【半实物仿真处理】

ats/verify/protos/state/device_state.pb.go

@@ -483,6 +483,8 @@ type TrainState struct {
 	PointTo bool `protobuf:"varint,28,opt,name=pointTo,proto3" json:"pointTo,omitempty"`
 	// 运行上下行（公里标 上行：小 -> 大，下行：大 -> 小）
 	RunDirection bool `protobuf:"varint,29,opt,name=runDirection,proto3" json:"runDirection,omitempty"`
+	// 列车车头方向
+	HeadDirection bool `protobuf:"varint,30,opt,name=headDirection,proto3" json:"headDirection,omitempty"`
 }
 
 func (x *TrainState) Reset() {
@@ -720,6 +722,269 @@ func (x *TrainState) GetRunDirection() bool {
 	return false
 }
 
+func (x *TrainState) GetHeadDirection() bool {
+	if x != nil {
+		return x.HeadDirection
+	}
+	return false
+}
+
+// vobc发过来的列车信息
+type TrainVobcState struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// 生命信号	每个周期+1
+	LifeSignal int32 `protobuf:"varint,1,opt,name=lifeSignal,proto3" json:"lifeSignal,omitempty"`
+	// TC1激活状态	1=激活
+	Tc1Active bool `protobuf:"varint,2,opt,name=tc1Active,proto3" json:"tc1Active,omitempty"`
+	// TC2激活状态	1=激活
+	Tc2Active bool `protobuf:"varint,3,opt,name=tc2Active,proto3" json:"tc2Active,omitempty"`
+	// 列车方向向前	1=方向向前
+	DirectionForward bool `protobuf:"varint,4,opt,name=directionForward,proto3" json:"directionForward,omitempty"`
+	// 列车方向向后	1=方向向后
+	DirectionBackward bool `protobuf:"varint,5,opt,name=directionBackward,proto3" json:"directionBackward,omitempty"`
+	// 列车牵引状态	1=牵引
+	TractionStatus bool `protobuf:"varint,6,opt,name=tractionStatus,proto3" json:"tractionStatus,omitempty"`
+	// 列车制动状态	1=制动
+	BrakingStatus bool `protobuf:"varint,7,opt,name=brakingStatus,proto3" json:"brakingStatus,omitempty"`
+	// 列车紧急制动状态	1=紧急制动
+	EmergencyBrakingStatus bool `protobuf:"varint,8,opt,name=emergencyBrakingStatus,proto3" json:"emergencyBrakingStatus,omitempty"`
+	// 列车折返状态（AR）	1=折返
+	TurnbackStatus bool `protobuf:"varint,9,opt,name=turnbackStatus,proto3" json:"turnbackStatus,omitempty"`
+	// 跳跃状态	1=跳跃
+	JumpStatus bool `protobuf:"varint,10,opt,name=jumpStatus,proto3" json:"jumpStatus,omitempty"`
+	// ATO模式	1=ATO模式
+	Ato bool `protobuf:"varint,11,opt,name=ato,proto3" json:"ato,omitempty"`
+	// FAM模式	1=FAM模式
+	Fam bool `protobuf:"varint,12,opt,name=fam,proto3" json:"fam,omitempty"`
+	// CAM模式	1=CAM模式
+	Cam bool `protobuf:"varint,13,opt,name=cam,proto3" json:"cam,omitempty"`
+	// 牵引安全回路	1=牵引安全切除
+	TractionSafetyCircuit bool `protobuf:"varint,14,opt,name=tractionSafetyCircuit,proto3" json:"tractionSafetyCircuit,omitempty"`
+	// 停放制动状态	1=停放施加
+	ParkingBrakeStatus bool `protobuf:"varint,15,opt,name=parkingBrakeStatus,proto3" json:"parkingBrakeStatus,omitempty"`
+	// 保持制动状态	1=保持制动施加
+	MaintainBrakeStatus bool `protobuf:"varint,16,opt,name=maintainBrakeStatus,proto3" json:"maintainBrakeStatus,omitempty"`
+	// 列车牵引力	100=1KN
+	TractionForce int64 `protobuf:"varint,17,opt,name=tractionForce,proto3" json:"tractionForce,omitempty"`
+	// 列车制动力	100=1KN
+	BrakeForce int64 `protobuf:"varint,18,opt,name=brakeForce,proto3" json:"brakeForce,omitempty"`
+	// 【列车载荷	100=1ton
+	TrainLoad int64 `protobuf:"varint,19,opt,name=trainLoad,proto3" json:"trainLoad,omitempty"`
+	// 列车开左门指令	1=开门
+	LeftDoorOpenCommand bool `protobuf:"varint,20,opt,name=leftDoorOpenCommand,proto3" json:"leftDoorOpenCommand,omitempty"`
+	// 列车开右门指令	1=开门
+	RightDoorOpenCommand bool `protobuf:"varint,21,opt,name=rightDoorOpenCommand,proto3" json:"rightDoorOpenCommand,omitempty"`
+	// 列车关左门指令	1=关门
+	LeftDoorCloseCommand bool `protobuf:"varint,22,opt,name=leftDoorCloseCommand,proto3" json:"leftDoorCloseCommand,omitempty"`
+	// 列车关右门指令	1=关门
+	RightDoorCloseCommand bool `protobuf:"varint,23,opt,name=rightDoorCloseCommand,proto3" json:"rightDoorCloseCommand,omitempty"`
+	// 整列车门关好	1=门关好
+	AllDoorClose bool `protobuf:"varint,24,opt,name=allDoorClose,proto3" json:"allDoorClose,omitempty"`
+}
+
+func (x *TrainVobcState) Reset() {
