d, ok := allTrainMap.Load(id)
|
||
if ok {
|
||
t := d.(*state_proto.TrainState)
|
||
err := removeTrain(vs, id, t)
|
||
if err != nil {
|
||
panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
|
||
}
|
||
allTrainMap.Store(id, t)
|
||
} else {
|
||
panic(fmt.Sprintf("列车【%s】不存在", id))
|
||
}
|
||
}
|
||
|
||
func calcTrailTailOffset(headerOffset, length int64, up bool) (calctailOffset int64) {
|
||
if up {
|
||
calctailOffset = headerOffset - length
|
||
} else {
|
||
calctailOffset = headerOffset + length
|
||
}
|
||
return
|
||
}
|