统一列车target更新逻辑

src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainLoadService.java

@@ -26,8 +26,6 @@ import club.joylink.rtss.simulation.cbtc.device.virtual.VRTrainRunningService;
 import club.joylink.rtss.simulation.cbtc.event.SimulationRunAsPlanEvent;
 import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
 import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
-import club.joylink.rtss.simulation.cbtc.onboard.ATO.SpeedCurve;
-import club.joylink.rtss.simulation.cbtc.onboard.ATO.service.ATOService;
 import club.joylink.rtss.simulation.cbtc.tool.DeviceStatusModifyTool;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -491,19 +489,19 @@ public class AtsTrainLoadService {
         }
     }
 
-    private void updateTrainSpeed(Simulation simulation) {
+//    private void updateTrainSpeed(Simulation simulation) {
-        for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
+//        for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
-            if (train.getMa() == null)
+//            if (train.getMa() == null)
-                continue;
+//                continue;
-            float targetDistance = ATOService.calculateTargetRemainDistance(train, train.getMa());
+//            float targetDistance = ATOService.calculateTargetRemainDistance(train, train.getMa());
-            float speedMax = Math.min(train.getAtoSpeedMax(), train.getSpeedLimit() * 0.9f);
+//            float speedMax = Math.min(train.getAtoSpeedMax(), train.getSpeedLimit() * 0.9f);
-            SpeedCurve speedCurve = SpeedCurve
+//            SpeedCurve speedCurve = SpeedCurve
-                    .buildTargetSpeedCurve(train.getHeadPosition(), train.calculateTailPosition(), train.isRight(),
+//                    .buildTargetSpeedCurve(train.getHeadPosition(), train.calculateTailPosition(), train.isRight(),
-                            targetDistance, train.getSpeed(), speedMax);
+//                            targetDistance, train.getSpeed(), speedMax);
-            float speed = speedCurve.getSpeedOf(speedCurve.getTotalDistance());
+//            float speed = speedCurve.getSpeedOf(speedCurve.getTotalDistance());
-            train.setSpeed(speed);
+//            train.setSpeed(speed);
-        }
+//        }
-    }
+//    }
 
     private List<TrainInfo> trainOnlineAndBuildSupervise(Simulation simulation, List<VirtualRealityTrain> loadedList) {
         List<TrainInfo> superviseList = new ArrayList<>();

src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/stage/AtsHeadTrainStageService.java

@@ -45,6 +45,12 @@ public class AtsHeadTrainStageService implements AtsStageService {
         if (dcd == null)
             return;
         if (Objects.equals(dcd.getSection(), parkSection)) {
+            // 先回库
+            if (simulation.getRepository().getConfig().isHandleDepot()) {
+                trainInfo.finishPlanPrepareEnterDepot();
+            } else {
+                trainInfo.finishPlanPrepareInbound();
+            }
             // 列车到达目的地
             handleArriveDestination(simulation, trainInfo);
         } else {
@@ -86,12 +92,6 @@ public class AtsHeadTrainStageService implements AtsStageService {
      * 处理列车到达目的地
      */
     private void handleArriveDestination(Simulation simulation, TrainInfo trainInfo) {
-        // 先回库，后设置为人工车
-        if (simulation.getRepository().getConfig().isHandleDepot()) {
-            trainInfo.finishPlanPrepareEnterDepot();
-        } else {
-            trainInfo.finishPlanPrepareInbound();
-        }
         if (simulation.getRepository().getConfig().isSetManualWhenHeadTrainArriveTarget()) {
             atsTrainService.setManualTrain(simulation, trainInfo.getGroupNumber());
         }

src/main/java/club/joylink/rtss/simulation/cbtc/data/CalculateService.java

@@ -1146,31 +1146,11 @@ public class CalculateService {
     /**
      * 计算考虑时间的ato最大速度
      */
-    public static Float calculateAtoSpeedMax4RunTime(SimulationDataRepository repository, VirtualRealityTrain train, long runTime) {
+    public static Float calculateAtoSpeedMax4RunTime(SimulationDataRepository repository, VirtualRealityTrain train, long runTime, Section target) {
-//        if (train.getSpeed() != 0 /*|| !train.getHeadPosition().getSection().isStandTrack()*/) {
-//            return null;
-//        }
-        Section target = train.getTarget();
-        boolean right = train.isRight();
-//        float stopPoint;
-//        if (target.isStandTrack()) {
-//            stopPoint = target.getStopPointByDirection(right);
-//        } else {
-//            stopPoint = right ? target.getMaxOffset() - 10 : 10;
-//        }
-//        SectionPosition endPosition = new SectionPosition(target, stopPoint);
-//        Float distance2Target = calculateDistance(train.getHeadPosition(), endPosition, right);
-//        if (distance == null) {
-//            return null;
-//        }
         List<RoutePath> routePathList = repository.queryRoutePathsByEnd(target);
         if (CollectionUtils.isEmpty(routePathList)) {
             return null;
         }
-//        List<RoutePath> routePaths = queryRoutePathsOnDirection(train.getHeadPosition().getSection(), target, right, 10);
-//        if (CollectionUtils.isEmpty(routePaths)) {
-//            return null;
-//        }
         Optional<Float> distanceOptional = routePathList.stream()
                 .filter(routePath -> routePath.containsSection(train.getHeadPosition().getSection()))
                 .map(RoutePath::getLength).min(Float::compareTo);