+	*x = TrainVobcState{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_device_state_proto_msgTypes[7]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *TrainVobcState) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TrainVobcState) ProtoMessage() {}
+
+func (x *TrainVobcState) ProtoReflect() protoreflect.Message {
+	mi := &file_device_state_proto_msgTypes[7]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TrainVobcState.ProtoReflect.Descriptor instead.
+func (*TrainVobcState) Descriptor() ([]byte, []int) {
+	return file_device_state_proto_rawDescGZIP(), []int{7}
+}
+
+func (x *TrainVobcState) GetLifeSignal() int32 {
+	if x != nil {
+		return x.LifeSignal
+	}
+	return 0
+}
+
+func (x *TrainVobcState) GetTc1Active() bool {
+	if x != nil {
+		return x.Tc1Active
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetTc2Active() bool {
+	if x != nil {
+		return x.Tc2Active
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetDirectionForward() bool {
+	if x != nil {
+		return x.DirectionForward
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetDirectionBackward() bool {
+	if x != nil {
+		return x.DirectionBackward
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetTractionStatus() bool {
+	if x != nil {
+		return x.TractionStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetBrakingStatus() bool {
+	if x != nil {
+		return x.BrakingStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetEmergencyBrakingStatus() bool {
+	if x != nil {
+		return x.EmergencyBrakingStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetTurnbackStatus() bool {
+	if x != nil {
+		return x.TurnbackStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetJumpStatus() bool {
+	if x != nil {
+		return x.JumpStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetAto() bool {
+	if x != nil {
+		return x.Ato
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetFam() bool {
+	if x != nil {
+		return x.Fam
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetCam() bool {
+	if x != nil {
+		return x.Cam
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetTractionSafetyCircuit() bool {
+	if x != nil {
+		return x.TractionSafetyCircuit
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetParkingBrakeStatus() bool {
+	if x != nil {
+		return x.ParkingBrakeStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetMaintainBrakeStatus() bool {
+	if x != nil {
+		return x.MaintainBrakeStatus
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetTractionForce() int64 {
+	if x != nil {
+		return x.TractionForce
+	}
+	return 0
+}
+
+func (x *TrainVobcState) GetBrakeForce() int64 {
+	if x != nil {
+		return x.BrakeForce
+	}
+	return 0
+}
+
+func (x *TrainVobcState) GetTrainLoad() int64 {
+	if x != nil {
+		return x.TrainLoad
+	}
+	return 0
+}
+
+func (x *TrainVobcState) GetLeftDoorOpenCommand() bool {
+	if x != nil {
+		return x.LeftDoorOpenCommand
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetRightDoorOpenCommand() bool {
+	if x != nil {
+		return x.RightDoorOpenCommand
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetLeftDoorCloseCommand() bool {
+	if x != nil {
+		return x.LeftDoorCloseCommand
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetRightDoorCloseCommand() bool {
+	if x != nil {
+		return x.RightDoorCloseCommand
+	}
+	return false
+}
+
+func (x *TrainVobcState) GetAllDoorClose() bool {
+	if x != nil {
+		return x.AllDoorClose
+	}
+	return false
+}
+
 // 仿真运行时状态变化量，当前时刻与上一时刻比较得到
 type VariationStatus struct {
 	state         protoimpl.MessageState
@@ -739,7 +1004,7 @@ type VariationStatus struct {
 func (x *VariationStatus) Reset() {
 	*x = VariationStatus{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_device_state_proto_msgTypes[7]
+		mi := &file_device_state_proto_msgTypes[8]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -752,7 +1017,7 @@ func (x *VariationStatus) String() string {
 func (*VariationStatus) ProtoMessage() {}
 
