泰国沙盘调试改动

src/main/java/club/joylink/rtss/constants/ProjectCode.java

@@ -0,0 +1,8 @@
+package club.joylink.rtss.constants;
+
+public interface ProjectCode {
+
+  String THAILAND_SANDBOX = "THAILAND_SANDBOX";
+  String SR_SANDBOX = "SR_SANDBOX";
+
+}

src/main/java/club/joylink/rtss/controller/project/DeviceController.java

@@ -7,12 +7,32 @@ import club.joylink.rtss.services.project.DeviceService;
 import club.joylink.rtss.vo.AccountVO;
 import club.joylink.rtss.vo.LoginUserInfoVO;
 import club.joylink.rtss.vo.client.PageVO;
-import club.joylink.rtss.vo.client.project.*;
+import club.joylink.rtss.vo.client.project.IbpConfigVO;
+import club.joylink.rtss.vo.client.project.LswConfigVO;
+import club.joylink.rtss.vo.client.project.LwConfigVO;
+import club.joylink.rtss.vo.client.project.PlcGatewayConfigVO;
+import club.joylink.rtss.vo.client.project.ProjectDevicePageQueryVO;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.PscConfigVO;
+import club.joylink.rtss.vo.client.project.PsdConfigVO;
+import club.joylink.rtss.vo.client.project.PslConfigVO;
+import club.joylink.rtss.vo.client.project.RelationLoginConfigVO;
+import club.joylink.rtss.vo.client.project.SignalConfigVO;
+import club.joylink.rtss.vo.client.project.SwitchConfigVO;
+import club.joylink.rtss.vo.client.project.VrIbpConfigVO;
+import club.joylink.rtss.vo.client.project.VrpsdConfigVO;
+import java.util.List;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.validation.annotation.Validated;
-import org.springframework.web.bind.annotation.*;
+import org.springframework.web.bind.annotation.DeleteMapping;
-
+import org.springframework.web.bind.annotation.GetMapping;
-import java.util.List;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestAttribute;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
 
 /**
  * 项目设备管理接口(新)
@@ -258,4 +278,10 @@ public class DeviceController {
                                                     AccountVO accountVO) {
         this.deviceService.addOrUpdateSayDeviceConfig(accountVO);
     }
+
+    @PostMapping("/thailand/addOrUpdate/{mapId}")
+    public void addOrUpdateThailandDeviceConfig(@RequestAttribute(name = AuthenticateInterceptor.LOGIN_USER_KEY)
+                                                   AccountVO accountVO, @PathVariable Long mapId) {
+        this.deviceService.addOrUpdateThailandDeviceConfig(accountVO, mapId);
+    }
 }

src/main/java/club/joylink/rtss/services/project/DeviceService.java

@@ -4,8 +4,20 @@ import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.vo.AccountVO;
 import club.joylink.rtss.vo.LoginUserInfoVO;
 import club.joylink.rtss.vo.client.PageVO;
-import club.joylink.rtss.vo.client.project.*;
+import club.joylink.rtss.vo.client.project.IbpConfigVO;
-
+import club.joylink.rtss.vo.client.project.LswConfigVO;
+import club.joylink.rtss.vo.client.project.LwConfigVO;
+import club.joylink.rtss.vo.client.project.PlcGatewayConfigVO;
+import club.joylink.rtss.vo.client.project.ProjectDevicePageQueryVO;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.PscConfigVO;
+import club.joylink.rtss.vo.client.project.PsdConfigVO;
+import club.joylink.rtss.vo.client.project.PslConfigVO;
+import club.joylink.rtss.vo.client.project.RelationLoginConfigVO;
+import club.joylink.rtss.vo.client.project.SignalConfigVO;
+import club.joylink.rtss.vo.client.project.SwitchConfigVO;
+import club.joylink.rtss.vo.client.project.VrIbpConfigVO;
+import club.joylink.rtss.vo.client.project.VrpsdConfigVO;
 import java.util.List;
 
 public interface DeviceService {
@@ -216,4 +228,6 @@ public interface DeviceService {
     void addOrUpdateHhcjDeviceConfig(AccountVO accountVO);
 
     void addOrUpdateSayDeviceConfig(AccountVO accountVO);
+
+    void addOrUpdateThailandDeviceConfig(AccountVO accountVO, Long mapId);
 }

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

@@ -1,6 +1,5 @@
 package club.joylink.rtss.simulation.cbtc.CI.device;
 
-import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
 import club.joylink.rtss.simulation.cbtc.Simulation;
 import club.joylink.rtss.simulation.cbtc.constant.SignalAspect;
 import club.joylink.rtss.simulation.cbtc.data.map.Signal;
@@ -62,9 +61,9 @@ public class CiSignalControlService {
                 } else {
                     this.virtualRealityDeviceService.control(simulation, vrSignal, SignalAspect.No);
                 }
-            } else { // 后背模式，开放室外信号
+            } else { // 后备模式，开放室外信号
                 if(signal.getSignalModel().getDefaultAspect().equals(aspect) ||
-                (signal.getSignalModel().getGuideAspect().equals(aspect) && signal.isHigherThanGuideLevel()) ||
+                (aspect.equals(signal.getSignalModel().getGuideAspect()) && signal.isHigherThanGuideLevel()) ||
                         (signal.isAtpLevel() || signal.isMainLevel())) {
                     this.virtualRealityDeviceService.control(simulation, vrSignal, aspect);
                 }

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

@@ -7,21 +7,6 @@ import club.joylink.rtss.vo.project.ProjectVO;
  * 项目综合演练仿真服务
  */
 public interface ProjectJointSimulationService {
-    /**
-     * 实训室教员机登录创建仿真
-     *
-     * @param loginUserInfo
-     * @return
-     */
-    Simulation createSimulation(LoginUserInfoVO loginUserInfo);
-
-    /**
-     * 获取实训室仿真
-     *
-     * @param project
-     * @return
-     */
-    Simulation getProjectSimulation(String project);
 
     /**
      * 通过项目设置的mapID与功能ID获取仿真

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

@@ -1,35 +1,21 @@
 package club.joylink.rtss.simulation.cbtc;
 
-import club.joylink.rtss.constants.MapPrdTypeEnum;
-import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
-import club.joylink.rtss.services.IMapService;
 import club.joylink.rtss.services.auth.ProjectDeviceLogoutEvent;
 import club.joylink.rtss.services.auth.UserLogoutEvent;
-import club.joylink.rtss.services.project.DeviceService;
-import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.SimulationRealDeviceThread;
-import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
-import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceThread;
 import club.joylink.rtss.simulation.cbtc.event.SimulationUserEnterEvent;
-import club.joylink.rtss.simulation.cbtc.member.MemberManager;
 import club.joylink.rtss.simulation.cbtc.member.SimulationUser;
-import club.joylink.rtss.vo.AccountVO;
 import club.joylink.rtss.vo.LoginUserInfoVO;
 import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
-import club.joylink.rtss.vo.map.MapVO;
 import club.joylink.rtss.vo.project.ProjectVO;
+import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.ConcurrentHashMap;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.ApplicationContext;
 import org.springframework.context.event.EventListener;
 import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
-
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.stream.Collectors;
 
 @Slf4j
 @Service
@@ -40,169 +26,17 @@ public class ProjectJointSimulationServiceImpl implements ProjectJointSimulation
     @Autowired
     private ApplicationContext applicationContext;
 
-    @Autowired
-    private IMapService iMapService;
-
-    @Autowired
-    private DeviceService deviceService;
-
     @Autowired
     private GroupSimulationService groupSimulationService;
 
-    @Autowired
-    private MemberManager memberManager;
-
-    @Autowired
-    private SimulationRealDeviceThread simulationRealDeviceThread;
-
-    @Autowired
-    private UDPRealDeviceThread udpRealDeviceThread;
-
     @Autowired
     private SimulationService simulationService;
 
-    @Override
-    public Simulation createSimulation(LoginUserInfoVO loginUserInfo) {
-        String project = loginUserInfo.getProject();
-        Simulation oldSimulation = projectSimulationMap.get(project);
-        // 之前的仿真销毁
-        if (Objects.nonNull(oldSimulation)) {
-            this.handleLogout(oldSimulation.getBuildParams().getLoginUserInfo());
-        }
-        // 权限判断
-
-        AccountVO accountVO = loginUserInfo.getAccountVO();
-        // 查询用户综合演练配置
-
-        // 查询项目地图，默认取第一个（暂时这样处理，后面考虑配置实训室-地图对应？）
-        List<MapVO> mapList = this.iMapService.findOnlineMapByProjectCode(project);
-        BusinessExceptionAssertEnum.OPERATION_NOT_SUPPORTED.assertCollectionNotEmpty(mapList,
-                String.format("项目[%s]无地图", project));
-        // 查询项目设备
-        List<ProjectDeviceVO> projectDeviceList = this.deviceService
-                .queryDetailByTypes(ProjectDeviceType.PlcDeviceList(), project);
-        List<RealDeviceConfig> realDeviceList = ProjectDeviceVO.convert2RealDeviceList(projectDeviceList);
-        log.info(String.format("load project device list: [%s]",
-                String.join(",", realDeviceList.stream().map(realDevice -> realDevice.toString()).collect(Collectors.toList()))));
-        // 构建仿真
-        Long mapId = mapList.get(0).getId();
-        Simulation simulation = this.groupSimulationService.create(loginUserInfo, mapId,
-                MapPrdTypeEnum.JOINT, Simulation.FunctionalType.SIMULATION);
-        this.loadRealDevices(simulation, realDeviceList);
-        projectSimulationMap.put(project, simulation);
-        return simulation;
-    }
-
-    private void loadRealDevices(Simulation simulation, List<RealDeviceConfig> realDeviceList) {
-        try {
-            simulation.setRealDeviceList(realDeviceList);
-            if (!CollectionUtils.isEmpty(realDeviceList)) {
-                simulationRealDeviceThread.addJobs(simulation);
-                udpRealDeviceThread.addJobs(simulation);
-            }
-            for (RealDeviceConfig realDevice : realDeviceList) {
-                if (ProjectDeviceType.PLC_GATEWAY.equals(realDevice.getDeviceType())) {
-                    continue;
-                }
-                String deviceCode = this.queryDeviceCodeFromConfig(realDevice);
-                if (Objects.nonNull(deviceCode)) {
-                    this.groupSimulationService.connectDevice(simulation.getId(),
-                            deviceCode, realDevice.getProjectDevice().getId());
-                }
-            }
-        } catch (Exception e) {
-            log.error("仿真加载真实设备异常", e);
-            // 清理仿真
-            this.groupSimulationService.clearSimulation(simulation.getId(), simulation.getCreator());
-            throw BusinessExceptionAssertEnum.TRAINING_ROOM_SIMULATION_LOAD_DEVICE_ERROR.exception(e);
-        }
-    }
-
-    private String queryDeviceCodeFromConfig(RealDeviceConfig config) {
-        return config.findDeviceCode();
-//        switch (config.getProject()) {
-//            case "HEB": {
-//                switch (config.getDeviceType()) {
-//                    case IBP:
-//                        return ((Heb1IbpConfig) config).getConfig().getStationCode();
-//                    case PSL:
-//                        return ((Heb1PslConfig) config).getConfig().getPsdCode();
-//                    case PSC:
-//                        return ((Heb1PscConfig) config).getConfig().getPsdCode();
-//                }
-//                break;
-//            }
-//            case "XTY": {
-//                switch (config.getDeviceType()) {
-//                    case PSD:
-//                        return ((XtyPsdConfig) config).getConfig().getPsdCode();
-//                }
-//                break;
-//            }
-//            case "RICHOR_JOINT": {
-//                switch (config.getDeviceType()) {
-//                    case IBP:
-//                        return ((ZjdIbpConfig) config).getConfigVO().getIbpCode();
-//                    case PSL:
-//                        return ((ZjdPslConfig) config).getConfigVO().getPslCode();
-//                }
-//                break;
-//            }
-//            case "SR_SANDBOX": {
-//                switch (config.getDeviceType()) {
-//                    case SIGNAL:
-//                        return ((SrSignalConfig) config).getConfigVO().getVrCode();
-//                    case SECTION:
-//                        return ((SrSectionConfig) config).getConfigVO().getVrCode();
-//                    case SWITCH:
-//                        return ((SrSwitchConfig) config).getConfigVO().getVrCode();
-//                    case TRAIN:
-//                        return ((SrTrainConfig) config).getConfigVO().getVrCode();
-//                }
-//                break;
-//            }
-//            case "RICHOR_HHCJ": {
-//                switch (config.getDeviceType()) {
-//                    case IBP:
-//                        return ((HhcjIbpConfig) config).getConfigVO().getIbpCode();
-//                    case PSD:
-//                        return ((HhcjPsdConfig) config).getConfigVO().getPsdCode();
-//                }
-//                break;
-//            }
-//            case "SAY": {
-//                return config.findDeviceCode();
-//                switch (config.getDeviceType()) {
-//                    case IBP:
-//                        return ((SayIbpConfig) config).getConfigVO().getIbpCode();
-//                    case PSD:
-//                        return ((SayPsdConfig) config).getConfigVO().getPsdCode();
-//                    case SIGNAL:
-//                        return ((SaySignalConfig) config).getConfigVO().getSignalCode();
-//                    case SWITCH:
-//                        return ((SaySwitchConfig) config).getConfigVO().getSwitchCode();
-//                    case SECTION:
-//                        return config.findDeviceCode();
-//                }
-//                break;
-//            }
-//        }
-//        return null;
-    }
-
     private Simulation queryProjectSimulation(String project) {
         Simulation simulation = projectSimulationMap.get(project);
         return simulation;
     }
 