src/main/java/club/joylink/rtss/simulation/cbtc/data/map/Section.java

@@ -1191,7 +1191,7 @@ public class Section extends DelayUnlockDevice {
     }
 
     public boolean isJustTurnBackTrack() {
-        return !this.isNormalStandTrack() && this.isTurnBackTrack();
+        return !this.isNormalStandTrack() && !this.isTransferTrack() && this.isTurnBackTrack();
     }
 
     public boolean isLogicOverlapLock() {

src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java

@@ -680,7 +680,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
 
     public synchronized void updateNextStationPlan(Station nextStation, Section targetSection, boolean nextParking) {
         this.nextStation = nextStation;
-        this.setTarget(targetSection);
+//        this.setTarget(targetSection);
         this.nextParking = nextParking;
 
 //            log.info(String.format("列车[%s]更新下一站[%s] 轨道[%s], [%s]",
@@ -690,7 +690,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
     }
 
     public void startTurnBack(Section tbSection) {
-        this.setTarget(tbSection);
+//        this.setTarget(tbSection);
         this.dtro = true;
         this.nextStation = null;
         this.terminalStation = null;

src/main/java/club/joylink/rtss/simulation/cbtc/depot/DepotService.java

@@ -24,13 +24,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 import java.time.LocalDateTime;
-import java.util.ArrayList;
+import java.util.*;
-import java.util.Comparator;
-import java.util.HashMap;
-import java.util.Iterator;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
 import java.util.stream.Collectors;
 
 @Component
@@ -150,7 +144,7 @@ public class DepotService {
                         }
                         break;
                     }
-                    train.setTarget(endSection);
+//                    train.setTarget(endSection);
                     List<RoutePath> routePaths = simulation.getRepository().queryRoutePaths(startSection, endSection);
                     if (routePaths == null || routePaths.isEmpty()) {
                         return;

src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/service/ATOService.java

@@ -7,7 +7,6 @@ import club.joylink.rtss.simulation.cbtc.Simulation;
 import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.data.CalculateService;
 import club.joylink.rtss.simulation.cbtc.data.map.Section;
-import club.joylink.rtss.simulation.cbtc.data.map.Signal;
 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;
@@ -151,71 +150,71 @@ public class ATOService {
         return CalculateService.calculateDistance(headPosition, endPosition, right);
     }
 