 func (x *VariationStatus) ProtoReflect() protoreflect.Message {
-	mi := &file_device_state_proto_msgTypes[7]
+	mi := &file_device_state_proto_msgTypes[8]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -765,7 +1030,7 @@ func (x *VariationStatus) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use VariationStatus.ProtoReflect.Descriptor instead.
 func (*VariationStatus) Descriptor() ([]byte, []int) {
-	return file_device_state_proto_rawDescGZIP(), []int{7}
+	return file_device_state_proto_rawDescGZIP(), []int{8}
 }
 
 func (x *VariationStatus) GetUpdatedTrain() []*TrainState {
@@ -813,7 +1078,7 @@ type AllDevicesStatus struct {
 func (x *AllDevicesStatus) Reset() {
 	*x = AllDevicesStatus{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_device_state_proto_msgTypes[8]
+		mi := &file_device_state_proto_msgTypes[9]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -826,7 +1091,7 @@ func (x *AllDevicesStatus) String() string {
 func (*AllDevicesStatus) ProtoMessage() {}
 
 func (x *AllDevicesStatus) ProtoReflect() protoreflect.Message {
-	mi := &file_device_state_proto_msgTypes[8]
+	mi := &file_device_state_proto_msgTypes[9]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -839,7 +1104,7 @@ func (x *AllDevicesStatus) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use AllDevicesStatus.ProtoReflect.Descriptor instead.
 func (*AllDevicesStatus) Descriptor() ([]byte, []int) {
-	return file_device_state_proto_rawDescGZIP(), []int{8}
+	return file_device_state_proto_rawDescGZIP(), []int{9}
 }
 
 func (x *AllDevicesStatus) GetTrainState() []*TrainState {
@@ -881,7 +1146,7 @@ type PushedDevicesStatus struct {
 func (x *PushedDevicesStatus) Reset() {
 	*x = PushedDevicesStatus{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_device_state_proto_msgTypes[9]
+		mi := &file_device_state_proto_msgTypes[10]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -894,7 +1159,7 @@ func (x *PushedDevicesStatus) String() string {
 func (*PushedDevicesStatus) ProtoMessage() {}
 
 func (x *PushedDevicesStatus) ProtoReflect() protoreflect.Message {
-	mi := &file_device_state_proto_msgTypes[9]
+	mi := &file_device_state_proto_msgTypes[10]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -907,7 +1172,7 @@ func (x *PushedDevicesStatus) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use PushedDevicesStatus.ProtoReflect.Descriptor instead.
 func (*PushedDevicesStatus) Descriptor() ([]byte, []int) {
-	return file_device_state_proto_rawDescGZIP(), []int{9}
+	return file_device_state_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *PushedDevicesStatus) GetAll() bool {
@@ -956,7 +1221,7 @@ var file_device_state_proto_rawDesc = []byte{
 	0x72, 0x6d, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20,
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@@ -1019,52 +1284,114 @@ var file_device_state_proto_rawDesc = []byte{
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-	0x6c, 0x75, 0x62, 0x2e, 0x6a, 0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x62, 0x6a, 0x72, 0x74,
-	0x73, 0x73, 0x2e, 0x61, 0x74, 0x73, 0x2e, 0x76, 0x65, 0x72, 0x69, 0x66, 0x79, 0x2e, 0x70, 0x72,
-	0x6f, 0x74, 0x6f, 0x73, 0x42, 0x10, 0x44, 0x65, 0x76, 0x69, 0x63, 0x65, 0x53, 0x74, 0x61, 0x74,
-	0x65, 0x50, 0x72, 0x6f, 0x74, 0x6f, 0x5a, 0x19, 0x2e, 0x2f, 0x61, 0x74, 0x73, 0x2f, 0x76, 0x65,
-	0x72, 0x69, 0x66, 0x79, 0x2f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x73, 0x2f, 0x73, 0x74, 0x61, 0x74,
-	0x65, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -1080,7 +1407,7 @@ func file_device_state_proto_rawDescGZIP() []byte {
 }
 
