btm
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@ -71,6 +71,7 @@ type ThridPartyConfig struct {
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Interlocks []InterlockConfig `json:"interlock" description:"联锁配置"`
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RsspAxleCfgs []RsspAxleConfig `json:"rsspAxleCfgs" description:"所有联锁集中站计轴RSSP-I配置"`
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ElectricMachinery ElectricMachineryConfig `json:"electricMachinery" description:"电机配置"`
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BtmCanet BtmCanetConfig `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
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}
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type DynamicsConfig struct {
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Ip string `json:"ip" description:"IP配置"`
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@ -99,6 +100,14 @@ type ElectricMachineryConfig struct {
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Open bool `json:"open" description:"是否开启"`
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}
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// BtmCanetConfig BTM CANET网关设备配置
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type BtmCanetConfig struct {
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LocalUdpPort int `json:"localUdpPort" description:"本机监听接收UDP端口"`
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RemoteIp string `json:"remoteIp" description:"CANET设备IP配置"`
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RemoteUdpPort int `json:"remoteUdpPort" description:"CANET设备UDP端口"`
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Open bool `json:"open" description:"是否开启"`
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}
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// RsspAxleConfig 计轴区段与联锁安全通信配置
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type RsspAxleConfig struct {
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Open bool `json:"open" description:"是否开启"`
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@ -2,17 +2,29 @@ package can_btm
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import (
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"fmt"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/third_party/message"
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"joylink.club/bj-rtsts-server/third_party/udp"
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"joylink.club/ecs"
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"joylink.club/bj-rtsts-server/ts/simulation/wayside/memory"
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"joylink.club/rtsssimulation/fi"
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"log/slog"
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"sort"
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"sync"
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"time"
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)
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//使用：当有多个虚拟车时，同一时刻只有一个虚拟车与CANET关联
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// BtmCanetManager BTM CANET 管理器
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type BtmCanetManager interface {
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memory.VerifyEvn
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//GetBtmCanetConfig 获取CANET配置信息
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GetBtmCanetConfig() config.BtmCanetConfig
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}
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// btm与canet(网口-CAN口转换器)
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type btmCanetClient struct {
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w ecs.World
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bcm BtmCanetManager
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//udp server
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udpServer udp.UdpServer
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//udp client
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@ -23,28 +35,53 @@ type btmCanetClient struct {
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remoteUdpPort int
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//udp 远程ip
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remoteIp string
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//该CANET关联的唯一列车的id
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trainId string
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//车载ATP系统当前时间ms
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atpSystemTime uint32
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//最近一次车载ATP系统查询帧序号
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atpReqSn byte
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//最近一次车载ATP系统查询帧CRC16校验结果
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//最近一次车载ATP系统查询帧CRC16校验结果,true-校验通过
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atpReqCrc16Check bool
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//btm系统时间,每次接收到ATP查询请求帧时同步一次时间
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btmTime btmClock
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//数据流水号
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dsn byte
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}
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type BtmCanetClient interface {
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Start()
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Stop()
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TrainId() string
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type btmClock struct {
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btmTk uint32 //与ATP系统同步的时间ms
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sysTk time.Time //本地系统时间
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}
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func NewBtmCanetClient(trainId string, remoteIp string, remoteUdpPort int, localUdpPort int) BtmCanetClient {
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return &btmCanetClient{trainId: trainId, remoteIp: remoteIp, remoteUdpPort: remoteUdpPort, localUdpPort: localUdpPort}
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// 获取以btmTk为基准的当前时间ms
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func (c *btmClock) tkNow() uint32 {
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return c.btmTk + uint32(time.Now().UnixMilli()-c.sysTk.UnixMilli())
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}
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func (s *btmCanetClient) TrainId() string {
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return s.trainId
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type BtmCanetClient interface {
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Start(bcm BtmCanetManager)
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Stop()
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}
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func (s *btmCanetClient) Start() {
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var (
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btmClientLocker sync.Mutex
