319 lines
9.6 KiB
Go
319 lines
9.6 KiB
Go
package train_pc_sim
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import (
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"context"
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"fmt"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/dto/state_proto"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/bj-rtsts-server/third_party/tcp"
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"joylink.club/bj-rtsts-server/third_party/tpapi"
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"joylink.club/ecs"
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"log/slog"
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"strconv"
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"sync"
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"time"
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)
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type TrainControlEvent struct {
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Command byte
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Status byte
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}
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var FireTrainControlEventType = ecs.NewEventType[TrainControlEvent]()
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type TrainPcSim interface {
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tpapi.ThirdPartyApiService
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Start(pcSimManage TrainPcSimManage)
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Stop()
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// SendDriverActive 发送驾驶端激活
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SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
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// SendHandleSwitch 发送牵引制动手柄
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SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState)
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// SendTrainDirection 列车运行方向
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//因文档说明不清楚，在调用的时候目前是注释状态，现场调试可能会用到
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SendTrainDirection(trainForward, trainBackward bool)
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//发送应答器信息数据
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SendBaliseData(msgType uint16, data []byte)
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//发布列车控制的相关事件
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PublishTrainControlEvent(events []TrainControlEvent)
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// CreateOrRemoveSpeedPLace 创建或删除速度位置信息
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CreateOrRemoveSpeedPLace(train *state_proto.TrainState)
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// CreateOrRemoveTrain 创建或删除列车
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CreateOrRemoveTrain(msgType byte, data []byte) error
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}
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type TrainPcSimManage interface {
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GetTrainPcSimConfig() config.VehiclePCSimConfig
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GetConnTrain() *state_proto.TrainState
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// TrainPcSimDigitalOutInfoHandle 4.4.1. 车载输出数字量信息报文内容
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TrainPcSimDigitalOutInfoHandle(data []byte)
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// TrainPcSimDigitalReportHandle 4.4.2. 车载输出数字反馈量信息报文内容
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TrainPcSimDigitalReportHandle(data []byte)
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// TrainPcSimMockInfo 门模式
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//TrainDoorModeHandle(state byte)
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//处理列车pc仿真模拟量数据
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TrainPcSimMockInfo(data []byte)
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// TrainBtmQuery 处理列车btm查询
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TrainBtmQuery(data []byte)
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}
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const Name = "车载pc仿真"
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func (d *trainPcSimService) Name() string {
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return Name
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}
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func (d *trainPcSimService) State() tpapi.ThirdPartyApiServiceState {
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return d.state
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}
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func (d *trainPcSimService) updateState(state tpapi.ThirdPartyApiServiceState) {
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d.state = state
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}
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var (
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initLock = &sync.Mutex{}
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singleObj *trainPcSimService
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)
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func Default() TrainPcSim {
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defer initLock.Unlock()
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initLock.Lock()
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if singleObj == nil {
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singleObj = &trainPcSimService{}
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}
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return singleObj
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}
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type trainPcSimService struct {
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state tpapi.ThirdPartyApiServiceState
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pcSimClient *tcp.TcpClient
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cancleContext context.CancelFunc
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trainPcSimManage TrainPcSimManage
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speedPlace *message.TrainSpeedPlaceReportMsg
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config config.VehiclePCSimConfig
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}
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// 接受来自pc仿真的消息
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func (d *trainPcSimService) readError(err error) {
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slog.Error("连接车载pc仿真tcp服务断开", err)
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d.updateState(tpapi.ThirdPartyState_Broken)
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d.pcSimClient.Close()
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d.connTrainPcSim()
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}
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func (d *trainPcSimService) connTrainPcSim() {
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reconnIndex := 0
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ctx, ctxFun := context.WithCancel(context.Background())
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go func() {
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for {
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select {
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case <-ctx.Done():
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return
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default:
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}
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d.pcSimClient.Close()
