From 8f54503ab3e3cbed02d494eeb4ca022b840e0766 Mon Sep 17 00:00:00 2001 From: tiger_zhou Date: Wed, 17 Jan 2024 15:53:14 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A8=E5=8A=9B=E5=AD=A6=E5=88=97=E8=BD=A6?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- api/simulation.go | 38 +- docs/docs.go | 46 +- docs/swagger.json | 46 +- docs/swagger.yaml | 36 +- dto/simulation.go | 43 +- dto/state_proto/device_state.pb.go | 978 +++++++++--------- third_party/message/dynamics_http.go | 13 +- .../wayside/memory/wayside_memory_train.go | 192 +++- 8 files changed, 786 insertions(+), 606 deletions(-) diff --git a/api/simulation.go b/api/simulation.go index bd540a6..43ead75 100644 --- a/api/simulation.go +++ b/api/simulation.go @@ -212,12 +212,13 @@ func configTrain(c *gin.Context) { // @Accept json // @Produce json // @Param Authorization header string true "JWT Token" -// @Param AddTrainReqDto body dto.AddTrainReqDto true "ATS测试仿真-添加列车" +// @Param AddTrainReqDto body dto.AddTrainReqDtoNew true "ATS测试仿真-添加列车" // @Success 200 {object} dto.AddTrainRspDto // @Failure 500 {object} dto.ErrorDto // @Router /api/v1/simulation/train/add [post] func addTrain(c *gin.Context) { - req := dto.AddTrainReqDto{} + //req := dto.AddTrainReqDto{} + req := dto.AddTrainReqDtoNew{} if err := c.ShouldBind(&req); err != nil { panic(sys_error.New("添加列车失败，请求参数异常", err)) } @@ -234,8 +235,39 @@ func addTrain(c *gin.Context) { RunDirection: req.RunDirection, TrainLength: req.TrainLength, WheelDiameter: req.WheelDiameter, + /*TrainDynamicConfig: &state_proto.TrainDynamicConfig{ + //int32 mass=1; + //基本阻力参数A + BaseResistanceParamA: req.ConfigTrain.BaseResistanceParamA, + // 基本阻力参数B + BaseResistanceParamB: req.ConfigTrain.BaseResistanceParamB, + // 基本阻力参数C + BaseResistanceParamC: req.ConfigTrain.BaseResistanceParamC, + //曲线阻力参数R1 + CurveResistanceParamR1: req.ConfigTrain.CurveResistanceParamR1, + // 曲线阻力参数R2 + CurveResistanceParamR2: req.ConfigTrain.CurveResistanceParamR2, + // 曲线阻力参数R3 + CurveResistanceParamR3: req.ConfigTrain.CurveResistanceParamR3, + // 曲线阻力参数R4 + CurveResistanceParamR4: req.ConfigTrain.CurveResistanceParamR4, + //旋转质量参数 + RevolvingMassParam: req.ConfigTrain.RevolvingMassParam, + //是否跳跃 + Jump: req.ConfigTrain.Jump, + //打滑（%） + Slip: req.ConfigTrain.Slip, + //前溜/后溜（mm）（正数前溜，负数后溜） + Slide: req.ConfigTrain.Slide, + //过标/欠标（mm）（正数过标，负数欠标） + StopSign: req.ConfigTrain.StopSign, + //车径 + //WheelDiameter: req.ConfigTrain.WheelDiameter, + TrainEndsA: memory.DtoTrainEndsToStateProto(req.ConfigTrain.TrainEndsA), + TrainEndsB: memory.DtoTrainEndsToStateProto(req.ConfigTrain.TrainEndsB), + },*/ } - memory.AddTrainState(simulation, rsp, req.MapId) + memory.AddTrainStateNew(simulation, rsp, req.ConfigTrain, req.MapId) c.JSON(http.StatusOK, &rsp) } diff --git a/docs/docs.go b/docs/docs.go index e5b2046..10d0644 100644 --- a/docs/docs.go +++ b/docs/docs.go @@ -4165,7 +4165,7 @@ const docTemplate = `{ "in": "body", "required": true, "schema": { - "$ref": "#/definitions/dto.AddTrainReqDto" + "$ref": "#/definitions/dto.AddTrainReqDtoNew" } } ], @@ -5003,9 +5003,17 @@ const docTemplate = `{ "PictureType_TrainData" ] }, - "dto.AddTrainReqDto": { + "dto.AddTrainReqDtoNew": { "type": "object", "properties": { + "ConfigTrain": { + "description": "列车数据配置", + "allOf": [ + { + "$ref": "#/definitions/dto.ConfigTrainData" + } + ] + }, "devicePort": { "description": "道岔端口", "type": "string" @@ -5043,7 +5051,6 @@ const docTemplate = `{ "type": "boolean" }, "wheelDiameter": { - "description": "列车轮径", "type": "integer" } } @@ -5232,7 +5239,7 @@ const docTemplate = `{ ] }, "baseResistanceParamA": { - "description": "基本阻力参数A", + "description": "Mass int32 ` + "`" + `json:\"mass\" form:\"mass\"` + "`" + ` // 列车的质量（100=1ton）", "type": "number" }, "baseResistanceParamB": { @@ -5263,14 +5270,6 @@ const docTemplate = `{ "description": "是否跳跃", "type": "boolean" }, - "length": { - "description": "列车的长度（cm）", - "type": "integer" - }, - "mass": { - "description": "列车的质量（100=1ton）", - "type": "integer" - }, "revolvingMassParam": { "description": "旋转质量参数", "type": "number" @@ -5286,10 +5285,6 @@ const docTemplate = `{ "stopSign": { "description": "过标/欠标（mm）（正数过标，负数欠标）", "type": "integer" - }, - "wheelDiameter": { - "description": "轮径（mm）", - "type": "integer" } } }, @@ -5308,12 +5303,13 @@ const docTemplate = `{ "description": "雷达是否有效", "type": "boolean" }, - "speedSensorEnable": { + "speedSensorEnableA": { "description": "2端速度传感器是否有效", - "type": "array", - "items": { - "type": "boolean" - } + "type": "boolean" + }, + "speedSensorEnableB": { + "description": "2端速度传感器是否有效", + "type": "boolean" } } }, @@ -5327,8 +5323,16 @@ const docTemplate = `{ "configData": { "$ref": "#/definitions/dto.ConfigTrainData" }, + "length": { + "description": "列车的长度（cm）", + "type": "integer" + }, "simulationId": { "type": "string" + }, + "wheelDiameter": { + "description": "轮径（mm）", + "type": "integer" } } }, diff --git a/docs/swagger.json b/docs/swagger.json index 157665f..ac0a61b 100644 --- a/docs/swagger.json +++ b/docs/swagger.json @@ -4159,7 +4159,7 @@ "in": "body", "required": true, "schema": { - "$ref": "#/definitions/dto.AddTrainReqDto" + "$ref": "#/definitions/dto.AddTrainReqDtoNew" } } ], @@ -4997,9 +4997,17 @@ "PictureType_TrainData" ] }, - "dto.AddTrainReqDto": { + "dto.AddTrainReqDtoNew": { "type": "object", "properties": { + "ConfigTrain": { + "description": "列车数据配置", + "allOf": [ + { + "$ref": "#/definitions/dto.ConfigTrainData" + } + ] + }, "devicePort": { "description": "道岔端口", "type": "string" @@ -5037,7 +5045,6 @@ "type": "boolean" }, "wheelDiameter": { - "description": "列车轮径", "type": "integer" } } @@ -5226,7 +5233,7 @@ ] }, "baseResistanceParamA": { - "description": "基本阻力参数A", + "description": "Mass int32 `json:\"mass\" form:\"mass\"` // 列车的质量（100=1ton）", "type": "number" }, "baseResistanceParamB": { @@ -5257,14 +5264,6 @@ "description": "是否跳跃", "type": "boolean" }, - "length": { - "description": "列车的长度（cm）", - "type": "integer" - }, - "mass": { - "description": "列车的质量（100=1ton）", - "type": "integer" - }, "revolvingMassParam": { "description": "旋转质量参数", "type": "number" @@ -5280,10 +5279,6 @@ "stopSign": { "description": "过标/欠标（mm）（正数过标，负数欠标）", "type": "integer" - }, - "wheelDiameter": { - "description": "轮径（mm）", - "type": "integer" } } }, @@ -5302,12 +5297,13 @@ "description": "雷达是否有效", "type": "boolean" }, - "speedSensorEnable": { + "speedSensorEnableA": { "description": "2端速度传感器是否有效", - "type": "array", - "items": { - "type": "boolean" - } + "type": "boolean" + }, + "speedSensorEnableB": { + "description": "2端速度传感器是否有效", + "type": "boolean" } } }, @@ -5321,8 +5317,16 @@ "configData": { "$ref": "#/definitions/dto.ConfigTrainData" }, + "length": { + "description": "列车的长度（cm）", + "type": "integer" + }, "simulationId": { "type": "string" + }, + "wheelDiameter": { + "description": "轮径（mm）", + "type": "integer" } } }, diff --git a/docs/swagger.yaml b/docs/swagger.yaml index 0b62acd..b1ed642 100644 --- a/docs/swagger.yaml +++ b/docs/swagger.yaml @@ -35,8 +35,12 @@ definitions: - PictureType_RelayCabinetLayout - PictureType_IBP - PictureType_TrainData - dto.AddTrainReqDto: + dto.AddTrainReqDtoNew: properties: + ConfigTrain: + allOf: + - $ref: '#/definitions/dto.ConfigTrainData' + description: 列车数据配置 devicePort: description: 道岔端口 type: string @@ -65,7 +69,6 @@ definitions: description: 列车方向,true-上行，false-下行 type: boolean wheelDiameter: - description: 列车轮径 type: integer type: object dto.AddTrainRspDto: @@ -189,7 +192,8 @@ definitions: - $ref: '#/definitions/dto.ConfigTrainEnds' description: 车辆B端 baseResistanceParamA: - description: 基本阻力参数A + description: Mass int32 `json:"mass" form:"mass"` // + 列车的质量（100=1ton） type: number baseResistanceParamB: description: 基本阻力参数B @@ -212,12 +216,6 @@ definitions: jump: description: 是否跳跃 type: boolean - length: - description: 列车的长度（cm） - type: integer - mass: - description: 列车的质量（100=1ton） - type: integer revolvingMassParam: description: 旋转质量参数 type: number @@ -230,9 +228,6 @@ definitions: stopSign: description: 过标/欠标（mm）（正数过标，负数欠标） type: integer - wheelDiameter: - description: 轮径（mm） - type: integer type: object dto.ConfigTrainEnds: properties: @@ -245,11 +240,12 @@ definitions: radarEnable: description: 雷达是否有效 type: boolean - speedSensorEnable: + speedSensorEnableA: description: 2端速度传感器是否有效 - items: - type: boolean - type: array + type: boolean + speedSensorEnableB: + description: 2端速度传感器是否有效 + type: boolean type: object dto.ConfigTrainReqDto: properties: @@ -258,8 +254,14 @@ definitions: type: integer configData: $ref: '#/definitions/dto.ConfigTrainData' + length: + description: 列车的长度（cm） + type: integer simulationId: type: string + wheelDiameter: + description: 轮径（mm） + type: integer type: object dto.ErrorDto: properties: @@ -3607,7 +3609,7 @@ paths: name: AddTrainReqDto required: true schema: - $ref: '#/definitions/dto.AddTrainReqDto' + $ref: '#/definitions/dto.AddTrainReqDtoNew' produces: - application/json responses: diff --git a/dto/simulation.go b/dto/simulation.go index 1ce4b93..15ad968 100644 --- a/dto/simulation.go +++ b/dto/simulation.go @@ -55,24 +55,48 @@ type AddTrainReqDto struct { // 列车轮径 WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"` } +type AddTrainReqDtoNew struct { + //仿真id + SimulationId string `json:"simulationId" form:"simulationId"` + //列车方向,true-上行，false-下行 + RunDirection bool `json:"up" form:"up"` + //车头所在link的索引 + HeadLinkId string `json:"headLinkId" form:"headLinkId"` + //车头所在link内的偏移量，单位为mm + HeadLinkOffset int64 `json:"headLinkOffset" form:"headLinkOffset"` + //物理区段、道岔ID + Id uint32 `json:"id" form:"id"` + //道岔端口 + DevicePort string `json:"devicePort" form:"devicePort"` + //车头所在link内的偏移量，单位为mm + HeadOffset int64 `json:"headOffset" form:"headOffset"` + //列车长度 + TrainLength int64 `json:"trainLength" from:"trainLength"` + // 场景ID + MapId int32 `json:"mapId" from:"mapId"` + WheelDiameter int32 `json:"wheelDiameter" from:"wheelDiameter"` + // 列车数据配置 + ConfigTrain ConfigTrainData `json:"ConfigTrain" from:"mapId"` +} // 为反正列车修改对应的测试配置 type ConfigTrainReqDto struct { SimulationId string `json:"simulationId" form:"simulationId"` // 列车Id - TrainId int `json:"TrainId" form:"TrainId"` - ConfigData ConfigTrainData + TrainId int `json:"TrainId" form:"TrainId"` + Length int64 `json:"length"` // 列车的长度（cm） + ConfigData ConfigTrainData + WheelDiameter int32 `json:"wheelDiameter"` // 轮径（mm） } type ConfigTrainEnds struct { - SpeedSensorEnable []bool `json:"speedSensorEnable"` // 2端速度传感器是否有效 - RadarEnable bool `json:"radarEnable"` // 雷达是否有效 - RadarCheckSpeed float32 `json:"radarCheckSpeed"` // 雷达测速数值 - RadarCheckTime int32 `json:"radarCheckTime"` // 雷达检测时间(秒) + SpeedSensorEnableA bool `json:"speedSensorEnableA"` // 2端速度传感器是否有效 + SpeedSensorEnableB bool `json:"speedSensorEnableB"` // 2端速度传感器是否有效 + RadarEnable bool `json:"radarEnable"` // 雷达是否有效 + RadarCheckSpeed float32 `json:"radarCheckSpeed"` // 雷达测速数值 + RadarCheckTime int32 `json:"radarCheckTime"` // 雷达检测时间(秒) } type ConfigTrainData struct { - // - Mass int32 `json:"mass" form:"mass"` // 列车的质量（100=1ton） - Length int64 `json:"length"` // 列车的长度（cm） + //Mass int32 `json:"mass" form:"mass"` // 列车的质量（100=1ton） BaseResistanceParamA float32 `json:"baseResistanceParamA"` // 基本阻力参数A BaseResistanceParamB float32 `json:"baseResistanceParamB"` // 基本阻力参数B BaseResistanceParamC float32 `json:"baseResistanceParamC"` // 基本阻力参数C @@ -85,7 +109,6 @@ type ConfigTrainData struct { 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） - WheelDiameter int32 `json:"wheelDiameter"` // 轮径（mm） TrainEndsA ConfigTrainEnds `json:"TrainEndsA"` // 车辆A端 TrainEndsB ConfigTrainEnds `json:"TrainEndsB"` // 车辆B端 } diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go index b03a05d..4dd9087 100644 --- a/dto/state_proto/device_state.pb.go +++ b/dto/state_proto/device_state.pb.go @@ -781,6 +781,8 @@ type TrainState struct { ControlDelayTime int64 `protobuf:"varint,15,opt,name=controlDelayTime,proto3" json:"controlDelayTime,omitempty"` // 列车轮径 WheelDiameter int32 `protobuf:"varint,16,opt,name=wheelDiameter,proto3" json:"wheelDiameter,omitempty"` + // 列车动力学配置 + TrainDynamicConfig *TrainDynamicConfig `protobuf:"bytes,17,opt,name=trainDynamicConfig,proto3" json:"trainDynamicConfig,omitempty"` } func (x *TrainState) Reset() { @@ -927,6 +929,13 @@ func (x *TrainState) GetWheelDiameter() int32 { return 0 } +func (x *TrainState) GetTrainDynamicConfig() *TrainDynamicConfig { + if x != nil { + return x.TrainDynamicConfig + } + return nil +} + // 动力学列车状态 type TrainDynamicState struct { state protoimpl.MessageState @@ -977,8 +986,7 @@ type TrainDynamicState