From f0fd68b5d69698463ee8e0974f60c4eba2675dd1 Mon Sep 17 00:00:00 2001 From: walker Date: Wed, 13 Dec 2023 11:22:30 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E6=AD=A5=E5=AE=9E=E7=8E=B0=E8=81=94?= =?UTF-8?q?=E9=94=81=E9=A9=B1=E9=87=87Modbus=E6=9C=8D=E5=8A=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- api/projectRunConfig.go | 62 +++++- config/bj_local.yml | 5 - config/config.go | 22 +- config/dev.yml | 5 - config/local.yml | 5 - config/test_local.yml | 5 - dto/projectRunConfig.go | 14 +- third_party/cidc_modbus/cidc_modbus.go | 196 ++++++++++++++++++ third_party/dynamics/dynamics.go | 2 +- .../wayside/memory/wayside_simulation.go | 4 + ts/test_simulation_manage.go | 13 +- 11 files changed, 303 insertions(+), 30 deletions(-) create mode 100644 third_party/cidc_modbus/cidc_modbus.go diff --git a/api/projectRunConfig.go b/api/projectRunConfig.go index 4ca0cc9..9ef16e2 100644 --- a/api/projectRunConfig.go +++ b/api/projectRunConfig.go @@ -12,6 +12,7 @@ import ( "joylink.club/bj-rtsts-server/middleware" "joylink.club/bj-rtsts-server/service" "joylink.club/bj-rtsts-server/sys_error" + "joylink.club/iot/service/proto" ) func InitProjectRunConfigRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddleware) { @@ -202,8 +203,9 @@ func parseRunCofigStruct(m interface{}) []*dto.RunConfigDescription { continue } c := &dto.RunConfigDescription{ - FieldName: field.Tag.Get("json"), - Description: field.Tag.Get("description"), + FieldName: field.Tag.Get("json"), + Description: field.Tag.Get("description"), + DefaultValue: field.Tag.Get("default"), } k := field.Type.Kind() switch k { @@ -217,7 +219,63 @@ func parseRunCofigStruct(m interface{}) []*dto.RunConfigDescription { default: c.Type = k.String() } + // slog.Warn("运行配置字段类型", "fieldType", field.Type, "fieldTypeName", field.Type.Name(), "fieldTypeString", field.Type.String()) + switch field.Type.String() { + case "proto.Modbus_Endianness": + c.SelectOptions = modbus_EndiannessSelectOptions + case "proto.Modbus_Function": + c.SelectOptions = modbus_FunctionSelectOptions + case "proto.Modbus_WriteStrategy": + c.SelectOptions = modbus_WriteStrategySelectOptions + case "proto.DataType": + c.SelectOptions = dataTypeSelectOptions + default: + } cs = append(cs, c) } return cs } + +var modbus_EndiannessSelectOptions = buildModbus_EndiannessSelectOptions() + +func buildModbus_EndiannessSelectOptions() []*dto.RunConfigSelectOption { + return []*dto.RunConfigSelectOption{ + {Label: "大端", Value: int32(proto.Modbus_BigEndian)}, + {Label: "小端", Value: int32(proto.Modbus_LittleEndian)}, + } +} + +var modbus_FunctionSelectOptions = buildModbus_FunctionSelectOptions() + +func buildModbus_FunctionSelectOptions() []*dto.RunConfigSelectOption { + return []*dto.RunConfigSelectOption{ + {Label: "读线圈", Value: int32(proto.Modbus_ReadCoil)}, + {Label: "读离散输入", Value: int32(proto.Modbus_ReadDiscreteInput)}, + {Label: "读保持寄存器", Value: int32(proto.Modbus_ReadHoldingRegister)}, + {Label: "读输入寄存器", Value: int32(proto.Modbus_ReadInputRegister)}, + {Label: "写单个线圈", Value: int32(proto.Modbus_WriteCoil)}, + {Label: "写多个线圈", Value: int32(proto.Modbus_WriteCoils)}, + {Label: "写单个寄存器", Value: int32(proto.Modbus_WriteRegister)}, + {Label: "写多个寄存器", Value: int32(proto.Modbus_WriteRegisters)}, + {Label: "读写多个线圈", Value: int32(proto.Modbus_RWCoils)}, + {Label: "读写多个寄存器", Value: int32(proto.Modbus_RWRegisters)}, + } +} + +var