From 2c5b139ff8d493a2e6a9ff7d065685842903c595 Mon Sep 17 00:00:00 2001 From: joylink_zhangsai <1021828630@qq.com> Date: Mon, 27 Sep 2021 14:45:10 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=88=87=E6=8D=A2=E9=A2=84?= =?UTF-8?q?=E9=80=89=E6=A8=A1=E5=BC=8F=E6=8C=87=E4=BB=A4=E3=80=81=E7=A7=BB?= =?UTF-8?q?=E9=99=A4=E5=88=87=E6=8D=A2=E9=A9=BE=E9=A9=B6=E6=A8=A1=E5=BC=8F?= =?UTF-8?q?=E6=8C=87=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../simulation/cbtc/command/CommandBO.java | 415 +++++++++--------- .../cbtc/command/CommandExecuteService.java | 2 +- .../simulation/cbtc/constant/DriveMode.java | 19 +- .../simulation/cbtc/constant/RunLevel.java | 12 +- .../cbtc/data/vr/VirtualRealityTrain.java | 50 ++- .../cbtc/onboard/ATP/ATPLogicLoop.java | 12 +- .../cbtc/onboard/ATP/ATPService.java | 32 +- 7 files changed, 292 insertions(+), 250 deletions(-) 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 c68255dfd..4cec179ab 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 @@ -14,6 +14,9 @@ import club.joylink.rtss.simulation.cbtc.data.support.RoutePath; import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition; import club.joylink.rtss.simulation.cbtc.data.vo.TrainInfo; import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain; +import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain.ConfirmationMessage; +import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain.Handwheel; +import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain.PreselectionMode; import club.joylink.rtss.simulation.cbtc.exception.SimulationException; import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType; import club.joylink.rtss.simulation.cbtc.member.SimulationMember; @@ -181,7 +184,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); //如果列车没停到目标位置，先想办法开过去--- List steps = command.getStepByType(Step.StepType.DRIVE); @@ -219,7 +222,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); if (!DriveMode.CM.equals(train.getDriveMode()) && !DriveMode.AM.equals(train.getDriveMode())) { //如果列车不处于CM/AM运行级别 return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); @@ -254,7 +257,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { String switchCode = (String) command.getParams().get(ParamName.switchCode.name()); Switch aSwitch = simulation.getRepository().getByCode(switchCode, Switch.class); boolean normal = (boolean) command.getParams().get(ParamName.normal.name()); @@ -288,7 +291,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); List steps = command.getStepByType(Step.StepType.DRIVE); Step driveStep = steps.get(0); @@ -340,7 +343,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); Step crossSignalStep = command.getStepByType(Step.StepType.CROSS_SIGNAL).get(0); Signal signal = crossSignalStep.getCrossSignal(); @@ -351,8 +354,11 @@ public class CommandBO { return step; } } - if (!DriveMode.RM.equals(train.getDriveMode())) { - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM); + if (!PreselectionMode.RM.equals(train.getPreselectionMode())) { + PreselectionMode tempMode = train.getTempPreselectionMode(); + if (!PreselectionMode.RM.equals(tempMode)) { + + } } List steps = command.getStepByType(Step.StepType.DRIVE); Step driveStep = steps.get(0); @@ -407,7 +413,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); List steps = command.getStepByType(Step.StepType.OPERATION); Step step = steps.get(0); @@ -428,23 +434,16 @@ public class CommandBO { Set_Speed_Limit(List.of(ParamName.speedLimit), SimulationMember.Type.DRIVER) { @Override public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { - if (!SimulationMember.Type.DRIVER.equals(targetMember.getType())) { - throw new SimulationException(SimulationExceptionType.Member_Is_Not_Driver); - } - - List stepList = new ArrayList<>(); - float speedLimit = Float.parseFloat((String) params.get(ParamName.speedLimit.name())); - if (speedLimit < 0) - speedLimit = Float.MAX_VALUE; - stepList.add(buildSetSpeedLimitStep(speedLimit)); - return stepList; + return Collections.emptyList(); } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); - Step step = command.getStepList().get(0); - train.setSpeedLimit(step.getSpeedLimit() / 3.6f); + float