-    @Override
-    public Simulation getProjectSimulation(String project) {
-        Simulation simulation = projectSimulationMap.get(project);
-        BusinessExceptionAssertEnum.TRAINING_ROOM_SIMULATION_NOT_EXIST
-                .assertNotNull(simulation, String.format("项目[%s]实训室仿真不存在", project));
-        return simulation;
-    }
-
     @Override
     public Simulation getSimulationByProject(ProjectVO project) {
         Simulation simulation = simulationService.querySimulation(project.getMapId(), project.getFunctionId());
@@ -219,52 +53,6 @@ public class ProjectJointSimulationServiceImpl implements ProjectJointSimulation
         simulation.addSimulationUser(simulationUser);
         SimulationUserEnterEvent userEnterEvent = new SimulationUserEnterEvent(this, simulation, simulationUser);
         this.applicationContext.publishEvent(userEnterEvent);
-//        switch (deviceVO.getType()) {
-//            case LW: {
-//                // 暂时默认先按配置的车站创建成员
-//                LwConfigVO lwConfigVO = deviceVO.buildLwConfig();
-//                Station station = simulation.getRepository().getByCode(lwConfigVO.getStationCode(), Station.class);
-//                SimulationMember member = simulation.getSimulationMember(station, SimulationMember.Type.STATION_SUPERVISOR);
-//                this.memberManager.playRole(simulation, loginUserInfo.getAccountVO().getId(), member.getId());
-//                // 现地工作站
-//                break;
-//            }
-//            case CW: {
-//                // 行调工作站
-//                List<SimulationMember> dispatcherList = simulation.querySimulationMembersOfRole(SimulationMember.Type.DISPATCHER);
-//                SimulationMember dispatcher = null;
-//                for (SimulationMember member : dispatcherList) {
-//                    if (member.isRobot()) {
-//                        dispatcher = member;
-//                        break;
-//                    }
-//                }
-//                if (Objects.isNull(dispatcher)) {
-//                    // 行调都被占用，添加新的行调
-//                    dispatcher = this.memberManager.addRole(simulation, SimulationMember.Type.DISPATCHER);
-//                }
-//                this.memberManager.playRole(simulation, loginUserInfo.getAccountVO().getId(), dispatcher.getId());
-//                break;
-//            }
-//            case DEPOT: {
-//                List<SimulationMember> depoterList = simulation.querySimulationMembersOfRole(SimulationMember.Type.DEPOT_DISPATCHER);
-//                SimulationMember depoter = null;
-//                for (SimulationMember member : depoterList) {
-//                    if (member.isRobot()) {
-//                        depoter = member;
-//                        break;
-//                    }
-//                }
-//                if (Objects.isNull(depoter)) {
-//                    depoter = this.memberManager.addRole(simulation, SimulationMember.Type.DEPOT_DISPATCHER);
-//                }
-//                this.memberManager.playRole(simulation, loginUserInfo.getAccountVO().getId(), depoter.getId());
-//                break;
-//            }
-//            case SCHEDULING: {
-//
-//            }
-//        }
         loginUserInfo.setGroup(simulation.getId());
     }
 

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

@@ -6,7 +6,11 @@ import club.joylink.rtss.simulation.cbtc.constant.RunLevel;
 import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.constant.TrainTBControl;
 import club.joylink.rtss.simulation.cbtc.data.CalculateService;
-import club.joylink.rtss.simulation.cbtc.data.map.*;
+import club.joylink.rtss.simulation.cbtc.data.map.MapElement;
+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.map.Station;
 import club.joylink.rtss.simulation.cbtc.data.plan.TripPlan;
 import club.joylink.rtss.simulation.cbtc.data.support.MovementAuthority;
 import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition;
@@ -14,15 +18,14 @@ import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
 import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
 import club.joylink.rtss.vo.client.operation.DriveParamVO;
 import club.joylink.rtss.vo.ws.TrainPosition;
-import lombok.Getter;
-import lombok.Setter;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.util.CollectionUtils;
-
 import java.util.Iterator;
 import java.util.LinkedHashSet;
 import java.util.List;
 import java.util.Objects;
+import lombok.Getter;
+import lombok.Setter;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.util.CollectionUtils;
 
 /**
  * 虚拟真实列车
@@ -1188,6 +1191,10 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         return robotDriveParam.needStop();
     }
 
+    public boolean isRobotStopControl() {
+        return robotDriveParam.isStopControl();
+    }
+
     @Getter
     @Setter
     public static class Door extends ControllableVrDevice<Door.Operation> {

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/SandTableTrainControlParam.java

@@ -1,16 +1,15 @@
-package club.joylink.rtss.simulation.cbtc.device.real.udp.sr;
+package club.joylink.rtss.simulation.cbtc.device.real.udp;
 
+import javax.validation.constraints.NotBlank;
+import javax.validation.constraints.NotNull;
 import lombok.Getter;
 import lombok.NoArgsConstructor;
 import lombok.Setter;
 
-import javax.validation.constraints.NotBlank;
-import javax.validation.constraints.NotNull;
-
 @Getter
 @Setter
 @NoArgsConstructor
-public class SrTrainControlParam {
+public class SandTableTrainControlParam {
     @NotBlank(message = "车组号不能为空")
     private String groupNumber;
 

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/SandTableTrainController.java

@@ -0,0 +1,70 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp;
+
+import club.joylink.rtss.constants.ProjectCode;
+import club.joylink.rtss.dao.MapDataDAO;
+import club.joylink.rtss.entity.MapDataExample;
+import club.joylink.rtss.entity.MapDataWithBLOBs;
+import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.service.SrTrainServiceImpl;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service.ThailandTrainServiceImpl;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.map.MapLogicDataNewVO;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequestMapping("/api/sandTable")
+public class SandTableTrainController {
+
+  @Autowired
+  private GroupSimulationService groupSimulationService;
+  @Autowired
+  private ThailandTrainServiceImpl thailandTrainService;
+  @Autowired
+  private SrTrainServiceImpl srTrainService;
+
+  @PutMapping("/{simulationId}/control")
+  public void control(@PathVariable String simulationId, String groupNumber, boolean right,
+      int speed) {
+    Simulation simulation = groupSimulationService.getSimulationByGroup(simulationId);
+    switch (simulation.getProject()) {
+      case ProjectCode.THAILAND_SANDBOX:
+        thailandTrainService.controlTrain(simulationId, groupNumber, right, speed);
+        break;
+      case ProjectCode.SR_SANDBOX:
+        srTrainService.controlTrain(simulationId, groupNumber, right, speed);
+        break;
+      default:
+    }
+  }
+
+  @Autowired
+  private MapDataDAO mapDataDAO;
+
+  @PutMapping("/handle")
+  public void handle() {
+    MapDataExample example = new MapDataExample();
+    example.setOrderByClause("id desc");
+    example.setLimit(1);
+    MapDataWithBLOBs data = mapDataDAO.selectByExampleWithBLOBs(example).get(0);
+    MapLogicDataNewVO logicDataNewVO = JsonUtils.read(data.getLogicData(), MapLogicDataNewVO.class);
+    logicDataNewVO.getRouteList().stream()
+        .filter(route -> route.getStartSignalCode().equals("X542") || route.getStartSignalCode()
+            .equals("X11357")
+            || route.getStartSignalCode().equals("X47820") || route.getStartSignalCode()
+            .equals("X4371")
+            || route.getStartSignalCode().equals("X21134") || route.getStartSignalCode()
+            .equals("X99402")
+            || route.getStartSignalCode().equals("X2670") || route.getStartSignalCode()
+            .equals("X49087"))
+        .forEach(route -> {
+          route.setSignalAspect(3);
+        });
+    data.setLogicData(JsonUtils.writeValueAsString(logicDataNewVO));
+    mapDataDAO.updateByPrimaryKeyWithBLOBs(data);
+  }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPClient.java

@@ -10,6 +10,9 @@ import io.netty.channel.ChannelInitializer;
 import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.DatagramPacket;
 import io.netty.channel.socket.nio.NioDatagramChannel;
+import java.net.InetSocketAddress;
+import java.time.LocalDateTime;
+import java.util.concurrent.ConcurrentLinkedQueue;
 import lombok.Getter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -18,73 +21,74 @@ import org.springframework.boot.ApplicationRunner;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 
-import java.net.InetAddress;
-import java.net.InetSocketAddress;
-import java.net.UnknownHostException;
-import java.util.concurrent.ConcurrentLinkedQueue;
-
 @Component
 @Slf4j
 public class UDPClient implements ApplicationRunner {
-    @Autowired
-    private UDPConfig udpConfig;
 
-    private Channel channel;
+  @Autowired
+  private UDPConfig udpConfig;
 
-    private final ConcurrentLinkedQueue<Msg> msgQueue = new ConcurrentLinkedQueue<>();
+  private Channel channel;
 
-    @Override
+  private final ConcurrentLinkedQueue<Msg> msgQueue = new ConcurrentLinkedQueue<>();
-    public void run(ApplicationArguments args) throws Exception {
+
-        this.start();
+  @Override
+  public void run(ApplicationArguments args) throws Exception {
+    this.start();
+  }
+
+  public void start() throws InterruptedException {
+    Bootstrap bootstrap = new Bootstrap();
+    NioEventLoopGroup group = new NioEventLoopGroup();
+    bootstrap.group(group)
+        .channel(NioDatagramChannel.class)
+        .handler(new ChannelInitializer<NioDatagramChannel>() {
+          @Override
+          protected void initChannel(NioDatagramChannel channel) {
+          }
+        });
+    ChannelFuture future = bootstrap.bind(udpConfig.getClientPort()).sync();
+    Channel channel = future.channel();
+    this.channel = channel;
+    if (future.isSuccess()) {
+      log.info(String.format("udp client start on port [%s]", this.udpConfig.getClientPort()));
+    } else {
+      log.error("udp server start failed", future.cause());
     }
+  }
 
-    public void start() throws InterruptedException {
+  public void write(InetSocketAddress addr, byte[] msg) {
-        Bootstrap bootstrap = new Bootstrap();
+    if (msg != null) {
-        NioEventLoopGroup group = new NioEventLoopGroup();
+      msgQueue.add(new Msg(addr, msg));
-        bootstrap.group(group)
+      System.out.println(LocalDateTime.now());
-                .channel(NioDatagramChannel.class)
-                .handler(new ChannelInitializer<NioDatagramChannel>() {
-                    @Override
-                    protected void initChannel(NioDatagramChannel channel) {
-                    }
-                });
-        ChannelFuture future = bootstrap.bind(udpConfig.getClientPort()).sync();
-        Channel channel = future.channel();
-        this.channel = channel;
-        if (future.isSuccess()) {
-            log.info(String.format("udp client start on port [%s]", this.udpConfig.getClientPort()));
-        } else {
-            log.error("udp server start failed", future.cause());
-        }
     }
+  }
 
-    public void write(InetSocketAddress addr, byte[] msg) {
+  @Scheduled(fixedRate = 10)
-        msgQueue.add(new Msg(addr, msg));
+  public void send() {
+    Msg msg = msgQueue.poll();
+      if (msg == null) {
+          return;
+      }
+    InetSocketAddress addr = msg.getAddr();
+    byte[] data = msg.getData();
+    if (channel != null && channel.isWritable() && addr != null && data != null) {
+      ByteBuf byteBuf = Unpooled.copiedBuffer(data);
+      DatagramPacket datagramPacket = new DatagramPacket(byteBuf, addr);
+      channel.writeAndFlush(datagramPacket);
     }
+  }
 
