diff --git a/bj-rtss-message b/bj-rtss-message index 8edda8b..15c8b52 160000 --- a/bj-rtss-message +++ b/bj-rtss-message @@ -1 +1 @@ -Subproject commit 8edda8b7497511eda94720f1eb686a6a7f8531c6 +Subproject commit 15c8b523c29de1ced3ec98bdfbd615325f1e4e42 diff --git a/docs/docs.go b/docs/docs.go index 5761b80..58fcd0a 100644 --- a/docs/docs.go +++ b/docs/docs.go @@ -5222,8 +5222,16 @@ const docTemplate = `{ "description": "基本阻力参数C", "type": "number" }, - "idling": { - "description": "空转", + "idlingA": { + "description": "空转加速度(m/s) 默认0", + "type": "number" + }, + "idlingD": { + "description": "空转持续时间s 默认0", + "type": "integer" + }, + "idlingR": { + "description": "空转冲击率(m/s) 默认0", "type": "number" }, "jump": { @@ -5235,11 +5243,19 @@ const docTemplate = `{ "type": "number" }, "slide": { - "description": "前溜/后溜（mm）（正数前溜，负数后溜）", + "description": "前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0", + "type": "number" + }, + "slipA": { + "description": "打滑加速度(m/s) 默认0", + "type": "number" + }, + "slipD": { + "description": "打滑持续时间ms 默认0", "type": "integer" }, - "slip": { - "description": "打滑（%）", + "slipR": { + "description": "打滑冲击率(m/s) 默认0", "type": "number" }, "stopSign": { diff --git a/docs/swagger.json b/docs/swagger.json index 323209d..ed32c75 100644 --- a/docs/swagger.json +++ b/docs/swagger.json @@ -5216,8 +5216,16 @@ "description": "基本阻力参数C", "type": "number" }, - "idling": { - "description": "空转", + "idlingA": { + "description": "空转加速度(m/s) 默认0", + "type": "number" + }, + "idlingD": { + "description": "空转持续时间s 默认0", + "type": "integer" + }, + "idlingR": { + "description": "空转冲击率(m/s) 默认0", "type": "number" }, "jump": { @@ -5229,11 +5237,19 @@ "type": "number" }, "slide": { - "description": "前溜/后溜（mm）（正数前溜，负数后溜）", + "description": "前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0", + "type": "number" + }, + "slipA": { + "description": "打滑加速度(m/s) 默认0", + "type": "number" + }, + "slipD": { + "description": "打滑持续时间ms 默认0", "type": "integer" }, - "slip": { - "description": "打滑（%）", + "slipR": { + "description": "打滑冲击率(m/s) 默认0", "type": "number" }, "stopSign": { diff --git a/docs/swagger.yaml b/docs/swagger.yaml index 7253eca..107fe7c 100644 --- a/docs/swagger.yaml +++ b/docs/swagger.yaml @@ -222,8 +222,14 @@ definitions: davisParamC: description: 基本阻力参数C type: number - idling: - description: 空转 + idlingA: + description: 空转加速度(m/s) 默认0 + type: number + idlingD: + description: 空转持续时间s 默认0 + type: integer + idlingR: + description: 空转冲击率(m/s) 默认0 type: number jump: description: 是否跳跃 @@ -232,10 +238,16 @@ definitions: description: 旋转质量参数 type: number slide: - description: 前溜/后溜（mm）（正数前溜，负数后溜） + description: 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0 + type: number + slipA: + description: 打滑加速度(m/s) 默认0 + type: number + slipD: + description: 打滑持续时间ms 默认0 type: integer - slip: - description: 打滑（%） + slipR: + description: 打滑冲击率(m/s) 默认0 type: number stopSign: description: 过标/欠标（mm）（正数过标，负数欠标） diff --git a/dto/common_proto/common_data.pb.go b/dto/common_proto/common_data.pb.go