diff --git a/src/main/java/club/joylink/rtss/controller/simulation/SimulationV1Controller.java b/src/main/java/club/joylink/rtss/controller/simulation/SimulationV1Controller.java index 705767d6d..d760db35f 100644 --- a/src/main/java/club/joylink/rtss/controller/simulation/SimulationV1Controller.java +++ b/src/main/java/club/joylink/rtss/controller/simulation/SimulationV1Controller.java @@ -23,6 +23,7 @@ import club.joylink.rtss.vo.client.fault.FaultRuleVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesQueryVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesVO; import club.joylink.rtss.vo.client.map.DestinationCodeVO; +import club.joylink.rtss.vo.client.operation.DriveParamVO; import club.joylink.rtss.vo.client.psl.PslStatus; import club.joylink.rtss.vo.client.runplan.PlanTripNumberVO; import club.joylink.rtss.vo.client.runplan.RunPlanEChartsDataVO; @@ -402,6 +403,14 @@ public class SimulationV1Controller { return groupSimulationService.getLog(group, queryVO); } + /** + * 获取机器人驾驶参数 + */ + @GetMapping("/{simulationId}/driveParam/{groupNumber}") + public DriveParamVO getDriveParam(@PathVariable String simulationId, @PathVariable String groupNumber) { + return groupSimulationService.getDriveParam(simulationId, groupNumber); + } + /* ----------------------- 泰雷兹操作辅助接口 ----------------------- */ /** *查询进路路径 diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java index 58e7f7ef6..91f5d1e9b 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java @@ -833,6 +833,10 @@ public class Operation { * 确认 */ Driver_Confirm, + /** + * 停车 + */ + Driver_Stop, //--------------------------- 方向杆 --------------------------- /** diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java index feb7b1cbf..075fd7a9d 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java @@ -10,6 +10,7 @@ import club.joylink.rtss.simulation.cbtc.exception.SimulationException; import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType; import club.joylink.rtss.simulation.cbtc.onboard.ATO.service.ATOService; import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService; +import club.joylink.rtss.simulation.cbtc.robot.SimulationRobotService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; @@ -28,6 +29,9 @@ public class DriverOperateHandler { @Autowired private ATPService ATPService; + @Autowired + private SimulationRobotService simulationRobotService; + @OperateHandlerMapping(type = Operation.Type.Driver_Force_Change) public void changeTrainForce(Simulation simulation, String groupNumber, Float percent) { Objects.requireNonNull(percent); @@ -62,6 +66,9 @@ public class DriverOperateHandler { } } + /** + * 紧急制动 + */ @OperateHandlerMapping(type = Operation.Type.Driver_EB) public void trainEB(Simulation simulation, String groupNumber) { VirtualRealityTrain train = simulation.getRepository().getOnlineTrainBy(groupNumber); @@ -195,4 +202,11 @@ public class DriverOperateHandler { ATPService.confirmMessage(train); } + /** + * 停车 + */ + @OperateHandlerMapping(type = Operation.Type.Driver_Stop) + public void stopTrain(Simulation simulation, String groupNumber, Boolean eb) { + simulationRobotService.stopTrain(simulation, groupNumber, eb); + } } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/TrainOperateHandler.java b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/TrainOperateHandler.java index a27c66eae..e84dc7976 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/TrainOperateHandler.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/TrainOperateHandler.java @@ -318,7 +318,7 @@ public class TrainOperateHandler { } /** - * 列车托管 + * 列车托管。使用司机的驾驶指令 */ @OperateHandlerMapping(type = Operation.Type.Train_Trust) public void trust(Simulation simulation, String groupNumber, DriveParamVO param) { diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java index 8473aa7ae..25dbab8f0 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java @@ -419,20 +419,12 @@ public class AtsTrainService { public void trust(Simulation simulation, String groupNumber, DriveParamVO param) { SimulationDataRepository repository = simulation.getRepository(); VirtualRealityTrain train = repository.getOnlineTrainBy(groupNumber); - //设置限速 - Float speedLimit = param.getSpeedLimit(); - if (speedLimit != null) { - if (speedLimit < 0) - speedLimit = Float.MAX_VALUE; - train.setSpeedLimit(speedLimit / 3.6f); - } - //向前行驶 - train.setRobotDriveForward(param.isDriveForward()); - //设置目标位置 + //计算目标位置 + SectionPosition targetPosition = null; String targetDeviceCode = param.getTargetDeviceCode(); if (StringUtils.hasText(targetDeviceCode)) { boolean right = train.isRight(); - SectionPosition targetPosition; + SectionPosition tempTargetPosition; MapElement element = repository.findByCode(targetDeviceCode); if (element != null) { if (!