rts-sim-testing-service/ats/verify/simulation/simulation_manage.go

package simulation

import (
	"encoding/binary"
	"fmt"
	"strconv"
	"sync"
	"time"

	"joylink.club/bj-rtsts-server/ats/verify/protos/state"
	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/memory"
	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/third_party/dynamics"
	"joylink.club/bj-rtsts-server/third_party/semi_physical_train"

	"joylink.club/bj-rtsts-server/dto"
)

// func init() {
// 	// vobc 发来的列车信息
// 	vobc.RegisterTrainInfoHandler(func(info []byte) {
// 		for _, simulation := range GetSimulationArr() {
// 			simulation.Memory.Status.TrainStateMap.Range(func(_, value any) bool {
// 				train := value.(*state.TrainState)
// 				if !train.Show { // 下线列车
// 					return false
// 				}
// 				// 拼接列车ID
// 				trainId, err := strconv.Atoi(train.Id)
// 				if err != nil {
// 					panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
// 				}
// 				trainInfo := decoderVobcTrainState(info)
// 				d := append(info, uint8(trainId))
// 				// 发送给动力学
// 				dynamics.SendDynamicsTrainMsg(d)
// 				// 存放至列车中
// 				train.VobcState = trainInfo
// 				return true
// 			})
// 		}
// 	})
// 	dynamics.RegisterTrainInfoHandler(func(info *dynamics.TrainInfo) {
// 		for _, simulation := range GetSimulationArr() {
// 			sta, ok := simulation.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))
// 			if !ok {
// 				continue
// 			}
// 			trainState := sta.(*state.TrainState)
// 			// 给半实物仿真发送速度
// 			vobc.SendTrainSpeedTask(convertVobc(info))
// 			// 更新列车状态
// 			memory.UpdateTrainState(simulation, convert(info, trainState, simulation))
// 		}
// 	})
// }

// 仿真存储集合
var simulationMap sync.Map

// 创建前检查
func IsExistSimulation() bool {
	i := 0
	simulationMap.Range(func(_, _ any) bool {
		i++
		return true
	})
	return i > 0
}

// 创建仿真对象
func CreateSimulation(projectId int32, mapIds []int32) string {
	simulationId := createSimulationId(projectId)
	_, e := simulationMap.Load(simulationId)
	if !e && IsExistSimulation() {
		panic(dto.ErrorDto{Code: dto.DataAlreadyExist, Message: "已有仿真在运行"})
	}
	if !e {
		verifySimulation, err := memory.CreateSimulation(projectId, mapIds)
		if err != nil {
			panic(fmt.Sprintf("创建仿真失败:%s", err.Error()))
		}
		verifySimulation.SimulationId = simulationId
		if config.Config.Dynamics.Open {
			// 动力学接口调用
			lineBaseInfo := verifySimulation.BuildLineBaseInfo()
			err := dynamics.Default().RequestStartSimulation(lineBaseInfo)
			if err != nil {
				panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
			}
			dynamics.Default().Start(verifySimulation)
		}
		if config.Config.Vobc.Open {
			// 半实物系统接口功能启动
			semi_physical_train.Default().Start(verifySimulation)
		}
		// httpCode, _, err := dynamics.SendSimulationStartReq(lineBaseInfo)
		// if httpCode != http.StatusOK || err != nil {
		// 	panic(dto.ErrorDto{Code: dto.DynamicsError, Message: fmt.Sprintf("动力学接口调用失败：[%d][%s]", httpCode, err)})
		// }
		simulationMap.Store(simulationId, verifySimulation)
		// dynamicsRun(verifySimulation)
	}
	return simulationId
}

// 删除仿真对象
func DestroySimulation(simulationId string) {
	s, e := simulationMap.Load(simulationId)
	if !e {
		return
	}
	simulationInfo := s.(*memory.VerifySimulation)
	simulationMap.Delete(simulationId)
	// 停止ecs world
	simulationInfo.World.Close()
	//ecsSimulation.DestroySimulation(simulationInfo.WorldId)
	if config.Config.Dynamics.Open {
		// 停止动力学接口功能
		dynamics.Default().Stop()
		dynamics.Default().RequestStopSimulation()
	}
	// //移除道岔状态发送
	// dynamics.Stop()
	// //通知动力学
	// httpCode, _, err := dynamics.SendSimulationEndReq()
	// if httpCode != http.StatusOK {
	// 	panic(dto.ErrorDto{Code: dto.DynamicsError, Message: fmt.Sprintf("动力学接口调用失败：[%d][%s]", httpCode, err)})
	// }
}

func createSimulationId(projectId int32) string {
	// 当前服务器IP + 端口 + 项目
	return config.SimulationId_prefix + "_" + strconv.Itoa(config.Config.Server.Port) + "_" + strconv.Itoa(int(projectId))
}