-    /**
+//    /**
-     * 计算到目标位置剩余距离
+//     * 计算到目标位置剩余距离
-     */
+//     */
-    public static float calculateTargetRemainDistance(VirtualRealityTrain train, MovementAuthority ma) {
+//    public static float calculateTargetRemainDistance(VirtualRealityTrain train, MovementAuthority ma) {
-        if (train.getTarget() == null)
+//        if (train.getTarget() == null)
-            return 0;
+//            return 0;
-        SectionPosition headPosition = train.getHeadPosition();
+//        SectionPosition headPosition = train.getHeadPosition();
-        boolean right = train.isRight();
+//        boolean right = train.isRight();
-        Float distance = calculateDistanceOfMa(headPosition, right, ma);
+//        Float distance = calculateDistanceOfMa(headPosition, right, ma);
-        if (Objects.isNull(distance)) {
+//        if (Objects.isNull(distance)) {
-            return 0;
+//            return 0;
-        }
-        // 下一计划到站存在
-//        int count = 0;
-//        Section nextStopStandSection = null;
-//        Section base = headPosition.getSection();
-//        while (true) {
-//            if ((base.isNormalStandTrack() || base.isTransferTrack())) {
-//                nextStopStandSection = base;
-//                break;
-//            }
-//            Section section = base.getNextRunningSectionOf(right);
-//            if (Objects.isNull(section)) {
-//                // 未找到
-//                break;
-//            } else {
-//                base = section;
-//            }
-//            if (count > 20) {
-//                break;
-//            }
-//            ++count;
 //        }
-        Section target = train.getTarget();
+//        // 下一计划到站存在
-        if (Objects.nonNull(target)) {
+////        int count = 0;
-            // 下一计划到站台轨存在
+////        Section nextStopStandSection = null;
-//                log.debug(String.format("列车[%s-%s|%s|%s]下一计划到站[%s(%s)],实际可达站台轨为[%s(%s)]",
+////        Section base = headPosition.getSection();
-//                        train.getGroupNumber(), train.getServiceNumber(),
+////        while (true) {
-//                        train.getTripNumber(), train.getDestinationCode(),
+////            if ((base.isNormalStandTrack() || base.isTransferTrack())) {
-//                        nextStation.getName(), nextStation.getCode(),
+////                nextStopStandSection = base;
-//                        nextStopStandSection.getName(), nextStopStandSection.getCode()));
+////                break;
-            boolean parking = true;
+////            }
-            Signal signal = target.getSignalOf(right);
+////            Section section = base.getNextRunningSectionOf(right);
-            if (!train.isHold() && (train.isJump() && (Objects.isNull(signal) || signal.isMainAspect()) || !train.isNextParking())) {
+////            if (Objects.isNull(section)) {
-                parking = false;
+////                // 未找到
-            }
+////                break;
-            if (parking) {
+////            } else {
-                // 列车停站,计算距离
+////                base = section;
-                SectionPosition targetStopPoint = new SectionPosition(target,
+////            }
-                        target.getStopPointByDirection(right));
+////            if (count > 20) {
-                Float targetDistance = CalculateService.calculateDistance(headPosition, targetStopPoint, right);
+////                break;
-                if (Objects.nonNull(targetDistance) && targetDistance >= 0 && targetDistance < distance) {
+////            }
-                    return targetDistance;
+////            ++count;
-                }
+////        }
-            } else {
+//        Section target = train.getTarget();
-//                    log.debug(String.format("列车[%s]下一计划到站[%s(%s)]不停车",
+//        if (Objects.nonNull(target)) {
-//                            train.getGroupNumber(),
+//            // 下一计划到站台轨存在
-//                            nextStation.getName(), nextStation.getCode()));
+////                log.debug(String.format("列车[%s-%s|%s|%s]下一计划到站[%s(%s)],实际可达站台轨为[%s(%s)]",
-            }
+////                        train.getGroupNumber(), train.getServiceNumber(),
-        }
+////                        train.getTripNumber(), train.getDestinationCode(),
-        // 若不存在下一计划站台轨，列车应该在安全防护距离前一段距离停车
+////                        nextStation.getName(), nextStation.getCode(),
-        distance -= 10;
+////                        nextStopStandSection.getName(), nextStopStandSection.getCode()));
-//        log.debug(String.format("列车[%s]剩余目标距离:[%s]", train.getGroupNumber(), distance));
+//            boolean parking = true;
-        return distance;
+//            Signal signal = target.getSignalOf(right);
-    }
+//            if (!train.isHold() && (train.isJump() && (Objects.isNull(signal) || signal.isMainAspect()) || !train.isNextParking())) {
+//                parking = false;
+//            }
+//            if (parking) {
+//                // 列车停站,计算距离
+//                SectionPosition targetStopPoint = new SectionPosition(target,
+//                        target.getStopPointByDirection(right));
+//                Float targetDistance = CalculateService.calculateDistance(headPosition, targetStopPoint, right);
+//                if (Objects.nonNull(targetDistance) && targetDistance >= 0 && targetDistance < distance) {
+//                    return targetDistance;
+//                }
+//            } else {
+////                    log.debug(String.format("列车[%s]下一计划到站[%s(%s)]不停车",
+////                            train.getGroupNumber(),
+////                            nextStation.getName(), nextStation.getCode()));
+//            }
+//        }
+//        // 若不存在下一计划站台轨，列车应该在安全防护距离前一段距离停车
+//        distance -= 10;
+////        log.debug(String.format("列车[%s]剩余目标距离:[%s]", train.getGroupNumber(), distance));
+//        return distance;
+//    }
 
     public void doControlBySpeedCurve(VirtualRealityTrain train, SpeedCurve speedCurve, float remainDistance) {
         doControlBySpeedCurve(train, speedCurve, remainDistance, train.getAtoSpeed());

src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/OnboardAtpApiServiceImpl.java