-    @Scheduled(fixedRate = 10)
+  @Getter
-    public void send() {
+  class Msg {
-        Msg msg = msgQueue.poll();
+
-        if (msg == null)
+    private InetSocketAddress addr;
-            return;
+
-        InetSocketAddress addr = msg.getAddr();
+    private byte[] data;
-        byte[] data = msg.getData();
+
-        if (channel != null && channel.isWritable() && addr != null && data != null) {
+    public Msg(InetSocketAddress addr, byte[] data) {
-            ByteBuf byteBuf = Unpooled.copiedBuffer(data);
+      this.addr = addr;
-            DatagramPacket datagramPacket = new DatagramPacket(byteBuf, addr);
+      this.data = data;
-            channel.writeAndFlush(datagramPacket);
-        }
-    }
-
-    @Getter
-    class Msg {
-        private InetSocketAddress addr;
-
-        private byte[] data;
-
-        public Msg(InetSocketAddress addr, byte[] data) {
-            this.addr = addr;
-            this.data = data;
-        }
     }
+  }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPLowConfig.java

@@ -5,12 +5,11 @@ import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDevice
 import club.joylink.rtss.util.JsonUtils;
 import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
 import club.joylink.rtss.vo.client.project.UDPLowConfigVO;
-import lombok.Getter;
-import org.springframework.util.StringUtils;
-
 import java.net.InetAddress;
 import java.net.InetSocketAddress;
 import java.net.UnknownHostException;
+import lombok.Getter;
+import org.springframework.util.StringUtils;
 
 public class UDPLowConfig extends RealDeviceConfig {
     @Getter
@@ -53,4 +52,8 @@ public class UDPLowConfig extends RealDeviceConfig {
     public String findDeviceCode() {
         return null;
     }
+
+    public String getName() {
+        return configVO == null ? null : configVO.getName();
+    }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPRealDeviceService.java

@@ -5,6 +5,10 @@ import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDevice
 import io.netty.buffer.ByteBuf;
 
 public interface UDPRealDeviceService {
+    default boolean isMatch(UDPLowConfig udpLowConfig) {
+        return true;
+    }
+
     boolean isMatch(RealDeviceConfig realDevice);
 
     void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice);

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPRealDeviceThread.java

@@ -3,93 +3,104 @@ package club.joylink.rtss.simulation.cbtc.device.real.udp;
 import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
 import club.joylink.rtss.simulation.cbtc.Simulation;
-import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.PlcGateway;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
 import club.joylink.rtss.simulation.cbtc.event.SimulationResetEvent;
 import io.netty.buffer.ByteBuf;
+import java.util.List;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.event.EventListener;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
-import java.util.List;
-import java.util.Objects;
-
 @Slf4j
 @Component
 public class UDPRealDeviceThread {
-    @Autowired
-    private UDPRealDeviceServiceManager udpRealDeviceServiceManager;
 
-    @Autowired
+  /**
-    private GroupSimulationService groupSimulationService;
+   * 真是设备逻辑执行频率。
+   * <p>
+   * 因沙盘对延迟要求较高，所以将频率提高
+   */
+  public static final int RATE = 100;
 
-    @EventListener
+  @Autowired
-    public void simulationReset(SimulationResetEvent event) {
+  private UDPRealDeviceServiceManager udpRealDeviceServiceManager;
-        Simulation simulation = event.getSimulation();
+
-        List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
+  @Autowired
-        if (CollectionUtils.isEmpty(realDeviceList))
+  private GroupSimulationService groupSimulationService;
-            return;
+
-        UDPLowConfig udpConfig = (UDPLowConfig) simulation.queryOneRealDevice(ProjectDeviceType.UDP_LOW);
+  @EventListener
-        if (udpConfig == null)
+  public void simulationReset(SimulationResetEvent event) {
-            return;
+    Simulation simulation = event.getSimulation();
-        for (RealDeviceConfig realDevice : realDeviceList) {
+    List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
-            if (realDevice instanceof PlcGateway) {
+    if (CollectionUtils.isEmpty(realDeviceList)) {
-                continue;
+      return;
-            }
-            for (UDPRealDeviceService realDeviceService : this.udpRealDeviceServiceManager.getServiceList()) {
-                if (realDeviceService.isMatch(realDevice)) {
-                    realDeviceService.init(simulation, udpConfig, realDevice);
-                }
-            }
-        }
     }
-
+    UDPLowConfig udpConfig = (UDPLowConfig) simulation.queryOneRealDevice(
-    public void run(Simulation simulation) {
+        ProjectDeviceType.UDP_LOW);
-        List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
+    if (udpConfig == null) {
-        if (CollectionUtils.isEmpty(realDeviceList))
+      return;
-            return;
+    }
-        List<UDPRealDeviceService> serviceList = udpRealDeviceServiceManager.getServiceList();
+    for (RealDeviceConfig realDevice : realDeviceList) {
-        if (CollectionUtils.isEmpty(serviceList))
+      if (realDevice instanceof PlcGateway) {
-            return;
+        continue;
-        UDPLowConfig udpLowConfig = null;
+      }
-        for (RealDeviceConfig realDeviceConfig : realDeviceList) {
+      for (UDPRealDeviceService realDeviceService : this.udpRealDeviceServiceManager.getServiceList()) {
-            if (ProjectDeviceType.UDP_LOW.equals(realDeviceConfig.getDeviceType())) {
+        if (realDeviceService.isMatch(realDevice)) {
-                udpLowConfig = (UDPLowConfig) realDeviceConfig;
+          realDeviceService.init(simulation, udpConfig, realDevice);
-                break;
-            }
         }
-        for (RealDeviceConfig config : realDeviceList) {
+      }
+    }
+  }
+
+  public void run(Simulation simulation) {
+    List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
+    if (CollectionUtils.isEmpty(realDeviceList)) {
+      return;
+    }
+    List<UDPRealDeviceService> serviceList = udpRealDeviceServiceManager.getServiceList();
+    if (CollectionUtils.isEmpty(serviceList)) {
+      return;
+    }
+    realDeviceList.stream()
+        .filter(
+            realDeviceConfig -> ProjectDeviceType.UDP_LOW.equals(realDeviceConfig.getDeviceType()))
+        .map(realDeviceConfig -> (UDPLowConfig) realDeviceConfig)
+        .forEach(udpLowConfig -> {
+          for (RealDeviceConfig config : realDeviceList) {
             for (UDPRealDeviceService service : serviceList) {
-                if (service.isMatch(config) && config.getMapElement() != null) {
+              if (service.isMatch(udpLowConfig) && service.isMatch(config)
-                    service.run(simulation, udpLowConfig, config);
+                  && config.getMapElement() != null) {
-                }
+                service.run(simulation, udpLowConfig, config);
+              }
             }
-        }
+          }
-    }
+        });
+  }
 
-    public void handleData(String ip, int port, ByteBuf data) {
+  public void handleData(String ip, int port, ByteBuf data) {
-        List<Simulation> simulations = groupSimulationService.querySimulations();
+    List<Simulation> simulations = groupSimulationService.querySimulations();
-        for (Simulation simulation : simulations) {
+    for (Simulation simulation : simulations) {
-            List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
+      List<RealDeviceConfig> realDeviceList = simulation.getRealDeviceList();
-            if (CollectionUtils.isEmpty(realDeviceList))
+      if (CollectionUtils.isEmpty(realDeviceList)) {
-                continue;
+        continue;
-            UDPClientConfig udpClientConfig = (UDPClientConfig) simulation.queryOneRealDevice(ProjectDeviceType.UDP_CLIENT);
+      }
-            if (udpClientConfig != null && Objects.equals(ip, udpClientConfig.getConfigVO().getIp())
+      UDPClientConfig udpClientConfig = (UDPClientConfig) simulation.queryOneRealDevice(
-                    && Objects.equals(port, udpClientConfig.getConfigVO().getPort())) {
+          ProjectDeviceType.UDP_CLIENT);
-                for (UDPRealDeviceService udpRealDeviceService : this.udpRealDeviceServiceManager.getServiceList()) {
+      if (udpClientConfig != null /*&& Objects.equals(ip, udpClientConfig.getConfigVO().getIp())
-                    if (udpRealDeviceService.isMatch(udpClientConfig)) {
+                    && Objects.equals(port, udpClientConfig.getConfigVO().getPort())*/) {
-                        udpRealDeviceService.handle(simulation, data);
+        for (UDPRealDeviceService udpRealDeviceService : this.udpRealDeviceServiceManager.getServiceList()) {
-                    }
+          if (udpRealDeviceService.isMatch(udpClientConfig)) {
-                }
+            udpRealDeviceService.handle(simulation, data);
-            }
+          }
         }
+      }
     }
+  }
 
-    public void addJobs(Simulation simulation) {
+  public void addJobs(Simulation simulation) {
-        simulation.addFixedRateJob(Simulation.JobName.udpRealDevice,
+    simulation.addFixedRateJob(Simulation.JobName.udpRealDevice, () -> this.run(simulation), RATE);
-                () -> this.run(simulation), SimulationConstants.VRD_LOOP_RATE);
+  }
-    }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/SrTrainController.java

@@ -1,22 +0,0 @@
-package club.joylink.rtss.simulation.cbtc.device.real.udp.sr;
-
-import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.service.SrTrainServiceImpl;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.*;
-
-@RestController
-@RequestMapping("/api/sr")
-public class SrTrainController {
-    @Autowired
-    private SrTrainServiceImpl srTrainService;
-
-//    @PutMapping("/{simulationId}/control")
-//    public void control(@PathVariable String simulationId, @RequestBody @Validated SrTrainControlParam controlParam) {
-//        srTrainService.control(simulationId, controlParam.getGroupNumber(), controlParam.getRight(), controlParam.getSpeed());
-//    }
-
-    @PutMapping("/{simulationId}/control")
-    public void control(@PathVariable String simulationId, String groupNumber, boolean right, int speed) {
-        srTrainService.controlTrain(simulationId, groupNumber, right, speed);
-    }
-}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrSectionServiceImpl.java

@@ -15,10 +15,6 @@ import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSectionConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrTrainConfig;
 import io.netty.buffer.ByteBuf;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-
 import java.time.LocalDateTime;
 import java.util.Collections;
 import java.util.List;
@@ -26,167 +22,187 @@ import java.util.Map;
 import java.util.Objects;
 import java.util.function.Function;
 import java.util.stream.Collectors;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
 
 @Slf4j
 @Service
 public class SrSectionServiceImpl implements UDPRealDeviceService {
-    @Autowired
-    private SrTrainServiceImpl srTrainService;
 
-    @Autowired
+  public static final String PROJECT_CODE = "SR_SANDBOX";
-    private MaService maService;
 
-    @Override
+  @Autowired
-    public boolean isMatch(RealDeviceConfig realDevice) {
+  private MaService maService;
-        return realDevice instanceof UDPClientConfig;
+
+  @Override
+  public boolean isMatch(RealDeviceConfig realDevice) {
+    return realDevice instanceof UDPClientConfig && PROJECT_CODE
+        .equals(realDevice.getProject());
+  }
+
+  @Override
+  public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+
+  }
+
+  @Override
+  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+  }
+
+  @Override
+  public void handle(Simulation simulation, ByteBuf msg) {
+    //检查数据
+    byte[] data = new byte[msg.readableBytes()];
+    if (data.length < 4) {
+      return;
     }
-
+    msg.readBytes(data);
-    @Override
+    if (Byte.toUnsignedInt(data[1]) != 137) {
-    public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+      return;
-
     }
-
+    //处理数据
-    @Override
+    Map<String, SrSectionConfig> configMap = simulation.queryAllRealDevice(
-    public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+            ProjectDeviceType.SECTION).stream()
-    }
+        .map(config -> (SrSectionConfig) config)
-
+        .collect(
-    @Override
+            Collectors.toMap(config -> config.getConfigVO().getSandboxCode(), Function.identity()));
-    public void handle(Simulation simulation, ByteBuf msg) {
+    for (int i = 3, dataLength = data.length; i < dataLength; i += 2) {
-        //检查数据
+      int code = Byte.toUnsignedInt(data[i - 1]);
-        byte[] data = new byte[msg.readableBytes()];
+      String key = String.valueOf(code);
-        if (data.length < 4)
+      SrSectionConfig config = configMap.get(key);
-            return;
+      if (config == null) {
-        msg.readBytes(data);
+        continue;
-        if (Byte.toUnsignedInt(data[1]) != 137) {
+      }
-            return;
+      VirtualRealitySectionAxleCounter axle = (VirtualRealitySectionAxleCounter) config.getMapElement();
+      if (axle != null) {
+        int n = Byte.toUnsignedInt(data[i]);
+        if (n == 170) {
+          updateTrainPosition(simulation, axle);
+          config.setTimesOfRelease(0);
+          axle.setOccupy(true);
+        } else if (n == 85) {
+          config.setTimesOfRelease(config.getTimesOfRelease() + 1);
+          if (config.getTimesOfRelease() > 3) { //连续4次该计轴都是无占用状态，才视为确实无占用
+            config.setTimesOfRelease(0);
+            axle.clear();
+          }
         }
-        //处理数据
+      }
-        Map<String, SrSectionConfig> configMap = simulation.queryAllRealDevice(ProjectDeviceType.SECTION).stream()
-                .map(config -> (SrSectionConfig) config)
-                .collect(Collectors.toMap(config -> config.getConfigVO().getSandboxCode(), Function.identity()));
-        for (int i = 3, dataLength = data.length; i < dataLength; i += 2) {
-            int code = Byte.toUnsignedInt(data[i - 1]);
-            String key = String.valueOf(code);
-            SrSectionConfig config = configMap.get(key);
-            if (config == null)
-                continue;
-            VirtualRealitySectionAxleCounter axle = (VirtualRealitySectionAxleCounter) config.getMapElement();
-            if (axle != null) {
-                int n = Byte.toUnsignedInt(data[i]);
-                if (n == 170) {
-                    updateTrainPosition(simulation, axle);
-                    config.setTimesOfRelease(0);
-                    axle.setOccupy(true);
-                } else if (n == 85) {
-                    config.setTimesOfRelease(config.getTimesOfRelease() + 1);
-                    if (config.getTimesOfRelease() > 3) { //连续4次该计轴都是无占用状态，才视为确实无占用
-                        config.setTimesOfRelease(0);
-                        axle.clear();
-                    }
-                }
-            }
-        }
-        //设置停车信息
-        stop(simulation);
     }
+    //设置停车信息
+    stop(simulation);
+  }
 
