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指令适配新的列车操作方式

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This commit is contained in:
joylink_zhangsai 2021-09-27 17:18:31 +08:00
parent f240238e56
commit 6872f9b7bf
7 changed files with 101 additions and 238 deletions
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4
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java
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@ -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 */
Driver_Drive_Mode_Change,
// /** 改变列车运行模式 */
// Driver_Drive_Mode_Change,
/** 换端 */
Driver_Change_Head,
/** 列车车门开关 */

8
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/DriverOperateHandler.java
View File

@ -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)

287
src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java
View File

@ -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<>();
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;
return Collections.emptyList();
}
@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
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
if (train.isAMMode()) {
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);
Signal signal = crossSignalStep.getCrossSignal();
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
Step step = getStepOfRm2BmAndOpenAto(command);
if (step != null) {
return step;
}
// Step crossSignalStep = command.getStepByType(Step.StepType.CROSS_SIGNAL).get(0);
// Signal signal = crossSignalStep.getCrossSignal();
// 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.isAMMode()) {
// command.getTargetMember().setCommand(null);
// } 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())) {
PreselectionMode tempMode = train.getTempPreselectionMode();
if (!PreselectionMode.RM.equals(tempMode)) {
}
if (!train.isInTheGear(Handwheel.MANUAL)) { //转手轮
return buildGearChangeStep(train.getGroupNumber(), Handwheel.MANUAL);
}
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) {
// @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 */
/**
* 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) {
if (preselectionMode.isHigherThan(tempMode)) {
return buildPreselectionModeUpOperationStep(groupNumber);
} 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);
}
return getStep4ChangePreselectionMode(train, preselectionMode);
} else if (trainMode.isMatchTheDriveMode(DriveMode.AM) && !train.isAMMode()) {
return getStep4OpenATO(train);
} 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
* @param train
* 构建缓解EB的步骤
*/
public Step buildReleaseEBStep(VirtualRealityTrain train) {
if (!train.isStop()) {
public Step getStep4ReleaseEB(VirtualRealityTrain train) {
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;
}
/**
* 检查是否可以将rm升为bm并开启ATO
*/
public Step getStepOfRm2BmAndOpenAto(CommandBO command) {
List<Step> steps = command.getStepByType(Step.StepType.RM_TO_BM);
VirtualRealityTrain train = (VirtualRealityTrain) command.getTargetMember().getDevice();
Step step = steps.get(0);
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
command.getTargetMember().setCommand(null);
return buildDriverAtoOpenOperationStep(train.getGroupNumber());
}
//---越信号机升级检测（暂时改为列车级别为ITC/CBTC检测）---
if (RunLevel.ITC.equals(train.getRunLevel()) || RunLevel.CBTC.equals(train.getRunLevel())) {
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);
public Step getStep4ChangePreselectionMode(VirtualRealityTrain train, PreselectionMode preselectionMode) {
PreselectionMode trainMode = train.getPreselectionMode();
PreselectionMode tempMode = train.getTempPreselectionMode();
String groupNumber = train.getGroupNumber();
if (trainMode != preselectionMode) { //预选级别不对
if (tempMode != preselectionMode) {
if (preselectionMode.isHigherThan(tempMode)) {
return buildPreselectionModeUpOperationStep(groupNumber);
} else {
return buildPreselectionModeDownOperationStep(groupNumber);
}
} else if (ConfirmationMessage.Confirm_Preselection.equals(train.findFirstMessage())) {
return buildConfirmOperationStep(groupNumber);
}
}
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;
}
}
}

22
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
View File

@ -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 */
public boolean isCoasting() {
return controlLeaver == 0;
/** 操纵杆是否在惰行位 */
public boolean isLeverInCoastingGear() {
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);
}
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
View File

@ -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);
}
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java
View File

@ -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;

14
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
View File

@ -204,15 +204,9 @@ public class RobotLogicLoop {
break;
case CM:
MaService.Ma ma = train.getMa2();
speedCurve = SpeedCurve.calculateAtoStopCurveAndUpdate(train, ma, targetPosition);
// 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());
// if (remainDistance == null)
// remainDistance = 0f;
// distance = Math.min(distance, remainDistance);
// speedCurve = SpeedCurve.buildTargetSpeedCurve(headPosition, tailPosition, right,
// distance, speed, recommendedSpeedMax);
if (ma != null) {
speedCurve = ma.getAtoStopCurve();
}
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());
}
/**