421 lines
14 KiB
Go
421 lines
14 KiB
Go
package can_btm
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import (
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"fmt"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"joylink.club/bj-rtsts-server/third_party/btm_vobc"
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"joylink.club/rtsssimulation/component"
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"joylink.club/rtsssimulation/fi"
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"joylink.club/rtsssimulation/repository"
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"joylink.club/rtsssimulation/repository/model/proto"
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"log/slog"
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"math"
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"sort"
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"sync"
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"time"
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)
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//通过提前预测来实现BTM天线扫描应答器的实时性
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//根据当前列车运行信息预测出列车前方应答器被扫描到的时刻
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// BtmAntennaRunningInfo 车载BTM天线中心点位置运行信息
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// BTM天线一般在第一车轴后某个位置
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type BtmAntennaRunningInfo struct {
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Up bool //车载BTM天线中心点运行方向
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LinkId string //车载BTM天线中心点所在轨道的id
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LinkOffset int64 //车载BTM天线中心点所在轨道上的偏移，mm
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Speed float32 //列车运行速度（m/s）
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Acceleration float32 //加速度(m/s^2)
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}
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const (
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BtmAntennaOffsetHead = int64(1000) //车载BTM天线距车头端点的距离，mm
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)
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// TrainHeadPositionInfo 列车车头运行位置信息
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type TrainHeadPositionInfo = fi.TrainHeadPositionInfo
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type BtmAntennaToBaliseInfo struct {
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Distance int64 //BTM天线中心到应答器的距离，mm
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BaliseId string //应答器id
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BaliseType proto.Transponder_Type //应答器类型
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}
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type BtmAntennaScanningBaliseInfo struct {
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BaliseId string //应答器id
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Time time.Time //应答器预计被BTM天线激活的时刻
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active bool //true-激活过，即列车扫过
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telegram []byte //应答器报文
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Distance int64 //BTM天线中心到应答器的距离，mm
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BaliseType proto.Transponder_Type //应答器类型
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}
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// BaliseDetector 车载BTM天线，应答器探测器
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type BaliseDetector struct {
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eq [3]*BtmAntennaScanningBaliseInfo //预测将被BTM天线扫描的应答器队列，左边为头
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eqLock sync.Mutex
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//车载应答器天线功率放大器开关，true-开，false-关
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powerAmplifierSwitch bool
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//天线此时是否在应答器上方
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aboveBalise bool
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//应答器计数（每过一个应答器加一，在同一个应答器内不变）
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baliseCounter int
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//报文计数器（每解出一个应答器报文加一,应答器报文长度830bits）
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messageCounter int
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//BTM所在列车id
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trianId string
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}
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// 由于同一时间只能有一辆列车与CAN BTM绑定
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// 当检测到重新绑定列车时，重置相关数据
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func (t *BaliseDetector) tryRebind(th *TrainHeadPositionInfo) {
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if th.TrainId != t.trianId {
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t.trianId = th.TrainId
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t.clearExpectedBalise()
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t.baliseCounter = 0
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t.messageCounter = 0
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slog.Debug(fmt.Sprintf("列车[%s]与CAN-BTM绑定", t.trianId))
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}
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}
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func (t *BaliseDetector) detect(wd *component.WorldData, repo *repository.Repository, th *TrainHeadPositionInfo, vobcBtm *state_proto.VobcBtmState) {
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t.tryRebind(th)
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//if !t.powerAmplifierSwitch { //天线功率放大器未开启，不进行探测
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// return
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//}
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curTime := time.Now()
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//BTM天线中心点运行信息
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curAntennaRi := t.createBtmAntennaRunningInfo(wd, repo, th)
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//预测BTM天线到最近一个应答器的时刻
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curExpect := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi)
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if curExpect != nil && curExpect.Time.UnixMilli()-curTime.UnixMilli() < 20 { //20ms
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//slog.Debug("将要激活应答器", "BaliseId", curExpect.BaliseId, "ActiveTime", dt)
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telegram := t.rcvTelegram(wd, curExpect.BaliseId)
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if curExpect.Distance <= 50 {
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btm_vobc.Default().AppendBaliseMsgForTrain(vobcBtm, curExpect.BaliseId, telegram, curTime.UnixMilli())
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}
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//记录即将经过的应答器
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if t.addExpectedBalise(curExpect) {
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t.baliseCounterAdd1() //应答器计数器
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if len(telegram) > 0 {
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curExpect.telegram = telegram
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t.baliseMessageCounterAdd1() //报文计数器
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}
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}
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//BTM天线即将经过应答器
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t.aboveBalise = true
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} else {
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t.aboveBalise = false