(element instanceof Section)) { @@ -448,24 +440,25 @@ public class AtsTrainService { if (distance == null) { throw new SimulationException(SimulationExceptionType.Illegal_Argument, "无法到达的位置"); } - targetPosition = CalculateService.calculateNextPositionByStartAndLen(train.getHeadPosition(), right, distance, false); + tempTargetPosition = CalculateService.calculateNextPositionByStartAndLen(train.getHeadPosition(), right, distance, false); } else { - targetPosition = new SectionPosition(section, section.getStopPointByDirection(right)); + tempTargetPosition = new SectionPosition(section, section.getStopPointByDirection(right)); } } else { - targetPosition = new SectionPosition(section, section.getStopPointByDirection(right)); + tempTargetPosition = new SectionPosition(section, section.getStopPointByDirection(right)); } } else { VirtualRealityTrain targetTrain = repository.getVRByCode(targetDeviceCode, VirtualRealityTrain.class); SectionPosition targetTrainTailPosition = targetTrain.calculateTailPosition(); boolean targetIsRight = targetTrain.isRight(); - targetPosition = CalculateService.calculateNextPositionByStartAndLen(targetTrainTailPosition, !targetIsRight, 2, false); + tempTargetPosition = CalculateService.calculateNextPositionByStartAndLen(targetTrainTailPosition, !targetIsRight, 2, false); } - SectionPosition physicalPosition = targetPosition.convert2PhysicalSectionPosition(); - train.setRobotTargetPosition(physicalPosition); - } else { - train.setRobotTargetPosition(null); + targetPosition = tempTargetPosition.convert2PhysicalSectionPosition(); + BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotNull(targetPosition, "无法抵达所选位置"); } + + param.setTargetPosition(targetPosition); + train.setRobotDriveParam(param); } /** diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationService.java b/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationService.java index e6d7210cc..f9323dfb5 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationService.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationService.java @@ -17,6 +17,7 @@ import club.joylink.rtss.vo.client.fault.FaultRuleVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesQueryVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesVO; import club.joylink.rtss.vo.client.map.DestinationCodeVO; +import club.joylink.rtss.vo.client.operation.DriveParamVO; import club.joylink.rtss.vo.client.runplan.PlanTripNumberVO; import club.joylink.rtss.vo.client.runplan.RunPlanEChartsDataVO; import club.joylink.rtss.vo.client.runplan.RunPlanVO; @@ -293,4 +294,6 @@ public interface GroupSimulationService { List getAllIscsSystemResources(String group, IscsSystemResourcesQueryVO queryVO); void modifySystemTime(String group, LocalTime time); + + DriveParamVO getDriveParam(String simulationId, String groupNumber); } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationServiceImpl.java b/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationServiceImpl.java index 46f674b0e..cdcafb62a 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationServiceImpl.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationServiceImpl.java @@ -35,6 +35,7 @@ import club.joylink.rtss.simulation.cbtc.data.plan.TripPlan; import club.joylink.rtss.simulation.cbtc.data.storage.StorageSimulation; import club.joylink.rtss.simulation.cbtc.data.vo.RealDeviceVO; import club.joylink.rtss.simulation.cbtc.data.vo.SimulationVO; +import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain; import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.SimulationRealDeviceConnectManager; import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig; import club.joylink.rtss.simulation.cbtc.event.