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btmClient BtmCanetClient
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)
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func Default() BtmCanetClient {
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btmClientLocker.Lock()
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defer btmClientLocker.Unlock()
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if btmClient == nil {
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btmClient = &btmCanetClient{}
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}
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return btmClient
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}
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func (s *btmCanetClient) Start(bcm BtmCanetManager) {
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s.bcm = bcm
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cfg := s.bcm.GetBtmCanetConfig()
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if !cfg.Open {
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return
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}
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s.localUdpPort = cfg.LocalUdpPort
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s.remoteIp = cfg.RemoteIp
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s.remoteUdpPort = cfg.RemoteUdpPort
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//
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s.udpServer = udp.NewServer(fmt.Sprintf(":%d", s.localUdpPort), s.handleCanetFrames)
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s.udpServer.Listen()
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@ -55,9 +92,11 @@ func (s *btmCanetClient) Start() {
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func (s *btmCanetClient) Stop() {
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if s.udpServer != nil {
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s.udpServer.Close()
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s.udpServer = nil
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}
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if s.udpClient != nil {
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s.udpClient.Close()
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s.udpClient = nil
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}
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}
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func (s *btmCanetClient) handleCanetFrames(cfs []byte) {
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@ -116,32 +155,69 @@ func (s *btmCanetClient) dealWithAptReq(f *message.CanetFrame) {
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//处理查询请求
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slog.Debug(fmt.Sprintf("处理查询请求:%s", atpReq.String()))
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//
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s.atpSystemTime = atpReq.Time
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s.btmTime.btmTk = atpReq.Time
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s.btmTime.sysTk = time.Now()
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s.atpReqSn = atpReq.FId.ID4
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s.atpReqCrc16Check = atpReq.Crc16CheckOk
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se := fi.TrainBalisePowerAmplifierSwitch(s.w, s.trainId, atpReq.PowerAmplifierTurnOn)
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se := fi.TrainBalisePowerAmplifierSwitch(s.bcm.EvnWorld(), atpReq.PowerAmplifierTurnOn)
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if se != nil {
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slog.Warn(fmt.Sprintf("列车[%s]车载BTM功率放大器开关控制异常[%s]", s.trainId, se.Error()))
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slog.Warn(fmt.Sprintf("列车车载BTM功率放大器开关控制异常[%s]", se.Error()))
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}
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//ATP 是否要求BTM 重发上一应答器报文
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isResendRequest := atpReq.ResendRequest == 2 //0b10
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s.rspToAtp(isResendRequest)
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}
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// BTM发送响应给ATP
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// 当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
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// 当未收到应答器报文时响应：时间同步帧、状态应答帧
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func (s *btmCanetClient) rspToAtp() {
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timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
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timeSyncCf := timeSyncF.Encode().Encode()
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func (s *btmCanetClient) rspToAtp(isResendRequest bool) {
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//BTM状态
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statusF := message.NewBtmStatusRspFrame(s.atpReqSn)
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btmStatus, btmStatusErr := fi.FindTrainBaliseBtmStatus(s.bcm.EvnWorld())
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if btmStatusErr != nil {
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slog.Debug(fmt.Sprintf("从仿真获取BTM状态失败：%s", btmStatusErr.Error()))
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return
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}
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statusF.AntennaFault = btmStatus.AntennaFault
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statusF.BaliseCounter = byte(btmStatus.BaliseCounter)
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statusF.MessageCounter = byte(btmStatus.MessageCounter)
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statusF.PowerAmplifierOn = btmStatus.PowerAmplifierOn
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statusF.TkTimeA = s.btmTime.tkNow()
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statusF.PowerAmplifierFailure = btmStatus.PowerAmplifierFault
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statusF.DetailedCode = 0
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if btmStatus.AboveBalise {
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statusF.DetailedCode = 0x07
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}
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statusF.AtpReqCrcCheckWrong = !s.atpReqCrc16Check
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statusF.Dsn = s.dsn
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s.dsnAdd1()
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//
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baliseTelegram, btSendErr := fi.BaliseTelegramForSend(s.bcm.EvnWorld())
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if btSendErr != nil {
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//slog.Debug(btSendErr.Error())
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}
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//true-收到应答器报文
