新仿真逻辑——虚拟真实设备逻辑开发

src/main/java/club/joylink/rtss/simulation/Simulation.java

@@ -42,7 +42,7 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
      * 仿真状态
      */
     private final AtomicInteger state = new AtomicInteger(PAUSE);
-    private static final int RUNNING = 1;
+    private static final int START = 1;
     private static final int PAUSE = 0;
     private static final int ERROR = -1;
     /**
@@ -84,29 +84,11 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
         this.id = id;
         this.speed = speed;
         this.systemTime = LocalDateTime.now();
+        this.runAsSpeed();
     }
 
-    public static void main(String[] args) {
-        Simulation simulation = new Simulation("1") {
-            @Override
-            public String debugStr() {
-                return null;
-            }
-        };
-        simulation.addJob("b", () -> {
-            log.info("logic");
-            }, 500);
-        simulation.addFixedRateJob("c", () -> {
-            log.warn("fixed");
-        }, 1000);
-        simulation.updateSpeed(5);
-        simulation.start();
-    }
     private void runAsSpeed() {
         if (this.future == null) {
-//            if (!this.future.cancel(false)) {
-//                log.error(String.format("仿真旧主线程无法取消"));
-//            }
             ScheduledFuture<?> scheduledFuture = EXECUTOR.scheduleAtFixedRate(()->this.logic(),
                     this.SYSTEM_TIME_RATE, this.SYSTEM_TIME_RATE, TimeUnit.MILLISECONDS);
             this.future = scheduledFuture;
@@ -119,7 +101,7 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
     }
 
     private void logic() {
-        if (!this.isRunning()) {
+        if (!this.isStart() || this.isRunning()) { // 仿真未开始或者之前逻辑运行未结束,确保仿真不同步执行
             return;
         }
         try {
@@ -145,6 +127,10 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
         }
     }
 
+    private boolean isRunning() {
+        return this.mainLogicRunning.get();
+    }
+
     public String getId() {
         return id;
     }
@@ -235,8 +221,7 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
      * 控制-开始
      */
     public void start() {
-        this.state.set(RUNNING);
+        this.state.set(START);
-        this.runAsSpeed();
     }
 
     /**
@@ -260,8 +245,8 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
         return this.state.get();
     }
 
-    public boolean isRunning() {
+    public boolean isStart() {
-        return this.state.get() == RUNNING;
+        return this.state.get() == START;
     }
 
     /**
@@ -279,7 +264,7 @@ public abstract class Simulation<U extends  SimulationUser, M extends Simulation
             this.speed = speed;
             int state = this.state.get();
             this.pause();
-            this.runAsSpeed();
+            this.updateTimeUpdateSpeed(this.speed);
             for (SimulationScheduledJob job : this.scheduledJobMap.values()) {
                 job.updateRunPeriod(speed);
             }

src/main/java/club/joylink/rtss/simulation/rt/srd/SrdService.java

@@ -7,12 +7,16 @@ import club.joylink.rtss.vo.client.map.MapVO;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.time.LocalDateTime;
+import java.util.HashSet;
 import java.util.List;
+import java.util.Set;
 
 @Slf4j
 @Component
 public class SrdService {
-    public static final int TRAIN_RUN_RATE = 20;
+    public static final int TRAIN_RUN_RATE = 20; // 列车运行逻辑频率
+    public static final int DEVICE_RUN_RATE = 500; // 其他设备逻辑频率
 