// 获取仿真列表
func ListAllSimulations() []*dto.SimulationInfoRspDto {
	var simArr []*dto.SimulationInfoRspDto
	simulationMap.Range(func(_, v any) bool {
		s := v.(*memory.VerifySimulation)
		simArr = append(simArr, &dto.SimulationInfoRspDto{
			SimulationId: s.SimulationId,
			MapId:        s.MapIds[0],
			MapIds:       s.MapIds,
			ProjectId:    s.ProjectId,
		})
		return true
	})
	return simArr
}

// 根据仿真id查找仿真实例
func FindSimulation(simulationId string) *memory.VerifySimulation {
	m, e := simulationMap.Load(simulationId)
	if e {
		return m.(*memory.VerifySimulation)
	}
	return nil
}

// 获取普通仿真数组
func GetSimulationArr() []*memory.VerifySimulation {
	var result []*memory.VerifySimulation
	simulationMap.Range(func(_, v any) bool {
		result = append(result, v.(*memory.VerifySimulation))
		return true
	})
	return result
}

/*
func convert(info *dynamics.TrainInfo, sta *state.TrainState, simulation *memory.VerifySimulation) *state.TrainState {
	delayTime := time.Now().UnixMilli() - sta.VobcState.UpdateTime
	sta.ControlDelayTime = (int64(sta.VobcState.LifeSignal)-int64(info.VobcLifeSignal))*20 + delayTime
	slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
	id, port, offset, runDirection, pointTo, kilometer := memory.QueryDeviceByCalcLink(simulation.Repo, strconv.Itoa(int(info.Link)), int64(info.LinkOffset), info.Up)
	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)
	sta.HeadDeviceId = simulation.GetComIdByUid(id)
	sta.DevicePort = port
	sta.HeadOffset = offset
	sta.PointTo = pointTo
	sta.TrainKilometer = kilometer
	sta.RunDirection = runDirection
	//判定车头方向
	sta.HeadDirection = runDirection
	if sta.VobcState != nil {
		if sta.VobcState.DirectionForward {
			sta.HeadDirection = runDirection
		} else if sta.VobcState.DirectionBackward {
			sta.HeadDirection = !runDirection
		}
	}
	if info.Speed < 0 {
		sta.RunDirection = !sta.RunDirection
	}
	// 赋值动力学信息
	sta.DynamicState.Heartbeat = int32(info.LifeSignal)
	sta.DynamicState.HeadLinkId = strconv.Itoa(int(info.Link))
	sta.DynamicState.HeadLinkOffset = int64(info.LinkOffset)
	sta.DynamicState.Slope = int32(info.Slope)
	sta.DynamicState.Upslope = info.UpSlope
	sta.DynamicState.RunningUp = info.Up
	sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
	sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
	sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
	sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
	sta.DynamicState.Speed = speedParse(info.Speed)
	sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
	sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
	sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
	sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
	sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
	sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
	sta.DynamicState.Acceleration = info.Acceleration
	return sta
}*/

// func convert(info *dynamics.TrainInfo, sta *state.TrainState, simulation *memory.VerifySimulation) *state.TrainState {
// 	if sta.VobcState.LifeSignal == int32(info.VobcLifeSignal) {
// 		sta.ControlDelayTime = time.Now().UnixMilli() - sta.VobcState.UpdateTime
// 		if sta.ControlDelayTime > memory.DelayMaxTime {
// 			sta.ControlDelayTime = memory.DelayMaxTime
// 		}
// 	} else {
// 		sta.ControlDelayTime = memory.DelayMaxTime
// 	}
// 	slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
// 	id, port, offset, runDirection, pointTo, kilometer := memory.QueryDeviceByCalcLink(simulation.Repo, strconv.Itoa(int(info.Link)), int64(info.LinkOffset), info.Up)
// 	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)
// 	sta.HeadDeviceId = simulation.GetComIdByUid(id)
// 	sta.DevicePort = port
// 	sta.HeadOffset = offset
// 	sta.PointTo = pointTo
// 	sta.TrainKilometer = kilometer
// 	sta.RunDirection = runDirection
// 	//判定车头方向
// 	sta.HeadDirection = runDirection
// 	if sta.VobcState != nil {
// 		if sta.VobcState.DirectionForward {
// 			sta.HeadDirection = runDirection
// 		} else if sta.VobcState.DirectionBackward {
// 			sta.HeadDirection = !runDirection
// 		}
// 	}
// 	if info.Speed < 0 {
// 		sta.RunDirection = !sta.RunDirection
// 	}
// 	// 赋值动力学信息
// 	sta.DynamicState.Heartbeat = int32(info.LifeSignal)
// 	sta.DynamicState.HeadLinkId = strconv.Itoa(int(info.Link))
// 	sta.DynamicState.HeadLinkOffset = int64(info.LinkOffset)
// 	sta.DynamicState.Slope = int32(info.Slope)
// 	sta.DynamicState.Upslope = info.UpSlope
// 	sta.DynamicState.RunningUp = info.Up
// 	sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
// 	sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
// 	sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
// 	sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
// 	sta.DynamicState.Speed = speedParse(info.Speed)
// 	sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
// 	sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
// 	sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
// 	sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
// 	sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
// 	sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
// 	sta.DynamicState.Acceleration = info.Acceleration
// 	return sta
// }

