298 lines
9.6 KiB
Go
298 lines
9.6 KiB
Go
package simulation
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import (
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"encoding/binary"
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"net"
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"strings"
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"fmt"
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"net/http"
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"strconv"
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"sync"
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"go.uber.org/zap"
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"joylink.club/bj-rtsts-server/ats/verify/protos/state"
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"joylink.club/bj-rtsts-server/config"
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"joylink.club/bj-rtsts-server/dynamics"
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"joylink.club/bj-rtsts-server/vobc"
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"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/memory"
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"joylink.club/bj-rtsts-server/dto"
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)
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var simulationId_prefix = (func() string {
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ip := "127.0.0.1"
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addrList, err := net.InterfaceAddrs()
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if err != nil {
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panic(err)
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}
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for _, address := range addrList {
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if ipNet, ok := address.(*net.IPNet); ok && !ipNet.IP.IsLoopback() {
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if ipNet.IP.To4() != nil {
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ip = ipNet.IP.String()
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}
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}
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}
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ipArr := strings.Split(ip, ".")
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return ipArr[2] + "_" + ipArr[3]
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})()
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func init() {
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// vobc 发来的列车信息
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vobc.RegisterTrainInfoHandler(func(info []byte) {
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zap.S().Debug("接到列车信息", info)
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for _, simulation := range GetSimulationArr() {
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simulation.Memory.Status.TrainStateMap.Range(func(key, value any) bool {
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train := value.(*state.TrainState)
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if train.Show { // 上线列车
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// 拼接列车ID
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trainId, err := strconv.Atoi(train.Id)
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if err != nil {
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panic(err)
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}
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trainInfo := decoderVobcTrainState(info)
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zap.S().Info("接收到vobc发送的列车消息", trainInfo)
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// 发送给动力学
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dynamics.SendDynamicsTrainMsg(append(info, uint8(trainId)))
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// 存放至仿真中
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simulation.Memory.Status.VobcTrainStateMap.Store(train.Id, trainInfo)
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}
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return false
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})
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}
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})
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dynamics.RegisterTrainInfoHandler(func(info *dynamics.TrainInfo) {
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for _, simulation := range GetSimulationArr() {
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sta, ok := simulation.Memory.Status.TrainStateMap.Load(strconv.Itoa(int(info.Number)))
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if ok {
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trainState := sta.(*state.TrainState)
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// 给半实物仿真发送速度
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zap.S().Info("发送到vobc发送的速度", info.Speed*36)
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vobc.SendTrainSpeedTask(info.Speed * 36)
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// 更新列车状态
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memory.UpdateTrainState(simulation, convert(info, trainState, simulation))
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break
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}
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}
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})
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}
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// 仿真存储集合
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var simulationMap sync.Map
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// 创建仿真对象
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func CreateSimulation(mapId int32) string {
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simulationId := createSimulationId(mapId)
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_, e := simulationMap.Load(simulationId)
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if !e {
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verifySimulation := memory.CreateSimulation(mapId, simulationId)
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//通知动力学
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httpCode, _, err := dynamics.SendSimulationStartReq(buildLineBaseInfo(memory.QueryMapVerifyStructure(verifySimulation.MapId)))
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if httpCode != http.StatusOK || err != nil {
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panic(dto.ErrorDto{Code: dto.LogicError, Message: fmt.Sprintf("动力学接口调用失败：[%d][%s]", httpCode, err)})
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}
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simulationMap.Store(simulationId, verifySimulation)
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dynamicsRun(verifySimulation)
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}
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return simulationId
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}
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// 删除仿真对象
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func DestroySimulation(simulationId string) {
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//移除道岔状态发送
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dynamics.Stop()
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//通知动力学
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httpCode, _, err := dynamics.SendSimulationEndReq()
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if httpCode != http.StatusOK || err != nil {
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panic(dto.ErrorDto{Code: dto.LogicError, Message: fmt.Sprintf("动力学接口调用失败：[%d][%s]", httpCode, err)})