speedLimit = Float.parseFloat((String) command.getParams().get(ParamName.speedLimit.name())); + if (speedLimit < 0) + speedLimit = Float.MAX_VALUE; + train.setSpeedLimit(speedLimit / 3.6f); command.getTargetMember().setCommand(null); return null; } @@ -463,7 +462,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { SimulationMember targetMember = command.getTargetMember(); VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); if (Objects.equals(train.isRight(), command.getParams().get(ParamName.trainRight.name()))) { @@ -483,7 +482,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { SimulationMember targetMember = command.getTargetMember(); VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); String sectionCode = (String) command.getParams().get(ParamName.sectionCode.name()); @@ -498,98 +497,98 @@ public class CommandBO { } }, - /** 转URM模式 */ - Apply_URM_Mode(List.of(), SimulationMember.Type.DRIVER) { - @Override - public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { - return List.of(); - } - - @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { - VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); - if (train.isNRMMode()) { - command.getTargetMember().setCommand(null); - return null; - } else { - return buildDriverATPChangeOperationStep(train.getGroupNumber(), true); - } - } - }, - - /** 转RM模式 */ - Apply_RM_Mode(List.of(), SimulationMember.Type.DRIVER){ - @Override - public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { - return List.of(); - } - - @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { - SimulationMember targetMember = command.getTargetMember(); - VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); - if (DriveMode.RM.equals(train.getPreselectionMode())) { - targetMember.setCommand(null); - return null; - } else { - if (!train.isAtpOn()) { - return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); - } - targetMember.setCommand(null); - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM); - } - } - }, - - /** 转CM模式 */ - Apply_CM_Mode(List.of(), SimulationMember.Type.DRIVER){ - @Override - public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { - return List.of(); - } - - @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { - SimulationMember targetMember = command.getTargetMember(); - VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); - targetMember.setCommand(null); - if (DriveMode.CM.equals(train.getPreselectionMode())) { - return null; - } else { - if (!train.isAtpOn()) { - return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); - } - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); - } - } - }, - - /** 转AM模式 */ - Apply_AM_Mode(List.of(), SimulationMember.Type.DRIVER){ - @Override - public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { - return List.of(); - } - - @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { - SimulationMember targetMember = command.getTargetMember(); - VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); - if (DriveMode.AM.equals(train.getPreselectionMode())) { - targetMember.setCommand(null); - return null; - } - if (!train.isAtpOn()) { - return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); - } - if (!train.isCMMode()) { - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); - } else { - targetMember.setCommand(null); - return buildDriverAtoOpenOperationStep(train.getGroupNumber()); - } - } - }, +// /** 转URM模式 */ +// Apply_URM_Mode(List.of(), SimulationMember.Type.DRIVER) { +// @Override +// public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { +// return List.of(); +// } +// +// @Override +// public Step executeOrReturnStep(Simulation simulation, CommandBO command) { +// VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); +// if (train.isNRMMode()) { +// command.getTargetMember().setCommand(null); +// return null; +// } else { +// return buildDriverATPChangeOperationStep(train.getGroupNumber(), true); +// } +// } +// }, +// +// /** 转RM模式 */ +// Apply_RM_Mode(List.of(), SimulationMember.Type.DRIVER){ +// @Override +// public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { +// return List.of(); +// } +// +// @Override +// public Step executeOrReturnStep(Simulation