 var file_device_state_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_device_state_proto_msgTypes = make([]protoimpl.MessageInfo, 10)
+var file_device_state_proto_msgTypes = make([]protoimpl.MessageInfo, 11)
 var file_device_state_proto_goTypes = []interface{}{
 	(SectionType)(0),            // 0: state.SectionType
 	(*LinkState)(nil),           // 1: state.LinkState
@@ -1090,9 +1417,10 @@ var file_device_state_proto_goTypes = []interface{}{
 	(*PlatformState)(nil),       // 5: state.PlatformState
 	(*StationState)(nil),        // 6: state.StationState
 	(*TrainState)(nil),          // 7: state.TrainState
-	(*VariationStatus)(nil),     // 8: state.VariationStatus
+	(*TrainVobcState)(nil),      // 8: state.TrainVobcState
-	(*AllDevicesStatus)(nil),    // 9: state.AllDevicesStatus
+	(*VariationStatus)(nil),     // 9: state.VariationStatus
-	(*PushedDevicesStatus)(nil), // 10: state.PushedDevicesStatus
+	(*AllDevicesStatus)(nil),    // 10: state.AllDevicesStatus
+	(*PushedDevicesStatus)(nil), // 11: state.PushedDevicesStatus
 }
 var file_device_state_proto_depIdxs = []int32{
 	0,  // 0: state.SectionState.type:type_name -> state.SectionType
@@ -1102,8 +1430,8 @@ var file_device_state_proto_depIdxs = []int32{
 	7,  // 4: state.AllDevicesStatus.trainState:type_name -> state.TrainState
 	3,  // 5: state.AllDevicesStatus.switchState:type_name -> state.SwitchState
 	2,  // 6: state.AllDevicesStatus.sectionState:type_name -> state.SectionState
-	8, // 7: state.PushedDevicesStatus.varStatus:type_name -> state.VariationStatus
+	9,  // 7: state.PushedDevicesStatus.varStatus:type_name -> state.VariationStatus
-	9, // 8: state.PushedDevicesStatus.allStatus:type_name -> state.AllDevicesStatus
+	10, // 8: state.PushedDevicesStatus.allStatus:type_name -> state.AllDevicesStatus
 	9,  // [9:9] is the sub-list for method output_type
 	9,  // [9:9] is the sub-list for method input_type
 	9,  // [9:9] is the sub-list for extension type_name
@@ -1202,7 +1530,7 @@ func file_device_state_proto_init() {
 			}
 		}
 		file_device_state_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*VariationStatus); i {
+			switch v := v.(*TrainVobcState); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1214,7 +1542,7 @@ func file_device_state_proto_init() {
 			}
 		}
 		file_device_state_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*AllDevicesStatus); i {
+			switch v := v.(*VariationStatus); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1226,6 +1554,18 @@ func file_device_state_proto_init() {
 			}
 		}
 		file_device_state_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*AllDevicesStatus); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_device_state_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
 			switch v := v.(*PushedDevicesStatus); i {
 			case 0:
 				return &v.state
@@ -1244,7 +1584,7 @@ func file_device_state_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_device_state_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   10,
+			NumMessages:   11,
 			NumExtensions: 0,
 			NumServices:   0,
 		},

ats/verify/simulation/simulation_manage.go

@@ -1,6 +1,7 @@
 package simulation
 
 import (
+	"encoding/binary"
 	"net"
 	"strings"
 
