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

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weizhihong 2022-07-22 19:46:45 +08:00
commit 7ae2e6fa6a
21 changed files with 131 additions and 55 deletions
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10
src/main/java/club/joylink/rtss/simulation/cbtc/ATP/ground/MaService.java
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@ -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

10
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/Operation.java
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@ -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

16
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/operation/handler/SignalOperateHandler.java
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@ -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);
}
}

4
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainService.java
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@ -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));
}

4
src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiService.java
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@ -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);
}

27
src/main/java/club/joylink/rtss/simulation/cbtc/CI/CiApiServiceImpl2.java
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@ -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
*/

2
src/main/java/club/joylink/rtss/simulation/cbtc/CI/device/CiSignalControlService.java
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@ -68,6 +68,7 @@ public class CiSignalControlService {
* @param signal
*/
public void controlLightOfSignal(Simulation simulation, Signal signal) {
if (!simulation.getRepository().getConfig().isRailway()) {
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
if (signal.isCbtcMode() && !signal.isForcePhysical() && !signal.isLogicLight()) {
if (vrSignal != null) {
@ -81,6 +82,7 @@ public class CiSignalControlService {
}
}
}
}
/**
* 封锁(封锁后，包含信号机的进路不能排列)

14
src/main/java/club/joylink/rtss/simulation/cbtc/DeviceStatusServiceImpl.java
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@ -22,13 +22,13 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
@Override
public void init(Simulation simulation) {
simulation.reset(); //这个初始化现在不可或缺，有一些数据在仿真构建时没有，仅在初始化时构建
// 虚拟真实设备初始化
virtualRealityDeviceService.reset(simulation);
// 信号机状态初始化
this.initSignal(simulation);
this.buildSingleLockedSwitch(simulation);
this.initRoute(simulation);
this.initStationControlMode(simulation);
// 虚拟真实设备初始化
virtualRealityDeviceService.reset(simulation);
}
/**
@ -54,8 +54,9 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
private void initSignal(Simulation simulation) {
SimulationDataRepository repository = simulation.getRepository();
// 初始化非ctc虚拟真实信号机点红灯
List<Signal> signalList = repository.getSignalList();
if (!repository.getConfig().isRailway()) {
// 初始化非ctc虚拟真实信号机点红灯
for (Signal signal : signalList) {
if (!signal.isCtc()) {
VirtualRealitySignal vrSignal = repository.getVRByCode(signal.getCode(), VirtualRealitySignal.class);
@ -63,6 +64,13 @@ public class DeviceStatusServiceImpl implements DeviceStatusService {
vrSignal.finish();
}
}
} else { //大铁线路暂时默认点灯
for (Signal signal : signalList) {
VirtualRealitySignal vrSignal = repository.getVRByCode(signal.getCode(), VirtualRealitySignal.class);
vrSignal.control(vrSignal.getModel().getDefaultAspect());
vrSignal.finish();
}
}
}
private void buildSingleLockedSwitch(Simulation simulation) {

5
src/main/java/club/joylink/rtss/simulation/cbtc/command/CommandBO.java
View File

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

4
src/main/java/club/joylink/rtss/simulation/cbtc/competition/ScriptExecuteService.java
View File

@ -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;
}

22
src/main/java/club/joylink/rtss/simulation/cbtc/data/CalculateService.java
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@ -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;
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/data/map/Section.java
View File

@ -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)) {

6
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
View File

@ -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;
}

2
src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/sr/service/SrTrainServiceImpl.java
View File

@ -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 {

2
src/main/java/club/joylink/rtss/simulation/cbtc/device/virtual/VRTrainRunningService.java
View File

@ -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;

4
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/SpeedCurve.java
View File

@ -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) {

2
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/service/ATOService.java
View File

@ -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);
}
// /**

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

@ -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);

4
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java
View File

@ -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;
}

8
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/TrainTargetUpdateService.java
View File

@ -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 {

10
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
View File

@ -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;