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大铁增加点灯灭灯操作；大铁不执行根据信号机模式自动切换点灯灭灯状态逻辑；修改部分列车运行指令的寻路逻辑；修改停车指令结束条件；修改大铁自动驾驶寻路逻辑

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This commit is contained in:
joylink_zhangsai 2022-07-22 16:20:52 +08:00
parent ba0c05eb64
commit 66d21c1778
12 changed files with 102 additions and 32 deletions
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10
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java
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@ -317,6 +317,16 @@ public class Operation {
*/
Signal_Set_Guide,
/**
* 点灯
*/
Signal_Turn_On,
/**
* 灭灯
*/
Signal_Turn_Off,
//--------------------------- 站台操作 ---------------------------
/**
* 设置跳停

16
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/SignalOperateHandler.java
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@ -316,4 +316,20 @@ public class SignalOperateHandler {
ciApiService.setGuide(simulation, signalCode, routeCode);
}
/**
* 信号机点灯
*/
@OperateHandlerMapping(type = Operation.Type.Signal_Turn_On)
public void signalTurnOn(Simulation simulation, String signalCode) {
ciApiService.signalTurnOn(simulation, signalCode);
}
/**
* 信号机灭灯
*/
@OperateHandlerMapping(type = Operation.Type.Signal_Turn_Off)
public void signalTurnOff(Simulation simulation, String signalCode) {
ciApiService.signalTurnOff(simulation, signalCode);
}
}

4
src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiService.java
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@ -359,4 +359,8 @@ public interface CiApiService {
void switchMasterLock(Simulation simulation, String stationCode, Station.Throat throat);
void switchMasterUnlock(Simulation simulation, String stationCode, Station.Throat throat);
void signalTurnOn(Simulation simulation, String signalCode);
void signalTurnOff(Simulation simulation, String signalCode);
}

27
src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiServiceImpl2.java
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@ -3,9 +3,12 @@ package club.joylink.rtss.simulation.cbtc.CI;
import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
import club.joylink.rtss.simulation.cbtc.CI.device.*;
import club.joylink.rtss.simulation.cbtc.Simulation;
import club.joylink.rtss.simulation.cbtc.constant.SignalAspect;
import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
import club.joylink.rtss.simulation.cbtc.data.map.*;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySectionAxleCounter;
import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySignal;
import club.joylink.rtss.simulation.cbtc.device.virtual.VirtualRealityDeviceService;
import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
import lombok.extern.slf4j.Slf4j;
@ -36,6 +39,9 @@ public class CiApiServiceImpl2 implements CiApiService {
private CiService ciService;
@Autowired
private CiStandService standService;
@Autowired
private VirtualRealityDeviceService virtualRealityDeviceService;
@Override
public void blockadeSection(Simulation simulation, String sectionCode) {
@ -692,6 +698,27 @@ public class CiApiServiceImpl2 implements CiApiService {
}
}
@Override
public void signalTurnOn(Simulation simulation, String signalCode) {
SimulationDataRepository repository = simulation.getRepository();
Signal signal = repository.getByCode(signalCode, Signal.class);
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNull(signal.getLockedRoute(), "信号机有锁闭进路，禁止点灯");
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotNull(vrSignal, signal.debugStr() + "无实体信号机");
virtualRealityDeviceService.control(simulation, vrSignal, vrSignal.getModel().getDefaultAspect());
}
@Override
public void signalTurnOff(Simulation simulation, String signalCode) {
SimulationDataRepository repository = simulation.getRepository();
Signal signal = repository.getByCode(signalCode, Signal.class);
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotTrue(signal.isShunting(), "调车信号机无法灭灯");
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNull(signal.getLockedRoute(), "信号机有锁闭进路，禁止灭灯");
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotNull(vrSignal, signal.debugStr() + "无实体信号机");
virtualRealityDeviceService.control(simulation, vrSignal, SignalAspect.No);
}
/**
* 获取计轴器并为预复位/复位操作检查设备状态
*/

