列车前端操作接口，列车连接三方映射接口及ws返回列车连接状态

api/simulation.go

@@ -32,6 +32,8 @@ func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddle
 	authed.POST("/train/remove", removeTrain)
 	authed.POST("/train/remove/all", removeAllTrain)
 	authed.POST("/train/update", updateTrain)
+	authed.POST("/train/control", controlTrain)
+	authed.POST("/train/conn", trainConnThird)
 	authed.POST("/switch/operation", turnoutOperation)
 	authed.POST("/relay/operation", relayOperation)
 	authed.POST("/signal/operation", signalOperation)
@@ -282,6 +284,56 @@ func updateTrain(c *gin.Context) {
 	c.JSON(http.StatusOK, &rsp)
 }
 
+// ATS测试仿真-列车连接三方
+//
+//	@Summary		ATS测试仿真-列车连接三方
+//
+//	@Security		JwtAuth
+//
+//	@Description	ATS测试仿真-列车连接三方
+//	@Tags			ATS测试仿真Api
+//	@Accept			json
+//	@Produce		json
+//	@Param 			Authorization 	header 	string 	true 	"JWT Token"
+//	@Param			TrainConnThirdDto	body dto.TrainConnThirdDto	true "ATS测试仿真-修改列车基础信息"
+//	@Success		200	{object}	dto.AddTrainRspDto
+//	@Failure		500	{object}	dto.ErrorDto
+//	@Router			/api/v1/simulation/train/conn [post]
+func trainConnThird(c *gin.Context) {
+	req := &dto.TrainConnThirdDto{}
+	if err := c.ShouldBind(req); err != nil {
+		panic(sys_error.New("修改列车控制参数失败，请求参数异常", err))
+	}
+	simulation := checkDeviceDataAndReturn(req.SimulationId)
+	memory.TrainConnTypeUpdate(simulation, req)
+	c.JSON(http.StatusOK, "ok")
+}
+
+// ATS测试仿真-修改列车控制
+//
+//	@Summary		ATS测试仿真-修改列车控制
+//
+//	@Security		JwtAuth
+//
+//	@Description	ATS测试仿真-修改列车控制
+//	@Tags			ATS测试仿真Api
+//	@Accept			json
+//	@Produce		json
+//	@Param 			Authorization 	header 	string 	true 	"JWT Token"
+//	@Param			ControlTrainReqDtos	body dto.ControlTrainReqDtos	true "ATS测试仿真-修改列车基础信息"
+//	@Success		200	{object}	dto.AddTrainRspDto
+//	@Failure		500	{object}	dto.ErrorDto
+//	@Router			/api/v1/simulation/train/control [post]
+func controlTrain(c *gin.Context) {
+	req := &dto.ControlTrainReqDtos{}
+	if err := c.ShouldBind(req); err != nil {
+		panic(sys_error.New("修改列车控制参数失败，请求参数异常", err))
+	}
+	simulation := checkDeviceDataAndReturn(req.SimulationId)
+	memory.ControlTrainUpdate(simulation, req)
+	c.JSON(http.StatusOK, "ok")
+}
+
 // ATS测试仿真-移除所有列车
 //
 //	@Summary		ATS测试仿真-移除列车

dto/simulation.go

@@ -3,6 +3,7 @@ package dto
 import (
 	"joylink.club/bj-rtsts-server/dto/data_proto"
 	"joylink.club/bj-rtsts-server/dto/request_proto"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
 )
 
 // 创建仿真请求
@@ -142,6 +143,27 @@ type UpdateTrainReqDto struct {
 	WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"`
 }
 
+// 列车连接三方类型
+type TrainConnThirdDto struct {
+	// 仿真id
+	SimulationId string                                   `json:"simulationId" form:"simulationId"`
+	Id           string                                   `json:"id" form:"id"`             // 列车Id
+	ConnType     state_proto.TrainConnState_TrainConnType `json:"connType" form:"connType"` //连接类型 0=未连接;1=半实物;2= 车载仿真
+}
+
+// 列车控制
+type ControlTrainReqDtos struct {
+	// 仿真id
+	SimulationId string `json:"simulationId" form:"simulationId"`
+	// 列车Id
+	Id              string `json:"id" form:"id"`
+	PressingBrake   bool   `json:"pressingBrake" form:"pressingBrake"`     // 紧急制动
+	Tc1On           bool   `json:"tc1On" form:"tc1On"`                     // 驾驶室激活1
+	Tc2On           bool   `json:"tc2On" form:"tc2On"`                     // 驾驶室激活2
+	TuningDir       uint8  `json:"tuningDir" form:"tuningDir"`             // 运行方向 1=前进;2=后退;0=原地等待
+	TractionOrBrake uint8  `json:"tractionOrBrake" form:"tractionOrBrake"` // 牵引或制动 大于0是牵引，小于0是制动 整体按照整型传输(*100)，使用时除以100
+}
+
 // 为仿真添加测试车请求
 type AddTrainRspDto struct {
 	//仿真id

