Merge branch 'test' of https://git.code.tencent.com/lian-cbtc/rtss-server into test

src/main/java/club/joylink/rtss/simulation/cbtc/ATP/ground/MaService.java

@@ -89,9 +89,9 @@ public class MaService {
         public float calculateDistanceToEoa() {
             SectionPosition headPosition = train.getHeadPosition();
             boolean right = train.isRight();
-            Float distance = CalculateService.calculateDistance(headPosition, this.eoaPosition, right);
+            Float distance = CalculateService.calculateDistance(headPosition, this.eoaPosition, right, false);
             if (distance == null) {
-                distance = CalculateService.calculateDistance(headPosition, this.eoaPosition, !right);
+                distance = CalculateService.calculateDistance(headPosition, this.eoaPosition, !right, false);
                 if (distance == null) {
                     distance = 0f;
                 } else if (distance > 0) {
@@ -137,7 +137,7 @@ public class MaService {
                     SectionPosition sectionPosition = new SectionPosition(signal.getSection(), signal.getOffset());
                     end = CalculateService.calculateNextPositionByStartAndLen(sectionPosition, !right, 5, false);
                 }
-                Float distance = CalculateService.calculateDistance(this.train.getHeadPosition(), end, right);
+                Float distance = CalculateService.calculateDistance(this.train.getHeadPosition(), end, right, false);
                 if (distance == null) {
                     return 0;
                 } else if (distance < standard) {
@@ -146,7 +146,7 @@ public class MaService {
             } else if (this.type.equals(MaType.Front_Train)) {
                 VirtualRealityTrain frontTrain = (VirtualRealityTrain) this.device;
                 if (frontTrain.isParkingAt()) {
-                    Float distance = CalculateService.calculateDistance(this.train.getHeadPosition(), this.eoaPosition, right);
+                    Float distance = CalculateService.calculateDistance(this.train.getHeadPosition(), this.eoaPosition, right, false);
                     if (distance == null)
                         return 0;
                     return distance - EB_Trigger;
@@ -382,7 +382,7 @@ public class MaService {
         Signal signal = section.getSignalOf(right);
         if (signal != null) { // 车头所在区段前方信号机开放
             if (signal.isMainAspect()) {
-                Float distance = CalculateService.calculateDistance(headPosition, new SectionPosition(section, signal.getOffset()), right);
+                Float distance = CalculateService.calculateDistance(headPosition, new SectionPosition(section, signal.getOffset()), right, false);
                 if (distance != null) { // 此处距离为暂时的估计值，
                     Route lockedRoute = signal.getLockedRoute();
                     if (lockedRoute != null) { // 进路存在，取进路终端信号机，结束

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

@@ -317,6 +317,16 @@ public class Operation {
          */
         Signal_Set_Guide,
 
+        /**
+         * 点灯
+         */
+        Signal_Turn_On,
+
+        /**
+         * 灭灯
+         */
+        Signal_Turn_Off,
+
         //--------------------------- 站台操作 ---------------------------
         /**
          * 设置跳停

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

@@ -316,4 +316,20 @@ public class SignalOperateHandler {
         ciApiService.setGuide(simulation, signalCode, routeCode);
     }
 
+    /**
+     * 信号机点灯
+     */
+    @OperateHandlerMapping(type = Operation.Type.Signal_Turn_On)
+    public void signalTurnOn(Simulation simulation, String signalCode) {
+        ciApiService.signalTurnOn(simulation, signalCode);
+    }
+
+    /**
+     * 信号机灭灯
+     */
+    @OperateHandlerMapping(type = Operation.Type.Signal_Turn_Off)
+    public void signalTurnOff(Simulation simulation, String signalCode) {
+        ciApiService.signalTurnOff(simulation, signalCode);
+    }
+
 }

src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java

@@ -431,7 +431,7 @@ public class AtsTrainService {
                 Section linkTrainTargetSection = section.getNextRunningSectionOf(right);
                 if (linkTrainTargetSection.isStandTrack()) {
                     SectionPosition linkTrainTargetPosition = new SectionPosition(linkTrainTargetSection, linkTrainTargetSection.getStopPointByDirection(right));
-                    Float distance = CalculateService.calculateDistance(linkTrain.getHeadPosition(), linkTrainTargetPosition, right);
+                    Float distance = CalculateService.calculateDistance(linkTrain.getHeadPosition(), linkTrainTargetPosition, right, false);
                     if (distance == null) {
                         throw new SimulationException(SimulationExceptionType.Illegal_Argument, "无法到达的位置");
                     }
@@ -464,7 +464,7 @@ public class AtsTrainService {
         }
         SectionPosition headPosition = activeTrain.getHeadPosition();
         SectionPosition tailPosition = passiveTrain.calculateTailPosition();
-        Float distance = CalculateService.calculateDistance(headPosition, tailPosition, activeTrain.isRight());
+        Float distance = CalculateService.calculateDistance(headPosition, tailPosition, activeTrain.isRight(), false);
         if (distance == null || distance > 3) {
             throw new SimulationException(SimulationExceptionType.Invalid_Operation, String.format("列车[%s][%s]距离过远", groupNumber, groupNumber2));
         }