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client, err := tcp.StartTcpClient(fmt.Sprintf("%v:%v", d.config.PcSimIp, d.config.PcSimPort), d.reivceData, d.readError)
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if err != nil {
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reconnIndex++
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d.updateState(tpapi.ThirdPartyState_Broken)
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if reconnIndex%10 == 0 {
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slog.Error("连接车载pc平台失败，尝试=", strconv.Itoa(reconnIndex), err)
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}
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} else {
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d.pcSimClient = client
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ctxFun()
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return
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}
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time.Sleep(time.Second)
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}
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}()
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}
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func (d *trainPcSimService) Start(pcSimManage TrainPcSimManage) {
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config := pcSimManage.GetTrainPcSimConfig()
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if config.PcSimIp == "" || !config.Open {
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slog.Info("车载pc仿真配置未开启")
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return
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}
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d.config = config
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d.connTrainPcSim()
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ctx, ctxFun := context.WithCancel(context.Background())
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d.cancleContext = ctxFun
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d.trainPcSimManage = pcSimManage
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//FireTrainControlEventType.Subscribe(wd, d.trainControlEventHandle)
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d.updateState(tpapi.ThirdPartyState_Normal)
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go d.sendTrainLocationAndSpeedTask(ctx)
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}
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func (d *trainPcSimService) Stop() {
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d.updateState(tpapi.ThirdPartyState_Closed)
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if d.cancleContext != nil {
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d.cancleContext()
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d.cancleContext = nil
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}
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if d.pcSimClient != nil {
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//d.pcSimClient.
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d.pcSimClient.Close()
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}
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}
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func (d *trainPcSimService) CreateOrRemoveSpeedPLace(train *state_proto.TrainState) {
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if train.ConnState.Conn {
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train.PluseCount = &state_proto.SensorSpeedPulseCount{}
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d.speedPlace = &message.TrainSpeedPlaceReportMsg{TrainId: train.Id}
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} else {
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train.PluseCount = nil
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d.speedPlace = nil
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}
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}
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func (d *trainPcSimService) CreateOrRemoveTrain(msgType byte, data []byte) error {
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msg := &message.TrainPcSimBaseMessage{Data: data, Type: uint16(msgType)}
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return d.pcSimClient.Send(msg.Encode())
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}
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// 依据文档80ms发送列车速度位置
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func (d *trainPcSimService) sendTrainLocationAndSpeedTask(ctx context.Context) {
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for {
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select {
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case <-ctx.Done():
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return
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default:
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}
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train := d.trainPcSimManage.GetConnTrain()
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if train != nil && train.ConnState.Conn && train.PluseCount != nil {
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s1, s2 := train.PluseCount.PulseCount1, train.PluseCount.PulseCount2
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d.speedPlace.ParsePulseCount1(s1, s2)
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data := d.speedPlace.Encode(train.TrainRunUp, s1, s2)
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bm := &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_LOCATION_INFO, Data: data}
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train.PluseCount.PulseCount1 = 0
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train.PluseCount.PulseCount2 = 0
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d.pcSimClient.Send(bm.Encode())
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}
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time.Sleep(time.Millisecond * 80)
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}
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}
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// 发送驾驶激活
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func (d *trainPcSimService) SendDriverActive(tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
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if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
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defulatBuf := make([]byte, 0)
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msg := &message.TrainPcSimBaseMessage{Data: defulatBuf}
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if vobc.Tc1Active || vobc.Tc2Active {
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msg.Type = SENDER_TRAIN_TC_ACTIVE
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} else if vobc.Tc1Active == false && vobc.Tc2Active == false {
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msg.Type = SENDER_TRAIN_TC_NOT_ACTIVE
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}
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d.pcSimClient.Send(msg.Encode())
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}
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}
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func (d *trainPcSimService) SendHandleSwitch(oldTraction, oldBrakeForce int64, tractionState bool, tc *state_proto.TrainConnState, vobc *state_proto.TrainVobcState) {
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if tc.Conn && tc.ConnType == state_proto.TrainConnState_PC_SIM {
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msg := &message.TrainPcSimBaseMessage{}
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newTraction := vobc.TractionForce
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newBrake := -vobc.BrakeForce
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newOldBrakeForce := -oldBrakeForce