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}
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simulationMap.Delete(simulationId)
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}
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// 创建时生成仿真Id
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func createSimulationId(mapId int32) string {
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// 当前服务器IP + 端口 + 地图
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return simulationId_prefix + "_" + strconv.Itoa(config.Config.Server.Port) + "_" + strconv.Itoa(int(mapId))
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}
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// 获取仿真列表
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func ListAllSimulations() []*dto.SimulationInfoRepDto {
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simArr := []*dto.SimulationInfoRepDto{}
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simulationMap.Range(func(k, v any) bool {
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s := v.(*memory.VerifySimulation)
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simArr = append(simArr, &dto.SimulationInfoRepDto{
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SimulationId: s.SimulationId,
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MapId: strconv.Itoa(int(s.MapId)),
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})
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return true
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})
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return simArr
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}
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// 根据仿真id查找仿真实例
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func FindSimulation(simulationId string) *memory.VerifySimulation {
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m, e := simulationMap.Load(simulationId)
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if e {
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return m.(*memory.VerifySimulation)
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}
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return nil
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}
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// 获取普通仿真数组
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func GetSimulationArr() []*memory.VerifySimulation {
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result := []*memory.VerifySimulation{}
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simulationMap.Range(func(k, v any) bool {
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result = append(result, v.(*memory.VerifySimulation))
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return true
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})
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return result
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}
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func convert(info *dynamics.TrainInfo, sta *state.TrainState, simulation *memory.VerifySimulation) *state.TrainState {
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vs := memory.QueryMapVerifyStructure(simulation.MapId)
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zap.S().Debugf("原始消息：[%d-%d-%d]", info.Number, info.Link, info.LinkOffset)
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sta.HeadLinkId = strconv.Itoa(int(info.Link))
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sta.HeadLinkOffset = int64(info.LinkOffset)
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//sta.Up = info.Up
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id, port, offset, runDirection, pointTo := memory.QueryDeviceByCalcLink(vs, int32(info.Link), sta.HeadLinkOffset, info.Up, sta.RunDirection)
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zap.S().Debugf("转换后的消息：[%d-车头:%s-偏移:%d-上行:%v-是否ab:%v]", info.Number, id, offset, runDirection, pointTo)
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sta.HeadDeviceId = id
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sta.DevicePort = port
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sta.HeadOffset = offset
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sta.PointTo = pointTo
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sta.RunDirection = runDirection
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sta.Slope = int32(info.Slope)
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sta.Upslope = info.UpSlope
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sta.RunningUp = info.Up
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sta.RunningResistanceSum = float32(info.TotalResistance) / 1000
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sta.AirResistance = float32(info.AirResistance) / 1000
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sta.RampResistance = float32(info.SlopeResistance) / 1000
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sta.CurveResistance = float32(info.CurveResistance) / 1000
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sta.Speed = info.Speed * 3.6
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sta.HeadSensorSpeed1 = info.HeadSpeed1 * 3.6
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sta.HeadSensorSpeed2 = info.HeadSpeed2 * 3.6
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sta.TailSensorSpeed1 = info.TailSpeed1 * 3.6
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sta.TailSensorSpeed2 = info.TailSpeed2 * 3.6
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sta.HeadRadarSpeed = info.HeadRadarSpeed * 3.6
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sta.TailRadarSpeed = info.TailRadarSpeed * 3.6
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//判定车头方向
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v, ok := simulation.Memory.Status.VobcTrainStateMap.Load(sta.Id)
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if ok {
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vobcState := v.(*state.TrainVobcState)
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if vobcState.DirectionForward {
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sta.HeadDirection = info.Up
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} else if vobcState.DirectionBackward {
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sta.HeadDirection = !info.Up
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}
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}
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return sta
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}
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func dynamicsRun(verifySimulation *memory.VerifySimulation) {
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_ = dynamics.Run(func() []*dynamics.TurnoutInfo {
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stateSlice := memory.GetAllTurnoutState(verifySimulation)
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var turnoutInfoSlice []*dynamics.TurnoutInfo
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for _, sta := range stateSlice {
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code64, err := strconv.ParseUint(sta.Id, 10, 16)
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if err != nil {
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zap.S().Error("id转uint16报错", err)
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}
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info := dynamics.TurnoutInfo{
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Code: uint16(code64),
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NPosition: sta.Normal,
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RPosition: sta.Reverse,