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//todo
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isRcvTelegram := false
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isRcvTelegram := baliseTelegram != nil
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if isRcvTelegram { //当收到应答器报文时响应：时间同步帧、状态应答帧、数据帧
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s.sendCanetFrame(timeSyncCf)
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statusDataCf, statusDataCfOk := message.CreateBtmRspFramesData(statusF, baliseTelegram.Telegram, false, s.btmTime.tkNow(), s.btmTime.tkNow(), s.btmTime.tkNow())
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if statusDataCfOk {
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timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
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timeSyncF.T2 = s.btmTime.btmTk
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timeSyncF.T3 = s.btmTime.tkNow()
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s.sendCanetFrame(timeSyncF.Encode().Encode())
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//
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s.sendCanetFrame(statusDataCf)
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} else {
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slog.Warn("BtmCanetClient应答帧、数据帧编码失败")
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}
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} else { //当未收到应答器报文时响应：时间同步帧、状态应答帧
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timeSyncF := message.NewBtmTimeSyncCheckFrame(s.atpReqSn)
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timeSyncF.T2 = s.btmTime.btmTk
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timeSyncF.T3 = s.btmTime.tkNow()
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s.sendCanetFrame(timeSyncF.Encode().Encode())
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//
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statusCf := statusF.Encode().Encode()
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s.sendCanetFrame(timeSyncCf)
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s.sendCanetFrame(statusCf)
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}
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}
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@ -150,6 +226,13 @@ func (s *btmCanetClient) rspToAtp() {
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func (s *btmCanetClient) sendCanetFrame(cf []byte) {
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s.udpClient.Send(cf)
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}
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func (s *btmCanetClient) dsnAdd1() {
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if s.dsn >= 255 {
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s.dsn = 0
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} else {
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s.dsn++
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////
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@ -147,6 +147,11 @@ func (s *VerifySimulation) GetComIdByUid(uid string) string {
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}
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return es[uid].CommonId
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}
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// GetBtmCanetConfig 获取CANET配置信息
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func (s *VerifySimulation) GetBtmCanetConfig() config.BtmCanetConfig {
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return s.runConfig.BtmCanet
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}
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func (s *VerifySimulation) GetLineAllRsspAxleCfgs() []config.RsspAxleConfig {
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return s.runConfig.RsspAxleCfgs
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}
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@ -502,6 +507,9 @@ func (s *VerifySimulation) GetRunConfigId() int32 {
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}
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return s.runConfig.Id
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}
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func (s *VerifySimulation) EvnWorld() ecs.World {
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return s.World
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}
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// 初始化运行资源
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func (s *VerifySimulation) initRepository() error {
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@ -1501,3 +1509,8 @@ func convertToProtoBaliseType(bt graphicData.Transponder_TransponderTypeEnum) pr
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panic(fmt.Sprintf("graphicData.Transponder_TransponderTypeEnum[%d]无法映射到proto.Transponder_Type", bt))
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}
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}
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// VerifyEvn 测试环境
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type VerifyEvn interface {
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EvnWorld() ecs.World
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}
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@ -2,6 +2,7 @@ package ts
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import (
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"fmt"
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"joylink.club/bj-rtsts-server/third_party/can_btm"
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"log/slog"
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"runtime"
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"strconv"
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@ -117,6 +118,8 @@ func runThirdParty(s *memory.VerifySimulation) error {
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axle_device.StartLineAllRsspAxleServices(s)
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// 电机UDP启动
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electrical_machinery.Default().Start(s)
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// 车载BTM启动
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can_btm.Default().Start(s)
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return nil
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}
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@ -134,6 +137,9 @@ func stopThirdParty(s *memory.VerifySimulation) {
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axle_device.StopLineAllRsspAxleServices()
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// 电机UDP停止
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electrical_machinery.Default().Stop()
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// 车载BTM停止
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can_btm.Default().Stop()
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}
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func createSimulationId(projectId int32) string {
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