message_server/sfp_ms.go

@@ -409,6 +409,7 @@ func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 		TailOffset:             v.TailOffset,
 		TailDevicePort:         v.TailDevicePort,
 		BtmState:               v.BtmState,
+		ConnState:              v.ConnState,
 	}
 	convertDynamicConfig(v.TrainDynamicConfig, t.TrainDynamicConfig)
 	convertDynamicConfig(v.TrainEndsA, t.TrainEndsA)

protobuf/main/main.go

@@ -13,9 +13,9 @@ import (
 
 var (
 	basePath, _  = os.Getwd()
-	protoFolder  = filepath.Join(basePath, "bj-rtss-message", "protos")
+	protoFolder  = filepath.Join(basePath, "rts-sim-testing-message", "protos")
-	protocPath   = filepath.Join(basePath, "bj-rtss-message", "protoc-23.1", "bin", "win64", "protoc")
+	protocPath   = filepath.Join(basePath, "rts-sim-testing-message", "protoc-23.1", "bin", "win64", "protoc")
-	modulePrefix = "joylink.club/bj-rtsts-server"
+	modulePrefix = "joylink.club/rts-sim-testing-service"
 )
 
 func main() {

rts-sim-module

@@ -1 +1 @@
-Subproject commit ecb43fa7a3538004002cc8eb5d39587080a97029
+Subproject commit 88b5ea8c77c150800681a384df96ba6ae81a23f5

rts-sim-testing-message

@@ -1 +1 @@
-Subproject commit 225f92b91cd0ff0371b9fd785f91ddf05903ea8a
+Subproject commit c0f73e7b5d404e4c932711b44770b4e75ebbfe74

ts/simulation/wayside/memory/wayside_memory_train.go

@@ -71,6 +71,7 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	status.Up = up
 	status.PointTo = pointTo
 	status.TrainKilometer = kilometer.Value
+	status.ConnState = &state_proto.TrainConnState{Conn: false, ConnType: state_proto.TrainConnState_NONE}
 	status.DynamicState = &state_proto.TrainDynamicState{
 		HeadLinkId:     linkId,
 		HeadLinkOffset: loffset,
@@ -112,6 +113,62 @@ func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, conf
 	allTrainMap.Store(status.Id, status)
 	return nil
 }
+func TrainConnTypeUpdate(vs *VerifySimulation, ct *dto.TrainConnThirdDto) {
+	allTrainMap := &vs.Memory.Status.TrainStateMap
+	data, ok := allTrainMap.Load(ct.Id)
+	if !ok {
+		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.Id)))
+	}
+	train := data.(*state_proto.TrainState)
+	train.ConnState.Conn = true
+	if ct.ConnType == state_proto.TrainConnState_NONE {
+		train.ConnState.Conn = false
+	}
+	train.ConnState.ConnType = ct.ConnType
+}
+
+// 列车控制修改参数
+func ControlTrainUpdate(vs *VerifySimulation, ct *dto.ControlTrainReqDtos) {
+	allTrainMap := &vs.Memory.Status.TrainStateMap
+	data, ok := allTrainMap.Load(ct.Id)
+	if !ok {
+		panic(sys_error.New(fmt.Sprintf("列车【%s】不存在", ct.Id)))
+	}
+	sta := data.(*state_proto.TrainState)
+	sta.VobcState.Tc1Active = ct.Tc1On
+	sta.VobcState.Tc2Active = ct.Tc2On
+	sta.VobcState.EmergencyBrakingStatus = ct.PressingBrake
+	switch ct.TuningDir {
+	case 1:
+		sta.VobcState.DirectionForward = true
+		sta.VobcState.DirectionBackward = false
+		break
+	case 2:
+		sta.VobcState.DirectionForward = false
+		sta.VobcState.DirectionBackward = true
+		break
+	default:
+		sta.VobcState.DirectionForward = false
+		sta.VobcState.DirectionBackward = false
+	}
+	if ct.TractionOrBrake > 0 {
+		sta.VobcState.BrakingStatus = false
+		sta.VobcState.BrakeForce = 0
+		sta.VobcState.TractionStatus = true
+		sta.VobcState.TractionForce = int64(ct.TractionOrBrake)
+	} else if ct.TractionOrBrake < 0 {
+		sta.VobcState.TractionStatus = false
+		sta.VobcState.TractionForce = 0
+		sta.VobcState.BrakingStatus = true
+		sta.VobcState.BrakeForce = int64(ct.TractionOrBrake)
+	} else if ct.TractionOrBrake == 0 {
+		sta.VobcState.TractionStatus = false
+		sta.VobcState.TractionForce = 0
+		sta.VobcState.BrakingStatus = false
+		sta.VobcState.BrakeForce = 0
+	}
+
+}
 