     public void buildRepository(RtSimulation rtSimulation, MapVO mapVO) {
         SrdRepository srdRepository = SrdRepositoryBuilder.buildFrom(mapVO);
@@ -23,6 +27,42 @@ public class SrdService {
         rtSimulation.addJob("srTrainRun",
                 () -> this.srTrainRun(rtSimulation.getRepository(SrdRepository.NAME, SrdRepository.class)),
                 TRAIN_RUN_RATE);
+        rtSimulation.addJob("srDeviceLogic",
+                () -> this.srDeviceLogic(rtSimulation.getRepository(SrdRepository.NAME, SrdRepository.class), rtSimulation.getSystemTime()),
+                DEVICE_RUN_RATE);
+    }
+
+    private void srDeviceLogic(SrdRepository repository, LocalDateTime systemTime) {
+        // 道岔转动
+        List<SrTurnout> turnoutList = repository.getTurnoutList();
+        for (SrTurnout turnout : turnoutList) {
+            if (turnout.isControlByReal()) {
+                continue;
+            }
+            if (turnout.isTurning()) {
+                turnout.tryFinishTurning(systemTime);
+            }
+        }
+        // 屏蔽门开/闭
+        List<SrPSD> psdList = repository.getPsdList();
+        for (SrPSD psd : psdList) {
+            if (psd.isControlByReal()) {
+                continue;
+            }
+            if (psd.isTurning()) {
+                psd.tryFinishTurning(systemTime);
+            }
+        }
+        // 信号机控制
+        List<SrSignal> signalList = repository.getSignalList();
+        for (SrSignal signal : signalList) {
+            if (signal.isControlByReal()) {
+                continue;
+            }
+            if (signal.isTurning()) {
+                signal.tryFinishTurning(systemTime);
+            }
+        }
     }
 
     public void srTrainRun(SrdRepository repository) {
@@ -31,20 +71,35 @@ public class SrdService {
             if (!srTrain.isUsing()) {
                 continue;
             }
-            TrackPosition position = srTrain.getHeadPosition();
+            // 计算列车加速度，更新列车速度，计算列车运行距离，更新列车位置
             boolean right = srTrain.isRight();
+            TrackPosition position = srTrain.getHeadPosition();
             int cv = this.calculateSpeed(srTrain);
-            int s = this.calculateLen(cv, TRAIN_RUN_RATE);
+            int s = this.calculateLen(srTrain, cv, TRAIN_RUN_RATE);
-            TrackPosition np = calculatePosition(position, s, right);
+            TrackPosition np = calculatePosition(position, s, right, new HashSet<>());
             if (np.equals(position) && cv != 0) {
                 cv = 0;
             }
-            srTrain.updatePositionAndSpeed(np, cv);
+            Set<SrTrack> occupiedTrackSet = new HashSet<>();
+            TrackPosition tailPosition = this.calculatePosition(np, srTrain.getLen(), !right, occupiedTrackSet);
+            srTrain.updatePositionAndSpeed(np, tailPosition, cv);
+            // 更新计轴占用
+            Set<SrTrack> oldOccupiedTrackSet = new HashSet<>();
+            this.calculatePosition(position, srTrain.getLen(), !right, oldOccupiedTrackSet);
+            Set<SrTrack> clearList = new HashSet<>(oldOccupiedTrackSet);
+            clearList.removeAll(occupiedTrackSet);
+            for (SrTrack srTrack : clearList) {
+                srTrack.getAxc().clear();
+            }
+            for (SrTrack srTrack : occupiedTrackSet) {
+                srTrack.getAxc().occupy();
+            }
         }
     }
 
-    private int calculateLen(int cv, int time) {
+    private int calculateLen(SrTrain srTrain, int cv, int time) {
-        return cv * time;
+        int s = cv * time;
+        return s * srTrain.getGear();
     }
 
     private int calculateSpeed(SrTrain srTrain) {
@@ -61,10 +116,21 @@ public class SrdService {
         if (cv < 0) {
             cv = 0;
         }
+        if (srTrain.isNeutralGear() && cv > 0) { // 空档位
+            cv = 0;
+        }
         return cv;
     }
 
-    private TrackPosition calculatePosition(TrackPosition position, int s, boolean right) {
+    /**
+     *
+     * @param position 起始位置
+     * @param s 距离
+     * @param right 方向
+     * @param trackSet 从position往方向[right]经过距离[s]所经过的轨道列表
+     * @return
+     */
+    private TrackPosition calculatePosition(TrackPosition position, int s, boolean right, Set<SrTrack> trackSet) {
         if (s == 0) {
             return position;
         }
@@ -76,7 +142,11 @@ public class SrdService {
             offset -= s;
         }
         SrTrack base = track;
+        trackSet.add(base);
+        int iter = 0;
         while (offset < 0 || offset > base.getLen()) {
+            BusinessExceptionAssertEnum.SYSTEM_EXCEPTION.assertTrue(iter < 10);
+            ++iter;
             SrTrack nextTrack = base.queryNextTrack(right);
             if (nextTrack == null) { // 下一区段为空，到达尽头或道岔失表处
                 log.debug(String.format("区段[%s][%s]区段不存在",base.debugStr(), right?"右向":"左向"));
@@ -95,6 +165,7 @@ public class SrdService {
                     offset += nextTrack.getLen();
                 }
                 base = nextTrack;
+                trackSet.add(nextTrack);
             }
         }
         return new TrackPosition(base, offset);