-    /**
+  /**
-     * 列车到达特殊轨道，设置延迟停车时间
+   * 列车到达特殊轨道，设置延迟停车时间
-     */
+   */
-    private void stop(Simulation simulation) {
+  private void stop(Simulation simulation) {
-        for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
+    for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
-            Section headSection = train.getHeadPosition().getSection();
+      Section headSection = train.getHeadPosition().getSection();
+      SrTrainConfig config = (SrTrainConfig) train.getRealDevice();
+      if (!Objects.equals(headSection, config.getHeadSection())) //列车无需在该站台停车
+      {
+        continue;
+      }
+      if (config.getTimeOfStop() != null) //已经设置过停车时间
+      {
+        continue;
+      }
+      if (!headSection.isFunctionTrack()) {
+        continue;
+      }
+      VirtualRealitySectionAxleCounter headAxle = headSection.findAxle();
+      if (headAxle == null) {
+        continue;
+      }
+      SrSectionConfig sectionConfig = (SrSectionConfig) headAxle.getRealDevice();
+      //设置延时停车时间
+      long m = 1000000000;
+      long nanos;
+      if (sectionConfig.getConfigVO().getHeadDelayTime() != null) {
+        nanos = (long) (sectionConfig.getConfigVO().getHeadDelayTime() * m);
+        config.setTimeOfStop(LocalDateTime.now().plusNanos(nanos));
+        continue;
+      }
+      //以前一个区段无占用作为停车标志的区段
+      boolean right = train.isRight();
+      Section behindSection = headSection.getNextRunningSectionOf(!right);
+      if (behindSection == null) {
+        continue;
+      }
+      VirtualRealitySectionAxleCounter behindAxle = behindSection.findAxle();
+      if (behindAxle == null) {
+        continue;
+      }
+      if (!behindAxle.isOccupy()) { //车头后方区段所属计轴无占用状态
+        nanos = 0;
+        if (sectionConfig.getConfigVO().getTailDelayTime() != null) {
+          nanos = (long) (sectionConfig.getConfigVO().getTailDelayTime() * m);
+        }
+        if (nanos == 0) {
+          train.setHeadPosition(headSection.buildStopPointPosition(right));
+        } else {
+          config.setTimeOfStop(LocalDateTime.now().plusNanos(nanos));
+        }
+      }
+    }
+  }
+
+  private void updateTrainPosition(Simulation simulation, VirtualRealitySectionAxleCounter axle) {
+    for (Section section : simulation.getRepository().getAxleSectionList()) {
+      if (section.getVirtualAxleCounter().equals(axle)) {
+        List<Section> pSection;
+        if (section.isPhysical()) {
+          pSection = Collections.singletonList(section);
+        } else if (section.isSwitchAxleCounterSection()) {
+          pSection = section.findConnectedSections();
+        } else {
+          pSection = Collections.emptyList();
+        }
+        for (Section sec : pSection) {
+          check4UpdateHeadPosition(simulation, sec, false);
+          check4UpdateHeadPosition(simulation, sec, true);
+        }
+      }
+    }
+  }
+
+  /**
+   * 检查是否有right向的列车可以更新车头位置
+   */
+  private void check4UpdateHeadPosition(Simulation simulation, Section occupiedSection,
+      boolean right) {
+    Section section = occupiedSection.getNextRunningSectionOf(!right); //找反向的区段
+    if (section != null) {
+      for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
+        Section headSection = train.getHeadPosition().getSection();
+        boolean trainRight = train.isRight();
+        if (trainRight == right && section.equals(headSection)) { //列车到达occupiedSection
+          //判断更新ITC ma
+          if (headSection.getSignalOf(trainRight) != null) {
+            maService.calculateAndUpdateItcMa(simulation, train);
+          }
+          //更新位置
+          SectionPosition headPosition;
+          SectionPosition stopPointPosition;
+          if (occupiedSection.isFunctionTrack()) {
+            stopPointPosition = occupiedSection.buildStopPointPosition(right);
+            headPosition = CalculateService.calculateNextPositionByStartAndLen(stopPointPosition,
+                !right, 1, true);
+          } else {
+            stopPointPosition = new SectionPosition(occupiedSection,
+                occupiedSection.getEndOffsetByDirection(right));
+            headPosition = CalculateService.calculateNextPositionByStartAndLen(stopPointPosition,
+                !right, 3, true);
+          }
+          train.setHeadPosition(headPosition); //更新位置
+          if (occupiedSection.isFunctionTrack()) { //功能轨可能需要停车
             SrTrainConfig config = (SrTrainConfig) train.getRealDevice();
-            if (!Objects.equals(headSection, config.getHeadSection())) //列车无需在该站台停车
+            config.updateHeadSection(occupiedSection);
-                continue;
+          }
-            if (config.getTimeOfStop() != null) //已经设置过停车时间
-                continue;
-            if (!headSection.isFunctionTrack())
-                continue;
-            VirtualRealitySectionAxleCounter headAxle = headSection.findAxle();
-            if (headAxle == null)
-                continue;
-            SrSectionConfig sectionConfig = (SrSectionConfig) headAxle.getRealDevice();
-            //设置延时停车时间
-            long m = 1000000000;
-            long nanos;
-            if (sectionConfig.getConfigVO().getHeadDelayTime() != null) {
-                nanos = (long) (sectionConfig.getConfigVO().getHeadDelayTime() * m);
-                config.setTimeOfStop(LocalDateTime.now().plusNanos(nanos));
-                continue;
-            }
-            //以前一个区段无占用作为停车标志的区段
-            boolean right = train.isRight();
-            Section behindSection = headSection.getNextRunningSectionOf(!right);
-            if (behindSection == null)
-                continue;
-            VirtualRealitySectionAxleCounter behindAxle = behindSection.findAxle();
-            if (behindAxle == null)
-                continue;
-            if (!behindAxle.isOccupy()) { //车头后方区段所属计轴无占用状态
-                nanos = 0;
-                if (sectionConfig.getConfigVO().getTailDelayTime() != null) {
-                    nanos = (long) (sectionConfig.getConfigVO().getTailDelayTime() * m);
-                }
-                if (nanos == 0) {
-                    train.setHeadPosition(headSection.buildStopPointPosition(right));
-                } else {
-                    config.setTimeOfStop(LocalDateTime.now().plusNanos(nanos));
-                }
-            }
-        }
-    }
-
-    private void updateTrainPosition(Simulation simulation, VirtualRealitySectionAxleCounter axle) {
-        for (Section section : simulation.getRepository().getAxleSectionList()) {
-            if (section.getVirtualAxleCounter().equals(axle)) {
-                List<Section> pSection;
-                if (section.isPhysical()) {
-                    pSection = Collections.singletonList(section);
-                } else if (section.isSwitchAxleCounterSection()) {
-                    pSection = section.findConnectedSections();
-                } else {
-                    pSection = Collections.emptyList();
-                }
-                for (Section sec : pSection) {
-                    check4UpdateHeadPosition(simulation, sec, false);
-                    check4UpdateHeadPosition(simulation, sec, true);
-                }
-            }
-        }
-    }
-
-    /**
-     * 检查是否有right向的列车可以更新车头位置
-     */
-    private void check4UpdateHeadPosition(Simulation simulation, Section occupiedSection, boolean right) {
-        Section section = occupiedSection.getNextRunningSectionOf(!right); //找反向的区段
-        if (section != null) {
-            for (VirtualRealityTrain train : simulation.getRepository().getOnlineTrainList()) {
-                Section headSection = train.getHeadPosition().getSection();
-                boolean trainRight = train.isRight();
-                if (trainRight == right && section.equals(headSection)) { //列车到达occupiedSection
-                    //判断更新ITC ma
-                    if (headSection.getSignalOf(trainRight) != null) {
-                        maService.calculateAndUpdateItcMa(simulation, train);
-                    }
-                    //更新位置
-                    SectionPosition headPosition;
-                    SectionPosition stopPointPosition;
-                    if (occupiedSection.isFunctionTrack()) {
-                        stopPointPosition = occupiedSection.buildStopPointPosition(right);
-                        headPosition = CalculateService.calculateNextPositionByStartAndLen(stopPointPosition, !right, 1, true);
-                    } else {
-                        stopPointPosition = new SectionPosition(occupiedSection, occupiedSection.getEndOffsetByDirection(right));
-                        headPosition = CalculateService.calculateNextPositionByStartAndLen(stopPointPosition, !right, 3, true);
-                    }
-                    train.setHeadPosition(headPosition); //更新位置
-                    if (occupiedSection.isFunctionTrack()) { //功能轨可能需要停车
-                        SrTrainConfig config = (SrTrainConfig) train.getRealDevice();
-                        config.updateHeadSection(occupiedSection);
-                    }
-                }
-            }
         }
+      }
     }
+  }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/config/ThailandSectionConfig.java

@@ -0,0 +1,32 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config;
+
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandSectionConfigVO;
+import java.util.Objects;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+public class ThailandSectionConfig extends RealDeviceConfig {
+    private ThailandSectionConfigVO configVO;
+
+    /**
+     * 连续无占用次数
+     */
+    @Setter
+    private int timesOfRelease;
+
+    public ThailandSectionConfig(ProjectDeviceVO projectDevice) {
+        super(projectDevice);
+        if (Objects.nonNull(projectDevice.getConfig())) {
+            this.configVO = JsonUtils.read(projectDevice.getConfig(), ThailandSectionConfigVO.class);
+        }
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return configVO.findDeviceCode();
+    }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/config/ThailandSignalConfig.java

@@ -0,0 +1,30 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config;
+
+import club.joylink.rtss.simulation.cbtc.constant.SignalAspect;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandSignalConfigVO;
+import java.util.Objects;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+public class ThailandSignalConfig extends RealDeviceConfig {
+    private ThailandSignalConfigVO configVO;
+
+    @Setter
+    private SignalAspect aspect;
+
+    public ThailandSignalConfig(ProjectDeviceVO projectDevice) {
+        super(projectDevice);
+        if (Objects.nonNull(projectDevice.getConfig())) {
+            this.configVO = JsonUtils.read(projectDevice.getConfig(), ThailandSignalConfigVO.class);
+        }
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return configVO.findDeviceCode();
+    }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/config/ThailandSwitchConfig.java

@@ -0,0 +1,29 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config;
+
+import club.joylink.rtss.simulation.cbtc.constant.SwitchIndication;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandSwitchConfigVO;
+import java.util.Objects;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+public class ThailandSwitchConfig extends RealDeviceConfig {
+    private ThailandSwitchConfigVO configVO;
+
+    @Setter
+    private SwitchIndication p;
+    public ThailandSwitchConfig(ProjectDeviceVO projectDevice) {
+        super(projectDevice);
+        if (Objects.nonNull(projectDevice.getConfig())) {
+            this.configVO = JsonUtils.read(projectDevice.getConfig(), ThailandSwitchConfigVO.class);
+        }
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return configVO.findDeviceCode();
+    }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/config/ThailandTrainConfig.java

