joylink
/
rts-sim-testing-service
6
0
Fork 0
Code Issues 8 Pull Requests Actions Packages Projects Releases Wiki Activity

【vobc udp设置】

This commit is contained in:
weizhihong 2023-08-18 16:20:40 +08:00
parent 93d71626ed
commit 5cc59f3ce3
8 changed files with 405 additions and 107 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ats/verify/simulation/simulation_manage.go
View File

@ -13,6 +13,7 @@ import (
"joylink.club/bj-rtsts-server/ats/verify/protos/state"
"joylink.club/bj-rtsts-server/config"
"joylink.club/bj-rtsts-server/dynamics"
"joylink.club/bj-rtsts-server/vobc"
"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/memory"
"joylink.club/bj-rtsts-server/dto"
@ -36,6 +37,9 @@ var simulationId_prefix = (func() string {
})()
func init() {
vobc.RegisterTrainInfoHandler(func(info *vobc.ReceiveTrainInfo) {
zap.S().Debug("接到列车信息", info)
})
dynamics.RegisterTrainInfoHandler(func(info *dynamics.TrainInfo) {
for _, simulation := range GetSimulationArr() {
sta, ok := simulation.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))

6
config/config.go
View File

@ -15,6 +15,7 @@ type AppConfig struct {
Logging log
Messaging messaging
Dynamics dynamics
Vobc vobc
}
type server struct {
Port int
@ -49,6 +50,11 @@ type dynamics struct {
UdpRemotePort int
HttpPort int
}
type vobc struct {
Ip string
LocalPort int
RemotePort int
}
var Config AppConfig

5
config/dev.yml
View File

@ -10,6 +10,11 @@ dynamics:
udpLocalPort: 4000
udpRemotePort: 3000
httpPort: 7800
# VOBC
vobc:
ip: 10.60.1.52
localPort: 10000
remotePort: 4000
# 数据源
datasource:

5
config/test_local.yml
View File

@ -10,6 +10,11 @@ dynamics:
udpLocalPort: 4000
udpRemotePort: 3000
httpPort: 7800
# VOBC
vobc:
ip: 10.60.1.52
localPort: 10000
remotePort: 4000
# 数据源
datasource:

