joylink/rt-sim-training-service
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Merge remote-tracking branch 'origin/test' into ats-restruct

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joylink_zhangsai 2021-07-27 14:12:07 +08:00
commit 4d3e7b8735
10 changed files with 96 additions and 32 deletions
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24
src/main/java/club/joylink/rtss/simulation/cbtc/ATP/ground/ZCLogicLoop.java
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@ -12,6 +12,7 @@ import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
import club.joylink.rtss.simulation.cbtc.data.map.*;
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.VirtualRealitySectionAxleCounter;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService;
import club.joylink.rtss.simulation.cbtc.onboard.ATP.OnboardAtpApiService;
@ -84,6 +85,24 @@ public class ZCLogicLoop {
});
}
/**
* 为升级CM而强制更新ma（简单处理）
* @return 是否更新成功
*/
public boolean updateCbtcMa4CM(Simulation simulation, VirtualRealityTrain train) {
RunLevel defaultRunLevel = simulation.getRepository().getConfig().getRunMode();
if (RunLevel.CBTC.equals(defaultRunLevel)) {
List<VirtualRealityTrain> trainList = simulation.getRepository().getOnlineTrainList();
SectionPosition headPosition = train.getHeadPosition();
if (headPosition.getSection().anyZcWorking()) {
List<MovementAuthority.End> endList = this.findMaEnd(simulation, train, trainList);
MovementAuthority ma = this.compareAndBuildMa(train, endList);
return onboardAtpApiService.ignoreDriveModeUpdateMA4CBTC(train, ma);
}
}
return false;
}
private void calculateMAOfCBTC(Simulation simulation, VirtualRealityTrain train,
List<VirtualRealityTrain> trainList) {
// 查找移动授权终端列表
@ -135,9 +154,14 @@ public class ZCLogicLoop {
// }
//非通信车占用区段
if (section.isNonCbtcOccupy() && !section.isInvalid()) {
VirtualRealitySectionAxleCounter axle = section.getVirtualAxleCounter();
if (axle == null && section.getParent() != null)
axle = section.getParent().getVirtualAxleCounter();
if (axle == null || axle.getLeftCount() > 1 || axle.getRightCount() > 1) { //以计轴器计数为1作为是当前列车导致区段非通信车占用的判断依据
endList.add(new MovementAuthority.End(section, MovementAuthority.EndType.NCT_OCCUPIED_SECTION));
return endList;
}
}
//通信车占用区段
List<Section> occupiedLogicSectionList = simulation.getRepository().queryTrainOccupyAtpSectionList(train.getGroupNumber());
Set<Section> occupiedLogicSectionSet;

15
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java
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@ -1,5 +1,6 @@
package club.joylink.rtss.simulation.cbtc.ATS.operation.handler;
import club.joylink.rtss.simulation.cbtc.ATP.ground.ZCLogicLoop;
import club.joylink.rtss.simulation.cbtc.ATS.operation.Operation;
import club.joylink.rtss.simulation.cbtc.ATS.operation.annotation.OperateHandler;
import club.joylink.rtss.simulation.cbtc.ATS.operation.annotation.OperateHandlerMapping;
@ -7,7 +8,6 @@ import club.joylink.rtss.simulation.cbtc.CI.CiApiService;
import club.joylink.rtss.simulation.cbtc.Simulation;
import club.joylink.rtss.simulation.cbtc.constant.ControlGear;
import club.joylink.rtss.simulation.cbtc.constant.DriveMode;
import club.joylink.rtss.simulation.cbtc.constant.RunLevel;
import club.joylink.rtss.simulation.cbtc.data.map.Stand;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
@ -36,6 +36,9 @@ public class DriverOperateHandler {
@Autowired
private CiApiService ciApiService;
@Autowired
private ZCLogicLoop zcLogicLoop;
@OperateHandlerMapping(type = Operation.Type.Driver_Force_Change)
public void changeTrainForce(Simulation simulation, String groupNumber, Float percent) {
Objects.requireNonNull(percent);
@ -114,15 +117,11 @@ public class DriverOperateHandler {
case CM: {
if (!train.isAtpOn()) {
throw new SimulationException(SimulationExceptionType.Invalid_Operation,
String.format("列车[%s]ATP未开启，无法升级BM驾驶模式", train.getGroupNumber()));
String.format("列车[%s]ATP未开启，无法升级CM驾驶模式", train.getGroupNumber()));
}
// if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) {
// train.useCMMode();
// } else {
// throw new SimulationException(SimulationExceptionType.Invalid_Operation,
// String.format("列车[%s]非ITC/CBTC运行级别，无法升级BM驾驶模式", train.getGroupNumber()));
// }
if (zcLogicLoop.updateCbtcMa4CM(simulation, train)) {
train.useCMMode();
}
break;
}
case RM: {