index 00a8320..8b8c1ab 100644 --- a/dto/common_proto/common_data.pb.go +++ b/dto/common_proto/common_data.pb.go @@ -48,13 +48,22 @@ type TrainDynamicConfig struct { RevolvingMassParam float32 `protobuf:"fixed32,8,opt,name=revolvingMassParam,proto3" json:"revolvingMassParam,omitempty"` // 是否跳跃 Jump bool `protobuf:"varint,9,opt,name=jump,proto3" json:"jump,omitempty"` - // 打滑（%） - Slip float32 `protobuf:"fixed32,10,opt,name=slip,proto3" json:"slip,omitempty"` - // 前溜/后溜（m/s）（正数前溜，负数后溜） - Slide int32 `protobuf:"varint,11,opt,name=slide,proto3" json:"slide,omitempty"` + // 打滑加速度(m/s) 默认0 + SlipA float32 `protobuf:"fixed32,10,opt,name=slipA,proto3" json:"slipA,omitempty"` + // 打滑冲击率(m/s) 默认0 + SlipR float32 `protobuf:"fixed32,11,opt,name=slipR,proto3" json:"slipR,omitempty"` + // 打滑持续时间ms 默认0 + SlipD int32 `protobuf:"varint,12,opt,name=slipD,proto3" json:"slipD,omitempty"` + // 空转加速度（m/s2），默认值：0 + IdlingA float32 `protobuf:"fixed32,14,opt,name=idlingA,proto3" json:"idlingA,omitempty"` + // 空转冲击率（m/s3），默认值：0 + IdlingR float32 `protobuf:"fixed32,15,opt,name=idlingR,proto3" json:"idlingR,omitempty"` + // 空转持续时间（ms），默认值：0 + IdlingD int32 `protobuf:"varint,16,opt,name=idlingD,proto3" json:"idlingD,omitempty"` // 过标/欠标（mm）（正数过标，负数欠标） - StopSign int32 `protobuf:"varint,12,opt,name=stopSign,proto3" json:"stopSign,omitempty"` - Idling float32 `protobuf:"fixed32,13,opt,name=idling,proto3" json:"idling,omitempty"` //空转 + StopSign int32 `protobuf:"varint,17,opt,name=stopSign,proto3" json:"stopSign,omitempty"` + // 前溜/后溜（m/s）默认0 + Slide float32 `protobuf:"fixed32,18,opt,name=slide,proto3" json:"slide,omitempty"` } func (x *TrainDynamicConfig) Reset() { @@ -152,16 +161,44 @@ func (x *TrainDynamicConfig) GetJump() bool { return false } -func (x *TrainDynamicConfig) GetSlip() float32 { +func (x *TrainDynamicConfig) GetSlipA() float32 { if x != nil { - return x.Slip + return x.SlipA } return 0 } -func (x *TrainDynamicConfig) GetSlide() int32 { +func (x *TrainDynamicConfig) GetSlipR() float32 { if x != nil { - return x.Slide + return x.SlipR + } + return 0 +} + +func (x *TrainDynamicConfig) GetSlipD() int32 { + if x != nil { + return x.SlipD + } + return 0 +} + +func (x *TrainDynamicConfig) GetIdlingA() float32 { + if x != nil { + return x.IdlingA + } + return 0 +} + +func (x *TrainDynamicConfig) GetIdlingR() float32 { + if x != nil { + return x.IdlingR + } + return 0 +} + +func (x *TrainDynamicConfig) GetIdlingD() int32 { + if x != nil { + return x.IdlingD } return 0 } @@ -173,9 +210,9 @@ func (x *TrainDynamicConfig) GetStopSign() int32 { return 0 } -func (x *TrainDynamicConfig) GetIdling() float32 { +func (x *TrainDynamicConfig) GetSlide() float32 { if x != nil { - return x.Idling + return x.Slide } return 0 } @@ -295,7 +332,7 @@ var File_common_data_proto protoreflect.FileDescriptor var file_common_data_proto_rawDesc = []byte{ 0x0a, 0x11, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x5f, 0x64, 0x61, 0x74, 0x61, 0x2e, 0x70, 0x72, - 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Slip float32 `json:"slip"` // 打滑（%） - Slide int32 `json:"slide"` // 前溜/后溜（mm）（正数前溜，负数后溜） - StopSign int32 `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标） - Idling float32 `json:"idling"` // 空转 + SlipA float32 `json:"slipA"` // 打滑加速度(m/s) 默认0 + SlipR float32 `json:"slipR"` // 打滑冲击率(m/s) 默认0 + SlipD int32 `json:"slipD"` // 打滑持续时间ms 默认0 + + Slide float32 `json:"slide"` // 前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0 + StopSign int32 `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标） + IdlingA float32 `json:"idlingA"` // 空转加速度(m/s) 默认0 + IdlingR float32 `json:"idlingR"` // 空转冲击率(m/s) 默认0 + IdlingD int32 `json:"idlingD"` // 空转持续时间s 默认0 //TrainEndsA ConfigTrainEnds `json:"TrainEndsA"` // 车辆A端 //TrainEndsB ConfigTrainEnds `json:"TrainEndsB"` // 车辆B端 } diff --git a/dto/trainManage.go b/dto/trainManage.go index 827ab6a..7e086a7 100644 --- a/dto/trainManage.go +++ b/dto/trainManage.go @@ -42,7 +42,7 @@ func TrainConfigToDtoConvert(dc *common_proto.TrainDynamicConfig) *ConfigTrainDa DavisParamA: dc.DavisParamA, DavisParamB: dc.DavisParamB, DavisParamC: dc.DavisParamC, CurveResistanceParamR1: dc.CurveResistanceParamR1, CurveResistanceParamR2: dc.CurveResistanceParamR2, CurveResistanceParamR3: dc.CurveResistanceParamR3, CurveResistanceParamR4: dc.CurveResistanceParamR4, RevolvingMassParam: dc.RevolvingMassParam, - Jump: dc.Jump, Slip: dc.Slip, Slide: dc.Slide, Idling: dc.Idling, StopSign: dc.StopSign, + Jump: dc.Jump, SlipA: dc.SlipA, SlipR: dc.SlipR, SlipD: dc.SlipD, Slide: dc.Slide, IdlingA: dc.IdlingA, IdlingR: dc.IdlingR, IdlingD: dc.IdlingD, StopSign: dc.StopSign, } } return nil diff --git a/service/trainManage.go b/service/trainManage.go index 8399fb9..22ee81f 100644 --- a/service/trainManage.go +++ b/service/trainManage.go @@ -71,7 +71,7 @@ func TrainConfigToProtoConvert(t *dto.ConfigTrainData) *common_proto.TrainDynami return &common_proto.TrainDynamicConfig{ DavisParamA: t.DavisParamA, DavisParamB: t.DavisParamB, DavisParamC: t.DavisParamC, CurveResistanceParamR1: t.CurveResistanceParamR1, CurveResistanceParamR2: t.CurveResistanceParamR2, CurveResistanceParamR3: t.CurveResistanceParamR3, CurveResistanceParamR4: t.CurveResistanceParamR4, - RevolvingMassParam: t.RevolvingMassParam, Jump: t.Jump, Slip: t.Slip, Idling: t.Idling, + RevolvingMassParam: t.RevolvingMassParam, Jump: t.Jump, SlipA: t.SlipA, SlipR: t.SlipR, SlipD: t.SlipD, IdlingA: t.IdlingA, IdlingR: t.IdlingR, IdlingD: t.IdlingD, Slide: t.Slide, StopSign: t.StopSign, } } diff --git a/third_party/acc/acc_server_test.go b/third_party/acc/acc_server_test.go index 7b07181..ececfd2 100644 --- a/third_party/acc/acc_server_test.go +++ b/third_party/acc/acc_server_test.go @@ -10,7 +10,7 @@ import ( func TestAccUdp(t *testing.T) { - fmt.Println("准备启动服务...") + fmt.Println("准备启动ACC服务...") addr := fmt.Sprintf("%v:%v", "127.0.0.1", "8899") server := udp.NewServer(addr, handle) server.Listen() @@ -19,7 +19,7 @@ func TestAccUdp(t *testing.T) { } func handle(d []byte) { - ri := message.RadarInfo{} + ri := message.Accelerometer{} err := ri.Decode(d) if err == nil { diff --git a/third_party/acc/acc_vobc.go b/third_party/acc/acc_vobc.go index b9e8d10..266cdef 100644 --- a/third_party/acc/acc_vobc.go +++ b/third_party/acc/acc_vobc.go @@ -69,7 +69,6 @@ func (acc *accVobcService) sendTask(ctx context.Context) { if trainStatus != nil { speedAcc := trainStatus.DynamicState.Acceleration t := speedAcc / accSpeedUnit - acc.vobcClient.SendMsg(&message.Accelerometer{Acc: math.Float32bits(t)}) } time.Sleep(time.Millisecond * accInterval) diff --git a/third_party/message/accelerometer.go b/third_party/message/accelerometer.go index d5fda7b..be41ea2 100644 --- a/third_party/message/accelerometer.go +++ b/third_party/message/accelerometer.go @@ -19,6 +19,7 @@ func (acc *Accelerometer) Encode() []byte { data := make([]byte, 0) data = append(data, accHeader) data = append(data, uaidDefault) + acc.Acc = acc.Acc | 0x0000FF data = binary.LittleEndian.AppendUint32(data, acc.Acc) cs := checkSum(data) data = append(data, ^cs+1) diff --git a/third_party/message/dynamics_http.go b/third_party/message/dynamics_http.go index a82e023..4a5cc7c 100644 --- a/third_party/message/dynamics_http.go +++ b/third_party/message/dynamics_http.go @@ -64,9 +64,13 @@ type TrainOperationConfig struct { CurveResistanceParamR4 float32 `json:"curveResistanceParamR4"` // 曲线阻力参数R4 RevolvingMassParam float32 `json:"revolvingMassParam"` // 旋转质量参数 Jump bool `json:"jump"` // 是否跳跃 - Slip float32 `json:"slip"` // 打滑（%） - Idling float32 `json:"idling"` // 空转（%），默认值：0 - Slide int `json:"slide"` // 前溜/后溜（mm）（正数前溜，负数后溜） + SlipA float32 `json:"slipA"` // 打滑加速度(m/s) 默认0 + SlipR float32 `json:"slipR"` // 打滑冲击率(m/s) 默认0 + SlipD int `json:"slipD"` // 打滑持续时间ms 默认0 + IdlingA float32 `json:"idlingA"` // 空转加速度(m/s) 默认0 + IdlingR float32 `json:"idlingR"` // 空转冲击率(m/s) 默认0 + IdlingD int `json:"idlingD"` // 空转持续时间ms 默认0 + Slide float32 `json:"slide"` // FLOAT，前溜/后溜（m/s）（正数前溜，负数后溜），默认值：0 StopSign int `json:"stopSign"` // 过标/欠标（mm）（正数过标，负数欠标） //WheelDiameter int `json:"轮径（mm）"` //RadarSpeed float32 `json:"雷达速度差值（m/s）"` diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index 8e6dc8b..d5fa408 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -27,7 +27,9 @@ func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.Confi DavisParamC: configTrainData.DavisParamC, CurveResistanceParamR1: configTrainData.CurveResistanceParamR1, CurveResistanceParamR2: configTrainData.CurveResistanceParamR2, CurveResistanceParamR3: configTrainData.CurveResistanceParamR3, CurveResistanceParamR4: configTrainData.CurveResistanceParamR4, RevolvingMassParam: configTrainData.RevolvingMassParam, - Jump: configTrainData.Jump, Slip: configTrainData.Slip, Slide: int(configTrainData.Slide), Idling: configTrainData.Idling, + Jump: configTrainData.Jump, Slide: configTrainData.Slide, + SlipA: configTrainData.SlipA, SlipR: configTrainData.SlipR, SlipD: int(configTrainData.SlipD), + IdlingA: configTrainData.IdlingA, IdlingR: configTrainData.IdlingR, IdlingD: int(configTrainData.IdlingD), StopSign: int(configTrainData.StopSign)} }