331 lines
10 KiB
Go
331 lines
10 KiB
Go
package main
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import (
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"encoding/binary"
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"fmt"
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"net"
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"time"
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)
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var ti = &ReceiveTrainInfo{
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LifeSignal: 1,
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Tc1Active: true,
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Tc2Active: false,
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DirectionForward: true,
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TurnbackStatus: true,
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TractionSafetyCircuit: true,
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MaintainBrakeStatus: true,
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BrakeForce: 9040,
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TrainLoad: 16000,
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}
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var trainRun bool
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var IP = net.IPv4(192, 168, 3, 7)
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var SendIP = net.IPv4(192, 168, 3, 7)
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func main() {
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listen, err := net.ListenUDP("udp", &net.UDPAddr{
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IP: IP,
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Port: 5000,
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})
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if err != nil {
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fmt.Printf("Listen udp err: %v", err)
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return
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}
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go func() {
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tick := time.Tick(20 * time.Millisecond)
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remoteAddr := &net.UDPAddr{IP: SendIP, Port: 10000}
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// 循环推送信息
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for {
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<-tick
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ti.LifeSignal = ti.LifeSignal + 1
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data := decoderVobcTrainInfo(ti)
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_, err := listen.WriteToUDP(data, remoteAddr)
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if err != nil {
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fmt.Printf("write failed, err: %v\n", err)
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}
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}
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}()
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go func() {
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var model int
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for {
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fmt.Println("请输入：")
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fmt.Scan(&model)
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switchTrainModel(model, ti)
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}
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}()
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for {
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var data [1024]byte
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_, addr, err := listen.ReadFromUDP(data[:])
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if err != nil {
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fmt.Printf("Read failed from addr: %v, err: %v\n", addr, err)
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break
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}
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m := &TrainSpeedMsg{}
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m.Decode(data[:])
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if trainRun {
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if m.Speed > 800 {
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changeTractionForce1(ti)
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} else {
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changeTractionForce2(ti)
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}
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}
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}
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}
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func switchTrainModel(m int, ti *ReceiveTrainInfo) {
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switch m {
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case 1:
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trainRun = true
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tractionTrain(ti)
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case 2:
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trainRun = false
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stopTrain(ti)
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case 3:
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changeHeader(ti)
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}
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}
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func changeHeader(ti *ReceiveTrainInfo) {
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ti.Tc1Active = !ti.Tc1Active
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ti.Tc2Active = !ti.Tc2Active
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}
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func stopTrain(ti *ReceiveTrainInfo) {
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ti.TractionForce = 0
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ti.BrakeForce = 19040
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}
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func tractionTrain(ti *ReceiveTrainInfo) {
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ti.TractionForce = 18000
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ti.BrakeForce = 9040
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}
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func changeTractionForce1(ti *ReceiveTrainInfo) {
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ti.TractionForce = 9040
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}
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func changeTractionForce2(ti *ReceiveTrainInfo) {
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ti.TractionForce = 18000
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}
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// 解析VOBC列车信息
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func decoderVobcTrainInfo(r *ReceiveTrainInfo) []byte {
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var data []byte
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data = binary.BigEndian.AppendUint16(data, r.LifeSignal)
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data = append(data, boolsToByte([8]bool{
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r.Tc1Active, r.Tc2Active, r.DirectionForward, r.DirectionBackward,
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r.TractionStatus, r.BrakingStatus, r.EmergencyBrakingStatus, r.TurnbackStatus,
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}))
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data = append(data, boolsToByte([8]bool{
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r.JumpStatus, r.ATO, r.FAM, r.CAM,
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r.TractionSafetyCircuit, r.ParkingBrakeStatus, r.MaintainBrakeStatus, false,
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}))
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data = binary.BigEndian.AppendUint16(data, r.TractionForce)
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data = binary.BigEndian.AppendUint16(data, r.BrakeForce)
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data = binary.BigEndian.AppendUint16(data, r.TrainLoad)