*; @@ -54,6 +55,7 @@ import club.joylink.rtss.vo.client.fault.FaultRuleVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesQueryVO; import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesVO; import club.joylink.rtss.vo.client.map.DestinationCodeVO; +import club.joylink.rtss.vo.client.operation.DriveParamVO; import club.joylink.rtss.vo.client.project.ProjectDeviceVO; import club.joylink.rtss.vo.client.runplan.*; import club.joylink.rtss.vo.client.runplan.user.RunPlanParkingTimeVO; @@ -1102,6 +1104,14 @@ public class GroupSimulationServiceImpl implements GroupSimulationService { simulation.setSystemTime(simulationTime); } + @Override + public DriveParamVO getDriveParam(String simulationId, String groupNumber) { + Simulation simulation = getSimulationByGroup(simulationId); + SimulationDataRepository repository = simulation.getRepository(); + VirtualRealityTrain train = repository.getOnlineTrainBy(groupNumber); + return train.getRobotDriveParam(); + } + private boolean isThirdAccountHasPermission(AccountVO accountVO, List ups, Long mapId, String prdType) { if (accountVO.isThirdChildAccount()) { List loginInfos = this.loginSessionManager.getAllLoginUserInfos(); diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java b/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java index a88c40195..2529584c1 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java @@ -408,9 +408,11 @@ public class CommandBO { public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); float speedLimit = Float.parseFloat((String) command.getParams().get(ParamName.speedLimit.name())); - if (speedLimit < 0) - speedLimit = Float.MAX_VALUE; - train.setSpeedLimit(speedLimit / 3.6f); + if (speedLimit < 0) { + train.setSpeedLimit(Float.MAX_VALUE); + } else { + train.setSpeedLimit(speedLimit / 3.6f); + } command.getTargetMember().setCommand(null); return null; } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/support/StorageDriveParam.java b/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/support/StorageDriveParam.java new file mode 100644 index 000000000..82df9aab8 --- /dev/null +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/support/StorageDriveParam.java @@ -0,0 +1,46 @@ +package club.joylink.rtss.simulation.cbtc.data.storage.support; + +import club.joylink.rtss.vo.client.operation.DriveParamVO; +import lombok.Getter; +import lombok.NoArgsConstructor; +import lombok.Setter; + +@Getter +@Setter +@NoArgsConstructor +public class StorageDriveParam { + /** + * 限速值 + */ + private Float speedLimit; + + /** + * 向前行驶（持续看信号行驶） + */ + private boolean driveForward = true; + + /** + * 目标设备code（用于确定目标位置） + */ + private String targetDeviceCode; + + /** + * 根据目标设备code计算出的目标位置 + */ + private StorageSectionPosition targetPosition; + + /** + * 越过信号机 + */ + private int through; + + public StorageDriveParam(DriveParamVO param) { + this.speedLimit = param.getSpeedLimit(); + this.driveForward = param.isDriveForward(); + this.targetDeviceCode = param.getTargetDeviceCode(); + if (param.getTargetPosition() != null) { + this.targetPosition = new StorageSectionPosition(param.getTargetPosition()); + } + this.through = param.getThrough(); + } +} diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/vr/StorageVirtualRealityTrain.java b/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/vr/StorageVirtualRealityTrain.java index 4012b79f7..175d0d504 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/vr/StorageVirtualRealityTrain.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/vr/StorageVirtualRealityTrain.java @@ -7,11 +7,13 @@ import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository; import club.joylink.rtss.simulation.cbtc.data.map.Responder; import club.joylink.rtss.simulation.cbtc.data.map.Section; import club.joylink.rtss.simulation.cbtc.data.map.Station; +import club.joylink.rtss.simulation.cbtc.data.storage.support.StorageDriveParam; import club.joylink.rtss.simulation.cbtc.data.storage.support.StorageMA; import club.joylink.rtss.simulation.cbtc.data.storage.support.StorageSectionPosition; import club.joylink.rtss.simulation.cbtc.data.vr.StandParkedTrainActivity; import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityDevice; import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain; +import club.joylink.rtss.vo.client.operation.DriveParamVO; import