动力学列车数据配置

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)
 }
 

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",
+                    "type": "boolean"
-                    "items": {
+                },
-                        "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"
                 }
             }
         },

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",
+                    "type": "boolean"
-                    "items": {
+                },
-                        "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"
                 }
             }
         },

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: boolean
+      speedSensorEnableB:
-        type: array
+        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:

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"`
+	TrainId       int   `json:"TrainId" form:"TrainId"`
-	ConfigData ConfigTrainData
+	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
+	SpeedSensorEnableA bool    `json:"speedSensorEnableA"` // 2端速度传感器是否有效
-	RadarEnable       bool    `json:"radarEnable"`       // 雷达是否有效
+	SpeedSensorEnableB bool    `json:"speedSensorEnableB"` // 2端速度传感器是否有效
-	RadarCheckSpeed   float32 `json:"radarCheckSpeed"`   // 雷达测速数值
+	RadarEnable        bool    `json:"radarEnable"`        // 雷达是否有效
-	RadarCheckTime    int32   `json:"radarCheckTime"`    // 雷达检测时间(秒)
+	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）
-	Mass                   int32           `json:"mass" form:"mass"`       // 列车的质量（100=1ton）
-	Length                 int64           `json:"length"`                 // 列车的长度（cm）
 	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
 }

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"`
+	Speed uint16 `json:"speed"`
-	Up          bool   `json:"up"`
+	Up    bool   `json:"up"`
-	TrainLength uint32 `json:"trainLength"`
+	//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"`
+	TrainIndex int `json:"trainIndex"`
-	Mass                   int     `json:"mass" form:"mass"` //列车的质量（100=1ton）
+	//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"`

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 {
+	createOrUpdateStateDynamicConfig(trainState, ct.ConfigData)
-		trainState.DynamicState.TrainDynamicConfig = &state_proto.TrainDynamicConfig{}
+	/*	if trainState.TrainDynamicConfig == nil {
-	}
+		trainState.TrainDynamicConfig = &state_proto.TrainDynamicConfig{}
-	trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamA = ct.ConfigData.BaseResistanceParamA
+	}*/
-	trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamB = ct.ConfigData.BaseResistanceParamB
+	/*trainState.TrainDynamicConfig.BaseResistanceParamA = ct.ConfigData.BaseResistanceParamA
-	trainState.DynamicState.TrainDynamicConfig.BaseResistanceParamC = ct.ConfigData.BaseResistanceParamC
+	trainState.TrainDynamicConfig.BaseResistanceParamB = ct.ConfigData.BaseResistanceParamB
-	trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR1 = ct.ConfigData.CurveResistanceParamR1
+	trainState.TrainDynamicConfig.BaseResistanceParamC = ct.ConfigData.BaseResistanceParamC
-	trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR2 = ct.ConfigData.CurveResistanceParamR2
+	trainState.TrainDynamicConfig.CurveResistanceParamR1 = ct.ConfigData.CurveResistanceParamR1
-	trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR3 = ct.ConfigData.CurveResistanceParamR3
+	trainState.TrainDynamicConfig.CurveResistanceParamR2 = ct.ConfigData.CurveResistanceParamR2
-	trainState.DynamicState.TrainDynamicConfig.CurveResistanceParamR4 = ct.ConfigData.CurveResistanceParamR4
+	trainState.TrainDynamicConfig.CurveResistanceParamR3 = ct.ConfigData.CurveResistanceParamR3
-	trainState.TrainLength = ct.ConfigData.Length
+	trainState.TrainDynamicConfig.CurveResistanceParamR4 = ct.ConfigData.CurveResistanceParamR4
-	trainState.DynamicState.TrainDynamicConfig.Mass = ct.ConfigData.Mass
+	trainState.TrainDynamicConfig.Jump = ct.ConfigData.Jump
-	trainState.DynamicState.TrainDynamicConfig.Jump = ct.ConfigData.Jump
+	trainState.TrainDynamicConfig.Slip = ct.ConfigData.Slip
-	trainState.DynamicState.TrainDynamicConfig.Slip = ct.ConfigData.Slip
+	trainState.TrainDynamicConfig.Slide = ct.ConfigData.Slide
-	trainState.DynamicState.TrainDynamicConfig.Slide = ct.ConfigData.Slide
+	trainState.TrainDynamicConfig.StopSign = ct.ConfigData.StopSign*/
-	trainState.DynamicState.TrainDynamicConfig.StopSign = ct.ConfigData.StopSign
+	trainState.TrainLength = ct.Length
 
-	trainState.WheelDiameter = ct.ConfigData.WheelDiameter
+	trainState.WheelDiameter = ct.WheelDiameter
-	copyTrainEnds(trainState.DynamicState.TrainDynamicConfig, "TrainEndsA", ct.ConfigData.TrainEndsA)
+	//copyTrainEnds(trainState.TrainDynamicConfig, "TrainEndsA", ct.ConfigData.TrainEndsA)
-	copyTrainEnds(trainState.DynamicState.TrainDynamicConfig, "TrainEndsB", ct.ConfigData.TrainEndsB)
+	//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 := CreateMsgTrainConfig(ct.TrainId, ct.Length, 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)}
 	err2 := dynamics.Default().TrainOperationConfig(msg)
 	err := err2
 	if err != nil {