225
dynamics/udp.go
View File

@ -5,18 +5,19 @@ import (
"encoding/binary"
"errors"
"fmt"
"github.com/panjf2000/gnet/v2"
"go.uber.org/zap"
"joylink.club/bj-rtsts-server/config"
"math"
"net"
"sync"
"time"
"github.com/panjf2000/gnet/v2"
"go.uber.org/zap"
"joylink.club/bj-rtsts-server/config"
)
func init() {
go func() {
for true {
for {
info := <-trainInfoChan
for e := handlerList.Front(); e != nil; e = e.Next() {
func() {
@ -52,25 +53,57 @@ var (
trainInfoChan chan *TrainInfo = make(chan *TrainInfo)
)
func Run(tiFunc TurnoutInfoFunc) error {
mutex.Lock()
defer mutex.Unlock()
trainLifeSignalInit = false
return runSendTurnoutStateTask(tiFunc)
}
func Stop() {
mutex.Lock()
defer mutex.Unlock()
turnoutInfoFunc = nil
}
var handlerList list.List
type TrainInfoHandler func(info *TrainInfo)
func RegisterTrainInfoHandler(handler TrainInfoHandler) {
handlerList.PushBack(handler)
type udpServer struct {
gnet.BuiltinEventEngine
eng gnet.Engine
addr string
multicore bool
eventHandlers []gnet.EventHandler
}
func (server *udpServer) OnBoot(eng gnet.Engine) gnet.Action {
server.eng = eng
zap.S().Infof("udp server with multi-core=%t is listening on %s\n", server.multicore, server.addr)
return gnet.None
}
// OnTraffic 接收到数据后的解析
func (server *udpServer) OnTraffic(c gnet.Conn) gnet.Action {
defer func() {
if r := recover(); r != nil {
zap.L().Error("udp服务数据解析异常", zap.Any("panic", r))
}
}()
buf, _ := c.Next(-1)
lifeSignal := binary.BigEndian.Uint16(buf[0:2])
if !trainLifeSignalInit {
trainLifeSignalInit = true
} else if trainLifeSignal < limit {
if lifeSignal < trainLifeSignal || lifeSignal > trainLifeSignal-limit {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, trainLifeSignal)
return gnet.None
}
} else if trainLifeSignal < math.MaxUint16-10000 {
if lifeSignal < trainLifeSignal {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, trainLifeSignal)
return gnet.None
}
} else {
if lifeSignal < trainLifeSignal && lifeSignal > trainLifeSignal+10000 {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, trainLifeSignal)
return gnet.None
}
}
trainLifeSignal = lifeSignal
trainInfo := decoderDynamicsTrainInfo(buf)
trainInfoChan <- trainInfo
return gnet.None
}
func RunUdpServer() {
@ -79,8 +112,26 @@ func RunUdpServer() {
zap.L().Fatal("udp服务启动失败", zap.Error(err))
}
// sendTurnoutInfo 发送道岔信息
func sendTurnoutInfo(info *TurnoutInfo) error {
func Run(tiFunc TurnoutInfoFunc) error {
mutex.Lock()
defer mutex.Unlock()
trainLifeSignalInit = false
return runSendTurnoutStateTask(tiFunc)
}
// 注册数据操作
func RegisterTrainInfoHandler(handler TrainInfoHandler) {
handlerList.PushBack(handler)
}
func Stop() {
mutex.Lock()
defer mutex.Unlock()
turnoutInfoFunc = nil
}
// 动力学消息发送消息
func sendDynamicsMsg(buf []byte) error {
defer func() {
if r := recover(); r != nil {
zap.S().Error("发送道岔信息失败", r)
@ -99,94 +150,11 @@ func sendTurnoutInfo(info *TurnoutInfo) error {
zap.S().Error(err)
}
}(conn)
var data []byte
data = binary.BigEndian.AppendUint16(data, info.lifeSignal)
data = binary.BigEndian.AppendUint16(data, info.Code)
var b byte
if info.NPosition {
b |= 1 << 7
}
if info.RPosition {
b |= 1 << 6
}
data = append(data, b)
_, err = conn.Write(data)
_, err = conn.Write(buf)
return err
}
type udpServer struct {
gnet.BuiltinEventEngine
eng gnet.Engine
addr string
multicore bool
eventHandlers []gnet.EventHandler
}
func (server *udpServer) OnBoot(eng gnet.Engine) gnet.Action {
server.eng = eng
fmt.Printf("udp server with multi-core=%t is listening on %s\n", server.multicore, server.addr)
zap.S().Infof("udp server with multi-core=%t is listening on %s\n", server.multicore, server.addr)
return gnet.None
}
// OnTraffic 接收到数据后的解析
func (server *udpServer) OnTraffic(c gnet.Conn) gnet.Action {
defer func() {
if r := recover(); r != nil {
zap.L().Error("udp服务数据解析异常", zap.Any("panic", r))
}
}()
buf, _ := c.Next(-1)
trainInfo := TrainInfo{}
trainInfo.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
if !trainLifeSignalInit {
trainLifeSignalInit = true
trainLifeSignal = trainInfo.LifeSignal