modbus_WriteStrategySelectOptions = buildModbus_WriteStrategySelectOptions() + +func buildModbus_WriteStrategySelectOptions() []*dto.RunConfigSelectOption { + return []*dto.RunConfigSelectOption{ + {Label: "数据更新时写", Value: int32(proto.Modbus_OnUpdate)}, + {Label: "定时写", Value: int32(proto.Modbus_OnScheduled)}, + } +} + +var dataTypeSelectOptions = buildDataTypeSelectOptions() + +func buildDataTypeSelectOptions() []*dto.RunConfigSelectOption { + return []*dto.RunConfigSelectOption{ + {Label: "采集数据", Value: int32(proto.DataType_CollectTable)}, + {Label: "驱动数据", Value: int32(proto.DataType_DriveTable)}, + } +} diff --git a/config/bj_local.yml b/config/bj_local.yml index 12ecb4c..7532422 100644 --- a/config/bj_local.yml +++ b/config/bj_local.yml @@ -49,11 +49,6 @@ logging: # 控制台是否输出 stdout: false messaging: - # centrifugo: - # tokenSecret: aaa - # apiKey: bbb - # apiEndpoint: /api - # address: 10.60.1.111:8001 mqtt: address: tcp://10.60.1.111:1883 username: rtsts_service diff --git a/config/config.go b/config/config.go index 9fb5bf5..aa1dfca 100644 --- a/config/config.go +++ b/config/config.go @@ -7,6 +7,7 @@ import ( "os" "github.com/spf13/viper" + "joylink.club/iot/service/proto" ) const ( @@ -42,7 +43,6 @@ type log struct { } type messaging struct { - // Centrifugo centrifugo Mqtt mqtt } @@ -69,6 +69,26 @@ type ThridPartyConfig struct { RsspAxleCfgs []RsspAxleConfig `json:"rsspAxleCfgs" description:"所有联锁集中站计轴RSSP-I配置"` ElectricMachinery ElectricMachineryConfig `json:"electricMachinery" description:"电机配置"` BtmCanet BtmCanetConfig `json:"btmCanet" description:"BTM关联的网关设备CANET配置"` + CidcModbus []CidcModbusConfig `json:"cidcModbus" description:"联锁驱采Modbus接口配置"` +} + +type CidcModbusConfig struct { + Open bool `json:"open" description:"是否开启"` + Url string `json:"url" description:"接口URL(格式tcp://{ip}:{port})" default:"tcp://127.0.0.1:502"` // 连接地址 + UnitId uint32 `json:"unitId" description:"从机unitId"` // 从机unitId + Endianness proto.Modbus_Endianness `json:"endianness" description:"字节序(大端/小端)"` // 16位寄存器字节序 + Interval uint32 `json:"interval" description:"定时请求间隔" default:"1000"` // 循环请求间隔(毫秒),0表示不主动请求,只当有变化时请求 + Timeout uint32 `json:"timeout" description:"请求超时时间" default:"1000"` // 超时时间（毫秒） + Ecs string `json:"ecs" description:"联锁集中站"` // 所属集中站 + Mapping []ModbusDcMapping `json:"mapping" description:"modbus数据与驱动/采集码表映射配置"` +} +type ModbusDcMapping struct { + Function proto.Modbus_Function `json:"function" description:"Modbus功能"` // 功能 + Addr uint32 `json:"addr" description:"Modbus功能起始地址,位类型的功能为起始位地址,寄存器类型的功能为起始字(2个字节)地址"` // 起始地址,当功能为位功能时,表示起始位地址,当功能为寄存器功能时,表示起始字(2个字节)地址 + Quantity uint32 `json:"quantity" description:"Modbus读取数量,位类型的为位数,寄存器类型的为字(2个字节)数"` // 数量,当功能为位功能时,表示位数,当功能为寄存器功能时,表示字(2个字节)数 + WriteStrategy proto.Modbus_WriteStrategy `json:"writeStrategy" description:"写入策略"` // 当功能为写入类功能时(不包含读写类功能),写策略 + Type proto.DataType `json:"type" description:"映射的数据类型"` // 对应数据类型 + Start uint32 `json:"start" description:"映射数据的起始地址,位类型的为起始位地址,寄存器类型的为起始字节地址"` // 映射起始地址 } type DynamicsConfig struct { Ip string `json:"ip" description:"IP配置"` diff --git a/config/dev.yml b/config/dev.yml index 47f4c75..f62a2af 100644 --- a/config/dev.yml +++ b/config/dev.yml @@ -50,11 +50,6 @@ logging: # 控制台是否输出 stdout: true messaging: - # centrifugo: - # tokenSecret: aaa - # apiKey: bbb - # apiEndpoint: /api - # address: 192.168.3.233:10000 mqtt: address: tcp://192.168.3.233:1883 username: rtsts_service diff --git a/config/local.yml b/config/local.yml index eb99c07..2c15d5c 100644 --- a/config/local.yml +++ b/config/local.yml @@ -50,11 +50,6 @@ logging: # 控制台是否输出 stdout: false messaging: - centrifugo: - tokenSecret: aaa - apiKey: bbb - apiEndpoint: /api - address: 192.168.0.203:10000 mqtt: address: tcp://192.168.0.203:1883 username: rtsts_service diff --git a/config/test_local.yml b/config/test_local.yml index 055a45f..fc947e0 100644 --- a/config/test_local.yml +++ b/config/test_local.yml @@ -49,11 +49,6 @@ logging: # 控制台是否输出 stdout: false messaging: - centrifugo: - tokenSecret: aaa - apiKey: bbb - apiEndpoint: /api - address: 192.168.3.233:10000 mqtt: address: tcp://192.168.3.233:1883 username: rtsts_service diff --git a/dto/projectRunConfig.go b/dto/projectRunConfig.go index fa59f95..72eb5da 100644 --- a/dto/projectRunConfig.go +++ b/dto/projectRunConfig.go @@ -24,10 +24,16 @@ type ProjectRunConfigDto struct { } type RunConfigDescription struct { - FieldName string `json:"fieldName" form:"fieldName"` - Description string `json:"description" form:"description"` - Type string `json:"type" form:"type"` - ItemTypeFields []*RunConfigDescription `json:"itemTypeFields" form:"itemTypeFields"` + FieldName string `json:"fieldName" form:"fieldName"` + Description string `json:"description" form:"description"` + Type string `json:"type" form:"type"` + DefaultValue string `json:"defaultValue" form:"defaultValue"` + SelectOptions []*RunConfigSelectOption `json:"selectOptions" form:"selectOptions"` + ItemTypeFields []*RunConfigDescription `json:"itemTypeFields" form:"itemTypeFields"` +} +type RunConfigSelectOption struct { + Label string `json:"label" form:"label"` + Value int32 `json:"value" form:"value"` } func ConvertToRunConfigDto(gi *model.ProjectRunConfig) *ProjectRunConfigDto { diff --git a/third_party/cidc_modbus/cidc_modbus.go b/third_party/cidc_modbus/cidc_modbus.go new file mode 100644 index 0000000..3533fe4 --- /dev/null +++ b/third_party/cidc_modbus/cidc_modbus.go @@ -0,0 +1,196 @@ +package cidcmodbus + +import ( + "context" + "fmt" + "time" + + "joylink.club/bj-rtsts-server/config" + "joylink.club/bj-rtsts-server/ts/simulation/wayside/memory" + "joylink.club/iot/service" + "joylink.club/iot/service/model" + "joylink.club/iot/service/proto" + "joylink.club/rtsssimulation/component" + "joylink.club/rtsssimulation/entity" +) + +// 联锁驱采Modbus服务 +type CidcModbusService interface { + Stop() +} + +var serviceManage = &cidcModbusServiceManage{} + +type cidcModbusServiceManage struct { + services []*cidcModbusService +} + +func (m *cidcModbusServiceManage) Stop() { + for _, s := range m.services { + s.Stop() + } + m.services = nil +} + +func TryStop() { + serviceManage.Stop() +} + +func TryStart(vs *memory.VerifySimulation) error { + for _, cmc := range vs.GetCidcModbusConfig() { + if cmc.Open { + cms, err := newCidcModbusService(vs, &cmc) + if err != nil { + return err + } + serviceManage.services = append(serviceManage.services, cms) + } + } + return nil +} + +type cidcModbusService struct { + vs *memory.VerifySimulation // 仿真对象 + modbusConfig *config.CidcModbusConfig // modbus驱采配置 + ecsUid string // 联锁集中站uid + dcData model.QC // 驱采数据 + mdms service.IotService // modbus驱采映射服务 + cancel context.CancelFunc +} + +func (s *cidcModbusService) run(ctx context.Context) { + for { + select { + case <-ctx.Done(): + return + default: + } + s.update() + time.Sleep(500 * time.Millisecond) + } +} + +func (s *cidcModbusService) update() { + wd := entity.GetWorldData(s.vs.World) + qce := wd.FindQcEntityByEcsId(s.ecsUid) + if qce == nil { + panic(fmt.Sprintf("联锁驱采Modbus服务查询状态失败,仿真不存在集中站联锁: %s", s.ecsUid)) + } + qcs := component.CiQcStateType.Get(qce) + if qcs == nil { + panic(fmt.Sprintf("联锁驱采Modbus服务查询状态失败,集中站联锁驱采状态不存在: %s", s.ecsUid)) + } + s.dcData.UpdateCollectByBytes(0, qcs.Cbs) + qs := s.dcData.GetDrive() + qcs.Qbs = qs +} + +// Stop implements CidcModbusService. +func (s *cidcModbusService) Stop() { + s.cancel() + s.mdms.Stop() +} + +func newCidcModbusService(vs *memory.VerifySimulation, modbusConfig *config.CidcModbusConfig) (*cidcModbusService, error) { + station := vs.Repo.FindStationByStationName(modbusConfig.Ecs) + if station == nil { + return nil, fmt.Errorf("联锁驱采Modbus服务创建失败,未找到联锁集中站: %s", modbusConfig.Ecs) + } + ecsId := station.Id() + // 获取 + wd := entity.GetWorldData(vs.World) + qce := wd.FindQcEntityByEcsId(ecsId) + if qce == nil { + return nil, fmt.Errorf("联锁驱采Modbus服务创建失败,仿真不存在集中站联锁: %s", ecsId) + } + qcs := component.CiQcStateType.Get(qce) + err := checkConfigMapping(qcs, modbusConfig) + if err != nil { + return nil, fmt.Errorf("联锁驱采Modbus服务创建失败,Modbus地址映射配置错误: %s", err) + } + dc := model.NewDC(make([]byte, len(qcs.Qbs)), make([]byte, len(qcs.Cbs))) + mdms, err := service.NewModbusQcService(converToModbusDcConfig(modbusConfig), dc) + if err != nil { + return nil, fmt.Errorf("联锁驱采Modbus服务创建失败: %s", err) + } + cms := &cidcModbusService{ + vs: vs, + modbusConfig: modbusConfig, + ecsUid: ecsId, + dcData: dc, + mdms: mdms, + } + ctx, cancel := context.WithCancel(context.Background()) + go cms.run(ctx) + cms.cancel = cancel + return cms, nil +} + +func checkConfigMapping(qcs *component.CiQcState, modbusConfig *config.CidcModbusConfig) error { + for _, mdm := range modbusConfig.Mapping { + if mdm.Type == proto.DataType_CollectTable { + switch mdm.Function { + case proto.Modbus_ReadCoil, proto.Modbus_ReadDiscreteInput, proto.Modbus_WriteCoil, proto.Modbus_WriteCoils, proto.Modbus_RWCoils: + end := mdm.Start + mdm.Quantity + if end > uint32(len(qcs.Cbs)*8) { + return fmt.Errorf("Modbus地址映射配置错误,采集表地址超出范围: 起始位地址=%d,位数量=%d,实际位长度=%d", mdm.Start, mdm.Quantity, len(qcs.Cbs)*8) + } + case proto.Modbus_ReadInputRegister, proto.Modbus_ReadHoldingRegister, proto.Modbus_WriteRegister, proto.Modbus_WriteRegisters, proto.Modbus_RWRegisters: + end := mdm.Start + mdm.Quantity*2 + if end > uint32(len(qcs.Cbs)) { + return fmt.Errorf("Modbus地址映射配置错误,采集表地址超出范围: 起始字节地址=%d,字数量=%d,实际位长度=%d", mdm.Start, mdm.Quantity, len(qcs.Cbs)) + } + } + } else if mdm.Type == proto.DataType_DriveTable { + switch mdm.Function { + case proto.Modbus_ReadCoil, proto.Modbus_ReadDiscreteInput, proto.Modbus_WriteCoil, proto.Modbus_WriteCoils, proto.Modbus_RWCoils: + end := mdm.Start + mdm.Quantity + if end > uint32(len(qcs.Qbs)*8) { + return fmt.Errorf("Modbus地址映射配置错误,驱动表地址超出范围: 起始位地址=%d,位数量=%d,实际位长度=%d", mdm.Start, mdm.Quantity, len(qcs.Qbs)*8) + } + case proto.Modbus_ReadInputRegister, proto.Modbus_ReadHoldingRegister, proto.Modbus_WriteRegister, proto.Modbus_WriteRegisters, proto.Modbus_RWRegisters: + end := mdm.Start + mdm.Quantity*2 + if end > uint32(len(qcs.Qbs)) { + return fmt.Errorf("Modbus地址映射配置错误,驱动表地址超出范围: 起始字节地址=%d,字数量=%d,实际位长度=%d", mdm.Start, mdm.Quantity, len(qcs.Qbs)) + } + } + } + } + return