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

@@ -359,4 +359,8 @@ public interface CiApiService {
     void switchMasterLock(Simulation simulation, String stationCode, Station.Throat throat);
 
     void switchMasterUnlock(Simulation simulation, String stationCode, Station.Throat throat);
+
+    void signalTurnOn(Simulation simulation, String signalCode);
+
+    void signalTurnOff(Simulation simulation, String signalCode);
 }

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

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

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

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

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

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

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

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

src/main/java/club/joylink/rtss/simulation/cbtc/competition/ScriptExecuteService.java

@@ -1,6 +1,7 @@
 package club.joylink.rtss.simulation.cbtc.competition;
 
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
+import club.joylink.rtss.services.voice.IVoiceService;
 import club.joylink.rtss.simulation.cbtc.ATS.operation.AtsOperationDispatcher;
 import club.joylink.rtss.simulation.cbtc.ATS.operation.Operation;
 import club.joylink.rtss.simulation.cbtc.Simulation;
@@ -17,7 +18,6 @@ import club.joylink.rtss.simulation.cbtc.exception.SimulationExceptionType;
 import club.joylink.rtss.simulation.cbtc.member.SimulationMember;
 import club.joylink.rtss.simulation.cbtc.script.ScriptActionBO;
 import club.joylink.rtss.simulation.cbtc.script.ScriptBO;
-import club.joylink.rtss.services.voice.IVoiceService;
 import club.joylink.rtss.util.StrUtils;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -276,7 +276,7 @@ public class ScriptExecuteService {
         if (train.getLeverPosition() <= 0 && train.isStop()) { //控制杆空挡或制动并且列车停止
             return;
         }
-        Float distance = CalculateService.calculateDistance(train.getHeadPosition(), action.getTargetPosition(), train.isRight());
+        Float distance = CalculateService.calculateDistance(train.getHeadPosition(), action.getTargetPosition(), train.isRight(), false);
         if (distance == null) { //目标位置在列车前方
             return;
         }

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

@@ -27,7 +27,7 @@ public class CalculateService {
                 if (offset < 0) { // 向左
                     Section leftSection;
                     if (baseReal) {
-                        leftSection = baseSection.getNextRunningSectionBaseRealSwitch(false);
+                        leftSection = baseSection.findNextRunningSectionBaseRealSwitch(false);
                     } else {
                         leftSection = baseSection.getNextRunningSectionOf(false);
                     }
@@ -41,7 +41,7 @@ public class CalculateService {
                 } else { // 向右
                     Section rightSection;
                     if (baseReal) {
-                        rightSection = baseSection.getNextRunningSectionBaseRealSwitch(true);
+                        rightSection = baseSection.findNextRunningSectionBaseRealSwitch(true);
                     } else {
                         rightSection = baseSection.getNextRunningSectionOf(true);
                     }
@@ -84,17 +84,18 @@ public class CalculateService {
      * 计算起点到终点的距离（双方向）（有正负）
      */
     public static Float calculateDistanceDoubleDirection(SectionPosition startPosition, SectionPosition endPosition, boolean right) {
-        Float distance = calculateDistance(startPosition, endPosition, right);
+        Float distance = calculateDistance(startPosition, endPosition, right, false);
         if (distance == null) {
-            distance = calculateDistance(startPosition, endPosition, !right);
+            distance = calculateDistance(startPosition, endPosition, !right, false);
         }
         return distance;
     }
 