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}
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turnoutInfoSlice = append(turnoutInfoSlice, &info)
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}
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return turnoutInfoSlice
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})
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}
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func buildLineBaseInfo(vs *memory.VerifyStructure) *dynamics.LineBaseInfo {
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var links []*dynamics.Link
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var slopes []*dynamics.Slope
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var curves []*dynamics.Curve
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for _, link := range vs.LinkModelMap {
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id, _ := strconv.Atoi(link.Index)
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var aTurnoutId int
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if link.ARelatedSwitchRef.SwitchDevice != nil {
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aTurnoutId, _ = strconv.Atoi(link.ARelatedSwitchRef.SwitchDevice.GetIndex())
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}
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var bTurnoutId int
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if link.BRelatedSwitchRef.SwitchDevice != nil {
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bTurnoutId, _ = strconv.Atoi(link.BRelatedSwitchRef.SwitchDevice.GetIndex())
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}
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links = append(links, &dynamics.Link{
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ID: int32(id),
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Len: link.Length,
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ARelTurnoutId: int32(aTurnoutId),
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ARelTurnoutPoint: link.ARelatedSwitchRef.Port.Name(),
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BRelTurnoutId: int32(bTurnoutId),
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BRelTurnoutPoint: link.BRelatedSwitchRef.Port.Name(),
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})
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}
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//for _, slope := range vs.SlopeModelMap {
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// id, _ := strconv.Atoi(slope.Index)
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// slopes = append(slopes, &dynamics.Slope{
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// ID: int32(id),
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// StartLinkId: slope.StartLinkIndex,
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// StartLinkOffset: slope.StartLinkOffset,
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// EndLinkId: slope.EndLinkIndex,
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// EndLinkOffset: slope.EndLinkOffset,
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// DegreeTrig: slope.DegreeTrig,
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// })
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//}
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//for _, curve := range vs.CurveModelMap {
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// id, _ := strconv.Atoi(curve.Index)
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// curves = append(curves, &dynamics.Curve{
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// ID: int32(id),
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// StartLinkId: curve.StartLinkIndex,
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// StartLinkOffset: curve.StartLinkOffset,
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// EndLinkId: curve.EndLinkIndex,
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// EndLinkOffset: curve.EndLinkOffset,
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// Curvature: curve.Curvature,
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// })
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//}
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return &dynamics.LineBaseInfo{
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LinkList: links,
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SlopeList: slopes,
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CurveList: curves,
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}
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}
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// 解析VOBC列车信息
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func decoderVobcTrainState(buf []byte) *state.TrainVobcState {
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trainVobcInfo := &state.TrainVobcState{}
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trainVobcInfo.LifeSignal = int32(binary.BigEndian.Uint16(buf[0:2]))
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b2 := buf[2]
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trainVobcInfo.Tc1Active = (b2 & 1) != 0
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trainVobcInfo.Tc2Active = (b2 & (1 << 1)) != 0
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trainVobcInfo.DirectionForward = (b2 & (1 << 2)) != 0
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trainVobcInfo.DirectionBackward = (b2 & (1 << 3)) != 0
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trainVobcInfo.TractionStatus = (b2 & (1 << 4)) != 0
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trainVobcInfo.BrakingStatus = (b2 & (1 << 5)) != 0
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trainVobcInfo.EmergencyBrakingStatus = (b2 & (1 << 6)) != 0
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trainVobcInfo.TurnbackStatus = (b2 & 7) != 0
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b3 := buf[3]
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trainVobcInfo.JumpStatus = (b3 & 1) != 0
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trainVobcInfo.Ato = (b3 & (1 << 1)) != 0
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trainVobcInfo.Fam = (b3 & (1 << 2)) != 0
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trainVobcInfo.Cam = (b3 & (1 << 3)) != 0
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trainVobcInfo.TractionSafetyCircuit = (b3 & (1 << 4)) != 0
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trainVobcInfo.ParkingBrakeStatus = (b3 & (1 << 5)) != 0
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trainVobcInfo.MaintainBrakeStatus = (b3 & (1 << 6)) != 0
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trainVobcInfo.TractionForce = int64(binary.BigEndian.Uint16(buf[4:6]) / 100)
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trainVobcInfo.BrakeForce = int64(binary.BigEndian.Uint16(buf[6:8]) / 100)
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trainVobcInfo.TrainLoad = int64(binary.BigEndian.Uint16(buf[8:10]) / 100)
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b4 := buf[15]
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trainVobcInfo.LeftDoorOpenCommand = (b4 & 1) != 0
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trainVobcInfo.RightDoorOpenCommand = (b4 & (1 << 1)) != 0
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trainVobcInfo.LeftDoorCloseCommand = (b4 & (1 << 2)) != 0
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trainVobcInfo.RightDoorCloseCommand = (b4 & (1 << 3)) != 0
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trainVobcInfo.AllDoorClose = (b4 & (1 << 4)) != 0
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return trainVobcInfo
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}
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