joylink/rt-sim-training-service
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新增：设置ARB故障

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This commit is contained in:
joylink_zhangsai 2021-06-21 13:53:03 +08:00
parent eddd0171b7
commit 2339952cae
6 changed files with 89 additions and 17 deletions
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7
src/main/java/club/joylink/rtss/simulation/cbtc/ATP/ground/AtpSectionService.java
View File

@ -185,6 +185,13 @@ public class AtpSectionService {
section.judgeAsInvalid();
}
}
//ARB故障判定
if (Section.AxleFault.ARB.equals(section.getFault())) {
section.setInvalid(true);
for (Section logic : section.getLogicList()) {
logic.setInvalid(true);
}
}
}
/**

26
src/main/java/club/joylink/rtss/simulation/cbtc/ATP/ground/ZCLogicLoop.java
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@ -132,7 +132,7 @@ public class ZCLogicLoop {
}
//非通信车占用区段
if (section.isNonCbtcOccupy()) {
endList.add(new MovementAuthority.End(section, MovementAuthority.EndType.NCT_OCCUPIED_IN_FRONT_OF_SECTION));
endList.add(new MovementAuthority.End(section, MovementAuthority.EndType.NCT_OCCUPIED_SECTION));
return endList;
}
int count = 0;
@ -182,7 +182,7 @@ public class ZCLogicLoop {
if (temp.isNonCbtcOccupy()) {
SectionPosition headPosition1 = train.getHeadPosition();
if (!temp.isSamePhysical(headPosition1.getSection().getCode())) {
endList.add(new MovementAuthority.End(temp, MovementAuthority.EndType.NCT_OCCUPIED_IN_FRONT_OF_SECTION));
endList.add(new MovementAuthority.End(temp, MovementAuthority.EndType.NCT_OCCUPIED_SECTION));
}
}
//检查关闭的区段
@ -283,11 +283,14 @@ public class ZCLogicLoop {
Section section = headPosition.getSection();
int count = 0;
while (Objects.nonNull(section) && count < 20) {
if (count > 1 && !CollectionUtils.isEmpty(endList))
break;
++count;
// 信号机
MovementAuthority.End signalEnd = checkGroundSignal(section, right);
if (Objects.nonNull(signalEnd)) {
deviceEnd = signalEnd;
endList.add(signalEnd);
// deviceEnd = signalEnd;
break;
}
// 轨道尽头/问题道岔
@ -295,15 +298,24 @@ public class ZCLogicLoop {
if (Objects.isNull(temp)) { // 到尽头
if (section.isSwitchTrack()) { // 问题道岔
if (Objects.nonNull(section.getSectionOf(!right))) {
deviceEnd = new MovementAuthority.End(section.getSectionOf(!right),
MovementAuthority.EndType.FAULT_SWITCH);
endList.add(new MovementAuthority.End(section.getSectionOf(!right),
MovementAuthority.EndType.FAULT_SWITCH));
// deviceEnd = new MovementAuthority.End(section.getSectionOf(!right),
// MovementAuthority.EndType.FAULT_SWITCH);
}
} else {
deviceEnd = new MovementAuthority.End(section,
MovementAuthority.EndType.END_TRACK);
endList.add(new MovementAuthority.End(section,
MovementAuthority.EndType.END_TRACK));
// deviceEnd = new MovementAuthority.End(section,
// MovementAuthority.EndType.END_TRACK);
}
break;
}
// else {
// if (temp.isNonCbtcOccupy() && temp.isInvalid()) {
// endList.add(new MovementAuthority.End(temp, MovementAuthority.EndType.NCT_OCCUPIED_SECTION));
// }
// }
section = temp;
}
if (Objects.nonNull(deviceEnd)) {

51
src/main/java/club/joylink/rtss/simulation/cbtc/data/map/Section.java
View File