@@ -0,0 +1,58 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config;
+
+import club.joylink.rtss.simulation.cbtc.data.map.Section;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandTrainConfigVO;
+import java.time.LocalDateTime;
+import java.util.Objects;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+public class ThailandTrainConfig extends RealDeviceConfig {
+
+  private ThailandTrainConfigVO configVO;
+
+  @Setter
+  private Integer gear;
+
+  /**
+   * 列车需要在这个轨道停车
+   */
+  private Section headSection;
+
+  /**
+   * 列车抵达停车点的时间。
+   * <p>
+   * 当走到这个时间时，需要将列车的车头位置更新至当前区段的停车点。
+   * <p>
+   * 上述停车点指代一切可能需要停车的位置，比如站台轨的停车点、信号机2m前、轨道尽头10m前。
+   */
+  @Setter
+  private LocalDateTime timeOfArriveStopPoint;
+
+  /**
+   * 人为驾驶的档位
+   */
+  @Setter
+  private Integer manualGear;
+
+  public void updateHeadSection(Section headSection) {
+    this.headSection = headSection;
+    this.timeOfArriveStopPoint = null;
+  }
+
+  public ThailandTrainConfig(ProjectDeviceVO projectDevice) {
+    super(projectDevice);
+    if (Objects.nonNull(projectDevice.getConfig())) {
+      this.configVO = JsonUtils.read(projectDevice.getConfig(), ThailandTrainConfigVO.class);
+    }
+  }
+
+  @Override
+  public String findDeviceCode() {
+    return configVO.findDeviceCode();
+  }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandSectionServiceImpl.java

@@ -0,0 +1,85 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service;
+
+import club.joylink.rtss.constants.ProjectCode;
+import club.joylink.rtss.constants.ProjectDeviceType;
+import club.joylink.rtss.simulation.cbtc.ATP.ground.MaService;
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySectionAxleCounter;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPClientConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
+import io.netty.buffer.ByteBuf;
+import java.util.Map;
+import java.util.function.Function;
+import java.util.stream.Collectors;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class ThailandSectionServiceImpl implements UDPRealDeviceService {
+
+  @Autowired
+  private MaService maService;
+
+  @Override
+  public boolean isMatch(RealDeviceConfig realDevice) {
+    return realDevice instanceof UDPClientConfig && ProjectCode.THAILAND_SANDBOX
+        .equals(realDevice.getProject());
+  }
+
+  @Override
+  public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+
+  }
+
+  @Override
+  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    //沙盘不需要停太长时间
+    simulation.getRepository().getStandList().forEach(stand -> stand.setParkingTime(15));
+  }
+
+  @Override
+  public void handle(Simulation simulation, ByteBuf msg) {
+    //检查数据
+    byte[] data = new byte[msg.readableBytes()];
+    if (data.length < 4) {
+      return;
+    }
+    msg.readBytes(data);
+    if (Byte.toUnsignedInt(data[1]) != 137) {
+      return;
+    }
+    //处理数据
+    Map<String, ThailandSectionConfig> configMap = simulation.queryAllRealDevice(
+            ProjectDeviceType.SECTION).stream()
+        .map(config -> (ThailandSectionConfig) config)
+        .collect(
+            Collectors.toMap(config -> config.getConfigVO().getSandboxCode(), Function.identity()));
+    for (int i = 3, dataLength = data.length; i < dataLength; i += 2) {
+      int code = Byte.toUnsignedInt(data[i - 1]);
+      String key = String.valueOf(code);
+      ThailandSectionConfig config = configMap.get(key);
+      if (config == null) {
+        continue;
+      }
+      VirtualRealitySectionAxleCounter axle = (VirtualRealitySectionAxleCounter) config.getMapElement();
+      if (axle != null) {
+        int n = Byte.toUnsignedInt(data[i]);
+        if (n == 170) {
+          config.setTimesOfRelease(0);
+          axle.setOccupy(true);
+        } else if (n == 85) {
+          config.setTimesOfRelease(config.getTimesOfRelease() + 1);
+          if (config.getTimesOfRelease() > 2) { //连续3次该计轴都是无占用状态，才视为确实无占用
+            config.setTimesOfRelease(0);
+            axle.clear();
+          }
+        }
+      }
+    }
+  }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandSignalServiceImpl.java

@@ -0,0 +1,136 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service;
+
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.constant.SignalAspect;
+import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySignal;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPClient;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSignalConfig;
+import io.netty.buffer.ByteBuf;
+import java.util.Objects;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+public class ThailandSignalServiceImpl implements UDPRealDeviceService {
+    public static final String NAME = "SIGNAL";
+
+    @Autowired
+    private UDPClient udpClient;
+
+    @Override
+    public boolean isMatch(UDPLowConfig udpLowConfig) {
+        return NAME.equals(udpLowConfig.getName());
+    }
+
+    @Override
+    public boolean isMatch(RealDeviceConfig realDevice) {
+        return realDevice instanceof ThailandSignalConfig;
+    }
+
+    @Override
+    public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+        ThailandSignalConfig config = (ThailandSignalConfig) realDevice;
+        //控制vr设备
+        VirtualRealitySignal vrSignal = (VirtualRealitySignal) realDevice.getMapElement();
+        SignalAspect aspect = vrSignal.getAspect();
+        SignalAspect command = vrSignal.getCommand();
+        if (Objects.equals(aspect, command)) {
+            return;
+        }
+        if (vrSignal.isTurning()) {
+            vrSignal.turning(SimulationConstants.VRD_LOOP_RATE);
+        }
+        //控制沙盘设备
+        aspect = vrSignal.getAspect();
+        if (aspect == null || udpLowConfig == null || Objects.equals(aspect, config.getAspect())) {
+            return;
+        }
+        byte[] data = buildData(aspect, config);
+        if (data == null)
+            return;
+        udpClient.write(udpLowConfig.getAddr(), data);
+    }
+
+    @Override
+    public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+
+    }
+
+    @Override
+    public void handle(Simulation simulation, ByteBuf msg) {
+
+    }
+
+    private byte[] buildData(SignalAspect aspect, ThailandSignalConfig config) {
+        if (aspect == null)
+            return null;
+        config.setAspect(aspect);
+        byte[] data = new byte[5];
+        data[1] = (byte) 203;
+        data[2] = (byte) Integer.parseInt(config.getConfigVO().getSandboxCode());
+        switch (aspect) {
+            case No:
+            case R:
+            case RF:
+                data[3] = (byte) 0;
+                break;
+            case G:
+            case GF:
+                data[3] = (byte) 1;
+                break;
+            case Y:
+            case YF:
+                data[3] = (byte) 2;
+                break;
+            case W:
+            case WF:
+                data[3] = (byte) 6;
+                break;
+            case B:
+                data[3] = (byte) 7;
+                break;
+            case GG:
+                data[3] = (byte) 5;
+                break;
+            case GY:
+                data[3] = (byte) 4;
+                break;
+            case YY:
+                data[3] = (byte) 3;
+                break;
+            case RY:
+            case RW:
+                return null;
+            default:
+                return null;
+        }
+        switch (aspect) {
+            case No:
+            case R:
+            case G:
+            case Y:
+            case W:
+            case B:
+            case RY:
+            case RW:
+            case GG:
+            case GY:
+            case YY:
+                data[4] = (byte) 0;
+                break;
+            case RF:
+            case YF:
+            case GF:
+            case WF:
+                data[4] = (byte) 1;
+                break;
+            default:
+                throw new IllegalStateException("Unexpected value: " + aspect);
+        }
+        return data;
+    }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandSwitchServiceImpl.java

@@ -0,0 +1,85 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service;
+
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
+import club.joylink.rtss.simulation.cbtc.constant.SwitchIndication;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySwitch;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPClient;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSwitchConfig;
+import io.netty.buffer.ByteBuf;
+import java.util.Objects;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+public class ThailandSwitchServiceImpl implements UDPRealDeviceService {
+    public static final String NAME = "SWITCH-TRAIN";
+
+    @Autowired
+    private UDPClient udpClient;
+
+    @Override
+    public boolean isMatch(UDPLowConfig udpLowConfig) {
+        return NAME.equals(udpLowConfig.getName());
+    }
+
+    @Override
+    public boolean isMatch(RealDeviceConfig realDevice) {
+        return realDevice instanceof ThailandSwitchConfig;
+    }
+
+    @Override
+    public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+        ThailandSwitchConfig config = (ThailandSwitchConfig) realDevice;
+        //控制vr设备
+        VirtualRealitySwitch vrSwitch = (VirtualRealitySwitch) realDevice.getMapElement();
+        if (vrSwitch.isTurning()) {
+            vrSwitch.turning(SimulationConstants.VRD_LOOP_RATE);
+        }
+        //控制沙盘设备
+        SwitchIndication p = vrSwitch.getP();
+        if (p == null || udpLowConfig == null || Objects.equals(p, config.getP())) {
+            return;
+        }
+        byte[] data = buildData(p, config);
+        if (data == null)
+            return;
+        udpClient.write(udpLowConfig.getAddr(), data);
+    }
+
+    @Override
+    public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+
+    }
+
+    @Override
+    public void handle(Simulation simulation, ByteBuf msg) {
+
+    }
+
+    private byte[] buildData(SwitchIndication p, ThailandSwitchConfig config) {
+        if (p == null)
+            return null;
+        config.setP(p);
+        byte[] data = new byte[4];
+        data[1] = (byte) 208;
+        data[2] = (byte) Integer.parseInt(config.getConfigVO().getSandboxCode());
+        switch (p) {
+            case N:
+                data[3] = (byte) 0;
+                break;
+            case R:
+                data[3] = (byte) 1;
+                break;
+            case NO:
+            case EX:
+                return null;
+            default:
+                throw new IllegalStateException("Unexpected value: " + p);
+        }
+        return data;
+    }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandTrainServiceImpl.java