 // 增加列车状态
 /*func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId int32) *state_proto.TrainState {

ts/simulation/wayside/memory/wayside_simulation.go

@@ -134,6 +134,10 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun
 // 	return s.runState
 // }
 
+func (s *VerifySimulation) GetTrainPcSimConfig() config.VehiclePCSimConfig {
+	return s.runConfig.PcSimConfig
+}
+
 // 获取仿真世界信息
 func (s *VerifySimulation) GetComIdByUid(uid string) uint32 {
 	es := s.UidMap
@@ -277,12 +281,18 @@ func (s *VerifySimulation) HandleSectionCmdMsg(city string, lineId string, centr
 // 处理动力学列车速度消息
 func (s *VerifySimulation) HandleDynamicsTrainInfo(info *message.DynamicsTrainInfo) {
 	trainId := strconv.Itoa(int(info.Number))
-	_, ok := s.Memory.Status.TrainStateMap.Load(trainId)
+	trainData, ok := s.Memory.Status.TrainStateMap.Load(trainId)
 	if !ok {
 		return
 	}
-	// 给半实物仿真发送速度
+	train := trainData.(*state_proto.TrainState)
-	semi_physical_train.Default().SendTrainControlMessage(info)
+	connType := train.ConnState
+	//列车连接并且是半实物连接  date 2024-3-15
+	if connType.Conn && connType.ConnType == state_proto.TrainConnState_VOBC {
+		// 给半实物仿真发送速度
+		semi_physical_train.Default().SendTrainControlMessage(info)
+	}
+
 	// 更新列车状态
 	trainState := UpdateTrainStateByDynamics(s, trainId, info)
 	// 更新电机转速
@@ -380,17 +390,21 @@ func (s *VerifySimulation) HandleSemiPhysicalTrainControlMsg(b []byte) {
 		if !train.Show { // 下线列车
 			return true
 		}
-		trainId, err := strconv.Atoi(train.Id)
+		connState := train.ConnState
-		if err != nil {
+		if connState.Conn == true && connState.ConnType == state_proto.TrainConnState_VOBC {
-			panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+			trainId, err := strconv.Atoi(train.Id)
+			if err != nil {
+				panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+			}
+			d := append(b, uint8(trainId))
+			// 发送给动力学
+			dynamics.Default().SendTrainControlMessage(d)
+			// 存放至列车中
+			controlMessage := &message.TrainControlMsg{}
+			controlMessage.Decode(b)
+			train.VobcState = controlMessage.ControlInfo
+			return false
 		}
-		d := append(b, uint8(trainId))
-		// 发送给动力学
-		dynamics.Default().SendTrainControlMessage(d)
-		// 存放至列车中
-		controlMessage := &message.TrainControlMsg{}
-		controlMessage.Decode(b)
-		train.VobcState = controlMessage.ControlInfo
 		return true
 	})
 }

ts/test_simulation_manage.go

@@ -4,6 +4,7 @@ import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/third_party/acc"
 	"joylink.club/bj-rtsts-server/third_party/radar"
+	"joylink.club/bj-rtsts-server/third_party/train_pc_sim"
 	"log/slog"
 	"runtime"
 	"strconv"
@@ -136,6 +137,7 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	radar.Default().Start(s)
 	//列车加速计发送vobc
 	acc.Default().Start(s)
+	train_pc_sim.Default().Start(s)
 	return nil
 }