@ -12,6 +12,7 @@ import lombok.Setter;
import org.springframework.util.CollectionUtils;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Objects;
@ -1109,6 +1110,56 @@ public class Section extends MayOutOfOrderDevice {
}
}
}
},
ARB {
@Override
public boolean apply(MayOutOfOrderDevice device) {
Section section = (Section) device;
List<Section> sections;
if (!section.isAxleCounter()) {
if (section.getParent() != null && section.getParent().isAxleCounter()) {
sections = Collections.singletonList(section.getParent());
} else if (!CollectionUtils.isEmpty(section.getLogicList())) {
sections = section.getLogicList();
} else {
sections = new ArrayList<>();
}
} else {
sections = Collections.singletonList(section);
}
boolean flag = false;
for (Section axleSection : sections) {
if (axleSection.isAxleCounter() && !this.equals(axleSection.getFault())) {
flag = true;
axleSection.setFault(this);
}
}
return flag;
}
@Override
public void fix(MayOutOfOrderDevice device) {
Section section = (Section) device;
List<Section> sections;
if (!section.isAxleCounter()) {
if (section.getParent() != null && section.getParent().isAxleCounter()) {
sections = Collections.singletonList(section.getParent());
} else if (!CollectionUtils.isEmpty(section.getLogicList())) {
sections = section.getLogicList();
} else {
sections = new ArrayList<>();
}
} else {
sections = Collections.singletonList(section);
}
boolean flag = false;
for (Section axleSection : sections) {
if (this.equals(axleSection.getFault())) {
axleSection.setFault(null);
}
}
}
}
}
}

7
src/main/java/club/joylink/rtss/simulation/cbtc/data/support/MovementAuthority.java
View File

@ -5,7 +5,6 @@ import club.joylink.rtss.simulation.cbtc.data.CalculateService;
import club.joylink.rtss.simulation.cbtc.data.map.MapNamedElement;
import club.joylink.rtss.simulation.cbtc.data.map.Section;
import club.joylink.rtss.simulation.cbtc.data.map.Signal;
import club.joylink.rtss.simulation.cbtc.data.map.Stand;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
@ -153,7 +152,7 @@ public class MovementAuthority {
// float offset = right ? 0 : baseSection.getLen();
// return new SectionPosition(baseSection, offset);
// }
case NCT_OCCUPIED_IN_FRONT_OF_SECTION:{
case NCT_OCCUPIED_SECTION:{
Section section = (Section) this.device;
Section previous = section.getNextRunningSectionOf(!right);
float offset = right ? 0 : previous.getLen();
@ -213,9 +212,9 @@ public class MovementAuthority {
UNLOCKED_OVERLAP,
UNLOCK_SECTION,
/**
* 区段前方有非通信车占用
* 非通信车占用区段
*/
NCT_OCCUPIED_IN_FRONT_OF_SECTION,
NCT_OCCUPIED_SECTION,
/**
* 故障区段
*/

4
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
View File

@ -602,6 +602,8 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
}
public void updateTBForce(float fk, float fb) {
if (isEB())
return;
if (Fault.DRIVE_FAULT.equals(fault) && fk > 0) {
return;
}
@ -983,7 +985,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
* 设置紧急制动的功率和制动力
*/
public void emergencyBreak() {
updateTBForce(0, 350);
enforceUpdateTBForce(0, 350);
}
@Getter

11
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
View File

@ -21,12 +21,10 @@ import org.springframework.beans.factory.annotation.Qualifier;
import org.springframework.core.task.TaskExecutor;
import org.springframework.stereotype.Component;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.*;
import java.util.concurrent.atomic.AtomicLong;
import java.util.stream.Collectors;
import java.util.stream.Stream;
/**
* 仿真机器人逻辑循环
@ -110,8 +108,11 @@ public class RobotLogicLoop {
switch (train.getDriveMode()) {
case AM:
case CM:
Float recommendedSpeedMax = Stream.of(train.getAtpSpeedMax(), train.getSpeedLimit() * 0.9f, train.getAtoSpeedMax())
.min(Comparator.comparingDouble(Float::doubleValue)).get();
distance = ATOService.calculateTargetRemainDistance(train, train.getMa());
speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right,
distance, speed, Math.min(train.getAtpSpeedMax(), train.getSpeedLimit()) * 0.9f);
distance, speed, recommendedSpeedMax);
break;
case RM:
speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right,