【vobc udp设置】

ats/verify/simulation/simulation_manage.go

@@ -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)))

config/config.go

@@ -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
 

config/dev.yml

@@ -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:

config/test_local.yml

@@ -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:

dynamics/udp.go

@@ -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) {
+type udpServer struct {
-	handlerList.PushBack(handler)
+	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 Run(tiFunc TurnoutInfoFunc) error {
-func sendTurnoutInfo(info *TurnoutInfo) 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
+	_, err = conn.Write(buf)
-	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)
-
 	return err
 }
 
-type udpServer struct {
+// 发送道岔状态任务
-	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
-}
-
 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
+}

main.go

@@ -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 {

vobc/udp.go

@@ -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
+}

vobc/udpData.go

@@ -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
+}