@@ -0,0 +1,303 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service;
+
+import club.joylink.rtss.constants.ProjectDeviceType;
+import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
+import club.joylink.rtss.simulation.cbtc.ATS.service.AtsTrainLoadService;
+import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
+import club.joylink.rtss.simulation.cbtc.data.map.Section;
+import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition;
+import club.joylink.rtss.simulation.cbtc.data.vo.TrainInfo;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySectionAxleCounter;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPClient;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandTrainConfig;
+import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService;
+import club.joylink.rtss.vo.client.project.thailand.ThailandSectionConfigVO;
+import club.joylink.rtss.vo.map.graph.MapSectionNewVO;
+import io.netty.buffer.ByteBuf;
+import java.time.LocalDateTime;
+import java.util.Objects;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class ThailandTrainServiceImpl implements UDPRealDeviceService {
+
+  public static final String NAME = ThailandSwitchServiceImpl.NAME;
+
+  @Autowired
+  private UDPClient udpClient;
+  @Autowired
+  private ATPService atpService;
+  @Autowired
+  private GroupSimulationService groupSimulationService;
+  @Autowired
+  private AtsTrainLoadService atsTrainLoadService;
+
+  @Override
+  public boolean isMatch(UDPLowConfig udpLowConfig) {
+    return NAME.equals(udpLowConfig.getName());
+  }
+
+  @Override
+  public boolean isMatch(RealDeviceConfig realDevice) {
+    return realDevice instanceof ThailandTrainConfig;
+  }
+
+  @Override
+  public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    ThailandTrainConfig config = (ThailandTrainConfig) realDevice;
+    //控制vr设备
+    VirtualRealityTrain train = (VirtualRealityTrain) config.getMapElement();
+    SimulationDataRepository repository = simulation.getRepository();
+    String groupNumber = train.getGroupNumber();
+    if (repository.isVrTrainOnline(groupNumber)) {
+      removeVrTrainIfNotSupervised(repository, groupNumber);
+      if (!train.isRobotStopControl() && config.getManualGear() != null) {
+        config.setManualGear(null);
+        config.setGear(null);
+      }
+      updateTrainPosition(simulation, train, config);
+      updateTrainSpeed(simulation, train, config);
+      //减少关门后的延迟发车时间
+      if (train.getDelayTime() > 3000) {
+        train.setDelayTime(3000);
+      }
+      //控制沙盘设备
+      byte[] data = buildData(train, config);
+      udpClient.write(udpLowConfig.getAddr(), data);
+    } else {
+      addVrTrainIfSupervised(simulation, repository, groupNumber);
+    }
+  }
+
+  /**
+   * 更新列车位置。
+   * <p>
+   * 1.如果列车占压新的区段，则先将列车车头位置更新至该区段的停车点之前（保证列车可以继续运行）。 2.根据区段的配置信息，决定列车何时将车头位置更新至停车点
+   * 3.根据上一步设置的停车时间，判断执行更新车头位置至停车点逻辑（触发列车停车逻辑）
+   */
+  private void updateTrainPosition(Simulation simulation, VirtualRealityTrain train,
+      ThailandTrainConfig config) {
+    //判断列车是否到达新区段
+    boolean right = train.isRight(); //车头方向
+    Section headSection = train.getHeadPosition().getSection(); //车头区段
+    Section previousSection = null; //车头方向的上一个区段
+    Section nextSection = headSection.getNextRunningSectionOf(right); //车头方向的下一个区段
+    ThailandSectionConfig sectionConfig = (ThailandSectionConfig) headSection.findAxle()
+        .getRealDevice(); //车头区段的配置
+    if (nextSection != null) {
+      VirtualRealitySectionAxleCounter nextAxle = nextSection.findAxle();
+      if (nextAxle.isOccupy()) {
+        train.setHeadPosition(
+            new SectionPosition(nextSection, right ? 0 : nextSection.getMaxOffset()));
+        config.setTimeOfArriveStopPoint(null);
+        sectionConfig = (ThailandSectionConfig) nextAxle.getRealDevice();
+        //更新变量
+        previousSection = headSection;
+        headSection = train.getHeadPosition().getSection();
+        nextSection = null;
+      }
+    }
+    //根据区段的配置信息，设置车头位置更新至停车点的时间
+//    fill(headSection, sectionConfig.getConfigVO()); 仅用于调试
+    LocalDateTime now = LocalDateTime.now();
+    if (config.getTimeOfArriveStopPoint() == null) {
+      int rate = 1000000000; //秒到纳秒的换算比例
+      Long delayOfNano = null; //延迟时间的纳秒表示
+      if (sectionConfig.getConfigVO().getHeadDelayTime() != null) { //车头占压延时停车
+        delayOfNano = (long) (sectionConfig.getConfigVO().getHeadDelayTime() * rate);
+      } else if (sectionConfig.getConfigVO().getTailDelayTime() != null) { //车尾出清延时停车
+        if (previousSection == null) {
+          previousSection = headSection.getNextRunningSectionOf(!right);
+        }
+        if (previousSection != null && !previousSection.isOccupied()) {
+          delayOfNano = (long) (sectionConfig.getConfigVO().getTailDelayTime() * rate);
+        }
+      } else { //未设置则认为车头占压即刻停车
+        delayOfNano = 0L;
+      }
+      if (delayOfNano != null) {
+        config.setTimeOfArriveStopPoint(now.plusNanos(delayOfNano));
+      }
+    }
+    //根据当前时间，判断更新车头位置至停车点
+    LocalDateTime timeOfArriveStopPoint = config.getTimeOfArriveStopPoint();
+    if (timeOfArriveStopPoint != null && !now.isBefore(timeOfArriveStopPoint)) {
+      SectionPosition stopPosition = train.getRobotDriveParam().getStopPosition();
+      if (stopPosition != null && stopPosition.getSection().equals(headSection)) {
+        train.setHeadPosition(stopPosition);
+      } else if (stopPosition == null || !stopPosition.getSection().equals(headSection)) {
+        float offset = right ? headSection.getMaxOffset() : 0;
+        train.setHeadPosition(new SectionPosition(headSection, offset));
+      }
+    }
+  }
+
+  /**
+   * 如果有监控，添加一个vrTrain
+   */
+  private void addVrTrainIfSupervised(Simulation simulation, SimulationDataRepository repository,
+      String groupNumber) {
+    TrainInfo trainInfo = repository.findSupervisedTrainByGroup(groupNumber);
+    if (trainInfo != null) {
+      Section section = repository.getByCode(trainInfo.getSection(), Section.class);
+      if (section.isSwitchAxleCounterSection()) {
+        section = section.getLogicList().get(0).getRelSwitch().getA();
+      }
+      atsTrainLoadService.loadSpareTrain(simulation, groupNumber, section.getCode(), false);
+    }
+  }
+
+  /**
+   * 移除vrTrain，如果没有被监控
+   */
+  private void removeVrTrainIfNotSupervised(SimulationDataRepository repository,
+      String groupNumber) {
+    TrainInfo trainInfo = repository.findSupervisedTrainByGroup(groupNumber);
+    if (trainInfo == null) {
+      repository.deleteOnlineTrain(groupNumber);
+    }
+  }
+
+  @Override
+  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    ThailandTrainConfig config = (ThailandTrainConfig) realDevice;
+    //控制vr设备
+    VirtualRealityTrain train = (VirtualRealityTrain) config.getMapElement();
+    //控制沙盘设备
+    byte[] data = buildData(train, config);
+    udpClient.write(udpLowConfig.getAddr(), data);
+    //清除状态
+    config.updateHeadSection(null);
+  }
+
+  @Override
+  public void handle(Simulation simulation, ByteBuf msg) {
+
+  }
+
+  private void updateTrainSpeed(Simulation simulation, VirtualRealityTrain train,
+      ThailandTrainConfig config) {
+    //更新速度
+    if (config.getManualGear() != null) {
+      return;
+    }
+    if (train.getFk() > train.getFb()) {
+      train.setSpeed(10 / 3.6f);
+    } else if (train.getFb() > train.getFk()) {
+      train.setSpeed(0);
+    }
+  }
+
+  private byte[] buildData(VirtualRealityTrain train, ThailandTrainConfig config) {
+    int gear;
+    if (train.isStop()) {
+      gear = 0;
+    } else {
+      float speedKmPh = train.getSpeedKmPh();
+      if (train.isStop()) {
+        gear = 0;
+      } else {
+        gear = (int) Math.ceil(speedKmPh / 10);
+        gear = Math.max(1, gear);
+      }
+      if (train.isRight()) { //档位1-5是正向，6-10是反向
+        gear += 5;
+      }
+    }
+    if (Objects.equals(config.getGear(), gear)) {
+      return null;
+    }
+    config.setGear(gear);
+    byte[] data = new byte[4];
+    data[1] = (byte) 1;
+    data[2] = (byte) Integer.parseInt(config.getConfigVO().getSandboxCode());
+    data[3] = (byte) gear;
+    return data;
+  }
+
+  /**
+   * 此方法用于调试，调试完成后方法内的数据请保存到项目设备配置{@link club.joylink.rtss.services.project.DeviceServiceImpl#thailandFillTime(ThailandSectionConfigVO, MapSectionNewVO)}
+   */
+  public void fill(Section section, ThailandSectionConfigVO configVO) {
+    Float headDelayTime = null;
+    Float tailDelayTime = null;
+    if (section.isStandTrack()) { //站台轨默认为车尾出清立即停车
+      headDelayTime = 5f;
+    }
+    switch (section.getCode()) {
+      case "T233": //X302G
+        headDelayTime = 7f;
+        break;
+      case "T232": //X303G
+        headDelayTime = 7f;
+        break;
+      case "T231": //X304G
+        headDelayTime = 5.5f;
+        break;
+      case "T175": //4站-IIG
+        headDelayTime = 5.5f;
+        break;
+      case "T121": //4站-IIG
+        headDelayTime = 5.2f;
+        break;
+      case "T77": //4站-IIG
+        headDelayTime = 6f;
+        break;
+      case "T145": //QX04
+        tailDelayTime = 0f;
+        break;
+      case "T146": //QS04
+        tailDelayTime = 0f;
+        break;
+      case "T104": //QX03
+        tailDelayTime = 0f;
+        break;
+      case "T105": //QS03
+        tailDelayTime = 0f;
+        break;
+      case "T62": //QX02
+        tailDelayTime = 0f;
+        break;
+      case "T63": //QS02
+        tailDelayTime = 0f;
+        break;
+    }
+    configVO.setHeadDelayTime(headDelayTime);
+    configVO.setTailDelayTime(tailDelayTime);
+  }
+
+  public void controlTrain(String simulationId, String groupNumber, boolean right, int speed) {
+    Simulation simulation = groupSimulationService.getSimulationByGroup(simulationId);
+    VirtualRealityTrain train = simulation.getRepository().getOnlineTrainBy(groupNumber);
+    ThailandTrainConfig config = (ThailandTrainConfig) train.getRealDevice();
+    if (right != train.isRight()) { //调头
+      BusinessExceptionAssertEnum.OPERATION_NOT_SUPPORTED
+          .assertTrue(train.getSpeed() == 0, "换端需先停车");
+      atpService.turnDirectionImmediately(train);
+    }
+    train.setRobotTargetPosition(null); //终止机器人司机驾驶
+    //加减速
+    if (train.isEB()) {
+      return;
+    }
+    atpService.changeGear(train, VirtualRealityTrain.Handwheel.MANUAL);
+    int manualGear = speed / 10;
+    config.setManualGear(manualGear);
+    train.setSpeed(speed / 3.6f);
+    train.getRobotDriveParam().stopControl();
+    byte[] data = buildData(train, config);
+    UDPLowConfig udpLowConfig = (UDPLowConfig) simulation.queryOneRealDevice(
+        ProjectDeviceType.UDP_LOW);
+    udpClient.write(udpLowConfig.getAddr(), data);
+  }
+}

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

@@ -9,14 +9,18 @@ import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition;
 import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
 import club.joylink.rtss.simulation.cbtc.exception.SimulationException;
 import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
 import lombok.Getter;
 import lombok.NoArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.util.CollectionUtils;
 
-import java.util.*;
-
 /**
  * 目标速度-距离曲线
  */
@@ -315,75 +319,6 @@ public class SpeedCurve {
         return speedCurve;
     }
 
-//    public static SpeedCurve buildTargetSpeedCurve(SectionPosition headPosition,
-//                                                   SectionPosition tailPosition, boolean right,
-//                                                   float totalLen, float v0, float recommendedSpeedMax) {
-//        if (totalLen <= 0) {
-//            return SpeedCurve.ZERO;
-//        }
-//        Section base = tailPosition.getSection();
-//        Section headSection = headPosition.getSection();
-//        float limitSpeed = recommendedSpeedMax;
-//        boolean limit = false;
-//        if (Objects.nonNull(tailPosition.getSection().getNeedLimitSpeed())) {
-//            limitSpeed = Math.min(limitSpeed, tailPosition.getSection().getNeedLimitSpeed() * 0.9f);
-//            limit = true;
-//        } else if (Objects.nonNull(headPosition.getSection().getNeedLimitSpeed())) {
-//            limitSpeed = Math.min(limitSpeed, headPosition.getSection().getNeedLimitSpeed() * 0.9f);
-//            limit = true;
-//        }
-//        SectionPosition endPosition = null;
-//        boolean ahead = false;
-//        float vt = 0;
-//        int count = 0;
-//        if (!limit) {
-//            // 无限速，找前方限速
-//            while (Objects.nonNull(base) && count < 20) {
-//                ++count;
-//                Float limitSpeed1 = base.getNeedLimitSpeed();
-//                if (limitSpeed1 == null && !CollectionUtils.isEmpty(base.getLogicList())) { //兼容逻辑区段设置限速
-//                    float distanceBetweenLogicAndPhysical = 0; //逻辑区段距物理区段端点的距离（同向端点）
-//                    for (Section section : base.getLogicList()) {
-//                        limitSpeed1 = section.getNeedLimitSpeed();
-//                        if (limitSpeed1 != null) {
-//                            float offsetOfLogicSectionOnPhysicalSection = distanceBetweenLogicAndPhysical + (right ? section.getLen() : 0); //逻辑区段的端点在物理区段上的偏移量
-//                            SectionPosition logicSectionPosition = new SectionPosition(base, offsetOfLogicSectionOnPhysicalSection);
-//                            if (logicSectionPosition.isAheadOf(tailPosition, right)) {
-//                                break;
-//                            }
-//                        }
-//                        distanceBetweenLogicAndPhysical += section.getLen();
-//                    }
-//                }
-//                if (Objects.nonNull(limitSpeed1)) {
-//                    if (ahead) {
-//                        // 车头前方
-//                        vt = Math.min(limitSpeed, limitSpeed1 * 0.9f);
-//                        endPosition = new SectionPosition(base, right ? 0 : base.getLen());
-//                        break;
-//                    } else {
-//                        limitSpeed = Math.min(limitSpeed, limitSpeed1 * 0.9f);
-//                    }
-//                }
-//                if (Objects.equals(base, headSection)) {
-//                    ahead = true;
-//                }
-//                base = base.getNextRunningSectionOf(right);
-//            }
-//        }
-//        SpeedCurve normalSpeedCurve = buildTargetSpeedCurve(totalLen, v0, 0, limitSpeed);
-//        if (endPosition != null) {
-//            Float distance = CalculateService.calculateDistance(headPosition, endPosition, right);
-//            if (distance != null && distance < totalLen) {
-//                SpeedCurve limitSpeedCurve = buildTargetSpeedCurve(distance, v0, vt, limitSpeed);
-//                float normalStartSpeed = normalSpeedCurve.getSpeedOf(normalSpeedCurve.getTotalDistance());
-//                float limitStartSpeed = limitSpeedCurve.getSpeedOf(limitSpeedCurve.getTotalDistance());
-//                return normalStartSpeed < limitStartSpeed ? normalSpeedCurve : limitSpeedCurve;
-//            }
-//        }
-//        return normalSpeedCurve;
-//    }
-
     /**
      * 构建目标速度曲线
      *

src/main/java/club/joylink/rtss/simulation/cbtc/work/MetroSimulationWorkServiceImpl.java

