412 lines
16 KiB
Go
412 lines
16 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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"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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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) *state_proto.TrainState {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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_, ok := allTrainMap.Load(status.Id)
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if ok {
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panic(fmt.Sprintf("列车【%s】已存在", status.Id))
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}
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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, _, _, tailLOffset, _, _, 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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//初始化列车参数状态
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createOrUpdateStateDynamicConfig(status, configTrainData, trainEndsA, trainEndsB)
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status.VobcState = &state_proto.TrainVobcState{}
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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: uint16(math.Round(float64(status.Speed * 10))),
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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 status
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}
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// 增加列车状态
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/*func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId int32) *state_proto.TrainState {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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_, ok := allTrainMap.Load(status.Id)
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if ok {
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panic(fmt.Sprintf("列车【%s】已存在", status.Id))
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}
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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, _, _, tailLOffset, _, _, 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.VobcState = &state_proto.TrainVobcState{}
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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: uint16(math.Round(float64(status.Speed * 10))),
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Up: status.Up,
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TrainLength: uint32(status.TrainLength),
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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 status
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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.RadarEnable = configData.RadarEnable
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endsVal.RadarCheckSpeedDiff = configData.RadarCheckSpeedDiff
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endsVal.RadarCheckTime = configData.RadarCheckTime
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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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}
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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, _, 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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// 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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return sta
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}
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func RemoveAllTrain(vs *VerifySimulation) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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if allTrainMap == nil {
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slog.Info("当前没有列车不能执行")
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return
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}
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allTrainMap.Range(func(k any, t any) bool {
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train := t.(*state_proto.TrainState)
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err := removeTrain(vs, train.Id, train)
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if err != nil {
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slog.Error("列车id:", train.Id, "移除失败,原因:", err.Error())
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}
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allTrainMap.Store(train.Id, t)
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return true
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})
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}
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func removeTrain(vs *VerifySimulation, trainId string, train *state_proto.TrainState) error {
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trainIndex, _ := strconv.ParseUint(trainId, 10, 16)
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err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
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TrainIndex: uint16(trainIndex),
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})
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if err != nil {
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return err
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}
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train.Show = false
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fi.RemoveTrainFromWorld(vs.World, trainId)
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return nil
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}
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// 删除列车状态
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/*func RemoveTrainState(vs *VerifySimulation, id string) {
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allTrainMap := &vs.Memory.Status.TrainStateMap
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d, ok := allTrainMap.Load(id)
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if ok {
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t := d.(*state_proto.TrainState)
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trainIndex, _ := strconv.ParseUint(id, 10, 16)
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err := dynamics.Default().RequestRemoveTrain(&message.RemoveTrainReq{
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TrainIndex: uint16(trainIndex),
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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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// 从仿真内存中移除列车
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t.Show = false
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// 移除车
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fi.RemoveTrainFromWorld(vs.World, id)
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allTrainMap.Store(id, t)
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} else {
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panic(fmt.Sprintf("列车【%s】不存在", id))
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}
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}*/
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func RemoveTrainState(vs *VerifySimulation, id string) {
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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
|
|
}
|