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}
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curAntennaRi2 := t.createBtmAntennaRunningInfo(wd, repo, &TrainHeadPositionInfo{TrainId: th.TrainId,
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Up: !th.Up,
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Link: th.Link,
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LinkOffset: th.LinkOffset,
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Speed: th.Speed,
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Acceleration: th.Acceleration})
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curExpect2 := t.timeScanNearestBalise(curTime, wd, repo, curAntennaRi2)
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if curExpect2 != nil && curExpect2.Distance > 20 {
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btm_vobc.Default().UpdateTrainLeave(vobcBtm, curExpect2.BaliseId, curTime.UnixMilli())
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}
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}
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// 应答器计数器加1，[0,255]
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func (t *BaliseDetector) baliseCounterAdd1() {
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t.baliseCounter++
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if t.baliseCounter > 255 {
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t.baliseCounter = 0
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}
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}
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// 报文计数器加1，[0,255]
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func (t *BaliseDetector) baliseMessageCounterAdd1() {
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t.messageCounter++
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if t.messageCounter > 255 {
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t.messageCounter = 0
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}
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}
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// BTM天线接收应答器报文(线程不安全)
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func (t *BaliseDetector) rcvTelegram(wd *component.WorldData, baliseId string) []byte {
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entry, ok := wd.EntityMap[baliseId]
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if ok {
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if component.BaliseWorkStateType.Get(entry).Work {
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return component.BaliseFixedTelegramType.Get(entry).Telegram
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}
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}
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return nil
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}
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// true-新增；false-更新
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func (t *BaliseDetector) addExpectedBalise(curExpect *BtmAntennaScanningBaliseInfo) bool {
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//
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t.eqLock.Lock()
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defer t.eqLock.Unlock()
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////更新,去重
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//for i, e := range t.eq {
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// if e != nil && e.BaliseId == curExpect.BaliseId {
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// t.eq[i].Time = curExpect.Time
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// return false
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// }
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//}
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//检查是否已经记录过
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eq := t.eq[len(t.eq)-1]
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if eq != nil && eq.BaliseId == curExpect.BaliseId {
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return false
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}
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//左移
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for i := 1; i < len(t.eq); i++ {
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t.eq[i-1] = t.eq[i]
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}
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//存入队尾
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t.eq[len(t.eq)-1] = curExpect
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return true
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}
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func (t *BaliseDetector) clearExpectedBalise() {
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//
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t.eqLock.Lock()
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defer t.eqLock.Unlock()
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//
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for i := 0; i < len(t.eq); i++ {
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t.eq[i] = nil
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}
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}
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func (t *BaliseDetector) doScan() *BtmAntennaScanningBaliseInfo {
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//
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t.eqLock.Lock()
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defer t.eqLock.Unlock()
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//
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var rt *BtmAntennaScanningBaliseInfo
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for i := 0; i < len(t.eq); i++ {
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if t.eq[i] != nil && !t.eq[i].active {
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rt = t.eq[i]
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t.eq[i].active = true
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break
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}
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}
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return rt
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}
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// 计算列车在当前运行状态下，预测到最近一个应答器的时刻
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func (t *BaliseDetector) timeScanNearestBalise(curTime time.Time, wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaScanningBaliseInfo {
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expectedBalise := t.findBaliseWillScanByBtmAntenna(wd, repo, ba)
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if expectedBalise != nil {
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curV := float64(ba.Speed)
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curAc := float64(ba.Acceleration)
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s := float64(expectedBalise.Distance) / 1000
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st, ok := t.calculateBtmAntennaScanNextBaliseTime(curTime, curV, curAc, s)
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if ok {
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return &BtmAntennaScanningBaliseInfo{BaliseId: expectedBalise.BaliseId, Time: st, Distance: expectedBalise.Distance, BaliseType: expectedBalise.BaliseType}
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}
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}
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return nil
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}
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// 预测BTM天线到运行方向的最近应答器的时刻