nil +} + +func getEcsIdByName(vs *memory.VerifySimulation, ecsName string) string { + ecsId := "" + for _, s := range vs.Repo.StationList() { + if ecsName == s.GetCode() { + ecsId = s.Id() + } + } + return ecsId +} + +func converToModbusDcConfig(config *config.CidcModbusConfig) *proto.ModbusConfig { + return &proto.ModbusConfig{ + Url: config.Url, + UnitId: config.UnitId, + Endianness: config.Endianness, + Interval: config.Interval, + Timeout: config.Timeout, + Mapping: convertToModbusDcMapping(config.Mapping), + } +} + +func convertToModbusDcMapping(modbusDcMapping []config.ModbusDcMapping) []*proto.ModbusDcMapping { + res := make([]*proto.ModbusDcMapping, 0) + for _, mdm := range modbusDcMapping { + res = append(res, &proto.ModbusDcMapping{ + Function: mdm.Function, + Addr: mdm.Addr, + Quantity: mdm.Quantity, + WriteStrategy: mdm.WriteStrategy, + Type: mdm.Type, + Start: mdm.Start, + }) + } + return res +} diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go index e2e1b8d..935e447 100644 --- a/third_party/dynamics/dynamics.go +++ b/third_party/dynamics/dynamics.go @@ -172,7 +172,7 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error { panic("启动动力学消息服务错误: DynamicsMessageManager不能为nil") } if d.manager != nil { - panic("启动动力学消息服务错误: 存在正在运行的任务") + return fmt.Errorf("启动动力学消息服务错误: 存在正在运行的任务") } d.runConfig = manager.GetDynamicsRunConfig() if d.runConfig == nil || d.runConfig.Ip == "" || !d.runConfig.Open { diff --git a/ts/simulation/wayside/memory/wayside_simulation.go b/ts/simulation/wayside/memory/wayside_simulation.go index 33f5e49..e064c59 100644 --- a/ts/simulation/wayside/memory/wayside_simulation.go +++ b/ts/simulation/wayside/memory/wayside_simulation.go @@ -309,6 +309,10 @@ func (s *VerifySimulation) GetDynamicsRunConfig() *config.DynamicsConfig { return &s.runConfig.Dynamics } +func (s *VerifySimulation) GetCidcModbusConfig() []config.CidcModbusConfig { + return s.runConfig.CidcModbus +} + // 获取动力学运行资源 func (s *VerifySimulation) GetDynamicsRunRepository() *message.LineBaseInfo { info := &message.LineBaseInfo{} diff --git a/ts/test_simulation_manage.go b/ts/test_simulation_manage.go index 1130faf..bfc9b21 100644 --- a/ts/test_simulation_manage.go +++ b/ts/test_simulation_manage.go @@ -2,12 +2,14 @@ package ts import ( "fmt" - "joylink.club/bj-rtsts-server/third_party/can_btm" "log/slog" "runtime" "strconv" "sync" + "joylink.club/bj-rtsts-server/third_party/can_btm" + cidcmodbus "joylink.club/bj-rtsts-server/third_party/cidc_modbus" + "joylink.club/bj-rtsts-server/third_party/axle_device" "joylink.club/bj-rtsts-server/third_party/electrical_machinery" @@ -57,6 +59,7 @@ func CreateSimulation(projectId int32, mapIds []int32, runConfig *dto.ProjectRun // 第三方服务处理 err = runThirdParty(verifySimulation) if err != nil { + verifySimulation.World.Close() return "", err } simulationMap.Store(simulationId, verifySimulation) @@ -120,6 +123,11 @@ func runThirdParty(s *memory.VerifySimulation) error { electrical_machinery.Default().Start(s) // 车载BTM启动 can_btm.Default().Start(s) + // 联锁驱采Modbus服务启动 + err = cidcmodbus.TryStart(s) + if err != nil { + return err + } return nil } @@ -139,7 +147,8 @@ func stopThirdParty(s *memory.VerifySimulation) { electrical_machinery.Default().Stop() // 车载BTM停止 can_btm.Default().Stop() - + // 联锁驱采Modbus服务停止 + cidcmodbus.TryStop() } func createSimulationId(projectId int32) string {