// // 转换成Vobc发送参数
// func convertVobc(info *dynamics.TrainInfo) *vobc.SendTrainInfo {
// 	param := &vobc.SendTrainInfo{
// 		Speed:           uint16(math.Abs(float64(info.Speed * 36))),
// 		Upslope:         info.UpSlope,
// 		Slope:           uint16(info.Slope),
// 		TotalResistance: uint32(math.Abs(float64(info.TotalResistance / 10))),
// 		AirResistance:   uint32(info.AirResistance / 10),
// 		SlopeResistance: uint32(math.Abs(float64(info.SlopeResistance / 10))),
// 		CurveResistance: uint32(info.CurveResistance / 10),
// 	}
// 	d := math.Abs(float64(info.Acceleration * 100))
// 	if info.Acceleration > 0 {
// 		param.Acceleration = uint8(d)
// 	} else {
// 		param.Deceleration = uint8(d)
// 	}
// 	return param
// }

// func convert(info *dynamics.TrainInfo, sta *state.TrainState, simulation *memory.VerifySimulation) *state.TrainState {
// 	slog.Debug("收到动力学原始消息", "Number", info.Number, "Link", info.Link, "LinkOffset", info.LinkOffset)
// 	id, port, offset, runDirection, pointTo, kilometer := memory.QueryDeviceByCalcLink(simulation.Repo, strconv.Itoa(int(info.Link)), int64(info.LinkOffset), info.Up)
// 	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)
// 	sta.HeadDeviceId = simulation.GetComIdByUid(id)
// 	sta.DevicePort = port
// 	sta.HeadOffset = offset
// 	sta.PointTo = pointTo
// 	sta.TrainKilometer = kilometer
// 	sta.RunDirection = runDirection
// 	//判定车头方向
// 	sta.HeadDirection = runDirection
// 	if sta.VobcState != nil {
// 		if sta.VobcState.DirectionForward {
// 			sta.HeadDirection = runDirection
// 		} else if sta.VobcState.DirectionBackward {
// 			sta.HeadDirection = !runDirection
// 		}
// 	}
// 	if info.Speed < 0 {
// 		sta.RunDirection = !sta.RunDirection
// 	}
// 	// 赋值动力学信息
// 	sta.DynamicState.Heartbeat = int32(info.LifeSignal)
// 	sta.DynamicState.HeadLinkId = strconv.Itoa(int(info.Link))
// 	sta.DynamicState.HeadLinkOffset = int64(info.LinkOffset)
// 	sta.DynamicState.Slope = int32(info.Slope)
// 	sta.DynamicState.Upslope = info.UpSlope
// 	sta.DynamicState.RunningUp = info.Up
// 	sta.DynamicState.RunningResistanceSum = float32(info.TotalResistance) / 1000
// 	sta.DynamicState.AirResistance = float32(info.AirResistance) / 1000
// 	sta.DynamicState.RampResistance = float32(info.SlopeResistance) / 1000
// 	sta.DynamicState.CurveResistance = float32(info.CurveResistance) / 1000
// 	sta.DynamicState.Speed = speedParse(info.Speed)
// 	sta.DynamicState.HeadSensorSpeed1 = speedParse(info.HeadSpeed1)
// 	sta.DynamicState.HeadSensorSpeed2 = speedParse(info.HeadSpeed2)
// 	sta.DynamicState.TailSensorSpeed1 = speedParse(info.TailSpeed1)
// 	sta.DynamicState.TailSensorSpeed2 = speedParse(info.TailSpeed2)
// 	sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
// 	sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
// 	sta.DynamicState.Acceleration = info.Acceleration
// 	return sta
// }