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// curV-当前时刻BTM天线速度,m/s
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// curAc-当前时刻BTM天线加速度,m/s^2
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// s-BTM天线从当前时刻所处位置到运行方向最近一个应答器的位移,m
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func (t *BaliseDetector) calculateBtmAntennaScanNextBaliseTime(curTime time.Time, curV float64, curAc float64, s float64) (time.Time, bool) {
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a := 0.5 * curAc
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b := curV
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c := -s
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//nt 单位秒
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nt, ok := t.calculateQuadratic(a, b, c)
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if ok {
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return curTime.Add(time.Millisecond * time.Duration(nt*1000)), true
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}
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return curTime, false
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}
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// 获取车载BTM天线中心点运行方向最近的1个应答器
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func (t *BaliseDetector) findBaliseWillScanByBtmAntenna(wd *component.WorldData, repo *repository.Repository, ba *BtmAntennaRunningInfo) *BtmAntennaToBaliseInfo {
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//BTM天线中心点所在轨道
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baLink := repo.FindLink(ba.LinkId)
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rs1 := t.searchBalisesFromLinkPosition(repo, ba.LinkId, ba.Up, ba.LinkOffset)
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if ba.Up {
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if len(rs1) > 0 {
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rs := rs1[0]
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return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: rs.LinkPosition().Offset() - ba.LinkOffset, BaliseType: rs.BaliseType()}
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} else {
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nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
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if nextLinkPort != nil {
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if nextLinkPort.IsPortA() {
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rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
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if len(rs2) > 0 {
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rs := rs2[0]
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return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
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}
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} else {
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rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
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if len(rs2) > 0 {
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rs := rs2[0]
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return &BtmAntennaToBaliseInfo{BaliseId: rs.Id(), Distance: baLink.Length() - ba.LinkOffset + nextLinkPort.Link().Length() - rs.LinkPosition().Offset(), BaliseType: rs.BaliseType()}
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}
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}
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}
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}
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} else {
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if len(rs1) > 0 {
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return &BtmAntennaToBaliseInfo{BaliseId: rs1[0].Id(), Distance: ba.LinkOffset - rs1[0].LinkPosition().Offset()}
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} else {
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nextLinkPort := t.getNextLink(wd, repo, ba.LinkId, ba.Up)
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if nextLinkPort != nil {
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if nextLinkPort.IsPortA() {
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rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), true, 0)
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if len(rs2) > 0 {
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return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + rs2[0].LinkPosition().Offset()}
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}
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} else {
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rs2 := t.searchBalisesFromLinkPosition(repo, nextLinkPort.Link().Id(), false, nextLinkPort.Link().Length())
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if len(rs2) > 0 {
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return &BtmAntennaToBaliseInfo{BaliseId: rs2[0].Id(), Distance: ba.LinkOffset + nextLinkPort.Link().Length() - rs2[0].LinkPosition().Offset()}
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}
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}
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}
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}
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}
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return nil
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}
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// up-在轨道上的搜索方向
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func (t *BaliseDetector) searchBalisesFromLinkPosition(repo *repository.Repository, linkId string, up bool, fromOffset int64) []*repository.Transponder {
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rs := repo.ResponderListByLink(linkId)
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if up {
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sort.SliceStable(rs, func(i, j int) bool {
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return rs[i].LinkPosition().Offset() < rs[j].LinkPosition().Offset()
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})
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//
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for i, r := range rs {
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if r.LinkPosition().Offset() >= fromOffset {
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return rs[i:]
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}
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}
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} else {
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sort.SliceStable(rs, func(i, j int) bool {
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return rs[j].LinkPosition().Offset() < rs[i].LinkPosition().Offset()
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})
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for i, r := range rs {
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if r.LinkPosition().Offset() <= fromOffset {
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return rs[i:]
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}
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}
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}
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return nil
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}
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// 列车车头端点运行信息转换为车载BTM天线中心点运行信息
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func (t *BaliseDetector) createBtmAntennaRunningInfo(wd *component.WorldData, repo *repository.Repository, head *TrainHeadPositionInfo) *BtmAntennaRunningInfo {
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headLink := repo.FindLink(head.Link)
