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

src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java

@@ -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

src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/SignalOperateHandler.java

@@ -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);
+    }
+
 }

src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiService.java

@@ -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);
 }

src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiServiceImpl2.java

@@ -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
      */

src/main/java/club/joylink/rtss/simulation/cbtc/CI/device/CiSignalControlService.java

@@ -68,6 +68,7 @@ public class CiSignalControlService {
      * @param signal
      */
     public void controlLightOfSignal(Simulation simulation, Signal signal) {
+        if (!simulation.getRepository().getConfig().isRailway()) {
             VirtualRealitySignal vrSignal = signal.getVirtualSignal();
             if (signal.isCbtcMode() && !signal.isForcePhysical() && !signal.isLogicLight()) {
                 if (vrSignal != null) {
@@ -81,6 +82,7 @@ public class CiSignalControlService {
                 }
             }
         }
+    }
 
     /**
      * 封锁(封锁后，包含信号机的进路不能排列)

src/main/java/club/joylink/rtss/simulation/cbtc/DeviceStatusServiceImpl.java

@@ -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);
     }
 
     /**
@@ -54,8 +54,9 @@ 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();
+        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);
@@ -63,6 +64,13 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
                     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();
+            }
+        }
     }
 
     private void buildSingleLockedSwitch(Simulation simulation) {

src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java

@@ -621,7 +621,9 @@ public class CommandBO {
                     command.getTargetMember().setCommand(null);
                     return 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));

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

@@ -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;
             }

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

@@ -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)) {

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

@@ -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()));

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

@@ -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 {

src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java

@@ -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;
             }