指令适配新的列车操作方式

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

@@ -402,8 +402,8 @@ public class Operation {
         Driver_ATO_Open,
         /** 改变ATP状态 */
         Driver_ATP_Change,
-        /** 改变列车运行模式 */
+//        /** 改变列车运行模式 */
-        Driver_Drive_Mode_Change,
+//        Driver_Drive_Mode_Change,
         /** 换端 */
         Driver_Change_Head,
         /** 列车车门开关 */

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

@@ -34,7 +34,7 @@ public class DriverOperateHandler {
 //        if (train.isSignalEB() && percent == -2)
 //            ATPService.cancelSignalEB(train);
         if ((percent <= 1 && percent >= -1) || percent == -2) {
-            train.setControlLeaver(percent);
+            train.setLeverPosition(percent);
         }
         if (train.isEB()) {
             return;
@@ -53,12 +53,8 @@ public class DriverOperateHandler {
             train.leaverUpdateTBForce(0, 350);
         } else {
             throw new SimulationException(SimulationExceptionType.Illegal_Argument,
-                    String.format("数值[%s]超限，列车牵引/制动力可调整比例范围应该在[-1, 1]之间，或为紧急制动-2", percent));
+                    String.format("数值[%s]超限，列车牵引/制动力可调整比例范围应该在[-1, 1]之间，或为快速制动-2", percent));
         }
-        if (train.isAtoOn()) {
-            ATPService.closeATO(train);
-        }
-        train.setLeverPosition(percent);
     }
 
     @OperateHandlerMapping(type = Operation.Type.Driver_EB)

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

@@ -4,7 +4,6 @@ import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
 import club.joylink.rtss.simulation.cbtc.ATS.operation.Operation;
 import club.joylink.rtss.simulation.cbtc.Simulation;
 import club.joylink.rtss.simulation.cbtc.constant.DriveMode;
-import club.joylink.rtss.simulation.cbtc.constant.RunLevel;
 import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
 import club.joylink.rtss.simulation.cbtc.data.map.Section;
 import club.joylink.rtss.simulation.cbtc.data.map.Signal;
@@ -154,7 +153,6 @@ public class CommandBO {
 
                 List<Step> stepList = new ArrayList<>();
                 stepList.add(buildDriverForceChangeOperationStep(train.getGroupNumber(), 0));
-                stepList.add(buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM));
                 if (section.isStandTrack()) { //如果列车的车头所在区段是站台轨
                     SectionPosition standStopPosition = new SectionPosition(section, section.getStopPointByDirection(right));
                     if (train.isStopAtThePosition(standStopPosition)) { //列车已经停在站台停车点
@@ -177,7 +175,6 @@ public class CommandBO {
                             train.debugStr() + "找不到下一个停车点");
                     stepList.add(buildDriveStep(nextStopPosition));
                 }
-                stepList.add(buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM));
                 stepList.add(buildRmToBmStep());
 
                 return stepList;
@@ -186,16 +183,18 @@ public class CommandBO {
             @Override
             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<Step> steps = command.getStepByType(Step.StepType.DRIVE);
                 Step driveStep = steps.get(0);
                 if (!train.isStopAtThePosition(driveStep.getTargetPosition())) { //如果列车没停到目标位置
+                    if (!train.isInTheGear(Handwheel.MANUAL)) {
+                        return buildGearChangeStep(train.getGroupNumber(), Handwheel.MANUAL);
+                    }
                     if (!train.isStop())
                         return buildDriverForceChangeOperationStep(train.getGroupNumber(), -1);
                     if (!DriveMode.RM.equals(train.getDriveMode()) && !train.isNRMMode())
-                        return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM);
+                        return getStep4ChangePreselectionMode(train, PreselectionMode.RM);
                     if (train.isEB())
-                        return buildReleaseEBStep(train);
+                        return getStep4ReleaseEB(train);
                     return driveStep;
                 } else { //如果列车已经停到目标位置
 //                    if (!DriveMode.AM.equals(train.getDriveMode()))
@@ -212,26 +211,16 @@ public class CommandBO {
         Route_Block_Drive(Collections.emptyList(), SimulationMember.Type.DRIVER) {
             @Override
             public List<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> params) {
-                List<Step> stepList = new ArrayList<>();
+                return Collections.emptyList();
-                VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice();
-                stepList.add(buildDriverForceChangeOperationStep(train.getGroupNumber(), 0));
-                stepList.add(buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM));
-                stepList.add(buildDriverAtoOpenOperationStep(train.getGroupNumber()));
-
-                return stepList;
             }
 