8
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/service/TrainFaultService.java
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@ -7,6 +7,7 @@ import club.joylink.rtss.simulation.cbtc.data.map.MapElement;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
import club.joylink.rtss.simulation.cbtc.event.SimulationDeviceFaultOverEvent;
import club.joylink.rtss.simulation.cbtc.event.SimulationDeviceFaultSetEvent;
import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.ApplicationContext;
import org.springframework.stereotype.Service;
@ -17,8 +18,15 @@ public class TrainFaultService{
@Autowired
private ApplicationContext applicationContext;
@Autowired
private ATPService atpService;
public void setFault(Simulation simulation, MapElement device, FaultParam param) {
VirtualRealityTrain.Fault fault = checkAndGetFault(param);
if (VirtualRealityTrain.Fault.SUDDEN_EB.equals(fault)) {
atpService.triggerSignalEB((VirtualRealityTrain) device);
return;
}
boolean apply = fault.apply(device);
if (apply) {
this.applicationContext.publishEvent(new SimulationDeviceFaultSetEvent(this,

8
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
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@ -713,8 +713,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
// this.setSignalEB(false);
this.setAtoOn(false);
this.setDriveMode(DriveMode.RM);
this.lossPosition();
// this.positioned = false; //定位丢失
// this.lossPosition();
this.setCbtcMaMiss(); //通信断开
// this.lastTwoPassedResponders.clear();
// if (RunLevel.CBTC.equals(this.runLevel)) {
@ -1157,7 +1156,10 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
train.emergencyBreak(); //暂时就在这里直接处理，可能正常应该是ATP的责任
return true;
}
};
},
/** 突然EB */
SUDDEN_EB{},;
public boolean apply(MapElement device) {
VirtualRealityTrain train = (VirtualRealityTrain) device;

9
src/main/java/club/joylink/rtss/simulation/cbtc/fault/FaultGenerator.java
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@ -8,6 +8,7 @@ import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
import club.joylink.rtss.simulation.cbtc.constant.SimulationModule;
import club.joylink.rtss.simulation.cbtc.data.map.*;
import club.joylink.rtss.simulation.cbtc.data.vo.TrainInfo;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
import club.joylink.rtss.vo.client.fault.FaultRuleVO;
import club.joylink.rtss.vo.client.fault.FaultTriggerConditionVO;
import lombok.extern.slf4j.Slf4j;
@ -41,6 +42,9 @@ public class FaultGenerator {
@Autowired
private ZCFaultService zcFaultService;
@Autowired
private TrainFaultService trainFaultService;
/**
* 根据条件生成设备故障
*
@ -89,6 +93,11 @@ public class FaultGenerator {
this.zcFaultService.setFault(simulation, zc, new FaultParam(zc.getCode(), faultRule.getFaultType()));
break;
}
case TRAIN:{
VirtualRealityTrain train = simulation.getRepository().getVRByCode(faultRule.getTargetDeviceCode(), VirtualRealityTrain.class);
this.trainFaultService.setFault(simulation, train, new FaultParam(train.getCode(), faultRule.getFaultType()));
break;
}
}
log.debug("仿真[{}]自动故障[{}]触发",simulation.getId(),faultRule.getFaultType());
}