@@ -1,9 +1,12 @@
 package club.joylink.rtss.simulation.cbtc.work;
 
-import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.entity.Ibp;
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
-import club.joylink.rtss.services.*;
+import club.joylink.rtss.services.ICommandService;
+import club.joylink.rtss.services.ILoadPlanService;
+import club.joylink.rtss.services.IMapService;
+import club.joylink.rtss.services.IRunPlanTemplateService;
+import club.joylink.rtss.services.IVirtualRealityIbpService;
 import club.joylink.rtss.services.iscs.IscsDeviceService;
 import club.joylink.rtss.services.iscs.IscsSystemResourcesService;
 import club.joylink.rtss.services.project.DeviceService;
@@ -15,12 +18,16 @@ import club.joylink.rtss.services.simulation.SchedulingService;
 import club.joylink.rtss.services.training.ITrainingV1Service;
 import club.joylink.rtss.simulation.cbtc.ATS.ATSLogicLoop;
 import club.joylink.rtss.simulation.cbtc.ATS.ATSMessageCollectAndDispatcher;
-import club.joylink.rtss.simulation.cbtc.ATS.service.alarm.NccAlarmService;
 import club.joylink.rtss.simulation.cbtc.ATS.ATSTrainMessageDiagram;
+import club.joylink.rtss.simulation.cbtc.ATS.service.alarm.NccAlarmService;
 import club.joylink.rtss.simulation.cbtc.CI.CiLogic;
-import club.joylink.rtss.simulation.cbtc.*;
+import club.joylink.rtss.simulation.cbtc.DeviceStatusService;
+import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
 import club.joylink.rtss.simulation.cbtc.ISCS.IscsLogicLoop;
 import club.joylink.rtss.simulation.cbtc.ISCS.IscsMessageCollectAndDispatcher;
+import club.joylink.rtss.simulation.cbtc.PowerSupplyService;
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.SimulationLifeCycleService;
 import club.joylink.rtss.simulation.cbtc.build.SimulationBuildParams;
 import club.joylink.rtss.simulation.cbtc.build.SimulationBuilder;
 import club.joylink.rtss.simulation.cbtc.build.UserConfigDataBuilder;
@@ -28,7 +35,6 @@ import club.joylink.rtss.simulation.cbtc.communication.Joylink3DMessageService;
 import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.depot.DepotService;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.SimulationRealDeviceThread;
-import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceThread;
 import club.joylink.rtss.simulation.cbtc.device.virtual.VRDeviceLogicLoop;
 import club.joylink.rtss.simulation.cbtc.device.virtual.VRTrainRunningService;
@@ -48,7 +54,6 @@ import club.joylink.rtss.vo.client.CommandDefinitionVO;
 import club.joylink.rtss.vo.client.iscs.device.IscsDeviceVO;
 import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesQueryVO;
 import club.joylink.rtss.vo.client.iscs.systemRes.IscsSystemResourcesVO;
-import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
 import club.joylink.rtss.vo.client.runplan.RunPlanLoadVO;
 import club.joylink.rtss.vo.client.runplan.RunPlanVO;
 import club.joylink.rtss.vo.client.runplan.user.RunPlanParkingTimeVO;
@@ -56,18 +61,16 @@ import club.joylink.rtss.vo.client.runplan.user.RunPlanRunlevelVO;
 import club.joylink.rtss.vo.client.schedulingNew.SchedulingPlanNewVO;
 import club.joylink.rtss.vo.client.simulationv1.RunAsPlanParam;
 import club.joylink.rtss.vo.map.MapVO;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
-
 import java.time.LocalDate;
 import java.time.LocalDateTime;
 import java.util.Collection;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
-import java.util.stream.Collectors;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
 
 @Slf4j
 @Service
@@ -190,12 +193,7 @@ public class MetroSimulationWorkServiceImpl implements SimulationWorkService {
         simulationWorkServiceManager.buildMember(simulation);
         // 添加项目设备
         if (buildParams.getWorkParamVO().containsRealDeviceItem()) {
-            List<ProjectDeviceVO> projectDeviceList = this.deviceService
+            simulationWorkServiceManager.loadRealDevices(simulation);
-                    .queryDetailByTypes(ProjectDeviceType.PlcDeviceList(), buildParams.getMap().getProjectCode());
-            List<RealDeviceConfig> realDeviceList = ProjectDeviceVO.convert2RealDeviceList(projectDeviceList);
-            log.info(String.format("load project device list: [%s]",
-                    realDeviceList.stream().map(Object::toString).collect(Collectors.joining(","))));
-            this.loadRealDevices(simulation, realDeviceList);
         }
     }
 
@@ -491,29 +489,4 @@ public class MetroSimulationWorkServiceImpl implements SimulationWorkService {
             }
         });
     }
-
-    private void loadRealDevices(Simulation simulation, List<RealDeviceConfig> realDeviceList) {
-        try {
-            simulation.setRealDeviceList(realDeviceList);
-            if (!CollectionUtils.isEmpty(realDeviceList)) {
-                simulationRealDeviceThread.addJobs(simulation);
-                udpRealDeviceThread.addJobs(simulation);
-            }
-            for (RealDeviceConfig realDevice : realDeviceList) {
-                if (ProjectDeviceType.PLC_GATEWAY.equals(realDevice.getDeviceType())) {
-                    continue;
-                }
-                String deviceCode = realDevice.findDeviceCode();
-                if (Objects.nonNull(deviceCode)) {
-                    this.groupSimulationService.connectDevice(simulation.getId(),
-                            deviceCode, realDevice.getProjectDevice().getId());
-                }
-            }
-        } catch (Exception e) {
-            log.error("仿真加载真实设备异常", e);
-            // 清理仿真
-            this.groupSimulationService.clearSimulation(simulation.getId(), simulation.getCreator());
-            throw BusinessExceptionAssertEnum.TRAINING_ROOM_SIMULATION_LOAD_DEVICE_ERROR.exception(e);
-        }
-    }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/work/RailwaySimulationWorkServiceImpl.java

@@ -33,17 +33,16 @@ import club.joylink.rtss.vo.map.MapGraphDataNewVO;
 import club.joylink.rtss.vo.map.MapLogicDataNewVO;
 import club.joylink.rtss.vo.map.MapVO;
 import club.joylink.rtss.websocket.StompMessageService;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.context.ApplicationContext;
-import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
-
 import java.time.LocalDateTime;
 import java.util.Collection;
 import java.util.List;
 import java.util.Map;
 import java.util.Set;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.ApplicationContext;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
 
 @Slf4j
 @Service
@@ -101,16 +100,20 @@ public class RailwaySimulationWorkServiceImpl implements SimulationWorkService {
 
     @Override
     public void loadData(Simulation simulation) {
-        SimulationBuildParams params = simulation.getBuildParams();
+        SimulationBuildParams buildParams = simulation.getBuildParams();
         // 加载地图数据
         loadMapData(simulation);
 //        // 车辆段
 //        depotService.loadDepotTrain(simulation);
         // 添加仿真用户
-        SimulationUser creator = SimulationUser.buildCreator(simulation, params.getLoginUserInfo());
+        SimulationUser creator = SimulationUser.buildCreator(simulation, buildParams.getLoginUserInfo());
         simulation.addSimulationUser(creator);
         // 添加仿真成员
         simulationWorkServiceManager.buildMember(simulation);
+        // 添加项目设备
+        if (buildParams.getWorkParamVO().containsRealDeviceItem()) {
+            simulationWorkServiceManager.loadRealDevices(simulation);
+        }
     }
 
     @Override

src/main/java/club/joylink/rtss/simulation/cbtc/work/SimulationWorkServiceManager.java

@@ -1,13 +1,26 @@
 package club.joylink.rtss.simulation.cbtc.work;
 
+import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
+import club.joylink.rtss.services.project.DeviceService;
+import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
 import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.build.SimulationBuildParams;
 import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
 import club.joylink.rtss.simulation.cbtc.data.map.MapElement;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.SimulationRealDeviceThread;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceThread;
 import club.joylink.rtss.simulation.cbtc.event.SimulationUserEnterEvent;
 import club.joylink.rtss.simulation.cbtc.member.MemberManager;
 import club.joylink.rtss.simulation.cbtc.member.SimulationUser;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
 import club.joylink.rtss.vo.map.graph.MapMemberVO;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.function.Function;
+import java.util.stream.Collectors;
 import lombok.NonNull;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.BeansException;
@@ -18,11 +31,11 @@ import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 import org.springframework.util.StringUtils;
 
-import java.util.List;
+/**
-import java.util.Map;
+ * 仿真工作服务管理。
-import java.util.function.Function;
+ * 1.管理仿真工作服务的实现类
-import java.util.stream.Collectors;
+ * 2.各种仿真的公共方法
-
+ */
 @Slf4j
 @Component
 public class SimulationWorkServiceManager implements ApplicationContextAware {
@@ -30,6 +43,14 @@ public class SimulationWorkServiceManager implements ApplicationContextAware {
     private MemberManager memberManager;
     @Autowired
     private ApplicationContext applicationContext;
+    @Autowired
+    private DeviceService deviceService;
+    @Autowired
+    private GroupSimulationService groupSimulationService;
+    @Autowired
+    private SimulationRealDeviceThread simulationRealDeviceThread;
+    @Autowired
+    private UDPRealDeviceThread udpRealDeviceThread;
 
     private Map<Simulation.Type, SimulationWorkService> map;
 
@@ -95,4 +116,39 @@ public class SimulationWorkServiceManager implements ApplicationContextAware {
         SimulationUserEnterEvent userEnterEvent = new SimulationUserEnterEvent(this, simulation, simulationUser);
         this.applicationContext.publishEvent(userEnterEvent);
     }
+
+    public void loadRealDevices(Simulation simulation) {
+        SimulationBuildParams buildParams = simulation.getBuildParams();
+        List<ProjectDeviceVO> projectDeviceList = this.deviceService
+                .queryDetailByTypes(ProjectDeviceType.PlcDeviceList(), buildParams.getMap().getProjectCode());
+        List<RealDeviceConfig> realDeviceList = ProjectDeviceVO.convert2RealDeviceList(projectDeviceList);
+        log.info(String.format("load project device list: [%s]",
+                realDeviceList.stream().map(Object::toString).collect(Collectors.joining(","))));
+        this.loadRealDevices(simulation, realDeviceList);
+    }
+
+    private void loadRealDevices(Simulation simulation, List<RealDeviceConfig> realDeviceList) {
+        try {
+            simulation.setRealDeviceList(realDeviceList);
+            if (!CollectionUtils.isEmpty(realDeviceList)) {
+                simulationRealDeviceThread.addJobs(simulation);
+                udpRealDeviceThread.addJobs(simulation);
+            }
+            for (RealDeviceConfig realDevice : realDeviceList) {
+                if (ProjectDeviceType.PLC_GATEWAY.equals(realDevice.getDeviceType())) {
+                    continue;
+                }
+                String deviceCode = realDevice.findDeviceCode();
+                if (Objects.nonNull(deviceCode)) {
+                    this.groupSimulationService.connectDevice(simulation.getId(),
+                            deviceCode, realDevice.getProjectDevice().getId());
+                }
+            }
+        } catch (Exception e) {
+            log.error("仿真加载真实设备异常", e);
+            // 清理仿真
+            this.groupSimulationService.clearSimulation(simulation.getId(), simulation.getCreator());
+            throw BusinessExceptionAssertEnum.TRAINING_ROOM_SIMULATION_LOAD_DEVICE_ERROR.exception(e);
+        }
+    }
 }

src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java

@@ -16,107 +16,127 @@ import lombok.Setter;
 @Setter
 @NoArgsConstructor
 public class DriveParamVO {
-    /**
-     * 限速值（km/h）
-     */
-    private Float speedLimit;
 
-    /**
+  /**
-     * 限速值（m/s）
+   * 限速值（km/h）
-     */
+   */
-    @JsonIgnore
+  private Float speedLimit;
-    @Setter(value = AccessLevel.NONE)
-    private float speedLimitInMs = Float.MAX_VALUE;
 
-    /**
+  /**
-     * 下令停车（优先级比运行高）
+   * 限速值（m/s）
-     */
+   */
-    @JsonIgnore
+  @JsonIgnore
-    private boolean stop;
+  @Setter(value = AccessLevel.NONE)
+  private float speedLimitInMs = Float.MAX_VALUE;
 
-    /**
+  /**
-     * 下令驾驶
+   * 下令停车（优先级比运行高）
-     */
+   */
-    @JsonIgnore
+  @JsonIgnore
-    private boolean run = true;
+  private boolean stop;
 
-    /**
+  /**
-     * 目标设备code（用于确定目标位置）
+   * 下令驾驶
-     */
+   */
-    private String targetDeviceCode;
+  @JsonIgnore
+  private boolean run = true;
 