lombok.Getter; import lombok.NoArgsConstructor; import lombok.Setter; @@ -267,6 +269,8 @@ public class StorageVirtualRealityTrain extends StorageVirtualRealityDeviceStatu private List lastTwoPassedResponders; + private StorageDriveParam driveParam; + public StorageVirtualRealityTrain(VirtualRealityTrain train) { super(train); this.groupNumber = train.getGroupNumber(); @@ -299,9 +303,9 @@ public class StorageVirtualRealityTrain extends StorageVirtualRealityDeviceStatu this.headPosition = new StorageSectionPosition(train.getHeadPosition()); } this.right = train.isRight(); - if (train.getRobotTargetPosition() != null) { - this.robotTargetPosition = new StorageSectionPosition(train.getRobotTargetPosition()); - } +// if (train.getRobotTargetPosition() != null) { +// this.robotTargetPosition = new StorageSectionPosition(train.getRobotTargetPosition()); +// } if (train.getMa() != null) { this.ma = new StorageMA(train.getMa()); } @@ -312,7 +316,7 @@ public class StorageVirtualRealityTrain extends StorageVirtualRealityDeviceStatu this.atoSpeedMax = train.getAtoSpeedMax(); this.atoSpeed = train.getAtoSpeed(); this.atpSpeed = train.getAtpSpeed(); - this.speedLimit = train.getSpeedLimit(); +// this.speedLimit = train.getNonNullSpeedLimit(); this.signalEB = train.isSignalEB(); this.circuitEB = train.isCircuitEB(); this.dtro = train.isDtro(); @@ -338,6 +342,7 @@ public class StorageVirtualRealityTrain extends StorageVirtualRealityDeviceStatu } // 20220721修改为保存应答器Code this.lastTwoPassedResponders = train.getLastTwoPassedResponders().stream().map(Responder::getCode).collect(Collectors.toList()); + this.driveParam = new StorageDriveParam(train.getRobotDriveParam()); } public static StorageVirtualRealityTrain convert2Storage(VirtualRealityTrain vrTrain) { @@ -425,5 +430,20 @@ public class StorageVirtualRealityTrain extends StorageVirtualRealityDeviceStatu if (!CollectionUtils.isEmpty(lastTwoPassedResponders)) { // train.setLastTwoPassedResponders(lastTwoPassedResponders); } + if (driveParam != null) { + train.setRobotDriveParam(convert2DriveParam(driveParam, repository)); + } + } + + private DriveParamVO convert2DriveParam(StorageDriveParam storageDriveParam, SimulationDataRepository repository) { + DriveParamVO param = new DriveParamVO(); + param.setSpeedLimit(storageDriveParam.getSpeedLimit()); + param.setDriveForward(storageDriveParam.isDriveForward()); + param.setTargetDeviceCode(storageDriveParam.getTargetDeviceCode()); + if (storageDriveParam.getTargetPosition() != null) { + param.setTargetPosition(storageDriveParam.getTargetPosition().convert2SimulationObj(repository)); + } + param.setThrough(storageDriveParam.getThrough()); + return param; } } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java b/src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java index dc694328e..901c2009a 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java @@ -13,6 +13,7 @@ import club.joylink.rtss.simulation.cbtc.data.support.MovementAuthority; import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition; import club.joylink.rtss.simulation.cbtc.exception.SimulationException; import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType; +import club.joylink.rtss.vo.client.operation.DriveParamVO; import lombok.Getter; import lombok.Setter; import lombok.extern.slf4j.Slf4j; @@ -213,11 +214,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice { */ private boolean right; - /** - * 目标位置（托管或机器人根据语音指令模仿人工驾车） - */ - private SectionPosition robotTargetPosition; - /** * 移动授权 */ @@ -262,11 +258,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice { */ private float atpSpeed; - /** - * 限速（m/s）（默认float最大值是为了取速度最小值方便） - */ - private float speedLimit = Float.MAX_VALUE; - /** * 是否紧急停车（信号） */ @@ -459,10 +450,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice { private VirtualRealityAudio vrAudio; - /** - * 机器人向前驾驶 - */ - private boolean robotDriveForward; + private DriveParamVO robotDriveParam = new DriveParamVO(); public SectionPosition getTailPosition() { return this.tailPosition == null ? calculateTailPosition() : this.tailPosition; @@ -559,7 +547,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice { this.trainHold = false; this.terminalStation = null; this.headPosition = null; - this.robotTargetPosition = null; this.ma2 = null; this.ma = null; this.cbtcMaMissDuration = 0; @@ -569,7 +556,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice { resetAtoSpeedMax(); this.atoSpeed = 0; this.atpSpeed = 0; - this.speedLimit = Float.MAX_VALUE; this.signalEB = false; this.circuitEB = false; this.dtro = false; @@ -599,7 +585,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice { this.doorSelection = DoorSelection.Z; this.confirmationMessages.clear(); this.atoCanOpen = false; - this.robotDriveForward = false; + this.robotDriveParam = new DriveParamVO(); } public boolean isEB() { @@ -1108,15 +1094,15 @@ public class VirtualRealityTrain extends VirtualRealityDevice { * 是否自动开门 */ public boolean isAutoOpenDoor() { - return isCBTC() && (VirtualRealityTrain.DoorMode.AM.equals(doorMode) - || VirtualRealityTrain.DoorMode.AA.equals(doorMode)); + return isCBTC() && (DoorMode.AM.equals(doorMode) + || DoorMode.AA.equals(doorMode)); } /** * 是否自动关门 */ public boolean isAutoCloseDoor() { - return isCBTC() && VirtualRealityTrain.DoorMode.AA.equals(doorMode); + return isCBTC() && DoorMode.AA.equals(doorMode); } public void initAsAM_I() { @@ -1136,6 +1122,33 @@ public class VirtualRealityTrain extends VirtualRealityDevice { this.setAtoOn(false); } + /** + * 获取一个非null的限速值。（计算限速时更方便） + */ + public float getNonNullSpeedLimit() { + return robotDriveParam.getNonNullSpeedLimit(); + } + + public void setSpeedLimit(float v) { + this.robotDriveParam.setSpeedLimit(v); + } + + public SectionPosition getRobotTargetPosition() { + return robotDriveParam.getTargetPosition(); + } + + public void setRobotTargetPosition(SectionPosition targetPosition) { + robotDriveParam.setTargetPosition(targetPosition); + } + + public boolean isRobotDriveForward() { + return robotDriveParam.isDriveForward(); + } + + public void invalidateRobotDrive() { + this.robotDriveParam.invalidate(); + } + @Getter @Setter public static class Door extends ControllableVrDevice { diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java b/src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java index 08650d023..cc7853055 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java @@ -197,9 +197,9 @@ public class SrTrainServiceImpl implements UDPRealDeviceService { } else { float recommendedSpeedMax; if (train.isRMMode()) { - recommendedSpeedMax = Math.min(repository.getConfig().getRmAtpSpeed(), train.getSpeedLimit()) * 0.9f; + recommendedSpeedMax = Math.min(repository.getConfig().getRmAtpSpeed(), train.getNonNullSpeedLimit()) * 0.9f; } else if (train.isNRMMode()) { - recommendedSpeedMax = Math.min(repository.getConfig().getUrmAtpSpeed(), train.getSpeedLimit()) * 0.9f; + recommendedSpeedMax = Math.min(repository.getConfig().getUrmAtpSpeed(), train.getNonNullSpeedLimit()) * 0.9f; } else { recommendedSpeedMax = 0; } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java index d7b4c2121..29e80d6b3 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java @@ -80,32 +80,6 @@ public class SpeedCurve { } } return calculateAtoStopCurveAndUpdate(train, ma, stopPosition); - - -// SectionPosition headPosition = train.getHeadPosition(); -// SectionPosition tailPosition = train.calculateTailPosition(); -// boolean right = train.isRight(); -// float stopDistance = ma.calculateDistanceOfAtoEnd(); -// float speedMax = Math.min(train.getAtoSpeedMax(), train.getSpeedLimit() * 0.9f); -// SpeedCurve atoStopCurve; -// if (!train.isJump() && (train.isNextParking() || train.isHold())) { // 列车下一站停车 -// Section target = train.getTarget(); -// if (target != null) { -// float stopPoint = target.getStopPointByDirection(right); -// SectionPosition stopPosition = new SectionPosition(target, stopPoint); -// Float stopPointDistance = CalculateService.calculateDistance(headPosition, stopPosition, right); -// float ebTriggerDistance = ma.calculateDistanceOfEbTriggerEnd(); -// if (stopPointDistance != null && stopPointDistance.floatValue() <= ebTriggerDistance) { -// // 列车停车位置距离小于eb触发距离 -// stopDistance = stopPointDistance; -// } -// } -// } -// atoStopCurve = SpeedCurve -// .buildTargetSpeedCurve(headPosition, tailPosition, right, -// stopDistance, train.getSpeed(), speedMax); -//// ma.setAtoStopCurve(atoStopCurve); -// return atoStopCurve; } public static SpeedCurve