@@ -37,14 +38,39 @@ var simulationId_prefix = (func() string {
 })()
 
 func init() {
-	vobc.RegisterTrainInfoHandler(func(info *vobc.ReceiveTrainInfo) {
+	// vobc 发来的列车信息
+	vobc.RegisterTrainInfoHandler(func(info []byte) {
 		zap.S().Debug("接到列车信息", info)
+		for _, simulation := range GetSimulationArr() {
+			simulation.Memory.Status.TrainStateMap.Range(func(key, value any) bool {
+				train := value.(*state.TrainState)
+				if train.Show { // 上线列车
+					// 拼接列车ID
+					trainId, err := strconv.Atoi(train.Id)
+					if err != nil {
+						panic(err)
+					}
+					// 发送给动力学
+					dynamics.SendDynamicsTrainMsg(append(info, uint8(trainId)))
+					// 存放至仿真中
+					simulation.Memory.Status.VobcTrainStateMap.Store(train.Id, decoderVobcTrainState(info))
+				}
+				return false
+			})
+		}
+
 	})
 	dynamics.RegisterTrainInfoHandler(func(info *dynamics.TrainInfo) {
 		for _, simulation := range GetSimulationArr() {
 			sta, ok := simulation.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))
 			if ok {
-				memory.UpdateTrainState(simulation, convert(info, sta.(*state.TrainState), memory.QueryMapVerifyStructure(simulation.MapId)))
+				trainState := sta.(*state.TrainState)
+				// 给半实物仿真发送速度
+				vobc.SendTrainSpeedTask(info.Speed * 36)
+				// 处理列车车头方向
+				handlerTrainHeadDirection(simulation, info, trainState)
+				// 更新列车状态
+				memory.UpdateTrainState(simulation, convert(info, trainState, memory.QueryMapVerifyStructure(simulation.MapId)))
 				break
 			}
 		}
@@ -252,3 +278,49 @@ func buildLineBaseInfo(vs *memory.VerifyStructure) *dynamics.LineBaseInfo {
 		CurveList: curves,
 	}
 }
+
+// 解析VOBC列车信息
+func decoderVobcTrainState(buf []byte) *state.TrainVobcState {
+	trainVobcInfo := &state.TrainVobcState{}
+	trainVobcInfo.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
+	b2 := buf[2]
+	trainVobcInfo.Tc1Active = (b2 & (1 << 7)) != 0
+	trainVobcInfo.Tc2Active = (b2 & (1 << 6)) != 0
+	trainVobcInfo.DirectionForward = (b2 & (1 << 5)) != 0
+	trainVobcInfo.DirectionBackward = (b2 & (1 << 4)) != 0
+	trainVobcInfo.TractionStatus = (b2 & (1 << 3)) != 0
+	trainVobcInfo.BrakingStatus = (b2 & (1 << 2)) != 0
+	trainVobcInfo.EmergencyBrakingStatus = (b2 & (1 << 1)) != 0
+	trainVobcInfo.TurnbackStatus = (b2 & 1) != 0
+	b3 := buf[3]
+	trainVobcInfo.JumpStatus = (b3 & (1 << 7)) != 0
+	trainVobcInfo.Ato = (b3 & (1 << 6)) != 0
+	trainVobcInfo.Fam = (b3 & (1 << 5)) != 0
+	trainVobcInfo.Cam = (b3 & (1 << 4)) != 0
+	trainVobcInfo.TractionSafetyCircuit = (b3 & (1 << 3)) != 0
+	trainVobcInfo.ParkingBrakeStatus = (b3 & (1 << 2)) != 0
+	trainVobcInfo.MaintainBrakeStatus = (b3 & (1 << 1)) != 0
+	trainVobcInfo.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]))
+	trainVobcInfo.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]))
+	trainVobcInfo.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]))
+	b4 := buf[15]
+	trainVobcInfo.LeftDoorOpenCommand = (b4 & (1 << 7)) != 0
+	trainVobcInfo.RightDoorOpenCommand = (b4 & (1 << 6)) != 0
+	trainVobcInfo.LeftDoorCloseCommand = (b4 & (1 << 5)) != 0
+	trainVobcInfo.RightDoorCloseCommand = (b4 & (1 << 4)) != 0
+	trainVobcInfo.AllDoorClose = (b4 & (1 << 3)) != 0
+	return trainVobcInfo
+}
+
+// 处理列车车头逻辑
+func handlerTrainHeadDirection(simulation *memory.VerifySimulation, info *dynamics.TrainInfo, status *state.TrainState) {
+	v, ok := simulation.Memory.Status.VobcTrainStateMap.Load(status.Id)
+	if ok {
+		vobcState := v.(*state.TrainVobcState)
+		if (vobcState.Tc1Active || vobcState.Tc2Active) && (vobcState.DirectionBackward || vobcState.DirectionForward) { // 有激活端
+			// info.Up 运行link方向
+
+			//vobcState.DirectionForward
+		}
+	}
+}