struct { // 通讯中断 UdpInterruption bool `protobuf:"varint,21,opt,name=udpInterruption,proto3" json:"udpInterruption,omitempty"` // 加速 - Acceleration float32 `protobuf:"fixed32,22,opt,name=acceleration,proto3" json:"acceleration,omitempty"` - TrainDynamicConfig *TrainDynamicConfig `protobuf:"bytes,23,opt,name=trainDynamicConfig,proto3" json:"trainDynamicConfig,omitempty"` + Acceleration float32 `protobuf:"fixed32,22,opt,name=acceleration,proto3" json:"acceleration,omitempty"` } func (x *TrainDynamicState) Reset() { @@ -1167,13 +1175,6 @@ func (x *TrainDynamicState) GetAcceleration() float32 { return 0 } -func (x *TrainDynamicState) GetTrainDynamicConfig() *TrainDynamicConfig { - if x != nil { - return x.TrainDynamicConfig - } - return nil -} - // 动力学列车配置 type TrainDynamicConfig struct { state protoimpl.MessageState @@ -1181,35 +1182,37 @@ type TrainDynamicConfig struct { unknownFields protoimpl.UnknownFields // 列车的质量（100=1ton） - Mass int32 `protobuf:"varint,1,opt,name=mass,proto3" json:"mass,omitempty"` + // + // int32 mass=1; + // // 基本阻力参数A - BaseResistanceParamA float32 `protobuf:"fixed32,2,opt,name=baseResistanceParamA,proto3" json:"baseResistanceParamA,omitempty"` + BaseResistanceParamA float32 `protobuf:"fixed32,1,opt,name=baseResistanceParamA,proto3" json:"baseResistanceParamA,omitempty"` // 基本阻力参数B - BaseResistanceParamB float32 `protobuf:"fixed32,3,opt,name=baseResistanceParamB,proto3" json:"baseResistanceParamB,omitempty"` + BaseResistanceParamB float32 `protobuf:"fixed32,2,opt,name=baseResistanceParamB,proto3" json:"baseResistanceParamB,omitempty"` // 基本阻力参数C - BaseResistanceParamC float32 `protobuf:"fixed32,4,opt,name=baseResistanceParamC,proto3" json:"baseResistanceParamC,omitempty"` + BaseResistanceParamC float32 `protobuf:"fixed32,3,opt,name=baseResistanceParamC,proto3" json:"baseResistanceParamC,omitempty"` // 曲线阻力参数R1 - CurveResistanceParamR1 float32 `protobuf:"fixed32,5,opt,name=curveResistanceParamR1,proto3" json:"curveResistanceParamR1,omitempty"` + CurveResistanceParamR1 float32 `protobuf:"fixed32,4,opt,name=curveResistanceParamR1,proto3" json:"curveResistanceParamR1,omitempty"` // 曲线阻力参数R2 - CurveResistanceParamR2 float32 `protobuf:"fixed32,6,opt,name=curveResistanceParamR2,proto3" json:"curveResistanceParamR2,omitempty"` + CurveResistanceParamR2 float32 `protobuf:"fixed32,5,opt,name=curveResistanceParamR2,proto3" json:"curveResistanceParamR2,omitempty"` // 曲线阻力参数R3 - CurveResistanceParamR3 float32 `protobuf:"fixed32,7,opt,name=curveResistanceParamR3,proto3" json:"curveResistanceParamR3,omitempty"` + CurveResistanceParamR3 float32 `protobuf:"fixed32,6,opt,name=curveResistanceParamR3,proto3" json:"curveResistanceParamR3,omitempty"` // 曲线阻力参数R4 - CurveResistanceParamR4 float32 `protobuf:"fixed32,8,opt,name=curveResistanceParamR4,proto3" json:"curveResistanceParamR4,omitempty"` + CurveResistanceParamR4 float32 `protobuf:"fixed32,7,opt,name=curveResistanceParamR4,proto3" json:"curveResistanceParamR4,omitempty"` // 旋转质量参数 - RevolvingMassParam float32 `protobuf:"fixed32,9,opt,name=revolvingMassParam,proto3" json:"revolvingMassParam,omitempty"` + RevolvingMassParam float32 `protobuf:"fixed32,8,opt,name=revolvingMassParam,proto3" json:"revolvingMassParam,omitempty"` // 是否跳跃 - Jump bool `protobuf:"varint,10,opt,name=jump,proto3" json:"jump,omitempty"` + Jump bool `protobuf:"varint,9,opt,name=jump,proto3" json:"jump,omitempty"` // 打滑（%） - Slip float32 `protobuf:"fixed32,11,opt,name=slip,proto3" json:"slip,omitempty"` + Slip float32 `protobuf:"fixed32,10,opt,name=slip,proto3" json:"slip,omitempty"` // 前溜/后溜（mm）（正数前溜，负数后溜） - Slide int32 `protobuf:"varint,12,opt,name=slide,proto3" json:"slide,omitempty"` + Slide int32 `protobuf:"varint,11,opt,name=slide,proto3" json:"slide,omitempty"` // 过标/欠标（mm）（正数过标，负数欠标） - StopSign int32 `protobuf:"varint,13,opt,name=stopSign,proto3" json:"stopSign,omitempty"` + StopSign int32 `protobuf:"varint,12,opt,name=stopSign,proto3" json:"stopSign,omitempty"` // 列车A端 - TrainEndsA *TrainEndsState `protobuf:"bytes,14,opt,name=trainEndsA,proto3" json:"trainEndsA,omitempty"` + TrainEndsA *TrainEndsState `protobuf:"bytes,13,opt,name=trainEndsA,proto3" json:"trainEndsA,omitempty"` // 列车B端 - TrainEndsB *TrainEndsState `protobuf:"bytes,15,opt,name=trainEndsB,proto3" json:"trainEndsB,omitempty"` + TrainEndsB *TrainEndsState `protobuf:"bytes,14,opt,name=trainEndsB,proto3" json:"trainEndsB,omitempty"` } func (x *TrainDynamicConfig) Reset() { @@ -1244,13 +1247,6 @@ func (*TrainDynamicConfig) Descriptor() ([]byte, []int) { return file_device_state_proto_rawDescGZIP(), []int{9} } -func (x *TrainDynamicConfig) GetMass() int32 { - if x != nil { - return x.Mass - } - return 0 -} - func (x *TrainDynamicConfig) GetBaseResistanceParamA() float32 { if x != nil { return x.BaseResistanceParamA @@ -1356,13 +1352,14 @@ type TrainEndsState struct { unknownFields protoimpl.UnknownFields // 速度传感器 - SpeedSensorEnable []bool `protobuf:"varint,1,rep,packed,name=speedSensorEnable,proto3" json:"speedSensorEnable,omitempty"` + SpeedSensorEnableA bool `protobuf:"varint,1,opt,name=speedSensorEnableA,proto3" json:"speedSensorEnableA,omitempty"` + SpeedSensorEnableB bool `protobuf:"varint,2,opt,name=speedSensorEnableB,proto3" json:"speedSensorEnableB,omitempty"` // 雷达是否有效 - RadarEnable bool `protobuf:"varint,2,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"` + RadarEnable bool `protobuf:"varint,3,opt,name=radarEnable,proto3" json:"radarEnable,omitempty"` // 雷达测速数值 - RadarCheckSpeed float32 `protobuf:"fixed32,3,opt,name=radarCheckSpeed,proto3" json:"radarCheckSpeed,omitempty"` + RadarCheckSpeed float32 `protobuf:"fixed32,4,opt,name=radarCheckSpeed,proto3" json:"radarCheckSpeed,omitempty"` // 雷达检测时间(秒) - RadarCheckTime int32 `protobuf:"varint,4,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"` + RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"` } func (x *TrainEndsState) Reset() { @@ -1397,11 +1394,18 @@ func (*TrainEndsState) Descriptor() ([]byte, []int) { return file_device_state_proto_rawDescGZIP(), []int{10} } -func (x *TrainEndsState) GetSpeedSensorEnable() []bool { +func (x *TrainEndsState) GetSpeedSensorEnableA() bool { if x != nil { - return x.SpeedSensorEnable + return x.SpeedSensorEnableA } - return nil + return false +} + +func (x *TrainEndsState) GetSpeedSensorEnableB() bool { + if x != nil { + return x.SpeedSensorEnableB + } + return false } func (x *TrainEndsState) GetRadarEnable() bool { @@ -3269,7 +3273,7 @@ var file_device_state_proto_rawDesc = []byte{ 0x53, 0x74, 0x61, 0x74, 0x65, 0x52, 0x09, 0x6d, 0x6b, 0x78, 0x4a, 0x53, 0x74, 0x61, 0x74, 0x65, 0x22, 0x1e, 0x0a, 0x0c, 0x53, 0x74, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0d, 0x52, 0x02, 0x69, 0x64, - 0x22, 0xad, 0x04, 0x0a, 0x0a, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, + 0x22, 0xf8, 0x04, 0x0a, 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0x72, 0x76, 0x65, 0x72, + 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x73, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, + 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33, } var ( @@ -3812,7 +3818,7 @@ var file_device_state_proto_depIdxs = []int32{ 23, // 2: state.PlatformState.mkxJState:type_name -> state.MkxJState 11, // 3: state.TrainState.dynamicState:type_name -> state.TrainDynamicState 14, // 4: state.TrainState.vobcState:type_name -> state.TrainVobcState - 12, // 5: state.TrainDynamicState.trainDynamicConfig:type_name -> state.TrainDynamicConfig + 12, // 5: state.TrainState.trainDynamicConfig:type_name -> state.TrainDynamicConfig 13, // 6: state.TrainDynamicConfig.trainEndsA:type_name -> state.TrainEndsState 13, // 7: state.TrainDynamicConfig.trainEndsB:type_name -> state.TrainEndsState 21, // 8: state.PsdState.asdStates:type_name -> state.AsdState diff --git a/third_party/message/dynamics_http.go b/third_party/message/dynamics_http.go index 35cd0c0..78ac002 100644 --- a/third_party/message/dynamics_http.go +++ b/third_party/message/dynamics_http.go @@ -5,9 +5,10 @@ type InitTrainInfo struct { LinkIndex uint16 `json:"linkIndex"` LinkOffset uint32 `json:"linkOffset"` //单位0.1km/h - Speed uint16 `json:"speed"` - Up bool `json:"up"` - TrainLength uint32 `json:"trainLength"` + Speed uint16 `json:"speed"` + Up bool `json:"up"` + //TrainLength uint32 `json:"trainLength"` + TrainOperationConfig *TrainOperationConfig `json:"TrainOperationConfig"` } // 移除列车请求参数 @@ -51,8 +52,8 @@ type Curve struct { Curvature int32 `json:"curvature"` } type TrainOperationConfig struct { - TrainIndex int `json:"trainIndex"` - Mass int `json:"mass" form:"mass"` //列车的质量（100=1ton） + TrainIndex int `json:"trainIndex"` + //Mass int `json:"mass" form:"mass"` //列车的质量（100=1ton） Length int `json:"列车的长度（cm）"` BaseResistanceParamA float32 `json:"基本阻力参数A"` BaseResistanceParamB float32 `json:"基本阻力参数B"` @@ -66,7 +67,7 @@ type TrainOperationConfig struct { Slip float32 `json:"打滑（%）"` Slide int `json:"前溜/后溜（mm）（正数前溜，负数后溜）"` StopSign int `json:"过标/欠标（mm）（正数过标，负数欠标）"` - WheelDiameter int `json:"轮径（mm）"` + //WheelDiameter int `json:"轮径（mm）"` //RadarSpeed float32 `json:"雷达速度差值（m/s）"` //RadarDuration int `json:"雷达速度差值持续时间（ms）"` //RadarIsValid bool `json:"雷达是否失效"` diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go index ce1e350..020418e 100644 --- a/ts/simulation/wayside/memory/wayside_memory_train.go +++ b/ts/simulation/wayside/memory/wayside_memory_train.go @@ -19,8 +19,105 @@ import ( "joylink.club/bj-rtsts-server/dto/state_proto" ) +func DtoTrainEndsToStateProto(ends dto.ConfigTrainEnds) *state_proto.TrainEndsState { + return &state_proto.TrainEndsState{SpeedSensorEnableA: ends.SpeedSensorEnableA, SpeedSensorEnableB: ends.SpeedSensorEnableB, + RadarEnable: ends.RadarEnable, RadarCheckSpeed: ends.RadarCheckSpeed, RadarCheckTime: ends.RadarCheckTime} +} +func CreateMsgTrainConfig(trainId int, trainLen int64, configTrainData dto.ConfigTrainData) *message.TrainOperationConfig { + return &message.TrainOperationConfig{TrainIndex: trainId, Length: int(trainLen), + BaseResistanceParamA: configTrainData.BaseResistanceParamA, BaseResistanceParamB: configTrainData.BaseResistanceParamB, + BaseResistanceParamC: configTrainData.BaseResistanceParamC, 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), + StopSign: int(configTrainData.StopSign)} +} + // 增加列车状态 -func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId int32) *state_proto.TrainState { +func AddTrainStateNew(vs *VerifySimulation, status *state_proto.TrainState, configTrainData dto.ConfigTrainData, mapId int32) *state_proto.TrainState { + allTrainMap := &vs.Memory.Status.TrainStateMap + _, ok := allTrainMap.Load(status.Id) + if ok { + panic(fmt.Sprintf("列车【%s】已存在", status.Id)) + } + // 显示状态 + status.Show = true + //向动力学发送初始化请求 + trainIndex, _ := strconv.ParseUint(status.Id, 10, 16) + slog.Debug("添加列车", "trainIndex", trainIndex, "HeadDeviceId", status.HeadDeviceId, "HeadOffset", status.HeadOffset) + // 映射link、偏移量、运行方向 + var uid string + if status.DevicePort == "" { + uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Section{}) + } else { + uid = QueryUidByMidAndComId(mapId, status.HeadDeviceId, &data_proto.Turnout{}) + } + // 车头所在link、link上的偏移 + linkId, loffset := QueryLinkAndOffsetByDevice(vs.Repo, uid, status.DevicePort, status.HeadOffset) + // link上的运行方向、设备上的运行方向 + up, pointTo := QueryUpAndABByDevice(vs.Repo, uid, status.DevicePort, status.RunDirection) + // 车头所在公里标 + kilometer := CalcTrainKilometer(vs.Repo, uid, status.DevicePort, status.RunDirection, status.HeadOffset) + // 车尾相对车头link的偏移量 + calctailOffset := calcTrailTailOffset(loffset, status.TrainLength, up) + // 车尾位置 + tailLink, _, _, tailLOffset, _, _, e1 := CalcInitializeLink(vs, linkId, calctailOffset, up) + if e1 != nil { + panic(sys_error.New("添加列车失败,列车车尾占用位置计算出错", e1)) + } + status.Up = up + status.PointTo = pointTo + status.TrainKilometer = kilometer.Value + status.DynamicState = &state_proto.TrainDynamicState{ + HeadLinkId: linkId, + HeadLinkOffset: loffset, + TailLinkId: tailLink, + TailLinkOffset: tailLOffset, + RunningUp: up, + } + /* status.TrainDynamicConfig = &state_proto.TrainDynamicConfig{ + BaseResistanceParamA: configTrainData.BaseResistanceParamA, BaseResistanceParamB: configTrainData.BaseResistanceParamB, + BaseResistanceParamC: configTrainData.BaseResistanceParamC, CurveResistanceParamR1: configTrainData.CurveResistanceParamR1, + CurveResistanceParamR2: configTrainData.CurveResistanceParamR2, CurveResistanceParamR3: configTrainData.CurveResistanceParamR3, + CurveResistanceParamR4: configTrainData.CurveResistanceParamR4, RevolvingMassParam: configTrainData.RevolvingMassParam, + Jump: configTrainData.Jump, Slip: configTrainData.Slip, + Slide: configTrainData.Slide, StopSign: configTrainData.StopSign, + TrainEndsA: DtoTrainEndsToStateProto(configTrainData.TrainEndsA), + TrainEndsB: DtoTrainEndsToStateProto(configTrainData.TrainEndsB)}*/ + //初始化列车参数状态 + createOrUpdateStateDynamicConfig(status, configTrainData) + status.VobcState = &state_proto.TrainVobcState{} + slog.Debug("列车初始化", "trainIndex", trainIndex, "linkId", linkId, "loffset", loffset) + linkIdInt, _ := strconv.Atoi(linkId) + err := dynamics.Default().RequestAddTrain(&message.InitTrainInfo{ + TrainIndex: uint16(trainIndex), + LinkIndex: uint16(linkIdInt), + LinkOffset: uint32(loffset), + Speed: uint16(math.Round(float64(status.Speed * 10))), + Up: status.Up, + TrainOperationConfig: CreateMsgTrainConfig(int(trainIndex), status.TrainLength, configTrainData), + }) + if err != nil { + panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()}) + } + // world中加车 + fi.AddTrainToWorld(vs.World, status.Id) + fi.UpdateTrainPositionFromDynamics(vs.World, fi.TrainPositionInfo{ + TrainId: status.Id, + Up: status.Up, + Len: uint32(status.TrainLength), + HeadLink: linkId, + HeadLinkOffset: uint32(loffset), + TailLink: tailLink, + TailLinkOffset: uint32(tailLOffset), + }) + // 将信息合并到当前设备状态中 + allTrainMap.Store(status.Id, status) + return status +} + +// 增加列车状态 +/*func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId int32) *state_proto.TrainState { allTrainMap := &vs.Memory.Status.TrainStateMap _, ok := allTrainMap.Load(status.Id) if ok { @@ -89,8 +186,40 @@ func AddTrainState(vs *VerifySimulation, status *state_proto.TrainState, mapId i // 将信息合并到当前设备状态中 allTrainMap.Store(status.Id, status) return status +}*/ + +func createOrUpdateStateDynamicConfig(trainState *state_proto.TrainState, configTrainData dto.ConfigTrainData) { + if trainState.TrainDynamicConfig == nil { + trainState.TrainDynamicConfig = &state_proto.TrainDynamicConfig{} + } + trainState.TrainDynamicConfig.BaseResistanceParamA = configTrainData.BaseResistanceParamA + trainState.TrainDynamicConfig.BaseResistanceParamB = configTrainData.BaseResistanceParamB + trainState.TrainDynamicConfig.BaseResistanceParamC = configTrainData.BaseResistanceParamC + trainState.TrainDynamicConfig.CurveResistanceParamR1 = configTrainData.CurveResistanceParamR1 + trainState.TrainDynamicConfig.CurveResistanceParamR2 = configTrainData.CurveResistanceParamR2 + trainState.TrainDynamicConfig.CurveResistanceParamR3 = configTrainData.CurveResistanceParamR3 + trainState.TrainDynamicConfig.CurveResistanceParamR4 = configTrainData.CurveResistanceParamR4 + trainState.TrainDynamicConfig.Jump = configTrainData.Jump + trainState.TrainDynamicConfig.Slip = configTrainData.Slip + trainState.TrainDynamicConfig.Slide = configTrainData.Slide + trainState.TrainDynamicConfig.StopSign = configTrainData.StopSign + copyTrainEnds(trainState.TrainDynamicConfig, "TrainEndsA", configTrainData.TrainEndsA) + copyTrainEnds(trainState.TrainDynamicConfig, "TrainEndsB", configTrainData.TrainEndsB) } +func copyTrainEnds(trainState *state_proto.TrainDynamicConfig, fieldName string, configData dto.ConfigTrainEnds) { + fieldVal := reflect.ValueOf(trainState).Elem().FieldByName(fieldName) + endsVal := fieldVal.Interface().(*state_proto.TrainEndsState) + if endsVal == nil { + endsVal = &state_proto.TrainEndsState{} + fieldVal.Set(reflect.ValueOf(endsVal)) + } + endsVal.SpeedSensorEnableA = configData.SpeedSensorEnableA + endsVal.SpeedSensorEnableA = configData.SpeedSensorEnableB + endsVal.RadarEnable = configData.RadarEnable + endsVal.RadarCheckSpeed = configData.RadarCheckSpeed + endsVal.RadarCheckTime = configData.RadarCheckTime +} func UpdateConfigTrain(vs *VerifySimulation, ct *dto.ConfigTrainReqDto) { allTrainMap := &vs.Memory.Status.TrainStateMap data, ok := allTrainMap.Load(strconv.Itoa(ct.TrainId)) @@ -101,52 +230,31 @@ func UpdateConfigTrain(vs *VerifySimulation, ct *dto.ConfigTrainReqDto) { if !ok { panic(sys_error.New(fmt.Sprintf("列车参数修改断言:列车【%s】不存在", ct.TrainId))) } - if trainState.DynamicState.TrainDynamicConfig == nil { - trainState.DynamicState.TrainDynamicConfig = &state_proto.TrainDynamicConfig{} - } - trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamA = ct.ConfigData.BaseResistanceParamA - trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamB = ct.ConfigData.BaseResistanceParamB - trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamC = ct.ConfigData.BaseResistanceParamC - trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR1 = ct.ConfigData.CurveResistanceParamR1 - trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR2 = ct.ConfigData.CurveResistanceParamR2 - trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR3 = ct.ConfigData.CurveResistanceParamR3 - trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR4 = ct.ConfigData.CurveResistanceParamR4 - trainState.TrainLength = ct.ConfigData.Length - trainState.DynamicState.TrainDynamicConfig.Mass = ct.ConfigData.Mass - trainState.DynamicState.TrainDynamicConfig.Jump = ct.ConfigData.Jump - trainState.DynamicState.TrainDynamicConfig.Slip = ct.ConfigData.Slip - trainState.DynamicState.TrainDynamicConfig.Slide = ct.ConfigData.Slide - trainState.DynamicState.TrainDynamicConfig.StopSign = ct.ConfigData.StopSign + createOrUpdateStateDynamicConfig(trainState, ct.ConfigData) + /* if trainState.TrainDynamicConfig == nil { + trainState.TrainDynamicConfig = &state_proto.TrainDynamicConfig{} + }*/ + /*trainState.TrainDynamicConfig.BaseResistanceParamA = ct.ConfigData.BaseResistanceParamA + trainState.TrainDynamicConfig.BaseResistanceParamB = ct.ConfigData.BaseResistanceParamB + trainState.TrainDynamicConfig.BaseResistanceParamC = ct.ConfigData.BaseResistanceParamC + trainState.TrainDynamicConfig.CurveResistanceParamR1 = ct.ConfigData.CurveResistanceParamR1 + trainState.TrainDynamicConfig.CurveResistanceParamR2 = ct.ConfigData.CurveResistanceParamR2 + trainState.TrainDynamicConfig.CurveResistanceParamR3 = ct.ConfigData.CurveResistanceParamR3 + trainState.TrainDynamicConfig.CurveResistanceParamR4 = ct.ConfigData.CurveResistanceParamR4 + trainState.TrainDynamicConfig.Jump = ct.ConfigData.Jump + trainState.TrainDynamicConfig.Slip = ct.ConfigData.Slip + trainState.TrainDynamicConfig.Slide = ct.ConfigData.Slide + trainState.TrainDynamicConfig.StopSign = ct.ConfigData.StopSign*/ + trainState.TrainLength = ct.Length - trainState.WheelDiameter = ct.ConfigData.WheelDiameter - copyTrainEnds(trainState.DynamicState.TrainDynamicConfig, "TrainEndsA", ct.ConfigData.TrainEndsA) - copyTrainEnds(trainState.DynamicState.TrainDynamicConfig, "TrainEndsB", ct.ConfigData.TrainEndsB) + trainState.WheelDiameter = ct.WheelDiameter + //copyTrainEnds(trainState.TrainDynamicConfig, "TrainEndsA", ct.ConfigData.TrainEndsA) + //copyTrainEnds(trainState.TrainDynamicConfig, "TrainEndsB", ct.ConfigData.TrainEndsB) //requestDynamicConfig(ct) } -func copyTrainEnds(trainState *state_proto.TrainDynamicConfig, fieldName string, configData dto.ConfigTrainEnds) { - fieldVal := reflect.ValueOf(trainState).Elem().FieldByName(fieldName) - endsVal := fieldVal.Interface().(*state_proto.TrainEndsState) - if endsVal == nil { - endsVal = &state_proto.TrainEndsState{} - fieldVal.Set(reflect.ValueOf(endsVal)) - //endsVal := fieldVal.Interface().(*state_proto.TrainEndsState) - } - endsVal.SpeedSensorEnable = configData.SpeedSensorEnable - endsVal.RadarEnable = configData.RadarEnable - endsVal.RadarCheckSpeed = configData.RadarCheckSpeed - endsVal.RadarCheckTime = configData.RadarCheckTime -} - func requestDynamicConfig(ct *dto.ConfigTrainReqDto) { - cd := ct.ConfigData - msg := &message.TrainOperationConfig{TrainIndex: ct.TrainId, Mass: int(cd.Mass), Length: int(cd.Length), - BaseResistanceParamA: cd.BaseResistanceParamA, BaseResistanceParamB: cd.BaseResistanceParamB, - BaseResistanceParamC: cd.BaseResistanceParamC, CurveResistanceParamR1: cd.CurveResistanceParamR1, - CurveResistanceParamR2: cd.CurveResistanceParamR2, CurveResistanceParamR3: cd.CurveResistanceParamR3, - CurveResistanceParamR4: cd.CurveResistanceParamR4, RevolvingMassParam: cd.RevolvingMassParam, - Jump: cd.Jump, Slip: cd.Slip, Slide: int(cd.Slide), - StopSign: int(cd.StopSign), WheelDiameter: int(cd.WheelDiameter)} + msg := CreateMsgTrainConfig(ct.TrainId, ct.Length, ct.ConfigData) err2 := dynamics.Default().TrainOperationConfig(msg) err := err2 if err != nil {