-    /**
+  /**
-     * 根据目标设备code计算出的目标位置
+   * 目标设备code（用于确定目标位置）
-     */
+   */
-    @JsonIgnore
+  private String targetDeviceCode;
-    private SectionPosition targetPosition;
 
-    /**
+  /**
-     * 越过信号机
+   * 根据目标设备code计算出的目标位置
-     */
+   */
-    private int through;
+  @JsonIgnore
+  private SectionPosition targetPosition;
 
-    public static final int NO = 0;
+  /**
-    public static final int RED_SIGNAL = 1;
+   * 越过信号机
-    public static final int GUIDE_SIGNAL = 2;
+   */
-    public static final int DRIVER_NEXT_STAND = 3;
+  private int through;
-    public static final int DRIVER_ROUTE_BLOCK = 4;
 
-    /**
+  /**
-     * 要越过的信号机
+   * 这个停车位置是机器人驾驶逻辑计算出来的，这个字段仅供泰国沙盘的列车逻辑使用。
-     */
+   */
-    @JsonIgnore
+  @JsonIgnore
-    private Signal throughSignal;
+  private SectionPosition stopPosition;
 
-    /**
+  public static final int NO = 0;
-     * 要越过的信号
+  public static final int RED_SIGNAL = 1;
-     */
+  public static final int GUIDE_SIGNAL = 2;
-    @JsonIgnore
+  public static final int DRIVER_NEXT_STAND = 3;
-    private SignalAspect throughSignalAspect;
+  public static final int DRIVER_ROUTE_BLOCK = 4;
-    /**
-     * 解除EB（目的是在且仅在每次进行驾驶操作后自动缓解当时存在的EB）
-     */
-    @JsonIgnore
-    private boolean releaseEB = true;
 
-    public void setSpeedLimit(Float speedLimit) {
+  /**
-        this.speedLimit = speedLimit;
+   * 要越过的信号机
-        this.speedLimitInMs = speedLimit == null ? Float.MAX_VALUE : speedLimit / 3.6f;
+   */
+  @JsonIgnore
+  private Signal throughSignal;
+
+  /**
+   * 要越过的信号
+   */
+  @JsonIgnore
+  private SignalAspect throughSignalAspect;
+  /**
+   * 解除EB（目的是在且仅在每次进行驾驶操作后自动缓解当时存在的EB）
+   */
+  @JsonIgnore
+  private boolean releaseEB = true;
+
+  public void setSpeedLimit(Float speedLimit) {
+    this.speedLimit = speedLimit;
+    this.speedLimitInMs = speedLimit == null ? Float.MAX_VALUE : speedLimit / 3.6f;
+  }
+
+  /**
+   * 让机器人驾驶逻辑停止控制该列车
+   */
+  public void stopControl() {
+    stop = false;
+    run = false;
+  }
+
+  @JsonIgnore
+  public boolean isStopControl() {
+    return !stop && !run;
+  }
+
+  public boolean needStop() {
+    return stop;
+  }
+
+  public boolean needRun() {
+    return !stop && run;
+  }
+
+  public void setThrough(int v) {
+    this.through = v;
+    if (through == NO) {
+      throughSignal = null;
+      throughSignalAspect = null;
     }
+  }
 
-    public boolean needStop() {
+  @JsonIgnore
-        return stop;
+  public boolean isThroughRedSignal() {
-    }
+    return RED_SIGNAL == through;
+  }
 
-    public boolean needRun() {
+  @JsonIgnore
-        return !stop && run;
+  public boolean isThroughGuideSignal() {
-    }
+    return GUIDE_SIGNAL == through;
+  }
 
-    public void setThrough(int v) {
+  @JsonIgnore
-        this.through = v;
+  public boolean isDriverNextStand() {
-        if (through == NO) {
+    return DRIVER_NEXT_STAND == through;
-            throughSignal = null;
+  }
-            throughSignalAspect = null;
-        }
-    }
 
-    @JsonIgnore
+  @JsonIgnore
-    public boolean isThroughRedSignal() {
+  public boolean isRouteBlockDriver() {
-        return RED_SIGNAL == through;
+    return DRIVER_ROUTE_BLOCK == through;
-    }
+  }
-
-    @JsonIgnore
-    public boolean isThroughGuideSignal() {
-        return GUIDE_SIGNAL == through;
-    }
-
-    @JsonIgnore
-    public boolean isDriverNextStand() {
-        return DRIVER_NEXT_STAND == through;
-    }
-
-    @JsonIgnore
-    public boolean isRouteBlockDriver() {
-        return DRIVER_ROUTE_BLOCK == through;
-    }
 }

src/main/java/club/joylink/rtss/vo/client/project/ProjectDeviceVO.java

@@ -1,5 +1,6 @@
 package club.joylink.rtss.vo.client.project;
 
+import club.joylink.rtss.constants.ProjectCode;
 import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.entity.ProjectDevice;
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
@@ -9,10 +10,18 @@ import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.gxsd.GxsdSignalCo
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.gxsd.GxsdSwitchConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.gzb.GzbSignalConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.gzb.GzbSwitchConfig;
-import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.*;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.Heb1IbpConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.Heb1PscConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.Heb1PslConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.Heb1SignalConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.heb.device.Heb1SwitchConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.hhcj.HhcjIbpConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.hhcj.HhcjPsdConfig;
-import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.*;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.SayIbpConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.SayPsdConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.SaySectionConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.SaySignalConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.say.SaySwitchConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.sdy.SdyPsdConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.sdy.SdyPslConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.xty.XtyPsdConfig;
@@ -25,8 +34,17 @@ import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSectionConf
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSignalConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSwitchConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrTrainConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSignalConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSwitchConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandTrainConfig;
 import club.joylink.rtss.util.JsonUtils;
 import com.fasterxml.jackson.annotation.JsonIgnore;
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import javax.validation.constraints.NotBlank;
 import lombok.Getter;
 import lombok.NoArgsConstructor;
 import lombok.Setter;
@@ -34,12 +52,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.util.CollectionUtils;
 import org.springframework.util.StringUtils;
 
-import javax.validation.constraints.NotBlank;
-import java.time.LocalDateTime;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-
 /**
  * 项目设备对象
  */
@@ -104,8 +116,7 @@ public class ProjectDeviceVO {
     List<RealDeviceConfig> list = new ArrayList<>();
     if (!CollectionUtils.isEmpty(voList)) {
       String project = voList.get(0).getProject();
-      String projectCode = StringUtils.hasText(project) ? project.toUpperCase() : "";
+      switch (project) {
-      switch (projectCode) {
         case "XTY": {
           return xtyDeviceConfigConvert(voList);
         }
@@ -121,7 +132,7 @@ public class ProjectDeviceVO {
         case "RICHOR_JOINT": {
           return zjdDeviceConfigConvert(voList);
         }
-        case "SR_SANDBOX": {
+        case ProjectCode.SR_SANDBOX: {
           return srSandboxDeviceConfigConvert(voList);
         }
         case "RICHOR_HHCJ": {
@@ -130,6 +141,9 @@ public class ProjectDeviceVO {
         case "SAY": {
           return sayDeviceConfigConvert(voList);
         }
+        case ProjectCode.THAILAND_SANDBOX: {
+          return thailandSandboxDeviceConfigConvert(voList);
+        }
         case "GXSD": {
           return gxsdDeviceConfigConvert(voList);
         }
@@ -139,6 +153,34 @@ public class ProjectDeviceVO {
     return list;
   }
 
+  private static List<RealDeviceConfig> thailandSandboxDeviceConfigConvert(
+      List<ProjectDeviceVO> voList) {
+    List<RealDeviceConfig> list = new ArrayList<>();
+    for (ProjectDeviceVO deviceVO : voList) {
+      switch (deviceVO.getType()) {
+        case UDP_LOW:
+          list.add(new UDPLowConfig(deviceVO));
+          break;
+        case UDP_CLIENT:
+          list.add(new UDPClientConfig(deviceVO));
+          break;
+        case SIGNAL:
+          list.add(new ThailandSignalConfig(deviceVO));
+          break;
+        case SECTION:
+          list.add(new ThailandSectionConfig(deviceVO));
+          break;
+        case SWITCH:
+          list.add(new ThailandSwitchConfig(deviceVO));
+          break;
+        case TRAIN:
+          list.add(new ThailandTrainConfig(deviceVO));
+          break;
+      }
+    }
+    return list;
+  }
+
   private static List<RealDeviceConfig> gxsdDeviceConfigConvert(List<ProjectDeviceVO> voList) {
     List<RealDeviceConfig> list = new ArrayList<>();
     for (ProjectDeviceVO deviceVO : voList) {

src/main/java/club/joylink/rtss/vo/client/project/UDPLowConfigVO.java

@@ -12,6 +12,12 @@ import lombok.Setter;
 @Setter
 @NoArgsConstructor
 public class UDPLowConfigVO {
+    /**
+     * 名称。
+     * 泰国沙盘下位机有两个接收数据的端口，一个用于接收信号机控制指令；一个用于接收道岔和区段控制指令。
+     */
+    private String name;
+
     private String ip;
 
     private Integer port;
@@ -21,6 +27,11 @@ public class UDPLowConfigVO {
         this.port = port;
     }
 
+    public UDPLowConfigVO(String name, String ip, Integer port) {
+        this(ip, port);
+        this.name = name;
+    }
+
     public String toJson() {
         return JsonUtils.writeValueAsString(this);
     }

src/main/java/club/joylink/rtss/vo/client/project/thailand/ThailandSectionConfigVO.java

@@ -0,0 +1,38 @@
+package club.joylink.rtss.vo.client.project.thailand;
+
+import club.joylink.rtss.vo.client.project.RealConfigVO;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandSectionConfigVO extends RealConfigVO {
+    private String vrCode;
+
+    private String sandboxCode;
+
+    /**
+     * 车头到达区段延迟停车时间/s
+     */
+    private Float headDelayTime;
+
+    /**
+     * 车尾解除占用延迟停车时间/s
+     */
+    private Float tailDelayTime;
+
+    public ThailandSectionConfigVO() {
+        super(null, null);
+    }
+
+    public ThailandSectionConfigVO(String vrCode, String sandboxCode) {
+        this();
+        this.vrCode = vrCode;
+        this.sandboxCode = sandboxCode;
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return vrCode;
+    }
+}

src/main/java/club/joylink/rtss/vo/client/project/thailand/ThailandSignalConfigVO.java

@@ -0,0 +1,28 @@
+package club.joylink.rtss.vo.client.project.thailand;
+
+import club.joylink.rtss.vo.client.project.RealConfigVO;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandSignalConfigVO extends RealConfigVO {
+    private String vrCode;
+
+    private String sandboxCode;
+
+    public ThailandSignalConfigVO() {
+        super(null, null);
+    }
+
+    public ThailandSignalConfigVO(String vrCode, String sandboxCode) {
+        this();
+        this.vrCode = vrCode;
+        this.sandboxCode = sandboxCode;
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return vrCode;
+    }
+}

src/main/java/club/joylink/rtss/vo/client/project/thailand/ThailandSwitchConfigVO.java

@@ -0,0 +1,28 @@
+package club.joylink.rtss.vo.client.project.thailand;
+
+import club.joylink.rtss.vo.client.project.RealConfigVO;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandSwitchConfigVO extends RealConfigVO {
+    private String vrCode;
+
+    private String sandboxCode;
+
+    public ThailandSwitchConfigVO() {
+        super(null, null);
+    }
+
+    public ThailandSwitchConfigVO(String vrCode, String sandboxCode) {
+        this();
+        this.vrCode = vrCode;
+        this.sandboxCode = sandboxCode;
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return vrCode;
+    }
+}

src/main/java/club/joylink/rtss/vo/client/project/thailand/ThailandTrainConfigVO.java

@@ -0,0 +1,28 @@
+package club.joylink.rtss.vo.client.project.thailand;
+
+import club.joylink.rtss.vo.client.project.RealConfigVO;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandTrainConfigVO extends RealConfigVO {
+    private String vrCode;
+
+    private String sandboxCode;
+
+    public ThailandTrainConfigVO() {
+        super(null, null);
+    }
+
+    public ThailandTrainConfigVO(String vrCode, String sandboxCode) {
+        this();
+        this.vrCode = vrCode;
+        this.sandboxCode = sandboxCode;
+    }
+
+    @Override
+    public String findDeviceCode() {
+        return vrCode;
+    }
+}

src/main/resources/application.yml

@@ -215,7 +215,7 @@ common:
 spring:
   profiles: local
   datasource:
-    url: jdbc:mysql://192.168.1.254:3306/joylink?useSSL=false&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true
+    url: jdbc:mysql://192.168.53.12:3306/joylink?useSSL=false&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true
     username: root
     password: localdb