ats/verify/simulation/wayside/memory/wayside_memory.go

@@ -22,6 +22,8 @@ type VerifyStatus struct {
 	LogicSectionStateMap sync.Map
 	//信号机状态，key为信号机id,即索引 state.SignalState
 	SignalStateMap sync.Map
+	//vobc发来的列车状态,索引为列车id
+	VobcTrainStateMap sync.Map
 }
 
 // 轨旁仿真模型状态（变更）

bj-rtss-message

@@ -1 +1 @@
-Subproject commit ab41f6836f96e8a06ff6edfee202f0bf0c7aecf5
+Subproject commit 8cb151ed76afd59832edd044253ed1d8a8325016

config/bj_local.yml

@@ -9,7 +9,13 @@ dynamics:
   ip: 10.60.1.121
   udpLocalPort: 4000
   udpRemotePort: 3000
+  udpRemoteTrainPort: 3001
   httpPort: 7800
+# VOBC
+vobc:
+  ip: 10.60.1.52
+  localPort: 10000
+  remotePort: 4000
 
 # 数据源
 datasource:

config/config.go

@@ -48,6 +48,7 @@ type dynamics struct {
 	Ip                 string
 	UdpLocalPort       int
 	UdpRemotePort      int
+	UdpRemoteTrainPort int
 	HttpPort           int
 }
 type vobc struct {

config/dev.yml

@@ -6,9 +6,10 @@ server:
   port: 9091
 # 动力学端口配置
 dynamics:
-  ip: 192.168.3.222
+  ip: 192.168.3.37
   udpLocalPort: 4000
   udpRemotePort: 3000
+  udpRemoteTrainPort: 3001
   httpPort: 7800
 # VOBC
 vobc:

config/test_local.yml

@@ -9,6 +9,7 @@ dynamics:
   ip: 192.168.3.94
   udpLocalPort: 4000
   udpRemotePort: 3000
+  udpRemoteTrainPort: 3001
   httpPort: 7800
 # VOBC
 vobc:

dynamics/udp.go

@@ -154,6 +154,30 @@ func sendDynamicsMsg(buf []byte) error {
 	return err
 }
 
+// 给动力学发送列车信息
+func SendDynamicsTrainMsg(buf []byte) error {
+	defer func() {
+		if r := recover(); r != nil {
+			zap.S().Error("发送道岔信息失败", r)
+		}
+	}()
+	addr := fmt.Sprintf("%v:%v", config.Config.Dynamics.Ip, config.Config.Dynamics.UdpRemoteTrainPort)
+	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
+}
+
 // 发送道岔状态任务
 func runSendTurnoutStateTask(tiFunc TurnoutInfoFunc) error {
 	if running {

vobc/udp.go

@@ -20,7 +20,7 @@ var (
 	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
+	vobcMsgInfoChan        chan []byte = make(chan []byte) //列车消息队列
 	//处理方法列表
 	handlerList list.List
 )
@@ -28,7 +28,7 @@ var (
 func init() {
 	go func() {
 		for {
-			info := <-trainInfoChan
+			info := <-vobcMsgInfoChan
 			for e := handlerList.Front(); e != nil; e = e.Next() {
 				func() {
 					defer func() {
@@ -37,7 +37,7 @@ func init() {
 							zap.S().Errorf("列车信息处理函数报错")
 						}
 					}()
-					handler := e.Value.(TrainInfoHandler)
+					handler := e.Value.(VobcDataHandler)
 					handler(info)
 				}()
 			}
@@ -45,7 +45,7 @@ func init() {
 	}()
 }
 