     /**
      * 计算从起点到终点距离（单方向）
+     * @param baseReal 是否基于实体设备
      */
-    public static Float calculateDistance(SectionPosition startPosition, SectionPosition endPosition, boolean right) {
+    public static Float calculateDistance(SectionPosition startPosition, SectionPosition endPosition, boolean right, boolean baseReal) {
         Section startSection = startPosition.getSection();
         Section endSection = endPosition.getSection();
         float distance = 0;
@@ -103,7 +104,12 @@ public class CalculateService {
         int iter = 0;
         while (!baseSection.equals(endSection)) {
             ++iter;
-            Section nextSection = baseSection.getNextRunningSectionOf(right);
+            Section nextSection;
+            if (baseReal) {
+                nextSection = baseSection.findNextRunningSectionBaseRealSwitch(right);
+            } else {
+                nextSection = baseSection.getNextRunningSectionOf(right);
+            }
             if (Objects.isNull(nextSection)) { // 下一个区段不存在,未找到,返回null
                 return null;
             } else { // 存在,累加距离,更新基础区段和偏移量
@@ -519,7 +525,7 @@ public class CalculateService {
             Section section = source;
             while (!section.getCode().equals(target.getCode()) && loop < 20) {
                 loop++;
-                Section temp = section.getNextRunningSectionBaseRealSwitch(right);
+                Section temp = section.findNextRunningSectionBaseRealSwitch(right);
                 if (Objects.nonNull(temp)) { // 不为空
                     section = temp;
                     occupySectionList.add(section);
@@ -628,7 +634,7 @@ public class CalculateService {
         int count = 0;
         while (count < 100) {
             ++count;
-            Section nextSection = temp.getNextRunningSectionBaseRealSwitch(right);
+            Section nextSection = temp.findNextRunningSectionBaseRealSwitch(right);
             if (Objects.equals(nextSection, front)) {// 找到
                 return true;
             }

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

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

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

@@ -847,7 +847,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         boolean right = this.right;
         Section section = headPosition.getSection();
         for (int i = 0; i < 100; i++) {
-            section = section.getNextRunningSectionOf(right);
+            section = section.findNextRunningSectionBaseRealSwitch(right);
             if (section == null) {
                 break;
             }
@@ -871,7 +871,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         }
 
         for (int i = 0; i < 30; i++) {
-            Section nextSection = section.getNextRunningSectionBaseRealSwitch(right);
+            Section nextSection = section.findNextRunningSectionBaseRealSwitch(right);
             if (nextSection == null) {
                 throw new SimulationException(SimulationExceptionType.Invalid_Operation,
                         String.format("信号机[%s]前方未找到站台轨或折返轨", signal.getName()));
@@ -899,7 +899,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         Signal signal = section.getSignalOf(right);
         if (signal != null && signal.isMainAspect()) { //如果车头区段的同向信号机正常开放
             SectionPosition signalPosition = new SectionPosition(section, signal.getOffset());
-            return CalculateService.calculateDistance(headPosition, signalPosition, right);
+            return CalculateService.calculateDistance(headPosition, signalPosition, right, false);
         }
         return null;
     }

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

@@ -203,7 +203,7 @@ public class SrTrainServiceImpl implements UDPRealDeviceService {
                 } else {
                     recommendedSpeedMax = 0;
                 }
-                Float distance = CalculateService.calculateDistance(headPosition, targetPosition, right);
+                Float distance = CalculateService.calculateDistance(headPosition, targetPosition, right, false);
                 if (distance == null || distance <= SimulationConstants.PARK_POINT_MAX_OFFSET) { //如果列车已经抵达或越过目标位置
                     newSpeed = 0;
                 } else {

src/main/java/club/joylink/rtss/simulation/cbtc/device/virtual/VRTrainRunningService.java

@@ -134,7 +134,7 @@ public class VRTrainRunningService {
      */
     private void axleCounterCount(Simulation simulation, VirtualRealityTrain train, SectionPosition headPosition, SectionPosition headPositionNew) {
         boolean trainRight = train.isRight();
-        Float distance = CalculateService.calculateDistance(headPosition, headPositionNew, trainRight); //列车移动的距离
+        Float distance = CalculateService.calculateDistance(headPosition, headPositionNew, trainRight, false); //列车移动的距离
         if (distance == null)
             return;
 

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

@@ -116,7 +116,7 @@ public class SpeedCurve {
         float speedMax = Math.min(train.getAtoSpeedMax(), train.getSpeedLimit() * 0.9f);
         SpeedCurve atoStopCurve;
         if (stopPosition != null) {
-            Float stopPointDistance = CalculateService.calculateDistance(headPosition, stopPosition, right);
+            Float stopPointDistance = CalculateService.calculateDistance(headPosition, stopPosition, right, false);
             float ebTriggerDistance = ma.calculateDistanceOfEbTriggerEnd();
             if (stopPointDistance != null && stopPointDistance <= ebTriggerDistance) {
                 // 列车停车位置距离小于eb触发距离
@@ -316,7 +316,7 @@ public class SpeedCurve {
                 Float needLimitSpeed = logic.getNeedLimitSpeed();
                 if (needLimitSpeed != null && needLimitSpeed * 0.9f < limitSpeed) { //新的限速更小
                     endPosition = new SectionPosition(base, logic.getEndOffsetByDirection(!right)); //限速起始点
-                    distance = CalculateService.calculateDistance(headPosition, endPosition, right);
+                    distance = CalculateService.calculateDistance(headPosition, endPosition, right, false);
                     if (distance != null && (distance > 500 || distance > totalLen)) //限速点在车头前方；限速点距车头不超过500m（过早考虑限速没有意义）
                         break;
                     if (distance != null && distance > 0) {