simulation, CommandBO command) { +// SimulationMember targetMember = command.getTargetMember(); +// VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); +// if (DriveMode.RM.equals(train.getPreselectionMode())) { +// targetMember.setCommand(null); +// return null; +// } else { +// if (!train.isAtpOn()) { +// return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); +// } +// targetMember.setCommand(null); +// return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM); +// } +// } +// }, +// +// /** 转CM模式 */ +// Apply_CM_Mode(List.of(), SimulationMember.Type.DRIVER){ +// @Override +// public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { +// return List.of(); +// } +// +// @Override +// public Step executeOrReturnStep(Simulation simulation, CommandBO command) { +// SimulationMember targetMember = command.getTargetMember(); +// VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); +// targetMember.setCommand(null); +// if (DriveMode.CM.equals(train.getPreselectionMode())) { +// return null; +// } else { +// if (!train.isAtpOn()) { +// return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); +// } +// return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); +// } +// } +// }, +// +// /** 转AM模式 */ +// Apply_AM_C(List.of(), SimulationMember.Type.DRIVER){ +// @Override +// public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { +// return List.of(); +// } +// +// @Override +// public Step executeOrReturnStep(Simulation simulation, CommandBO command) { +// SimulationMember targetMember = command.getTargetMember(); +// VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice(); +// if (DriveMode.AM.equals(train.getPreselectionMode())) { +// targetMember.setCommand(null); +// return null; +// } +// if (!train.isAtpOn()) { +// return buildDriverATPChangeOperationStep(train.getGroupNumber(), false); +// } +// if (!train.isCMMode()) { +// return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); +// } else { +// targetMember.setCommand(null); +// return buildDriverAtoOpenOperationStep(train.getGroupNumber()); +// } +// } +// }, /** 回库 */ Inbound(List.of(), SimulationMember.Type.DRIVER) { @@ -599,7 +598,7 @@ public class CommandBO { } @Override - public Step executeOrReturnStep(Simulation simulation, CommandBO command) { + public Step execute(Simulation simulation, CommandBO command) { SimulationMember driver = command.getTargetMember(); driver.setCommand(null); VirtualRealityTrain train = (VirtualRealityTrain) driver.getDevice(); @@ -614,6 +613,52 @@ public class CommandBO { } return null; } + }, + + /** 修改预选模式 */ + Change_Preselection_Mode(List.of(ParamName.preselectionMode), SimulationMember.Type.DRIVER){ + @Override + public List buildStepList(Simulation simulation, SimulationMember targetMember, Map params) { + return Collections.emptyList(); + } + + @Override + public Step execute(Simulation simulation, CommandBO command) { + SimulationMember driver = command.getTargetMember(); + VirtualRealityTrain train = (VirtualRealityTrain) driver.getDevice(); + PreselectionMode preselectionMode = + PreselectionMode.valueOf((String) command.getParams().get(ParamName.preselectionMode.name())); + PreselectionMode trainMode = train.getPreselectionMode(); + PreselectionMode tempMode = train.getTempPreselectionMode(); + String groupNumber = train.getGroupNumber(); + if (trainMode != preselectionMode) { //预选级别不对 + if (tempMode != preselectionMode) { + if (preselectionMode.isHigherThan(tempMode)) { + return buildPreselectionModeUpOperationStep(groupNumber); + } else { + return buildPreselectionModeDownOperationStep(groupNumber); + } + } else if (ConfirmationMessage.Confirm_Preselection.equals(train.findFirstMessage())){ + return buildConfirmOperationStep(groupNumber); + } + } else if (trainMode.isMatchTheDriveMode(DriveMode.AM) && !train.isAMMode()){ + if (!train.isAtpOn()) { + return buildDriverATPChangeOperationStep(groupNumber, false); + } + if (!train.isInTheGear(Handwheel.ATO)) { + return buildGearChangeStep(groupNumber, Handwheel.ATO); + } + if (!train.isCoasting()) { + return buildDriverForceChangeOperationStep(groupNumber, 0); + } + if (!train.isAtoOn()) { + return