-type TrainInfoHandler func(info *ReceiveTrainInfo)
+type VobcDataHandler func([]byte)
 
 type udpServer struct {
 	gnet.BuiltinEventEngine
@@ -90,14 +90,14 @@ func (server *udpServer) OnTraffic(c gnet.Conn) gnet.Action {
 		}
 	}
 	receiveTrainLifeSignal = lifeSignal
-	trainInfo := decoderVobcTrainInfo(buf)
+	// trainInfo := decoderVobcTrainInfo(buf)
-	//列车消息队列
+	//消息队列
-	trainInfoChan <- trainInfo
+	vobcMsgInfoChan <- buf
 	return gnet.None
 }
 
 // 注册处理vobc处理方法
-func RegisterTrainInfoHandler(handler TrainInfoHandler) {
+func RegisterTrainInfoHandler(handler VobcDataHandler) {
 	handlerList.PushBack(handler)
 }
 
@@ -119,7 +119,7 @@ func SendTrainSpeedTask(speed float32) error {
 		LifeSignal: sendTrainLifeSignal,
 		Speed:      uint16(speed),
 	}
-	err := sendDynamicsMsg(encoderVobcTrainInfo(trainInfo))
+	err := sendVobcMsg(encoderVobcTrainInfo(trainInfo))
 	if err != nil {
 		zap.S().Error(err)
 	}
@@ -135,7 +135,7 @@ func Stop() {
 }
 
 // Vobc 消息发送消息
-func sendDynamicsMsg(buf []byte) error {
+func sendVobcMsg(buf []byte) error {
 	defer func() {
 		if r := recover(); r != nil {
 			zap.S().Error("发送列车速度信息失败", r)
@@ -158,39 +158,6 @@ func sendDynamicsMsg(buf []byte) error {
 	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

vobc/udpData.go

@@ -1,5 +1,7 @@
 package vobc
 
+import "encoding/binary"
+
 // 接收到的列车信息
 type ReceiveTrainInfo struct {
 	//【0 1】两个字节
@@ -56,6 +58,38 @@ type ReceiveTrainInfo struct {
 	AllDoorClose bool
 }
 
+// 解析VOBC列车信息
+func (r *ReceiveTrainInfo) DecoderVobcTrainInfo(buf []byte) *ReceiveTrainInfo {
+	r.LifeSignal = binary.BigEndian.Uint16(buf[0:2])
+	b2 := buf[2]
+	r.Tc1Active = (b2 & (1 << 7)) != 0
+	r.Tc2Active = (b2 & (1 << 6)) != 0
+	r.DirectionForward = (b2 & (1 << 5)) != 0
+	r.DirectionBackward = (b2 & (1 << 4)) != 0
+	r.TractionStatus = (b2 & (1 << 3)) != 0
+	r.BrakingStatus = (b2 & (1 << 2)) != 0
+	r.EmergencyBrakingStatus = (b2 & (1 << 1)) != 0
+	r.TurnbackStatus = (b2 & 1) != 0
+	b3 := buf[3]
+	r.JumpStatus = (b3 & (1 << 7)) != 0
+	r.ATO = (b3 & (1 << 6)) != 0
+	r.FAM = (b3 & (1 << 5)) != 0
+	r.CAM = (b3 & (1 << 4)) != 0
+	r.TractionSafetyCircuit = (b3 & (1 << 3)) != 0
+	r.ParkingBrakeStatus = (b3 & (1 << 2)) != 0
+	r.MaintainBrakeStatus = (b3 & (1 << 1)) != 0
+	r.TractionForce = binary.BigEndian.Uint16(buf[4:6])
+	r.BrakeForce = binary.BigEndian.Uint16(buf[6:8])
+	r.TrainLoad = binary.BigEndian.Uint16(buf[8:10])
+	b4 := buf[15]
+	r.LeftDoorOpenCommand = (b4 & (1 << 7)) != 0
+	r.RightDoorOpenCommand = (b4 & (1 << 6)) != 0
+	r.LeftDoorCloseCommand = (b4 & (1 << 5)) != 0
+	r.RightDoorCloseCommand = (b4 & (1 << 4)) != 0
+	r.AllDoorClose = (b4 & (1 << 3)) != 0
+	return r
+}
+
 // 发送列车信息
 type SendTrainInfo struct {
 	// 生命信号	每个周期+1