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrAXC.java

@@ -14,4 +14,19 @@ public class SrAXC extends SrDevice {
     public SrAXC(String id) {
         super(id, DeviceType.AXC);
     }
+
+    public void clear() {
+        this.state.set(OFF);
+    }
+
+    public void occupy() {
+        if (this.state.get() != ON) {
+            this.state.set(ON);
+        }
+    }
+
+    @Override
+    public void applyState(int state) {
+
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrDevice.java

@@ -3,6 +3,8 @@ package club.joylink.rtss.simulation.rt.srd.bo;
 import club.joylink.rtss.simulation.Debug;
 import lombok.Getter;
 
+import java.util.Objects;
+
 /**
  * 虚拟真实设备抽象父类
  */
@@ -10,6 +12,10 @@ import lombok.Getter;
 public abstract class SrDevice implements Debug {
     String id;
     DeviceType deviceType;
+    /**
+     * 是否由真实设备控制
+     */
+    boolean controlByReal;
 
     public SrDevice() {}
 
@@ -18,8 +24,23 @@ public abstract class SrDevice implements Debug {
         this.deviceType = deviceType;
     }
 
+    public abstract void applyState(int state);
+
     @Override
     public String debugStr() {
         return String.format("%s:%s", this.deviceType, this.id);
     }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        SrDevice srDevice = (SrDevice) o;
+        return Objects.equals(id, srDevice.id);
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(id);
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrPSD.java

@@ -1,5 +1,7 @@
 package club.joylink.rtss.simulation.rt.srd.bo;
 
+import java.time.LocalDateTime;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicInteger;
 
 /**
@@ -11,19 +13,56 @@ public class SrPSD extends SrDevice {
     AtomicInteger state = new AtomicInteger(CLOSE_LOCK);
     public static final int CLOSE_LOCK = 1;//关闭且锁闭
     public static final int CLOSED = 2;//关闭未锁闭
-    public static final int OPEN = 3;//打开未到位
+    public static final int TURNING = 3;//转换中
     public static final int OPEN_FINISH = 4;//打开到位
 
     AtomicInteger command = new AtomicInteger(NONE);
     public static final int NONE = 0;//无动作
-    public static final int C_OPEN = 1;//控制开门
-    public static final int C_CLOSE = 2;//控制关门
     /**
-     * 剩余动作时间
+     * 转换完成时间
      */
-    int remain;
+    LocalDateTime finishTime;
 
     public SrPSD(String id) {
         super(id, DeviceType.PSD);
     }
+
+    public boolean isTurning() {
+        return NONE != this.command.get();
+    }
+
+    public void open(LocalDateTime systemTime) {
+        this.startTurn(systemTime, OPEN_FINISH);
+    }
+
+    public void close(LocalDateTime systemTime) {
+        this.startTurn(systemTime, CLOSE_LOCK);
+    }
+
+    private void startTurn(LocalDateTime systemTime, int command) {
+        this.finishTime = systemTime.plusNanos(TimeUnit.MILLISECONDS.toNanos(turnTime));
+        this.command.set(command);
+        this.state.set(TURNING);
+    }
+
+    public void tryFinishTurning(LocalDateTime systemTime) {
+        if (this.finishTime != null && systemTime.compareTo(this.finishTime) >= 0) {
+            this.turnFinish();
+        }
+    }
+
+    public void turnFinish() {
+        this.state.set(this.command.get());
+        this.command.set(NONE);
+        this.finishTime = null;
+    }
+
+    @Override
+    public void applyState(int state) {
+        if (CLOSE_LOCK == state || CLOSED == state || TURNING == state || OPEN_FINISH == state) {
+            this.state.set(state);
+        } else {
+            throw new IllegalArgumentException(String.format("无效的屏蔽门状态:[%s]", state));
+        }
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrSignal.java