22
src/main/java/club/joylink/rtss/simulation/cbtc/CI/device/CiSignalControlService.java
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@ -68,16 +68,18 @@ public class CiSignalControlService {
* @param signal
*/
public void controlLightOfSignal(Simulation simulation, Signal signal) {
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
if (signal.isCbtcMode() && !signal.isForcePhysical() && !signal.isLogicLight()) {
if (vrSignal != null) {
this.virtualRealityDeviceService.control(simulation, vrSignal, SignalAspect.No);
} else {
signal.setLogicLight(true);
}
} else if ((!signal.isCbtcMode() || signal.isForcePhysical()) && signal.isLogicLight()) {
if (vrSignal != null) {
this.virtualRealityDeviceService.control(simulation, vrSignal, vrSignal.getModel().getDefaultAspect());
if (!simulation.getRepository().getConfig().isRailway()) {
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
if (signal.isCbtcMode() && !signal.isForcePhysical() && !signal.isLogicLight()) {
if (vrSignal != null) {
this.virtualRealityDeviceService.control(simulation, vrSignal, SignalAspect.No);
} else {
signal.setLogicLight(true);
}
} else if ((!signal.isCbtcMode() || signal.isForcePhysical()) && signal.isLogicLight()) {
if (vrSignal != null) {
this.virtualRealityDeviceService.control(simulation, vrSignal, vrSignal.getModel().getDefaultAspect());
}
}
}
}

18
src/main/java/club/joylink/rtss/simulation/cbtc/DeviceStatusServiceImpl.java
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@ -22,13 +22,13 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
@Override
public void init(Simulation simulation) {
simulation.reset(); //这个初始化现在不可或缺，有一些数据在仿真构建时没有，仅在初始化时构建
// 虚拟真实设备初始化
virtualRealityDeviceService.reset(simulation);
// 信号机状态初始化
this.initSignal(simulation);
this.buildSingleLockedSwitch(simulation);
this.initRoute(simulation);
this.initStationControlMode(simulation);
// 虚拟真实设备初始化
virtualRealityDeviceService.reset(simulation);
}
/**
@ -54,10 +54,18 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
private void initSignal(Simulation simulation) {
SimulationDataRepository repository = simulation.getRepository();
// 初始化非ctc虚拟真实信号机点红灯
List<Signal> signalList = repository.getSignalList();
for (Signal signal : signalList) {
if (!signal.isCtc()) {
if (!repository.getConfig().isRailway()) {
// 初始化非ctc虚拟真实信号机点红灯
for (Signal signal : signalList) {
if (!signal.isCtc()) {
VirtualRealitySignal vrSignal = repository.getVRByCode(signal.getCode(), VirtualRealitySignal.class);
vrSignal.control(vrSignal.getModel().getDefaultAspect());
vrSignal.finish();
}
}
} else { //大铁线路暂时默认点灯
for (Signal signal : signalList) {
VirtualRealitySignal vrSignal = repository.getVRByCode(signal.getCode(), VirtualRealitySignal.class);
vrSignal.control(vrSignal.getModel().getDefaultAspect());
vrSignal.finish();

7
src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java
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@ -621,7 +621,9 @@ public class CommandBO {
command.getTargetMember().setCommand(null);
return null;
}
targetMember.setCommand(null);
if (train.isStop()) {
targetMember.setCommand(null);
}
// 设置目标位置
return buildDriveStep(train.getHeadPosition());
}
@ -886,7 +888,8 @@ public class CommandBO {
SectionPosition sectionPosition = null;
for (int i = 0; i < 30; i++) {
section = section.getNextRunningSectionOf(right);
section = section.findNextRunningSectionBaseRealSwitch(right);
BusinessExceptionAssertEnum.OPERATION_FAIL.assertNotNull(section, "引导信号前方未找到停车位置");
Signal signal = section.getSignalOf(right);
if (section.isStandTrack() || section.isTurnBackTrack()) {
sectionPosition = new SectionPosition(section, section.getStopPointByDirection(right));

8
src/main/java/club/joylink/rtss/simulation/cbtc/data/CalculateService.java
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@ -27,7 +27,7 @@ public class CalculateService {
if (offset < 0) { // 向左
Section leftSection;
if (baseReal) {
leftSection = baseSection.getNextRunningSectionBaseRealSwitch(false);
leftSection = baseSection.findNextRunningSectionBaseRealSwitch(false);
} else {
leftSection = baseSection.getNextRunningSectionOf(false);
}
@ -41,7 +41,7 @@ public class CalculateService {
} else { // 向右
Section rightSection;
if (baseReal) {
rightSection = baseSection.getNextRunningSectionBaseRealSwitch(true);
rightSection = baseSection.findNextRunningSectionBaseRealSwitch(true);
} else {
rightSection = baseSection.getNextRunningSectionOf(true);
}
@ -519,7 +519,7 @@ public class CalculateService {
Section section = source;
while (!section.getCode().equals(target.getCode()) && loop < 20) {
loop++;
Section temp = section.getNextRunningSectionBaseRealSwitch(right);
Section temp = section.findNextRunningSectionBaseRealSwitch(right);
if (Objects.nonNull(temp)) { // 不为空
section = temp;
occupySectionList.add(section);
@ -628,7 +628,7 @@ public class CalculateService {
int count = 0;
while (count < 100) {
++count;
Section nextSection = temp.getNextRunningSectionBaseRealSwitch(right);
Section nextSection = temp.findNextRunningSectionBaseRealSwitch(right);
if (Objects.equals(nextSection, front)) {// 找到
return true;
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/data/map/Section.java
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@ -403,7 +403,7 @@ public class Section extends DelayUnlockDevice {
/**
* 基于真实道岔找下一个可运行到的区段
*/
public Section getNextRunningSectionBaseRealSwitch(boolean right) {
public Section findNextRunningSectionBaseRealSwitch(boolean right) {
if (right && Objects.nonNull(this.rightSection)) {
return this.rightSection;
} else if (!right && Objects.nonNull(this.leftSection)) {