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

@@ -147,7 +147,7 @@ public class ATOService {
         Objects.requireNonNull(ma);
         // ATP安全防护最远可达到位置
         SectionPosition endPosition = ma.getEnd().getEndPosition();
-        return CalculateService.calculateDistance(headPosition, endPosition, right);
+        return CalculateService.calculateDistance(headPosition, endPosition, right, false);
     }
 
 //    /**

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

@@ -431,7 +431,7 @@ public class ATPLogicLoop {
         if (target != null) {
             float stopPoint = target.getStopPointByDirection(right);
             SectionPosition targetStopPosition = new SectionPosition(target, stopPoint);
-            Float distance2NextStation = CalculateService.calculateDistance(headPosition, targetStopPosition, right);
+            Float distance2NextStation = CalculateService.calculateDistance(headPosition, targetStopPosition, right, false);
             //距下一站的距离小于200视为即将到站
             boolean old = train.isBeAbout2Arrive();
             train.setBeAbout2Arrive(distance2NextStation != null && distance2NextStation < 200);

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

@@ -88,9 +88,9 @@ public class ATPService {
         SectionPosition headPosition = train.getHeadPosition();
         boolean right = train.isRight();
         SectionPosition endPosition = end.getEndPosition();
-        Float distance = CalculateService.calculateDistance(headPosition, endPosition, right);
+        Float distance = CalculateService.calculateDistance(headPosition, endPosition, right, false);
         if (Objects.isNull(distance)) { // 正向找未找到,则反向找
-            distance = CalculateService.calculateDistance(headPosition, endPosition, !right);
+            distance = CalculateService.calculateDistance(headPosition, endPosition, !right, false);
             if (Objects.nonNull(distance)) {
                 distance = -distance;
             }

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

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

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

@@ -157,7 +157,7 @@ public class RobotLogicLoop {
             //准备发车
             robotReadyForDeparture(simulation, train);
             //机器人驾驶
-            if (train.getRobotTargetPosition() != null) {
+            if (driver.getCommand() != null) { //如果有和驾驶行为不冲突的指令，这里需要做修改
                 robotDriveByCommand(simulation, driver, train);
             } else if (railway) {
                 railRobotDrive(simulation, train);
@@ -166,7 +166,7 @@ public class RobotLogicLoop {
     }
 
     /**
-     * 大铁机器人自动驾驶。
+     * 大铁机器人自动驾驶。（目前的驾驶逻辑是针对RM/NRM模式驾驶）
      * 在确认列车自身状态正确的情况下（车门是关闭状态等），如果是没有计划的车次，则只看信号；如果是有计划的车次，还需要看计划
      */
     private void railRobotDrive(Simulation simulation, VirtualRealityTrain train) {
@@ -208,7 +208,7 @@ public class RobotLogicLoop {
                     }
                 }
             }
-            Section next = nextSection.getNextRunningSectionOf(right);
+            Section next = nextSection.findNextRunningSectionBaseRealSwitch(right);
             if (next == null) {
                 targetPosition = new SectionPosition(nextSection, right ? nextSection.getLen() - 10 : 10); //轨道尽头10m处
                 break;
@@ -264,7 +264,7 @@ public class RobotLogicLoop {
                         break;
                     }
                 }
-                nextSection = nextSection.getNextRunningSectionBaseRealSwitch(right);
+                nextSection = nextSection.findNextRunningSectionBaseRealSwitch(right);
                 if (nextSection == null)
                     break;
             }
@@ -289,7 +289,7 @@ public class RobotLogicLoop {
         boolean right = train.isRight();
         float speed = train.getSpeed();
 
-        Float distance = CalculateService.calculateDistance(headPosition, targetPosition, right);
+        Float distance = CalculateService.calculateDistance(headPosition, targetPosition, right, true);
         if (distance == null || distance <= SimulationConstants.PARK_POINT_MAX_OFFSET) { //如果列车已经抵达或越过目标位置
             atoService.doBreakMax(train);
             return;