@@ -2,6 +2,8 @@ package club.joylink.rtss.simulation.rt.srd.bo;
 
 import lombok.Getter;
 
+import java.time.LocalDateTime;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicInteger;
 
 /**
@@ -9,6 +11,7 @@ import java.util.concurrent.atomic.AtomicInteger;
  */
 @Getter
 public class SrSignal extends SrDevice {
+    public static final int turnTime = 500; // 默认转换时间，单位ms
 
     /**
      * 所在区段
@@ -20,19 +23,18 @@ public class SrSignal extends SrDevice {
     int offset;
 
     AtomicInteger state = new AtomicInteger(CLOSE);
-    public static final int CLOSE = 1;
+    public static final int CLOSE = 1; // 关闭
-    public static final int RED = 2;
+    public static final int RED = 2; // 红灯信号(禁止信号)
-    public static final int GREEN = 3;
+    public static final int GREEN = 3; // 绿灯信号(直向通行)
-    public static final int YELLOW = 4;
+    public static final int YELLOW = 4; // 黄灯信号(侧向通行)
-    public static final int RED_YELLOW = 5;
+    public static final int GUIDE = 5; // 引导信号(正线为黄红)
 
-    AtomicInteger command = new AtomicInteger(C_NONE);
+    AtomicInteger command = new AtomicInteger(NONE);
-    public static final int C_NONE = 0;
+    public static final int NONE = 0;
-    public static final int C_CLOSE = 1;
+    /**
-    public static final int C_RED = 2;
+     * 转换完成时间
-    public static final int C_GREEN = 3;
+     */
-    public static final int C_YELLOW = 4;
+    LocalDateTime finishTime;
-    public static final int C_RED_YELLOW = 5;
 
     public SrSignal(String id) {
         super(id, DeviceType.SIGNAL);
@@ -42,4 +44,53 @@ public class SrSignal extends SrDevice {
         this.track = srTrack;
         this.offset = offset;
     }
+
+    public boolean isTurning() {
+        return NONE != this.command.get();
+    }
+
+    public void close(LocalDateTime systemTime) {
+        this.startTurn(systemTime, CLOSE);
+    }
+
+    public void openRed(LocalDateTime systemTime) {
+        this.startTurn(systemTime, RED);
+    }
+
+    public void openGreen(LocalDateTime systemTime) {
+        this.startTurn(systemTime, GREEN);
+    }
+
+    public void openYellow(LocalDateTime systemTime) {
+        this.startTurn(systemTime, YELLOW);
+    }
+
+    public void openGuide(LocalDateTime systemTime) {
+        this.startTurn(systemTime, GUIDE);
+    }
+
+    private void startTurn(LocalDateTime systemTime, int command) {
+        this.finishTime = systemTime.plusNanos(TimeUnit.MILLISECONDS.toNanos(turnTime));
+        this.command.set(command);
+    }
+
+    public void tryFinishTurning(LocalDateTime systemTime) {
+        if (this.finishTime != null && systemTime.compareTo(this.finishTime) >= 0) {
+            this.turnFinish();
+        }
+    }
+
+    public void turnFinish() {
+        this.state.set(this.command.get());
+        this.command.set(NONE);
+        this.finishTime = null;
+    }
+    @Override
+    public void applyState(int state) {
+        if (CLOSE == state || RED == state || GREEN == state || YELLOW == state || GUIDE == state) {
+            this.state.set(state);
+        } else {
+            throw new IllegalArgumentException(String.format("无效的道岔状态:[%s]", state));
+        }
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTrack.java

@@ -14,14 +14,6 @@ public class SrTrack extends SrDevice implements Debug {
      * 轨道长度，单位mm
      */
     int len;
-    /**
-     * 左停车点，单位mm
-     */
-    int leftPs;
-    /**
-     * 右停车点，单位mm
-     */
-    int rightPs;
     /**
      * 计轴器
      */
@@ -104,8 +96,14 @@ public class SrTrack extends SrDevice implements Debug {
         return null;
     }
 