// func dynamicsRun(verifySimulation *memory.VerifySimulation) {
// 	_ = dynamics.Run(func() []*dynamics.TurnoutInfo {
// 		stateSlice := memory.GetAllTurnoutState(verifySimulation)
// 		var turnoutInfoSlice []*dynamics.TurnoutInfo
// 		for _, sta := range stateSlice {
// 			code64, err := strconv.ParseUint(sta.Id, 10, 16)
// 			if err != nil {
// 				slog.Error("id转uint16报错", err)
// 			}
// 			info := dynamics.TurnoutInfo{
// 				Code:      uint16(code64),
// 				NPosition: sta.Dw,
// 				RPosition: sta.Fw,
// 			}
// 			turnoutInfoSlice = append(turnoutInfoSlice, &info)
// 		}
// 		return turnoutInfoSlice
// 	})
// }

// func buildLineBaseInfo(sim *memory.VerifySimulation) *dynamics.LineBaseInfo {
// 	info := &dynamics.LineBaseInfo{}
// 	for _, model := range sim.Repo.LinkList() {
// 		id, _ := strconv.Atoi(model.Id())
// 		link := &dynamics.Link{
// 			ID:  int32(id),
// 			Len: int32(model.Length()),
// 		}
// 		info.LinkList = append(info.LinkList, link)
// 		if model.ARelation() != nil {
// 			turnoutId, _ := strconv.Atoi(sim.GetComIdByUid(model.ARelation().Device().Id()))
// 			link.ARelTurnoutId = int32(turnoutId)
// 			switch model.ARelation().Port() {
// 			case proto.Port_A:
// 				link.ARelTurnoutPoint = "A"
// 			case proto.Port_B:
// 				link.ARelTurnoutPoint = "B"
// 			case proto.Port_C:
// 				link.ARelTurnoutPoint = "C"
// 			}
// 		}
// 		if model.BRelation() != nil {
// 			turnoutId, _ := strconv.Atoi(sim.GetComIdByUid(model.BRelation().Device().Id()))
// 			link.BRelTurnoutId = int32(turnoutId)
// 			switch model.BRelation().Port() {
// 			case proto.Port_A:
// 				link.BRelTurnoutPoint = "A"
// 			case proto.Port_B:
// 				link.BRelTurnoutPoint = "B"
// 			case proto.Port_C:
// 				link.BRelTurnoutPoint = "C"
// 			}
// 		}
// 	}
// 	for _, model := range sim.Repo.SlopeList() {
// 		id, _ := strconv.Atoi(sim.GetComIdByUid(model.Id()))
// 		slope := &dynamics.Slope{
// 			ID:              int32(id),
// 			StartLinkOffset: int32(model.StartLinkPosition().Offset()),
// 			EndLinkOffset:   int32(model.EndLinkPosition().Offset()),
// 			DegreeTrig:      model.Degree(),
// 		}
// 		info.SlopeList = append(info.SlopeList, slope)
// 		startLinkId, _ := strconv.Atoi(model.StartLinkPosition().Link().Id())
// 		slope.StartLinkId = int32(startLinkId)
// 		endLinkId, _ := strconv.Atoi(model.EndLinkPosition().Link().Id())
// 		slope.EndLinkId = int32(endLinkId)
// 	}
// 	for _, model := range sim.Repo.SectionalCurvatureList() {
// 		id, _ := strconv.Atoi(sim.GetComIdByUid(model.Id()))
// 		curve := &dynamics.Curve{
// 			ID:              int32(id),
// 			StartLinkOffset: int32(model.StartLinkPosition().Offset()),
// 			EndLinkOffset:   int32(model.EndLinkPosition().Offset()),
// 			Curvature:       model.Radius(),
// 		}
// 		info.CurveList = append(info.CurveList, curve)
// 		startLinkId, _ := strconv.Atoi(model.StartLinkPosition().Link().Id())
// 		curve.StartLinkId = int32(startLinkId)
// 		endLinkId, _ := strconv.Atoi(model.EndLinkPosition().Link().Id())
// 		curve.EndLinkId = int32(endLinkId)
// 	}
// 	return info
// }