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// 预留
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data = binary.BigEndian.AppendUint16(data, 0)
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data = binary.BigEndian.AppendUint16(data, 0)
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// 预留
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data = append(data, uint8(0))
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data = append(data, boolsToByte([8]bool{
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r.LeftDoorOpenCommand, r.RightDoorOpenCommand, r.LeftDoorCloseCommand, r.RightDoorCloseCommand,
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r.AllDoorClose, false, false, false,
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}))
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// 预留
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data = binary.BigEndian.AppendUint16(data, 0)
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data = append(data, uint8(0))
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data = append(data, uint8(0))
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return data
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}
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// 解析VOBC列车信息
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func decoderVobcTrainState(buf []byte) *TrainVobcState {
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t := &TrainVobcState{}
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t.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
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b2 := buf[2]
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t.Tc1Active = (b2 & 1) != 0
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t.Tc2Active = (b2 & (1 << 1)) != 0
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t.DirectionForward = (b2 & (1 << 2)) != 0
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t.DirectionBackward = (b2 & (1 << 3)) != 0
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t.TractionStatus = (b2 & (1 << 4)) != 0
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t.BrakingStatus = (b2 & (1 << 5)) != 0
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t.EmergencyBrakingStatus = (b2 & (1 << 6)) != 0
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t.TurnbackStatus = (b2 & 7) != 0
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b3 := buf[3]
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t.JumpStatus = (b3 & 1) != 0
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t.Ato = (b3 & (1 << 1)) != 0
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t.Fam = (b3 & (1 << 2)) != 0
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t.Cam = (b3 & (1 << 3)) != 0
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t.TractionSafetyCircuit = (b3 & (1 << 4)) != 0
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t.ParkingBrakeStatus = (b3 & (1 << 5)) != 0
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t.MaintainBrakeStatus = (b3 & (1 << 6)) != 0
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t.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]))
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t.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]))
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t.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]))
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b4 := buf[15]
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t.LeftDoorOpenCommand = (b4 & 1) != 0
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t.RightDoorOpenCommand = (b4 & (1 << 1)) != 0
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t.LeftDoorCloseCommand = (b4 & (1 << 2)) != 0
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t.RightDoorCloseCommand = (b4 & (1 << 3)) != 0
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t.AllDoorClose = (b4 & (1 << 4)) != 0
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return t
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}
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func boolsToByte(flags [8]bool) byte {
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var result uint8
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for index, b := range flags {
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if b {
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result = result + (1 << index)
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}
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}
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return result
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}
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// 接收到的列车信息
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type ReceiveTrainInfo struct {
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//【0 1】两个字节
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// 生命信号 每个周期+1
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LifeSignal uint16
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//【2】 一个字节
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// TC1激活状态 1=激活
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Tc1Active bool
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// TC2激活状态 1=激活
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Tc2Active bool
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// 列车方向向前 1=方向向前
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DirectionForward bool
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// 列车方向向后 1=方向向后
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DirectionBackward bool
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// 列车牵引状态 1=牵引
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TractionStatus bool
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// 列车制动状态 1=制动
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BrakingStatus bool
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// 列车紧急制动状态 1=紧急制动
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EmergencyBrakingStatus bool
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// 列车折返状态（AR） 1=折返
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TurnbackStatus bool
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//【3】 一个字节
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// 跳跃状态 1=跳跃
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JumpStatus bool
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// ATO模式 1=ATO模式
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ATO bool
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// FAM模式 1=FAM模式
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FAM bool
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// CAM模式 1=CAM模式
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CAM bool
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// 牵引安全回路 1=牵引安全切除
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TractionSafetyCircuit bool
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// 停放制动状态 1=停放施加
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ParkingBrakeStatus bool
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// 保持制动状态 1=保持制动施加
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MaintainBrakeStatus bool
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//【4 5】 两个字节 列车牵引力 100=1KN
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TractionForce uint16
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//【6 7】 列车制动力 100=1KN
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BrakeForce uint16
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//【8 9】 列车载荷 100=1ton
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TrainLoad uint16
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// 【15】 一个字节
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// 列车开左门指令 1=开门
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LeftDoorOpenCommand bool
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// 列车开右门指令 1=开门
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RightDoorOpenCommand bool
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// 列车关左门指令 1=关门
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LeftDoorCloseCommand bool
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// 列车关右门指令 1=关门
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RightDoorCloseCommand bool
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// 整列车门关好 1=门关好
