驾驶和停车操作

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

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 ---------------------------
         /**

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);
+    }
 }

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) {

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
+        //计算目标位置
-        Float speedLimit = param.getSpeedLimit();
+        SectionPosition targetPosition = null;
-        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
         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();
+            targetPosition = tempTargetPosition.convert2PhysicalSectionPosition();
-            train.setRobotTargetPosition(physicalPosition);
+            BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotNull(targetPosition, "无法抵达所选位置");
-        } else {
-            train.setRobotTargetPosition(null);
         }
+
+        param.setTargetPosition(targetPosition);
+        train.setRobotDriveParam(param);
     }
 
     /**

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<IscsSystemResourcesVO> getAllIscsSystemResources(String group, IscsSystemResourcesQueryVO queryVO);
 
     void modifySystemTime(String group, LocalTime time);
+
+    DriveParamVO getDriveParam(String simulationId, String groupNumber);
 }

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<UserPermissionVO> ups, Long mapId, String prdType) {
         if (accountVO.isThirdChildAccount()) {
             List<LoginUserInfoVO> loginInfos = this.loginSessionManager.getAllLoginUserInfos();

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)
+                if (speedLimit < 0) {
-                    speedLimit = Float.MAX_VALUE;
+                    train.setSpeedLimit(Float.MAX_VALUE);
+                } else {
                     train.setSpeedLimit(speedLimit / 3.6f);
+                }
                 command.getTargetMember().setCommand(null);
                 return null;
             }

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();
+    }
+}

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<String> 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) {
+//        if (train.getRobotTargetPosition() != null) {
-            this.robotTargetPosition = new StorageSectionPosition(train.getRobotTargetPosition());
+//            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;
     }
 }

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;
 
-    /**
+    private DriveParamVO robotDriveParam = new DriveParamVO();
-     * 机器人向前驾驶
-     */
-    private boolean robotDriveForward;
 
     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)
+        return isCBTC() && (DoorMode.AM.equals(doorMode)
-                || VirtualRealityTrain.DoorMode.AA.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<Door.Operation> {

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;
                 }

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);

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);
+        }
+    }
 }

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;
+    }
 }