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if tractionState {
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if newTraction <= oldTraction && newTraction == 0 {
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//手柄取消前进
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msg.Type = RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD
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} else if newTraction > oldTraction {
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//手柄前进
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msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
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} else {
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//手柄前进
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msg.Type = SENDER_TRAIN_HAND_KEY_FORWARD
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}
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} else {
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if newBrake >= newOldBrakeForce && newBrake == 0 {
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//手柄取消后退
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msg.Type = RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD
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} else if newBrake < newOldBrakeForce {
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//手柄后退
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msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
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} else {
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//手柄后退
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msg.Type = RECIVE_TRAIN_HAND_KEY_BACKWARD
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}
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}
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d.pcSimClient.Send(msg.Encode())
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}
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}
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func (d *trainPcSimService) SendTrainDirection(trainForward, trainBackward bool) {
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baseMsgs := make([]*message.TrainPcSimBaseMessage, 0)
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if !trainForward && !trainBackward {
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baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_CANCLE_FORWARD})
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baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_CACLE_BACKWARD})
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} else if trainForward {
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baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: SENDER_TRAIN_HAND_KEY_FORWARD})
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} else if trainBackward {
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baseMsgs = append(baseMsgs, &message.TrainPcSimBaseMessage{Type: RECIVE_TRAIN_HAND_KEY_BACKWARD})
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}
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for _, msg := range baseMsgs {
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d.pcSimClient.Send(msg.Encode())
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}
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}
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func (d *trainPcSimService) SendBaliseData(msgType uint16, data []byte) {
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msg := &message.TrainPcSimBaseMessage{}
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msg.Type = msgType
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msg.Data = data
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//fmt.Println(fmt.Sprintf("%X", msg.Encode()))
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d.pcSimClient.Send(msg.Encode())
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}
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/*
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func (d *trainPcSimService) trainControlEventHandle( event TrainControlEvent) {
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msg := &message.TrainPcSimBaseMessage{}
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msg.Type = SENDER_TRAIN_OUTR_INFO
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data := []byte{event.Command, event.Status}
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msg.Data = data
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d.pcSimClient.Send(msg.Encode())
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}
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*/
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func (d *trainPcSimService) PublishTrainControlEvent(events []TrainControlEvent) {
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if len(events) <= 0 {
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slog.Warn("发布事件数量为空")
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return
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}
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for _, event := range events {
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msg := &message.TrainPcSimBaseMessage{}
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msg.Type = SENDER_TRAIN_OUTR_INFO
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data := []byte{event.Command, event.Status}
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msg.Data = data
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d.pcSimClient.Send(msg.Encode())
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//FireTrainControlEventType.Publish(world, &event)
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}
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}
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// 接受来自pc仿真的消息
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func (d *trainPcSimService) reivceData(len int, data []byte) {
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baseMsg := &message.TrainPcSimBaseMessage{}
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err := baseMsg.Decode(data)
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if err != nil {
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slog.Error("车载pc仿真接受数据解析失败 ")
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return
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}
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switch baseMsg.Type {
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//case RECIVE_TRAIN_CREATE_REMOVE:
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// pc.trainPcSimManage.TrainPcSimConnOrRemoveHandle(baseMsg.Data[0])
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case RECIVE_TRAIN_INTERFACE_CABINET_OUTR:
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d.trainPcSimManage.TrainPcSimDigitalOutInfoHandle(baseMsg.Data)
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case RECIVE_TRAIN_INTERFACE_CABINET_OUTR_BACK:
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d.trainPcSimManage.TrainPcSimDigitalReportHandle(baseMsg.Data)
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case RECIVE_TRAIN_QUERY_STATUS:
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d.trainPcSimManage.TrainBtmQuery(baseMsg.Data)
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case RECIVE_TRAIN_MOCK_DATA:
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d.trainPcSimManage.TrainPcSimMockInfo(baseMsg.Data)
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//case RECIVE_TRAIN_DOOR_MODE:
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// pc.trainPcSimManage.TrainDoorModeHandle(baseMsg.Data[0])
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}
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}
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