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AllDoorClose bool
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}
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type TrainVobcState struct {
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// 生命信号 每个周期+1
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LifeSignal int32 `protobuf:"varint,1,opt,name=lifeSignal,proto3" json:"lifeSignal,omitempty"`
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// TC1激活状态 1=激活
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Tc1Active bool `protobuf:"varint,2,opt,name=tc1Active,proto3" json:"tc1Active,omitempty"`
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// TC2激活状态 1=激活
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Tc2Active bool `protobuf:"varint,3,opt,name=tc2Active,proto3" json:"tc2Active,omitempty"`
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// 列车方向向前 1=方向向前
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DirectionForward bool `protobuf:"varint,4,opt,name=directionForward,proto3" json:"directionForward,omitempty"`
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// 列车方向向后 1=方向向后
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DirectionBackward bool `protobuf:"varint,5,opt,name=directionBackward,proto3" json:"directionBackward,omitempty"`
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// 列车牵引状态 1=牵引
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TractionStatus bool `protobuf:"varint,6,opt,name=tractionStatus,proto3" json:"tractionStatus,omitempty"`
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// 列车制动状态 1=制动
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BrakingStatus bool `protobuf:"varint,7,opt,name=brakingStatus,proto3" json:"brakingStatus,omitempty"`
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// 列车紧急制动状态 1=紧急制动
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EmergencyBrakingStatus bool `protobuf:"varint,8,opt,name=emergencyBrakingStatus,proto3" json:"emergencyBrakingStatus,omitempty"`
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// 列车折返状态（AR） 1=折返
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TurnbackStatus bool `protobuf:"varint,9,opt,name=turnbackStatus,proto3" json:"turnbackStatus,omitempty"`
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// 跳跃状态 1=跳跃
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JumpStatus bool `protobuf:"varint,10,opt,name=jumpStatus,proto3" json:"jumpStatus,omitempty"`
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// ATO模式 1=ATO模式
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Ato bool `protobuf:"varint,11,opt,name=ato,proto3" json:"ato,omitempty"`
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// FAM模式 1=FAM模式
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Fam bool `protobuf:"varint,12,opt,name=fam,proto3" json:"fam,omitempty"`
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// CAM模式 1=CAM模式
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Cam bool `protobuf:"varint,13,opt,name=cam,proto3" json:"cam,omitempty"`
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// 牵引安全回路 1=牵引安全切除
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TractionSafetyCircuit bool `protobuf:"varint,14,opt,name=tractionSafetyCircuit,proto3" json:"tractionSafetyCircuit,omitempty"`
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// 停放制动状态 1=停放施加
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ParkingBrakeStatus bool `protobuf:"varint,15,opt,name=parkingBrakeStatus,proto3" json:"parkingBrakeStatus,omitempty"`
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// 保持制动状态 1=保持制动施加
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MaintainBrakeStatus bool `protobuf:"varint,16,opt,name=maintainBrakeStatus,proto3" json:"maintainBrakeStatus,omitempty"`
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// 列车牵引力 100=1KN
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TractionForce int64 `protobuf:"varint,17,opt,name=tractionForce,proto3" json:"tractionForce,omitempty"`
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// 列车制动力 100=1KN
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BrakeForce int64 `protobuf:"varint,18,opt,name=brakeForce,proto3" json:"brakeForce,omitempty"`
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// 【列车载荷 100=1ton
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TrainLoad int64 `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"`
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// 列车开左门指令 1=开门
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LeftDoorOpenCommand bool `protobuf:"varint,20,opt,name=leftDoorOpenCommand,proto3" json:"leftDoorOpenCommand,omitempty"`
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// 列车开右门指令 1=开门
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RightDoorOpenCommand bool `protobuf:"varint,21,opt,name=rightDoorOpenCommand,proto3" json:"rightDoorOpenCommand,omitempty"`
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// 列车关左门指令 1=关门
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LeftDoorCloseCommand bool `protobuf:"varint,22,opt,name=leftDoorCloseCommand,proto3" json:"leftDoorCloseCommand,omitempty"`
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// 列车关右门指令 1=关门
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RightDoorCloseCommand bool `protobuf:"varint,23,opt,name=rightDoorCloseCommand,proto3" json:"rightDoorCloseCommand,omitempty"`
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// 整列车门关好 1=门关好
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AllDoorClose bool `protobuf:"varint,24,opt,name=allDoorClose,proto3" json:"allDoorClose,omitempty"`
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}
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// 发送列车信息
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type TrainSpeedMsg struct {
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// 生命信号 每个周期+1
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LifeSignal uint16
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// 列车速度 10=1km/h
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Speed int16
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// 上坡
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Upslope bool
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// 坡度值 1= 1‰
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Slope int16
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// 加速度 100 = 1 m/s*s
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Acceleration int8
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// 减速度 100 = 1 m/s*s
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Deceleration int8
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// 实际运行阻力 100 = 1KN
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TotalResistance int32
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// 空气阻力 100 = 1KN
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AirResistance int32
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// 坡道阻力 100 = 1KN
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SlopeResistance int32
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// 曲线阻力 100 = 1KN
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CurveResistance int32
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}
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func (t *TrainSpeedMsg) Decode(buf []byte) {
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t.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
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t.Speed = int16(binary.BigEndian.Uint16(buf[2:4]))
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t.Upslope = buf[4] == 1
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t.Acceleration = int8(buf[6])
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t.Deceleration = int8(buf[7])
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t.TotalResistance = int32(binary.BigEndian.Uint32(buf[8:12]))
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t.AirResistance = int32(binary.BigEndian.Uint32(buf[12:16]))
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t.SlopeResistance = int32(binary.BigEndian.Uint32(buf[16:20]))
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t.CurveResistance = int32(binary.BigEndian.Uint32(buf[20:24]))
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t.Slope = int16(binary.BigEndian.Uint16(buf[24:26]))
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}
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