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驾驶和停车操作

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This commit is contained in:
joylink_zhangsai 2022-07-27 18:58:17 +08:00
parent 266463eb4c
commit 280f4edd78
15 changed files with 224 additions and 81 deletions
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9
src/main/java/club/joylink/rtss/controller/simulation/SimulationV1Controller.java
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@ -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

4
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java
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@ -833,6 +833,10 @@ public class Operation {
* 确认
*/
Driver_Confirm,
/**
* 停车
*/
Driver_Stop,
//--------------------------- 方向杆 ---------------------------
/**

14
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java
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@ -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);
}
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/TrainOperateHandler.java
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@ -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) {

31
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java
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@ -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);
}
/**

3
src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationService.java
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@ -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);
}

10
src/main/java/club/joylink/rtss/simulation/cbtc/GroupSimulationServiceImpl.java
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@ -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();

8
src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java
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@ -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;
}

46
src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/support/StorageDriveParam.java Normal file
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@ -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();
}
}

28
src/main/java/club/joylink/rtss/simulation/cbtc/data/storage/vr/StorageVirtualRealityTrain.java
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@ -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) {
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;
}
}

53
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
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@ -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<Door.Operation> {

4
src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java
View File

@ -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;
}

29
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java
View File

@ -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);

17
src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java
View File

@ -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);
}
}
}

47
src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java
View File

@ -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;
}
}