4
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
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@ -847,7 +847,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
boolean right = this.right;
Section section = headPosition.getSection();
for (int i = 0; i < 100; i++) {
section = section.getNextRunningSectionOf(right);
section = section.findNextRunningSectionBaseRealSwitch(right);
if (section == null) {
break;
}
@ -871,7 +871,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
}
for (int i = 0; i < 30; i++) {
Section nextSection = section.getNextRunningSectionBaseRealSwitch(right);
Section nextSection = section.findNextRunningSectionBaseRealSwitch(right);
if (nextSection == null) {
throw new SimulationException(SimulationExceptionType.Invalid_Operation,
String.format("信号机[%s]前方未找到站台轨或折返轨", signal.getName()));

8
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/TrainTargetUpdateService.java
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@ -49,7 +49,7 @@ public class TrainTargetUpdateService {
if (temp == null)
break;
if (!temp.isFunctionTrack()) {
temp = temp.getNextRunningSectionBaseRealSwitch(right);
temp = temp.findNextRunningSectionBaseRealSwitch(right);
continue;
}
Signal signal = temp.getSignalOf(right);
@ -61,7 +61,7 @@ public class TrainTargetUpdateService {
if (temp.isNormalStandTrack() || temp.isTransferTrack()) {
if (temp.isNormalStandTrack()) {
if (temp.getStandList().stream().anyMatch(stand -> stand.isJumpStop(train.getGroupNumber()))) { //该列车应在站台跳停
temp = temp.getNextRunningSectionBaseRealSwitch(right);
temp = temp.findNextRunningSectionBaseRealSwitch(right);
continue;
}
}
@ -80,7 +80,7 @@ public class TrainTargetUpdateService {
}
}
}
temp = temp.getNextRunningSectionBaseRealSwitch(right);
temp = temp.findNextRunningSectionBaseRealSwitch(right);
}
return newTarget;
}
@ -115,7 +115,7 @@ public class TrainTargetUpdateService {
newTarget = section;
}
}
section = section.getNextRunningSectionBaseRealSwitch(right);
section = section.findNextRunningSectionBaseRealSwitch(right);
if (section == null) {
break;
} else {

8
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
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@ -157,7 +157,7 @@ public class RobotLogicLoop {
//准备发车
robotReadyForDeparture(simulation, train);
//机器人驾驶
if (train.getRobotTargetPosition() != null) {
if (driver.getCommand() != 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 (railway) {
railRobotDrive(simulation, train);
@ -166,7 +166,7 @@ public class RobotLogicLoop {
}
/**
* 大铁机器人自动驾驶。
* 大铁机器人自动驾驶。（目前的驾驶逻辑是针对RM/NRM模式驾驶）
* 在确认列车自身状态正确的情况下（车门是关闭状态等），如果是没有计划的车次，则只看信号；如果是有计划的车次，还需要看计划
*/
private void railRobotDrive(Simulation simulation, VirtualRealityTrain train) {
@ -208,7 +208,7 @@ public class RobotLogicLoop {
}
}
}
Section next = nextSection.getNextRunningSectionOf(right);
Section next = nextSection.findNextRunningSectionBaseRealSwitch(right);
if (next == null) {
targetPosition = new SectionPosition(nextSection, right ? nextSection.getLen() - 10 : 10); //轨道尽头10m处
break;
@ -264,7 +264,7 @@ public class RobotLogicLoop {
break;
}
}
nextSection = nextSection.getNextRunningSectionBaseRealSwitch(right);
nextSection = nextSection.findNextRunningSectionBaseRealSwitch(right);
if (nextSection == null)
break;
}