buildDriverAtoOpenOperationStep(groupNumber); + } + } else { + driver.setCommand(null); + } + return null; + } } ; @@ -641,6 +686,7 @@ public class CommandBO { */ trainRight, sectionCode, + preselectionMode, ; } @@ -661,7 +707,7 @@ public class CommandBO { /** * 执行指令，返回无法直接完成的指令 */ - public abstract Step executeOrReturnStep(Simulation simulation, CommandBO command); + public abstract Step execute(Simulation simulation, CommandBO command); /** * 构建“改变列车牵引/制动力操作”步骤 @@ -707,8 +753,6 @@ public class CommandBO { /** * 构建“开启ATO操作”步骤 - * - * @return */ public Step buildDriverAtoOpenOperationStep(String groupNumber) { Map operationParams = new HashMap<>(); @@ -770,6 +814,47 @@ public class CommandBO { return step; } + public Step buildPreselectionModeUpOperationStep(String groupNumber) { + Map params = new HashMap<>(); + params.put("groupNumber", groupNumber); + Step step = new Step(); + step.setType(Step.StepType.OPERATION); + step.setOperationType(Operation.Type.Driver_Preselection_Mode_Up); + step.setOperationParams(params); + return step; + } + + public Step buildPreselectionModeDownOperationStep(String groupNumber) { + Map params = new HashMap<>(); + params.put("groupNumber", groupNumber); + Step step = new Step(); + step.setType(Step.StepType.OPERATION); + step.setOperationType(Operation.Type.Driver_Preselection_Mode_Down); + step.setOperationParams(params); + return step; + } + + public Step buildConfirmOperationStep(String groupNumber) { + Map params = new HashMap<>(); + params.put("groupNumber", groupNumber); + Step step = new Step(); + step.setType(Step.StepType.OPERATION); + step.setOperationType(Operation.Type.Driver_Confirm); + step.setOperationParams(params); + return step; + } + + public Step buildGearChangeStep(String groupNumber, Handwheel gear) { + Map params = new HashMap<>(); + params.put("groupNumber", groupNumber); + params.put("gear", gear); + Step step = new Step(); + step.setType(Step.StepType.OPERATION); + step.setOperationType(Operation.Type.Driver_Gear_Change); + step.setOperationParams(params); + return step; + } + /** * 构建“驾驶”步骤 */ @@ -799,59 +884,17 @@ public class CommandBO { return step; } - /** - * 构建“在目标位置停车”步骤 - */ - public Step buildStopAtTerminalStep(SectionPosition sectionPosition) { - Step step = new Step(); - step.setType(Step.StepType.STOP_AT_TERMINAL); - step.setTargetPosition(sectionPosition); - return step; - } - - public Step buildAtoTurnDirectionStep() { - Step step = new Step(); - step.setType(Step.StepType.ATO_CHANGE_DIRECTION); - return step; - } - - /** - * 构建设置限速步骤 - */ - public Step buildSetSpeedLimitStep(float speedLimit) { - Step step = new Step(); - step.setType(Step.StepType.SET_SPEED_LIMIT); - step.setSpeedLimit(speedLimit); - return step; - } - /** * 检查是否可以将rm升为bm并开启ATO */ public Step getStepOfRm2BmAndOpenAto(CommandBO command) { -// Step step = this.getStepOfRm2BmAndOpenAtoWhileParking(command); -// if (step != null) { -// return step; -// } -// return this.getStepOfRm2BmAndOpenAtoWhileRunLevelItcOrCbtc(command); - List steps = command.getStepByType(Step.StepType.RM_TO_BM); VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); - SectionPosition headPosition = train.getHeadPosition(); - boolean right = train.isRight(); Step step = steps.get(0); if (step.isFinish() && DriveMode.CM.equals(train.getDriveMode())) { //如果步骤已经完成（指越过正常开放的信号机或站台停车）且列车为CM模式 command.getTargetMember().setCommand(null); return buildDriverAtoOpenOperationStep(train.getGroupNumber()); } - -// //---站台停车升级检测--- -// if (train.isParking()) { -// step.finish(); -// if (!DriveMode.CM.equals(train.getDriveMode())) { //如果列车不是CM/BM/SM模式 -// return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); -// } -// } //---越信号机升级检测（暂时改为列车级别为ITC/CBTC检测）--- if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) { step.finish(); @@ -861,55 +904,5 @@ public class CommandBO { } return null; } - - /** - * 检查是否可以将rm升为bm并开启ATO（列车运行级别是ITC或CBTC） - */ - public Step getStepOfRm2BmAndOpenAtoWhileRunLevelItcOrCbtc(CommandBO command) { - List steps = command.getStepByType(Step.StepType.RM_TO_BM); - VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); - Step step = steps.get(0); - if (step.isFinish() && DriveMode.CM.equals(train.getDriveMode())) { //如果步骤已经完成（指越过正常开放的信号机）且列车为CM模式 - command.getTargetMember().setCommand(null); - return buildDriverAtoOpenOperationStep(train.getGroupNumber()); - } - //---越信号机升级检测（暂时改为列车级别为ITC/CBTC检测）--- - if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) { - step.finish(); - if (!DriveMode.CM.equals(train.getDriveMode())) { //如果列车不是CM/BM/SM模式 - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); - } - } - return null; - } - - /** - * 检查是否可以将rm升为bm并开启ATO（停车点升级 - */ - public Step getStepOfRm2BmAndOpenAtoWhileStopAtStopPosition(CommandBO command) { - List steps = command.getStepByType(Step.StepType.RM_TO_BM); - VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice(); - SectionPosition headPosition = train.getHeadPosition(); - boolean right = train.isRight(); - Step step = steps.get(0); - if (DriveMode.AM.equals(train.getDriveMode())) { - return null; - } else if (step.isFinish() && DriveMode.CM.equals(train.getDriveMode())) { //如果步骤已经完成（指站台停车）且列车为CM模式 - return buildDriverAtoOpenOperationStep(train.getGroupNumber()); - } - //---站台停车升级检测--- - Section section = headPosition.getSection(); - if (section.isStandTrack() || section.isTurnBackTrack() || section.isTransferTrack()) { - SectionPosition stopPosition = new SectionPosition(section, section.getStopPointByDirection(right)); - if (train.isStopAtThePosition(stopPosition)) { - step.finish(); - if (!DriveMode.CM.equals(train.getDriveMode())) { //如果列车不是CM/BM/SM模式 - return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM); - } - } - } - return null; - } - } } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandExecuteService.java b/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandExecuteService.java index 639f0aa8b..5740e97d5 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandExecuteService.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandExecuteService.java @@ -37,7 +37,7 @@ public class CommandExecuteService { log.info(String.format("成员[%s]由用户[%s]扮演，指令[%s]不执行", member.getId(), member.getUserId(), command.getCommandType())); } else { log.info(String.format("机器人代为执行指令[%s]", command.getCommandType())); - CommandBO.Step step = command.getCommandType().executeOrReturnStep(simulation, command); + CommandBO.Step step = command.getCommandType().execute(simulation, command); if (step != null) { log.debug(String.format("指令[%s]执行到%s", command.getCommandType(), step.debugStr())); execute(step, simulation, command.getTargetMember()); diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/constant/DriveMode.java b/src/main/java/club/joylink/rtss/simulation/cbtc/constant/DriveMode.java index 79a84eb6b..ce4a4a19e 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/constant/DriveMode.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/constant/DriveMode.java @@ -7,14 +7,15 @@ public enum DriveMode { /** 列车自动驾驶模式：司机监控下的列车自动驾驶 */ AM { @Override - public boolean notLowerThan(DriveMode driveMode) { + public boolean isNotLowerThan(DriveMode driveMode) { return true; } + }, /** ATP防护下的人工驾驶模式：司机在列车自动防护设备监控下驾驶列车 */ CM { @Override - public boolean notLowerThan(DriveMode driveMode) { + public boolean isNotLowerThan(DriveMode driveMode) { switch (driveMode) { case AM: return false; @@ -26,11 +27,12 @@ public enum DriveMode { throw new IllegalStateException("Unexpected value: " + driveMode); } } + }, /** 限制人工驾驶模式：地面设备故障或未设置地面信息设备的线路，列车按规定限速运行，超速时实时制动，直至停车 */ RM { @Override - public boolean notLowerThan(DriveMode driveMode) { + public boolean isNotLowerThan(DriveMode driveMode) { switch (driveMode) { case AM: case CM: @@ -42,11 +44,12 @@ public enum DriveMode { throw new IllegalStateException("Unexpected value: " + driveMode); } } + }, /** 无限制人工驾驶模式：列车在运行中没有车载ATP的保护，司机根据行车调度员的指示，按地面信号机的显示或手信号（口令）指示行车 */ NRM { @Override - public boolean notLowerThan(DriveMode driveMode) { + public boolean isNotLowerThan(DriveMode driveMode) { switch (driveMode) { case AM: case CM: @@ -58,7 +61,13 @@ public enum DriveMode { throw new IllegalStateException("Unexpected value: " + driveMode); } } + }; - public abstract boolean notLowerThan(DriveMode driveMode); + public abstract boolean isNotLowerThan(DriveMode driveMode); + + public boolean isHigherThan(DriveMode driveMode) { + return this.isNotLowerThan(driveMode) && !this.equals(driveMode); + } + } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/constant/RunLevel.java b/src/main/java/club/joylink/rtss/simulation/cbtc/constant/RunLevel.java index 8702327ac..991ba2ebb 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/constant/RunLevel.