} else if trainLifeSignal < limit {
if trainInfo.LifeSignal < trainLifeSignal || trainInfo.LifeSignal > trainLifeSignal-limit {
zap.S().Debugf("丢弃列车信息[%d-%d]", trainInfo.LifeSignal, trainLifeSignal)
return gnet.None
}
} else if trainLifeSignal < math.MaxUint16-10000 {
if trainInfo.LifeSignal < trainLifeSignal {
zap.S().Debugf("丢弃列车信息[%d-%d]", trainInfo.LifeSignal, trainLifeSignal)
return gnet.None
}
} else {
if trainInfo.LifeSignal < trainLifeSignal && trainInfo.LifeSignal > trainLifeSignal+10000 {
zap.S().Debugf("丢弃列车信息[%d-%d]", trainInfo.LifeSignal, trainLifeSignal)
return gnet.None
}
}
trainLifeSignal = trainInfo.LifeSignal
trainInfo.Number = buf[2]
trainInfo.Len = binary.BigEndian.Uint16(buf[3:5])
trainInfo.Link = buf[5]
trainInfo.LinkOffset = binary.BigEndian.Uint32(buf[6:10])
trainInfo.Slope = binary.BigEndian.Uint16(buf[10:12])
b := buf[12]
trainInfo.UpSlope = (b & (1 << 7)) != 0
trainInfo.Up = (b & (1 << 6)) != 0
trainInfo.TotalResistance = binary.BigEndian.Uint32(buf[14:18])
trainInfo.AirResistance = binary.BigEndian.Uint32(buf[18:22])
trainInfo.SlopeResistance = binary.BigEndian.Uint32(buf[22:26])
trainInfo.CurveResistance = binary.BigEndian.Uint32(buf[26:30])
trainInfo.Speed = math.Float32frombits(binary.BigEndian.Uint32(buf[30:34]))
trainInfo.HeadSpeed1 = math.Float32frombits(binary.BigEndian.Uint32(buf[34:38]))
trainInfo.HeadSpeed2 = math.Float32frombits(binary.BigEndian.Uint32(buf[38:42]))
trainInfo.TailSpeed1 = math.Float32frombits(binary.BigEndian.Uint32(buf[42:46]))
trainInfo.TailSpeed2 = math.Float32frombits(binary.BigEndian.Uint32(buf[46:50]))
trainInfo.HeadRadarSpeed = math.Float32frombits(binary.BigEndian.Uint32(buf[50:54]))
trainInfo.TailRadarSpeed = math.Float32frombits(binary.BigEndian.Uint32(buf[54:58]))
trainInfoChan <- &trainInfo
return gnet.None
}
// 发送道岔状态任务
func runSendTurnoutStateTask(tiFunc TurnoutInfoFunc) error {
if running {
return nil
@ -209,7 +177,8 @@ func runSendTurnoutStateTask(tiFunc TurnoutInfoFunc) error {
slice := turnoutInfoFunc()
for _, turnoutInfo := range slice {
turnoutInfo.lifeSignal = turnoutLifeSignal
err := sendTurnoutInfo(turnoutInfo)
// sendTurnoutInfo 发送道岔信息
err := sendDynamicsMsg(encoderDynamicsTurnout(turnoutInfo))
if err != nil {
zap.S().Error(err)
}
@ -219,3 +188,45 @@ func runSendTurnoutStateTask(tiFunc TurnoutInfoFunc) error {
}()
return nil
}
// 解析动力学的列车信息
func decoderDynamicsTrainInfo(buf []byte) *TrainInfo {
trainInfo := &TrainInfo{}
trainInfo.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
trainInfo.Number = buf[2]
trainInfo.Len = binary.BigEndian.Uint16(buf[3:5])
trainInfo.Link = buf[5]
trainInfo.LinkOffset = binary.BigEndian.Uint32(buf[6:10])
trainInfo.Slope = binary.BigEndian.Uint16(buf[10:12])
b := buf[12]
trainInfo.UpSlope = (b & (1 << 7)) != 0
trainInfo.Up = (b & (1 << 6)) != 0
trainInfo.TotalResistance = binary.BigEndian.Uint32(buf[14:18])
trainInfo.AirResistance = binary.BigEndian.Uint32(buf[18:22])
trainInfo.SlopeResistance = binary.BigEndian.Uint32(buf[22:26])
trainInfo.CurveResistance = binary.BigEndian.Uint32(buf[26:30])
trainInfo.Speed = math.Float32frombits(binary.BigEndian.Uint32(buf[30:34]))
trainInfo.HeadSpeed1 = math.Float32frombits(binary.BigEndian.Uint32(buf[34:38]))
trainInfo.HeadSpeed2 = math.Float32frombits(binary.BigEndian.Uint32(buf[38:42]))
trainInfo.TailSpeed1 = math.Float32frombits(binary.BigEndian.Uint32(buf[42:46]))
trainInfo.TailSpeed2 = math.Float32frombits(binary.BigEndian.Uint32(buf[46:50]))
trainInfo.HeadRadarSpeed = math.Float32frombits(binary.BigEndian.Uint32(buf[50:54]))
trainInfo.TailRadarSpeed = math.Float32frombits(binary.BigEndian.Uint32(buf[54:58]))
return trainInfo
}
// 将道岔转为动力学的消息
func encoderDynamicsTurnout(info *TurnoutInfo) []byte {
var data []byte
data = binary.BigEndian.AppendUint16(data, info.lifeSignal)
data = binary.BigEndian.AppendUint16(data, info.Code)
var b byte
if info.NPosition {
b |= 1 << 7
}
if info.RPosition {
b |= 1 << 6
}
data = append(data, b)
return data
}