             @Override
             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
+                if (train.isAMMode()) {
-                    return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.CM);
-                }
-                if (!train.isAtoOn()) { //列车ATO没开
-                    return buildDriverAtoOpenOperationStep(train.getGroupNumber());
-                }
-                if (RunLevel.CBTC.equals(train.getRunLevel())) { //列车的运行级别为CBTC时，结束指令
                     command.getTargetMember().setCommand(null);
+                } else {
+                    getStep4ChangePreselectionMode(train, PreselectionMode.AM_C);
                 }
                 return null;
             }
@@ -299,23 +288,12 @@ public class CommandBO {
                 if (stopCorrectly) { //如果列车已经停到目标位置
                     driveStep.finish();
                     command.getTargetMember().setCommand(null);
-//                    if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) {
-//                        Step upgradeStep = getStepOfRm2BmAndOpenAtoWhileStopAtStopPosition(command);
-//                        if (upgradeStep != null) {
-//                            return upgradeStep;
-//                        } else if (train.isAtoOn()) {
-//                            command.getTargetMember().setCommand(null);
-//                            return buildAtoTurnDirectionStep();
-//                        }
-//                    } else {
-//                        command.getTargetMember().setCommand(null);
-//                    }
                 } else {
                     if (!DriveMode.RM.equals(train.getDriveMode()) && !train.isNRMMode()) {
-                        return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM);
+                        return getStep4ChangePreselectionMode(train, PreselectionMode.RM);
                     }
                     if (train.isSignalEB()) {
-                        return buildReleaseEBStep(train);
+                        return getStep4ReleaseEB(train);
                     }
                     return driveStep;
                 }
@@ -337,7 +315,6 @@ public class CommandBO {
                 VirtualRealityTrain train = (VirtualRealityTrain) targetMember.getDevice();
                 stepList.add(buildDriveStep(train.calculateStepPosition4CrossTheGuideSignal()));
                 stepList.add(buildCrossSignalStep(train.getHeadPosition().getSection().getSignalOf(train.isRight())));
-                stepList.add(buildRmToBmStep());
 
                 return stepList;
             }
@@ -345,29 +322,30 @@ public class CommandBO {
             @Override
             public Step execute(Simulation simulation, CommandBO command) {
                 VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice();
-                Step crossSignalStep = command.getStepByType(Step.StepType.CROSS_SIGNAL).get(0);
+//                Step crossSignalStep = command.getStepByType(Step.StepType.CROSS_SIGNAL).get(0);
-                Signal signal = crossSignalStep.getCrossSignal();
+//                Signal signal = crossSignalStep.getCrossSignal();
-                SectionPosition signalPosition = new SectionPosition(signal.getSection(), signal.getOffset());
+//                SectionPosition signalPosition = new SectionPosition(signal.getSection(), signal.getOffset());
-                if (train.getHeadPosition().isAheadOf(signalPosition, train.isRight())) { //如果已经越过了信号机
+//                if (train.getHeadPosition().isAheadOf(signalPosition, train.isRight())) { //如果已经越过了信号机
-                    Step step = getStepOfRm2BmAndOpenAto(command);
+//                    if (train.isAMMode()) {
-                    if (step != null) {
+//                        command.getTargetMember().setCommand(null);
-                        return step;
+//                    } else {
-                    }
+//                        return getStep4ChangePreselectionMode(train, PreselectionMode.AM_C);
+//                    }
+//                }
+                if (!train.isRMMode() && !train.isNRMMode()) { //既不是RM也不是NRM，切换预选模式
+                    return getStep4ChangePreselectionMode(train, PreselectionMode.RM);
                 }
-                if (!PreselectionMode.RM.equals(train.getPreselectionMode())) {
+                if (!train.isInTheGear(Handwheel.MANUAL)) { //转手轮
-                    PreselectionMode tempMode = train.getTempPreselectionMode();
+                    return buildGearChangeStep(train.getGroupNumber(), Handwheel.MANUAL);
-                    if (!PreselectionMode.RM.equals(tempMode)) {
-
-                    }
                 }
                 List<Step> steps = command.getStepByType(Step.StepType.DRIVE);
                 Step driveStep = steps.get(0);
                 if (train.isStopAtThePosition(driveStep.getTargetPosition())) { //如果列车已经停到目标位置
                     command.getTargetMember().setCommand(null);
-                    return null;
                 } else {
                     return driveStep;
                 }
+                return null;
             }
         },
 
@@ -393,7 +371,6 @@ public class CommandBO {
                 } else if (!train.getDoorByDirection(true).isCloseAndLock()) { //列车右门没关
                     stepList.add(buildDoorOnOffOperationStep(train.getGroupNumber(), true, false));
                 } else {
-                    // 根据站台方向位置和列车方向，同步开屏蔽门、车门
                     boolean doorIsRight;
                     for (Stand stand : standList) {
                         if (stand.isInside() && stand.isRight()) { // 内测右站台，开1门
@@ -474,7 +451,9 @@ public class CommandBO {
             }
         },
 