3
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
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@ -81,14 +81,11 @@ public class ATPLogicLoop {
if (train.isITC() || train.isCBTC()) { //并且是ITC/CBTC级别
train.setRunLevel(RunLevel.IL);
atpService.triggerSignalEB(train);
train.setMa(null);
}
} else { //列车有定位
if (train.isCBTC() && train.isCbtcMaMiss()) { //CBTC列车的移动授权丢失
train.setRunLevel(RunLevel.IL);
train.lossPosition();
atpService.triggerSignalEB(train);
train.setMa(null);
} else if (!train.isCbtcMaMiss() && defaultRunLevel.equals(RunLevel.CBTC)) {
train.setCBTCMode();
} else if (!train.isItcMaMiss()) {

6
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java
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@ -37,9 +37,9 @@ public class ATPService {
if (Objects.nonNull(train.getMa()) && train.getMa().getEnd().equals(ma.getEnd())) {
return;
}
if (train.isEB() && !train.isStop()) {
return;
}
// if (train.isEB() && !train.isStop()) {
// return;
// }
Float protectDistance = this.calculateProtectDistance(train, ma.getEnd());
if (Objects.isNull(protectDistance)) { // 安全运行距离未计算出,抛弃此次ma数据
log.warn(String.format("列车[%s-%s|%s|%s]移动授权终点为[%s],未计算出安全防护距离",

5
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/OnboardAtpApiService.java
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@ -16,6 +16,11 @@ public interface OnboardAtpApiService {
*/
void updateMA4CBTC(VirtualRealityTrain train, MovementAuthority ma);
/**
* 忽略驾驶模式更新CBTC移动授权
*/
boolean ignoreDriveModeUpdateMA4CBTC(VirtualRealityTrain train, MovementAuthority ma);
void updateMA4ITC(VirtualRealityTrain train, MovementAuthority ma);
/**

21
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/OnboardAtpApiServiceImpl.java
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@ -48,6 +48,21 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
train.setCbtcMaMissDuration(0);
}
@Override
public boolean ignoreDriveModeUpdateMA4CBTC(VirtualRealityTrain train, MovementAuthority ma) {
if (ma == null)
return false;
if (!train.isAtpOn()) {
return false;
}
if (train.getFault() == VirtualRealityTrain.Fault.COMMUNICATION_ABNORMAL) { //列车通信故障
return false;
}
this.ATPService.updateMA(train, ma);
train.setCbtcMaMissDuration(0);
return true;
}
@Override
public void updateMA4ITC(VirtualRealityTrain train, MovementAuthority ma) {
if (ma == null)
@ -207,9 +222,9 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
@Override
public boolean canOpenATO(VirtualRealityTrain train) {
if (train.isEB()) {
return false;
}
// if (train.isEB()) {
// return false;
// }
if (RunLevel.IL.equals(train.getRunLevel())) { //IL级别不能开
return false;
}

21
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
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@ -58,13 +58,16 @@ public class RobotLogicLoop {
* 根据目标位置运行
*/
public void run(Simulation simulation) {
executor.execute(() -> robotDriverLogicLoop(simulation));
executor.execute(() -> robotReplyControlTransferApplicationLogicLoop(simulation));
executor.execute(() -> robotStationControlAutoTransfer(simulation));
try {
robotDriverLogicLoop(simulation);
} catch (RuntimeException e) {
e.printStackTrace();
}
robotReplyControlTransferApplicationLogicLoop(simulation);
robotStationControlAutoTransfer(simulation);
// executor.execute(() -> robotDriverLogicLoop(simulation));
// executor.execute(() -> robotReplyControlTransferApplicationLogicLoop(simulation));
// executor.execute(() -> robotStationControlAutoTransfer(simulation));
}
/**
@ -122,7 +125,9 @@ public class RobotLogicLoop {
case CM:
Float recommendedSpeedMax = Stream.of(train.getAtpSpeedMax(), train.getSpeedLimit() * 0.9f, train.getAtoSpeedMax())
.min(Comparator.comparingDouble(Float::doubleValue)).get();
float remainDistance = ATOService.calculateDistanceOfMa(headPosition, right, train.getMa());
Float remainDistance = ATOService.calculateDistanceOfMa(headPosition, right, train.getMa());
if (remainDistance == null)
remainDistance = 0f;
distance = Math.min(distance, remainDistance);
speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right,
distance, speed, recommendedSpeedMax);