@@ -149,7 +149,7 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
         this.checkAndChangeDirection(simulation, train, targetSection);
         //根据时间控制速度
 //        runningTime -= 10; //减去开关门和延迟启动耗费的时间
-        Float atoMaxSpeed = CalculateService.calculateAtoSpeedMax4RunTime(repository, train, runningTime);
+        Float atoMaxSpeed = CalculateService.calculateAtoSpeedMax4RunTime(repository, train, runningTime, targetSection);
         if (atoMaxSpeed != null) {
             train.setAtoSpeedMax(atoMaxSpeed);
         }
@@ -165,7 +165,7 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
         this.checkAndChangeDirection(simulation, train, planSection);
         //根据时间控制速度
 //        runningTime -= 10; //减去开关门和延迟启动耗费的时间
-        Float atoMaxSpeed = CalculateService.calculateAtoSpeedMax4RunTime(repository, train, runTime);
+        Float atoMaxSpeed = CalculateService.calculateAtoSpeedMax4RunTime(repository, train, runTime, planSection);
         if (atoMaxSpeed != null) {
             train.setAtoSpeedMax(atoMaxSpeed);
         }
@@ -233,7 +233,7 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
             return;
         }
         checkAndChangeDirection(simulation, train, target);
-        train.setTarget(target);
+//        train.setTarget(target);
     }
 
     @Override

src/main/java/club/joylink/rtss/simulation/cbtc/onboard/TrainTargetUpdateService.java

@@ -1,5 +1,6 @@
 package club.joylink.rtss.simulation.cbtc.onboard;
 
+import club.joylink.rtss.simulation.cbtc.ATP.ground.MaService;
 import club.joylink.rtss.simulation.cbtc.Simulation;
 import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.data.CalculateService;
@@ -28,11 +29,11 @@ public class TrainTargetUpdateService {
         List<VirtualRealityTrain> onlineTrain = repository.getOnlineTrainList();
         for (VirtualRealityTrain train : onlineTrain) {
             TrainInfo trainInfo = repository.getSupervisedTrainByGroup(train.getGroupNumber());
-            if (!trainInfo.isManualTrain()) {
+//            if (!trainInfo.isManualTrain()) {
-                continue;
+//                continue;
-            }
+//            }
             Section target = train.getTarget();
-            Section newTarget = this.queryArriveTarget4Manual(train, trainInfo, target);
+            Section newTarget = this.queryArriveTarget(train, trainInfo);
             if (newTarget != null && !Objects.equals(target, newTarget)) {
                 train.setTarget(newTarget);
             }
@@ -84,29 +85,41 @@ public class TrainTargetUpdateService {
         return newTarget;
     }
 
-    private Section queryArriveTarget(VirtualRealityTrain train, Section target) {
+    private Section queryArriveTarget(VirtualRealityTrain train, TrainInfo trainInfo) {
+        Section newTarget = null;
+        MaService.Ma ma = train.getMa2();
+        if (ma == null)
+            return null;
+        SectionPosition eoaPosition = ma.getEoaPosition();
+        Section eoaSection = eoaPosition.getSection();
         SectionPosition headPosition = train.getHeadPosition();
-        Section newTarget = target;
         boolean right = train.isRight();
-        Section temp = headPosition.getSection();
+        Section headSection = headPosition.getSection();
-        int count = 0;
+        Section section = headSection;
-        while (count < 25) {
+        for (int i = 0; i < 100; i++) {
-            ++count;
+            if (section.equals(eoaSection) && newTarget == null) { //已经遍历到移动授权终点区段且中途未找到功能轨
-            Section nextSection = temp.getNextRunningSectionBaseRealSwitch(right);
+                newTarget = section;
-            if (nextSection == null) {
                 break;
             }
-            if (Objects.equals(nextSection, target)) {// 找到
+            if (section.isFunctionTrack()) {
-                break;
+                if (section.isNormalStandTrack()) {
+                    if (train.isHold()) {
+                        newTarget = section;
+                        break;
+                    }
+                    if (!section.getCode().equals(trainInfo.getActualArriveStandTrack())) { //列车没有抵达该站台轨的信息
+                        newTarget = section;
+                        break;
+                    }
+                } else {
+                    newTarget = section;
+                }
             }
-            if ((target.isNormalStandTrack() && nextSection.isNormalStandTrack()) ||
+            section = section.getNextRunningSectionBaseRealSwitch(right);
-                    (target.isJustTurnBackTrack() && nextSection.isJustTurnBackTrack()) ||
+            if (section == null) {
-                    (target.isTransferTrack() && nextSection.isTransferTrack()) &&
-                            target.getStation().equals(nextSection.getStation())) {
-                newTarget = nextSection;
                 break;
             } else {
-                temp = nextSection;
+                continue;
             }
         }
         return newTarget;