-        /** 驾驶至 */
+        /**
+         * 驾驶至
+         */
         Drive_To(List.of(ParamName.sectionCode), SimulationMember.Type.DRIVER) {
             @Override
             public List<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> params) {
@@ -497,100 +476,9 @@ public class CommandBO {
             }
         },
 
-//        /** 转URM模式 */
+        /**
-//        Apply_URM_Mode(List.of(), SimulationMember.Type.DRIVER) {
+         * 回库
-//            @Override
+         */
-//            public List<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> 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<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> 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<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> 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<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> 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) {
             @Override
             public List<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> params) {
@@ -615,8 +503,10 @@ public class CommandBO {
             }
         },
 
-        /** 修改预选模式 */
+        /**
-        Change_Preselection_Mode(List.of(ParamName.preselectionMode), SimulationMember.Type.DRIVER){
+         * 修改预选模式
+         */
+        Change_Preselection_Mode(List.of(ParamName.preselectionMode), SimulationMember.Type.DRIVER) {
             @Override
             public List<Step> buildStepList(Simulation simulation, SimulationMember targetMember, Map<String, Object> params) {
                 return Collections.emptyList();
@@ -626,41 +516,22 @@ public class CommandBO {
             public Step execute(Simulation simulation, CommandBO command) {
                 SimulationMember driver = command.getTargetMember();
                 VirtualRealityTrain train = (VirtualRealityTrain) driver.getDevice();
+                if (train.isSignalEB()) {
+                    return getStep4ReleaseEB(train);
+                }
                 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) {
+                    return getStep4ChangePreselectionMode(train, preselectionMode);
-                        if (preselectionMode.isHigherThan(tempMode)) {
+                } else if (trainMode.isMatchTheDriveMode(DriveMode.AM) && !train.isAMMode()) {
-                            return buildPreselectionModeUpOperationStep(groupNumber);
+                    return getStep4OpenATO(train);
-                        } 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;
             }
-        }
+        };
-        ;
 
         public enum ParamName {
             stationCode,
@@ -724,33 +595,21 @@ public class CommandBO {
         }
 
         /**
-         * 构建取消EB的步骤
+         * 构建缓解EB的步骤
-         * @param train
          */
-        public Step buildReleaseEBStep(VirtualRealityTrain train) {
+        public Step getStep4ReleaseEB(VirtualRealityTrain train) {
-            if (!train.isStop()) {
+            if (!train.isInTheGear(Handwheel.MANUAL)) {
+                return buildGearChangeStep(train.getGroupNumber(), Handwheel.MANUAL);
+            }
+            if (!train.isStop() || !train.isLeverNotInTractionGear()) {
                 return buildDriverForceChangeOperationStep(train.getGroupNumber(), -2);
             }
             if (!train.isRMMode()) {
-                return buildDriverDriveModeChangeOperationStep(train.getGroupNumber(), DriveMode.RM);
+                return getStep4ChangePreselectionMode(train, PreselectionMode.RM);
             }
             return null;
         }
 
-        /**
-         * 构建“改变列车运行模式操作”步骤
-         */
-        public Step buildDriverDriveModeChangeOperationStep(String groupNumber, DriveMode driveMode) {
-            Map<String, Object> operationParams = new HashMap<>();
-            operationParams.put("groupNumber", groupNumber);
-            operationParams.put("driveMode", driveMode);
-            Step step = new Step();
-            step.setType(Step.StepType.OPERATION);
-            step.setOperationType(Operation.Type.Driver_Drive_Mode_Change);
-            step.setOperationParams(operationParams);
-            return step;
-        }
-
         /**
          * 构建“开启ATO操作”步骤
          */
@@ -884,25 +743,39 @@ public class CommandBO {
             return step;
         }
 