// 解析VOBC列车信息
func decoderVobcTrainState(buf []byte) *state.TrainVobcState {
	trainVobcInfo := &state.TrainVobcState{}
	trainVobcInfo.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
	b2 := buf[2]
	trainVobcInfo.Tc1Active = (b2 & 1) != 0
	trainVobcInfo.Tc2Active = (b2 & (1 << 1)) != 0
	trainVobcInfo.DirectionForward = (b2 & (1 << 2)) != 0
	trainVobcInfo.DirectionBackward = (b2 & (1 << 3)) != 0
	trainVobcInfo.TractionStatus = (b2 & (1 << 4)) != 0
	trainVobcInfo.BrakingStatus = (b2 & (1 << 5)) != 0
	trainVobcInfo.EmergencyBrakingStatus = (b2 & (1 << 6)) != 0
	trainVobcInfo.TurnbackStatus = (b2 & 7) != 0
	b3 := buf[3]
	trainVobcInfo.JumpStatus = (b3 & 1) != 0
	trainVobcInfo.Ato = (b3 & (1 << 1)) != 0
	trainVobcInfo.Fam = (b3 & (1 << 2)) != 0
	trainVobcInfo.Cam = (b3 & (1 << 3)) != 0
	trainVobcInfo.TractionSafetyCircuit = (b3 & (1 << 4)) != 0
	trainVobcInfo.ParkingBrakeStatus = (b3 & (1 << 5)) != 0
	trainVobcInfo.MaintainBrakeStatus = (b3 & (1 << 6)) != 0
	trainVobcInfo.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]))
	trainVobcInfo.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]))
	trainVobcInfo.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]))
	b4 := buf[15]
	trainVobcInfo.LeftDoorOpenCommand = (b4 & 1) != 0
	trainVobcInfo.RightDoorOpenCommand = (b4 & (1 << 1)) != 0
	trainVobcInfo.LeftDoorCloseCommand = (b4 & (1 << 2)) != 0
	trainVobcInfo.RightDoorCloseCommand = (b4 & (1 << 3)) != 0
	trainVobcInfo.AllDoorClose = (b4 & (1 << 4)) != 0
	trainVobcInfo.UpdateTime = time.Now().UnixMilli()
	return trainVobcInfo
}

// // 解析VOBC列车信息
// func decoderVobcTrainState(buf []byte) *state.TrainVobcState {
// 	trainVobcInfo := &state.TrainVobcState{}
// 	trainVobcInfo.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
// 	b2 := buf[2]
// 	trainVobcInfo.Tc1Active = (b2 & 1) != 0
// 	trainVobcInfo.Tc2Active = (b2 & (1 << 1)) != 0
// 	trainVobcInfo.DirectionForward = (b2 & (1 << 2)) != 0
// 	trainVobcInfo.DirectionBackward = (b2 & (1 << 3)) != 0
// 	trainVobcInfo.TractionStatus = (b2 & (1 << 4)) != 0
// 	trainVobcInfo.BrakingStatus = (b2 & (1 << 5)) != 0
// 	trainVobcInfo.EmergencyBrakingStatus = (b2 & (1 << 6)) != 0
// 	trainVobcInfo.TurnbackStatus = (b2 & 7) != 0
// 	b3 := buf[3]
// 	trainVobcInfo.JumpStatus = (b3 & 1) != 0
// 	trainVobcInfo.Ato = (b3 & (1 << 1)) != 0
// 	trainVobcInfo.Fam = (b3 & (1 << 2)) != 0
// 	trainVobcInfo.Cam = (b3 & (1 << 3)) != 0
// 	trainVobcInfo.TractionSafetyCircuit = (b3 & (1 << 4)) != 0
// 	trainVobcInfo.ParkingBrakeStatus = (b3 & (1 << 5)) != 0
// 	trainVobcInfo.MaintainBrakeStatus = (b3 & (1 << 6)) != 0
// 	trainVobcInfo.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]))
// 	trainVobcInfo.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]))
// 	trainVobcInfo.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]))
// 	b4 := buf[15]
// 	trainVobcInfo.LeftDoorOpenCommand = (b4 & 1) != 0
// 	trainVobcInfo.RightDoorOpenCommand = (b4 & (1 << 1)) != 0
// 	trainVobcInfo.LeftDoorCloseCommand = (b4 & (1 << 2)) != 0
// 	trainVobcInfo.RightDoorCloseCommand = (b4 & (1 << 3)) != 0
// 	trainVobcInfo.AllDoorClose = (b4 & (1 << 4)) != 0
// 	return trainVobcInfo
// }

// // 发送给前端的速度格式化
// func speedParse(speed float32) int32 {
// 	return int32(math.Abs(float64(speed * 3.6 * 100)))
// }