2
main.go
View File

@ -10,6 +10,7 @@ import (
"joylink.club/bj-rtsts-server/docs"
"joylink.club/bj-rtsts-server/dynamics"
"joylink.club/bj-rtsts-server/middleware"
"joylink.club/bj-rtsts-server/vobc"
)
// @title CBTC测试系统API
@ -38,6 +39,7 @@ func main() {
engine.GET("/swagger/*any", ginSwagger.WrapHandler(swaggerFiles.Handler))
go dynamics.RunUdpServer()
go vobc.RunUdpServer()
serverConfig := config.Config.Server
if serverConfig.Port == 0 {

200
vobc/udp.go Normal file
View File

@ -0,0 +1,200 @@
package vobc
import (
"container/list"
"encoding/binary"
"fmt"
"math"
"net"
"sync"
"github.com/panjf2000/gnet/v2"
"go.uber.org/zap"
"joylink.club/bj-rtsts-server/config"
)
var (
running bool
mutex sync.Mutex
receiveTrainLifeSignal uint16 //接收列车消息生命信号
sendTrainLifeSignal uint16 //发送的列车消息生命信号
trainLifeSignalInit bool //列车生命信号是否初始化
limit uint16 = 10000 //用于处理生命信号循环使用产生的各种特殊处理
trainInfoChan chan *ReceiveTrainInfo = make(chan *ReceiveTrainInfo) //列车消息队列
//处理方法列表
handlerList list.List
)
func init() {
go func() {
for {
info := <-trainInfoChan
for e := handlerList.Front(); e != nil; e = e.Next() {
func() {
defer func() {
r := recover()
if r != nil {
zap.S().Errorf("列车信息处理函数报错")
}
}()
handler := e.Value.(TrainInfoHandler)
handler(info)
}()
}
}
}()
}
type TrainInfoHandler func(info *ReceiveTrainInfo)
type udpServer struct {
gnet.BuiltinEventEngine
eng gnet.Engine
addr string
multicore bool
}
// udp 启动时运行
func (server *udpServer) OnBoot(eng gnet.Engine) gnet.Action {
server.eng = eng
zap.S().Infof("vobc udp server with multi-core=%t is listening on %s", server.multicore, server.addr)
return gnet.None
}
// OnTraffic 接收到数据后的解析
func (server *udpServer) OnTraffic(c gnet.Conn) gnet.Action {
defer func() {
if r := recover(); r != nil {
zap.L().Error("vobc udp服务数据解析异常", zap.Any("panic", r))
}
}()
buf, _ := c.Next(-1)
lifeSignal := binary.BigEndian.Uint16(buf[0:2])
if !trainLifeSignalInit {
trainLifeSignalInit = true
} else if receiveTrainLifeSignal < limit {
if lifeSignal < receiveTrainLifeSignal || lifeSignal > receiveTrainLifeSignal-limit {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, receiveTrainLifeSignal)
return gnet.None
}
} else if receiveTrainLifeSignal < math.MaxUint16-10000 {
if lifeSignal < receiveTrainLifeSignal {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, receiveTrainLifeSignal)
return gnet.None
}
} else {
if lifeSignal < receiveTrainLifeSignal && lifeSignal > receiveTrainLifeSignal+10000 {
zap.S().Debugf("丢弃列车信息[%d-%d]", lifeSignal, receiveTrainLifeSignal)
return gnet.None
}
}
receiveTrainLifeSignal = lifeSignal
trainInfo := decoderVobcTrainInfo(buf)
//列车消息队列
trainInfoChan <- trainInfo
return gnet.None
}
// 注册处理vobc处理方法
func RegisterTrainInfoHandler(handler TrainInfoHandler) {
handlerList.PushBack(handler)
}
// 创建UDP服务
func RunUdpServer() {
server := &udpServer{addr: fmt.Sprintf("udp://:%d", config.Config.Vobc.LocalPort), multicore: false}
err := gnet.Run(server, server.addr, gnet.WithMulticore(server.multicore))
zap.L().Fatal("vobc udp服务启动失败", zap.Error(err))
}
// 发送列车速度到VOBC
func SendTrainSpeedTask(speed float32) error {
if running {
return nil
}
mutex.Lock()
defer mutex.Unlock()
trainInfo := &SendTrainInfo{
LifeSignal: sendTrainLifeSignal,
Speed: uint16(speed),
}
err := sendDynamicsMsg(encoderVobcTrainInfo(trainInfo))
if err != nil {
zap.S().Error(err)
}
sendTrainLifeSignal++
return err
}
// UDP停止
func Stop() {
mutex.Lock()
defer mutex.Unlock()
running = false
}
// Vobc 消息发送消息
func sendDynamicsMsg(buf []byte) error {
defer func() {
if r := recover(); r != nil {
zap.S().Error("发送列车速度信息失败", r)
}
}()
addr := fmt.Sprintf("%v:%v", config.Config.Vobc.Ip, config.Config.Vobc.RemotePort)
remoteAddr, _ := net.ResolveUDPAddr("udp", addr)
conn, err := net.DialUDP("udp", nil, remoteAddr)
if err != nil {
zap.S().Error("UDP通信失败", err)
return err
}
defer func(conn *net.UDPConn) {
err := conn.Close()
if err != nil {
zap.S().Error(err)
}
}(conn)
_, err = conn.Write(buf)
return err
}
// 解析VOBC列车信息
func decoderVobcTrainInfo(buf []byte) *ReceiveTrainInfo {
trainInfo := &ReceiveTrainInfo{}
trainInfo.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
b2 := buf[2]
trainInfo.Tc1Active = (b2 & (1 << 7)) != 0
trainInfo.Tc2Active = (b2 & (1 << 6)) != 0
trainInfo.DirectionForward = (b2 & (1 << 5)) != 0
trainInfo.DirectionBackward = (b2 & (1 << 4)) != 0
trainInfo.TractionStatus = (b2 & (1 << 3)) != 0
trainInfo.BrakingStatus = (b2 & (1 << 2)) != 0
trainInfo.EmergencyBrakingStatus = (b2 & (1 << 1)) != 0
trainInfo.TurnbackStatus = (b2 & 1) != 0
b3 := buf[3]
trainInfo.JumpStatus = (b3 & (1 << 7)) != 0
trainInfo.ATO = (b3 & (1 << 6)) != 0
trainInfo.FAM = (b3 & (1 << 5)) != 0
trainInfo.CAM = (b3 & (1 << 4)) != 0
trainInfo.TractionSafetyCircuit = (b3 & (1 << 3)) != 0
trainInfo.ParkingBrakeStatus = (b3 & (1 << 2)) != 0
trainInfo.MaintainBrakeStatus = (b3 & (1 << 1)) != 0
trainInfo.TractionForce = binary.BigEndian.Uint16(buf[4:6])
trainInfo.BrakeForce = binary.BigEndian.Uint16(buf[6:8])
trainInfo.TrainLoad = binary.BigEndian.Uint16(buf[8:10])
b4 := buf[15]
trainInfo.LeftDoorOpenCommand = (b4 & (1 << 7)) != 0
trainInfo.RightDoorOpenCommand = (b4 & (1 << 6)) != 0
trainInfo.LeftDoorCloseCommand = (b4 & (1 << 5)) != 0
trainInfo.RightDoorCloseCommand = (b4 & (1 << 4)) != 0
trainInfo.AllDoorClose = (b4 & (1 << 3)) != 0
return trainInfo
}
// 将道岔转为动力学的消息
func encoderVobcTrainInfo(info *SendTrainInfo) []byte {
var data []byte
data = binary.BigEndian.AppendUint16(data, info.LifeSignal)
data = binary.BigEndian.AppendUint16(data, info.Speed)
return data
}