-        /**
+        public Step getStep4ChangePreselectionMode(VirtualRealityTrain train, PreselectionMode preselectionMode) {
-         * 检查是否可以将rm升为bm并开启ATO
+            PreselectionMode trainMode = train.getPreselectionMode();
-         */
+            PreselectionMode tempMode = train.getTempPreselectionMode();
-        public Step getStepOfRm2BmAndOpenAto(CommandBO command) {
+            String groupNumber = train.getGroupNumber();
-            List<Step> steps = command.getStepByType(Step.StepType.RM_TO_BM);
+            if (trainMode != preselectionMode) { //预选级别不对
-            VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice();
+                if (tempMode != preselectionMode) {
-            Step step = steps.get(0);
+                    if (preselectionMode.isHigherThan(tempMode)) {
-            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
+                        return buildPreselectionModeUpOperationStep(groupNumber);
-                command.getTargetMember().setCommand(null);
+                    } else {
-                return buildDriverAtoOpenOperationStep(train.getGroupNumber());
+                        return buildPreselectionModeDownOperationStep(groupNumber);
-            }
+                    }
-            //---越信号机升级检测（暂时改为列车级别为ITC/CBTC检测）---
+                } else if (ConfirmationMessage.Confirm_Preselection.equals(train.findFirstMessage())) {
-            if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) {
+                    return buildConfirmOperationStep(groupNumber);
-                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;
         }
+
+        public Step getStep4OpenATO(VirtualRealityTrain train) {
+            String groupNumber = train.getGroupNumber();
+            if (!train.isAtpOn()) {
+                return buildDriverATPChangeOperationStep(groupNumber, false);
+            }
+            if (!train.isInTheGear(Handwheel.ATO)) {
+                return buildGearChangeStep(groupNumber, Handwheel.ATO);
+            }
+            if (!train.isLeverInCoastingGear()) {
+                return buildDriverForceChangeOperationStep(groupNumber, 0);
+            }
+            if (!train.isAtoOn()) {
+                return buildDriverAtoOpenOperationStep(groupNumber);
+            }
+            return null;
+        }
     }
 }

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

@@ -421,11 +421,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
      */
     private boolean needDepartureCommand;
 
-    /**
-     * 操纵杆
-     */
-    private float controlLeaver;
-
     /**
      * 有定位
      */
@@ -575,7 +570,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         this.runType = null;
         this.orderStop = false;
         this.needDepartureCommand = false;
-        this.controlLeaver = 0;
         this.positioned = true;
         this.runningTime = 0;
         this.fault = null;
@@ -1113,9 +1107,14 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         return getAtoSpeed() * 3.6 < 20;
     }
 
-    /** 是否惰行 */
+    /** 操纵杆是否在惰行位 */
-    public boolean isCoasting() {
+    public boolean isLeverInCoastingGear() {
-        return controlLeaver == 0;
+        return leverPosition == 0;
+    }
+
+    /** 是否不在牵引位 */
+    public boolean isLeverNotInTractionGear() {
+        return leverPosition <= 0;
     }
 
     /**
@@ -1429,7 +1428,10 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
          * 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);
+            if (this.runLevel.isHigherThan(mode.runLevel)) {
+                return true;
+            }
+            return this.driveMode.isHigherThan(mode.driveMode);
         }
     }
 

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

@@ -150,7 +150,7 @@ public class ATPLogicLoop {
 
             /* 缓解EB检查 */
             if (train.isEB()) {
-                if (train.isRMMode() && train.getControlLeaver() <= 0) { //停车、RM模式、操纵杆非牵引位
+                if (train.isRMMode() && train.isLeverNotInTractionGear()) { //停车、RM模式、操纵杆非牵引位
                     atpService.cancelSignalEB(train);
                 }
             }

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

@@ -374,7 +374,7 @@ public class ATPService {
             return false;
         if (!VirtualRealityTrain.Handwheel.ATO.equals(train.getGear())) //工况手轮不在ATO位
             return false;
-        if (train.getControlLeaver() != 0) //操纵杆不在惰行位
+        if (!train.isLeverInCoastingGear()) //操纵杆不在惰行位
             return false;
         if (train.getAtoSpeed() <= 0) //列车无推荐速度
             return false;

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

@@ -204,15 +204,9 @@ public class RobotLogicLoop {
                 break;
             case CM:
                 MaService.Ma ma = train.getMa2();
-                speedCurve = SpeedCurve.calculateAtoStopCurveAndUpdate(train, ma, targetPosition);
+                if (ma != null) {
-//                Float recommendedSpeedMax = Stream.of(train.getAtpSpeedMax(), train.getSpeedLimit() * 0.9f, train.getAtoSpeedMax())
+                    speedCurve = ma.getAtoStopCurve();
-//                        .min(Comparator.comparingDouble(Float::doubleValue)).get();
+                }
-//                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);
                 break;
             case RM:
                 speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right,
@@ -228,10 +222,8 @@ public class RobotLogicLoop {
         train.setTargetDistance(distance);
         if (speedCurve != null) {
             float atoSpeed = speedCurve.getSpeedOf(speedCurve.getTotalDistance());
-//            train.setAtoSpeed(atoSpeed);
             atoService.doControlBySpeedCurve(train, speedCurve, speedCurve.getTotalDistance(), atoSpeed);
         }
-//            doControlBySpeedCurve(simulation, train, speedCurve, speedCurve.getTotalDistance());
     }
 
     /**