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if head.Up {
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if head.LinkOffset >= BtmAntennaOffsetHead { //车头与BTM天线在同一个轨道上
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return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset - BtmAntennaOffsetHead, Speed: head.Speed, Acceleration: head.Acceleration}
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} else { //车头与BTM天线在同一个轨道上
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nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
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nextLink := nextLinkPort.Link()
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if nextLinkPort.IsPortA() {
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return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
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} else {
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return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
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}
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}
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} else {
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if headLink.Length()-head.LinkOffset >= BtmAntennaOffsetHead { //车头与BTM天线在同一个轨道上
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return &BtmAntennaRunningInfo{Up: head.Up, LinkId: head.Link, LinkOffset: head.LinkOffset + BtmAntennaOffsetHead, Speed: head.Speed, Acceleration: head.Acceleration}
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} else {
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nextLinkPort := t.getNextLink(wd, repo, head.Link, !head.Up)
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nextLink := nextLinkPort.Link()
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if nextLinkPort.IsPortA() {
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return &BtmAntennaRunningInfo{Up: false, LinkId: nextLink.Id(), LinkOffset: BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset, Speed: head.Speed, Acceleration: head.Acceleration}
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} else {
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return &BtmAntennaRunningInfo{Up: true, LinkId: nextLink.Id(), LinkOffset: nextLink.Length() - (BtmAntennaOffsetHead - headLink.Length() + head.LinkOffset), Speed: head.Speed, Acceleration: head.Acceleration}
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}
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}
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}
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}
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func (t *BaliseDetector) getNextLink(wd *component.WorldData, repo *repository.Repository, curLinkId string, searchDirection bool) *repository.LinkPort {
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var nextLinkPort *repository.LinkPort
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curLink := repo.FindLink(curLinkId)
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if searchDirection {
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bDc := curLink.BRelation()
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if bDc == nil || bDc.Turnout() == nil {
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return nil
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}
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//
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bDcDw := t.turnoutPosition(wd, bDc.Turnout().Id())
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switch bDc.Port() {
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case proto.Port_A: //link-b连接turnout-A
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if bDcDw {
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_B)
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} else {
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_C)
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}
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case proto.Port_B: //link-b连接turnout-B
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fallthrough
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case proto.Port_C: //link-b连接turnout-C
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nextLinkPort = bDc.Turnout().FindLinkByPort(proto.Port_A)
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}
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} else {
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aDc := curLink.ARelation()
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if aDc == nil || aDc.Turnout() == nil {
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return nil
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}
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//
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aDcDw := t.turnoutPosition(wd, aDc.Turnout().Id())
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switch aDc.Port() {
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case proto.Port_A: //link-a连接turnout-A
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if aDcDw {
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_B)
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} else {
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_C)
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}
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case proto.Port_B: //link-a连接turnout-B
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fallthrough
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case proto.Port_C: //link-a连接turnout-C
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nextLinkPort = aDc.Turnout().FindLinkByPort(proto.Port_A)
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}
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}
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//
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return nextLinkPort
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}
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// 获取道岔实际位置(线程不安全)
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func (t *BaliseDetector) turnoutPosition(wd *component.WorldData, id string) bool {
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entry, ok := wd.EntityMap[id]
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if ok {
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return component.TurnoutPositionType.Get(entry).Dw
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} else {
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panic(fmt.Sprintf("道岔[%s]的实体不存在", id))
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}
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}
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// 解 ax²+bx+c=0
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func (t *BaliseDetector) calculateQuadratic(a, b, c float64) (float64, bool) {
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//D=b²-4ac
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d := b*b - 4*a*c
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if d < 0 {
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return 0, false
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} else if d == 0 { //若D=0，则计算它的重根：x=-b/2a
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return -(b / (2 * a)), true
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} else { //若D>0，则计算它的两个根：x1=(-b+√D)/2a，x2=(-b-√D)/2a
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sqrtD := math.Sqrt(d)
|
||
ax2 := 2 * a
|
||
//选择正直输出
|
||
x1 := (-b + sqrtD) / ax2
|
||
x2 := (-b - sqrtD) / ax2
|
||
if x1 >= 0 && x2 >= 0 {
|
||
//panic("x1 >= 0 && x2 >= 0")
|
||
return 0, false
|
||
}
|
||
if x1 >= 0 {
|
||
return x1, true
|
||
}
|
||
if x2 >= 0 {
|
||
return x2, true
|
||
}
|
||
}
|
||
return 0, false
|
||
}
|