65
vobc/udpData.go Normal file
View File

@ -0,0 +1,65 @@
package vobc
// 接收到的列车信息
type ReceiveTrainInfo struct {
//【0 1】两个字节
// 生命信号 每个周期+1
LifeSignal uint16
//【2】 一个字节
// TC1激活状态 1=激活
Tc1Active bool
// TC2激活状态 1=激活
Tc2Active bool
// 列车方向向前 1=方向向前
DirectionForward bool
// 列车方向向后 1=方向向后
DirectionBackward bool
// 列车牵引状态 1=牵引
TractionStatus bool
// 列车制动状态 1=制动
BrakingStatus bool
// 列车紧急制动状态 1=紧急制动
EmergencyBrakingStatus bool
// 列车折返状态（AR） 1=折返
TurnbackStatus bool
//【3】 一个字节
// 跳跃状态 1=跳跃
JumpStatus bool
// ATO模式 1=ATO模式
ATO bool
// FAM模式 1=FAM模式
FAM bool
// CAM模式 1=CAM模式
CAM bool
// 牵引安全回路 1=牵引安全切除
TractionSafetyCircuit bool
// 停放制动状态 1=停放施加
ParkingBrakeStatus bool
// 保持制动状态 1=保持制动施加
MaintainBrakeStatus bool
//【4 5】 两个字节 列车牵引力 100=1KN
TractionForce uint16
//【6 7】 列车制动力 100=1KN
BrakeForce uint16
//【8 9】 列车载荷 100=1ton
TrainLoad uint16
// 【15】 一个字节
// 列车开左门指令 1=开门
LeftDoorOpenCommand bool
// 列车开右门指令 1=开门
RightDoorOpenCommand bool
// 列车关左门指令 1=关门
LeftDoorCloseCommand bool
// 列车关右门指令 1=关门
RightDoorCloseCommand bool
// 整列车门关好 1=门关好
AllDoorClose bool
}
// 发送列车信息
type SendTrainInfo struct {
// 生命信号 每个周期+1
LifeSignal uint16
// 列车速度 10=1km/h
Speed uint16
}