calculateAtoStopCurveAndUpdate(VirtualRealityTrain train, MaService.Ma ma, SectionPosition stopPosition) { @@ -113,7 +87,8 @@ public class SpeedCurve { SectionPosition tailPosition = train.calculateTailPosition(); boolean right = train.isRight(); float stopDistance = ma.calculateDistanceOfAtoEnd(); - float speedMax = Math.min(train.getAtoSpeedMax(), train.getSpeedLimit() * 0.9f); + float speedMax = train.getAtoSpeedMax(); +// float speedMax = Math.min(train.getAtoSpeedMax(), train.getNonNullSpeedLimit() * 0.9f); 不知道为什么这个限速会影响到ATO驾驶的速度，先注掉 SpeedCurve atoStopCurve; if (stopPosition != null) { Float stopPointDistance = CalculateService.calculateDistance(headPosition, stopPosition, right, false); diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java b/src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java index 5f5afb878..754dc8a06 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java @@ -158,7 +158,7 @@ public class SimulationRobotService { //机器人驾驶 if (driver.getCommand() != null || train.getRobotTargetPosition() != null) { //如果有和驾驶行为不冲突的指令，这里需要做修改 robotDriveByCommand(simulation, driver, train); - } else if (repository.getConfig().isRailway() || train.isRobotDriveForward()) { + } else if (train.isRobotDriveForward()) { //地铁的自动驾驶暂时也用大铁的逻辑。因为地铁线路没有行车日志，所以效果等同于只看信号 railRobotDrive(simulation, train); } @@ -308,11 +308,11 @@ public class SimulationRobotService { break; case RM: speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right, - distance, speed, Math.min(repository.getConfig().getRmAtpSpeed(), train.getSpeedLimit()) * 0.9f); + distance, speed, Math.min(repository.getConfig().getRmAtpSpeed(), train.getNonNullSpeedLimit()) * 0.9f); break; case NRM: speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right, - distance, speed, Math.min(repository.getConfig().getUrmAtpSpeed(), train.getSpeedLimit()) * 0.9f); + distance, speed, Math.min(repository.getConfig().getUrmAtpSpeed(), train.getNonNullSpeedLimit()) * 0.9f); break; default: return; @@ -487,4 +487,15 @@ public class SimulationRobotService { public void addJobs(Simulation simulation) { simulation.addJob(SimulationModule.ROBOT.name(), () -> this.run(simulation), SimulationConstants.ROBOT_LOGIC_LOOP_RATE); } + + public void stopTrain(Simulation simulation, String groupNumber, Boolean eb) { + SimulationDataRepository repository = simulation.getRepository(); + VirtualRealityTrain train = repository.getOnlineTrainBy(groupNumber); + train.invalidateRobotDrive(); //使机器人驾驶功能失效 + if (Objects.equals(true, eb)) { + atpService.triggerCircuitEB(train); + } else { + doBreakMax(simulation, train); + } + } } diff --git a/src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java b/src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java index e7afd0b4b..cd1f6eb6a 100644 --- a/src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java +++ b/src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java @@ -1,5 +1,7 @@ package club.joylink.rtss.vo.client.operation; +import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition; +import com.fasterxml.jackson.annotation.JsonIgnore; import lombok.Getter; import lombok.NoArgsConstructor; import lombok.Setter; @@ -17,12 +19,53 @@ public class DriveParamVO { private Float speedLimit; /** - * 向前行驶 + * 向前行驶（持续看信号行驶） */ - private boolean driveForward; + @JsonIgnore + private boolean driveForward = true; /** * 目标设备code（用于确定目标位置） */ private String targetDeviceCode; + + /** + * 根据目标设备code计算出的目标位置 + */ + @JsonIgnore + private SectionPosition targetPosition; + + /** + * 越过信号机 + */ + private int through; + public static final int NO = 0; + public static final int RED_SIGNAL = 1; + public static final int GUIDE_SIGNAL = 2; + + @JsonIgnore + public boolean isThroughRedSignal() { + return RED_SIGNAL == through; + } + + @JsonIgnore + public boolean isThroughGuideSignal() { + return GUIDE_SIGNAL == through; + } + + @JsonIgnore + public void setTargetPosition(SectionPosition targetPosition) { + this.targetPosition = targetPosition; + driveForward = targetPosition == null; + } + + @JsonIgnore + public float getNonNullSpeedLimit() { + return speedLimit == null ? Float.MAX_VALUE : speedLimit; + } + + public void invalidate() { + this.driveForward = false; + this.targetPosition = null; + } }