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/constant/RunLevel.java @@ -9,7 +9,7 @@ public enum RunLevel { */ CBTC { @Override - public boolean notLowerThan(RunLevel runLevel) { + public boolean isNotLowerThan(RunLevel runLevel) { return true; } }, @@ -18,7 +18,7 @@ public enum RunLevel { */ ITC { @Override - public boolean notLowerThan(RunLevel runLevel) { + public boolean isNotLowerThan(RunLevel runLevel) { switch (runLevel) { case CBTC: return false; @@ -35,7 +35,7 @@ public enum RunLevel { */ IL { @Override - public boolean notLowerThan(RunLevel runLevel) { + public boolean isNotLowerThan(RunLevel runLevel) { switch (runLevel) { case CBTC: case ITC: @@ -48,5 +48,9 @@ public enum RunLevel { } }; - public abstract boolean notLowerThan(RunLevel runLevel); + public abstract boolean isNotLowerThan(RunLevel runLevel); + + public boolean isHigherThan(RunLevel runLevel) { + return this.isNotLowerThan(runLevel) && !this.equals(runLevel); + } } 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 751089b95..0c6624410 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 @@ -1051,15 +1051,15 @@ public class VirtualRealityTrain extends VirtualRealityDevice { } } - public boolean isInATOGear() { - return Handwheel.ATO.equals(this.gear); + public boolean isInTheGear(Handwheel gear) { + return gear.equals(this.gear); } /** * 在空挡？ */ public boolean isInNeutralGear() { - return gear == null || Handwheel.WASH.equals(gear) || Handwheel.DISCONNECT.equals(gear); + return Handwheel.WASH.equals(gear) || Handwheel.DISCONNECT.equals(gear); } /** @@ -1082,17 +1082,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice { } } - public ConfirmationMessage removeFirstMessage() { - Iterator iterator = confirmationMessages.iterator(); - if (iterator.hasNext()) { - ConfirmationMessage next = iterator.next(); - iterator.remove(); - return next; - } else { - return null; - } - } - public boolean containsMessage(ConfirmationMessage message) { return confirmationMessages.contains(message); } @@ -1124,6 +1113,26 @@ public class VirtualRealityTrain extends VirtualRealityDevice { return getAtoSpeed() * 3.6 < 20; } + /** 是否惰行 */ + public boolean isCoasting() { + return controlLeaver == 0; + } + + /** + * 是否自动开门 + */ + public boolean isAutoOpenDoor() { + return isCBTC() && (VirtualRealityTrain.DoorMode.AM.equals(doorMode) + || VirtualRealityTrain.DoorMode.AA.equals(doorMode)); + } + + /** + * 是否自动关门 + */ + public boolean isAutoCloseDoor() { + return isCBTC() && VirtualRealityTrain.DoorMode.AA.equals(doorMode); + } + @Getter @Setter public static class Door extends ControllableVrDevice { @@ -1403,17 +1412,24 @@ public class VirtualRealityTrain extends VirtualRealityDevice { public abstract PreselectionMode findNext(boolean up); /** - * 该预选模式与该驾驶模式匹配 + * 该预选模式与该驾驶模式匹配（即允许升到该模式） */ public boolean isMatchTheDriveMode(DriveMode driveMode) { - return this.driveMode.notLowerThan(driveMode); + return this.driveMode.isNotLowerThan(driveMode); } /** * 该预选模式与该运行级别匹配 */ public boolean isMatchTheRunLevel(RunLevel runLevel) { - return this.runLevel.notLowerThan(runLevel); + return this.runLevel.isNotLowerThan(runLevel); + } + + /** + * 是否比该模式级别更高 + */ + public boolean isHigherThan(PreselectionMode mode) { + return this.runLevel.isHigherThan(mode.runLevel) && this.driveMode.isHigherThan(mode.driveMode); } } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java index 9edfc9c47..6e1051248 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java @@ -66,10 +66,10 @@ public class ATPLogicLoop { * 更新列车运行级别 */ private void updateRunLevel(Simulation simulation, VirtualRealityTrain train, VirtualRealityTrain.PreselectionMode preselectionMode) { - //如果当前级别高于预选，降至IL - if (!preselectionMode.isMatchTheRunLevel(train.getRunLevel())) { - atpService.updateRunLevel(train, RunLevel.IL, preselectionMode); - } +// //如果当前级别高于预选，降至IL +// if (!preselectionMode.isMatchTheRunLevel(train.getRunLevel())) { +// atpService.updateRunLevel(train, RunLevel.IL, preselectionMode); +// } RunLevel defaultRunLevel = simulation.getRepository().getConfig().getRunMode(); //更新移动授权丢失时长 @@ -212,7 +212,9 @@ public class ATPLogicLoop { * 关闭ATO，如果状态不正确 */ private void closeATOIfStatusIsIncorrect(VirtualRealityTrain train) { - if (train.isEB() || !train.isInATOGear() || !train.isAMMode()) + if (!train.isAtoOn()) + return; + if (train.isEB() || !train.isInTheGear(VirtualRealityTrain.Handwheel.ATO) || !train.isAMMode()) atpService.closeATO(train); } diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java index 39c0a41f2..696e92158 100644 --- a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java +++ b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java @@ -14,6 +14,7 @@ import club.joylink.rtss.simulation.cbtc.data.map.Stand; import club.joylink.rtss.simulation.cbtc.data.support.MovementAuthority; import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition; import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain; +import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain.PreselectionMode; import club.joylink.rtss.simulation.cbtc.onboard.ATO.SpeedCurve; import club.joylink.rtss.simulation.cbtc.onboard.ATO.service.ATOService; import lombok.NonNull; @@ -137,10 +138,10 @@ public class ATPService { if (!train.isAtpOn()) { return; } -// newATOService.closeATO(train); train.setSignalEB(true); log.warn(String.format("列车[%s]触发信号EB", train.getGroupNumber())); train.emergencyBreak(); + closeATO(train); } /** @@ -331,6 +332,9 @@ public class ATPService { * 改变工况手轮档位 */ public void changeGear(VirtualRealityTrain train, @NonNull VirtualRealityTrain.Handwheel gear) { + if (VirtualRealityTrain.Handwheel.REVERSE == gear && !train.isStop()) { + return; + } train.setGear(gear); if (!VirtualRealityTrain.Handwheel.ATO.equals(train.getGear())) { closeATO(train); @@ -356,7 +360,7 @@ public class ATPService { } train.setAtoOn(false); if (DriveMode.AM.equals(train.getDriveMode())) { - train.setDriveMode(DriveMode.CM); + updateDriveMode(train, DriveMode.CM); } } @@ -385,7 +389,7 @@ public class ATPService { } public void preselectionModeUp(VirtualRealityTrain train) { - VirtualRealityTrain.PreselectionMode next = train.getTempPreselectionMode().findNext(true); + PreselectionMode next = train.getTempPreselectionMode().findNext(true); if (next != null) { train.setTempPreselectionMode(next); train.addMessage(VirtualRealityTrain.ConfirmationMessage.Confirm_Preselection); @@ -393,7 +397,7 @@ public class ATPService { } public void preselectionModeDown(VirtualRealityTrain train) { - VirtualRealityTrain.PreselectionMode next = train.getTempPreselectionMode().findNext(false); + PreselectionMode next = train.getTempPreselectionMode().findNext(false); if (next != null) { train.setTempPreselectionMode(next); train.addMessage(VirtualRealityTrain.ConfirmationMessage.Confirm_Preselection); @@ -437,7 +441,7 @@ public class ATPService { } public void updateRunLevel(VirtualRealityTrain train, @NonNull RunLevel runLevel, - VirtualRealityTrain.PreselectionMode preselectionMode) { + PreselectionMode preselectionMode) { if (!preselectionMode.isMatchTheRunLevel(runLevel)) { return; } @@ -445,13 +449,27 @@ public class ATPService { switch (runLevel) { case CBTC: case ITC: - train.setDriveMode(train.isAtoOn() ? DriveMode.AM : DriveMode.CM); + updateDriveMode(train, train.isAtoOn() ? DriveMode.AM : DriveMode.CM, preselectionMode); break; case IL: - train.setDriveMode(DriveMode.RM); + updateDriveMode(train, DriveMode.RM, preselectionMode); break; default: throw new IllegalStateException("Unexpected value: " + runLevel); } } + + private void updateDriveMode(VirtualRealityTrain train, DriveMode driveMode) { + updateDriveMode(train, driveMode, train.getPreselectionMode()); + } + + private void updateDriveMode(VirtualRealityTrain train, DriveMode driveMode, PreselectionMode preselectionMode) { + if (driveMode.equals(train.getDriveMode())) + return; + if (preselectionMode.isMatchTheDriveMode(driveMode)) { + train.setDriveMode(driveMode); + if (!train.isAMMode()) + closeATO(train); + } + } }