+    @Override
+    public void applyState(int state) {
+
+    }
+
     @Override
     public String debugStr() {
         return String.format("%s(%s)", this.name, this.id);
     }
+
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTrain.java

@@ -51,7 +51,7 @@ public class SrTrain extends SrDevice {
     /**
      * 档位
      */
-    int gear = NEUTRAL;
+    int gear;
     public static final int NEUTRAL = 0; //空挡
     public static final int FORWARD = 1; //前进挡
     public static final int REVERSE = -1; //后退档
@@ -72,8 +72,14 @@ public class SrTrain extends SrDevice {
         return NEUTRAL == this.gear;
     }
 
-    public void updatePositionAndSpeed(TrackPosition position, int v) {
+    public void updatePositionAndSpeed(TrackPosition headPosition, TrackPosition tailPosition, int v) {
-        this.headPosition = position;
+        this.headPosition = headPosition;
+        this.tailPosition = tailPosition;
         this.speed = v;
     }
+
+    @Override
+    public void applyState(int state) {
+
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTurnout.java

@@ -1,5 +1,7 @@
 package club.joylink.rtss.simulation.rt.srd.bo;
 
+import java.time.LocalDateTime;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicInteger;
 
 /**
@@ -19,12 +21,10 @@ public class SrTurnout extends SrDevice {
 
     AtomicInteger command = new AtomicInteger(NONE);
     public static final int NONE = 0;
-    public static final int TN = 1; // 定操/转动到定位
-    public static final int TR = 2; // 反操/转动到反位
     /**
-     * 转换剩余时间,单位ms
+     * 转换完成时间
      */
-    int remain;
+    LocalDateTime finishTime;
 
     public SrTurnout(String id) {
         super(id, DeviceType.TURNOUT);
@@ -53,4 +53,43 @@ public class SrTurnout extends SrDevice {
     public boolean isReversePosition() {
         return REVERSE == this.state.get();
     }
+
+    public boolean isTurning() {
+        return NONE != this.command.get();
+    }
+
+    public void turnToNormal(LocalDateTime systemTime) {
+        this.startTurn(systemTime, NORMAL);
+    }
+
+    public void turnToReverse(LocalDateTime systemTime) {
+        this.startTurn(systemTime, REVERSE);
+    }
+
+    private void startTurn(LocalDateTime systemTime, int command) {
+        this.finishTime = systemTime.plusNanos(TimeUnit.MILLISECONDS.toNanos(turnTime));
+        this.command.set(command);
+        this.state.set(TURNING);
+    }
+
+    public void tryFinishTurning(LocalDateTime systemTime) {
+        if (this.finishTime != null && systemTime.compareTo(this.finishTime) >= 0) {
+            this.turnFinish();
+        }
+    }
+
+    public void turnFinish() {
+        this.state.set(this.command.get());
+        this.command.set(NONE);
+        this.finishTime = null;
+    }
+
+    @Override
+    public void applyState(int state) {
+        if (NORMAL == state || REVERSE == state || TURNING == state) {
+            this.state.set(state);
+        } else {
+            throw new IllegalArgumentException(String.format("无效的道岔状态:[%s]", state));
+        }
+    }
 }

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrdRepository.java

@@ -31,6 +31,18 @@ public class SrdRepository extends SimulationRepository {
         return new ArrayList<>(this.trainMap.values());
     }
 
+    public List<SrTurnout> getTurnoutList() {
+        return new ArrayList<>(this.turnoutMap.values());
+    }
+
+    public List<SrPSD> getPsdList() {
+        return new ArrayList<>(this.psdMap.values());
+    }
+
+    public List<SrSignal> getSignalList() {
+        return new ArrayList<>(this.signalMap.values());
+    }
+
     @Override
     public void initState() {
 

src/main/java/club/joylink/rtss/simulation/rt/srd/bo/TrackPosition.java

@@ -2,6 +2,9 @@ package club.joylink.rtss.simulation.rt.srd.bo;
 
 public class TrackPosition {
     SrTrack track;
+    /**
+     * 轨道偏移量，单位mm
+     */
     int offset;
 
     public TrackPosition(SrTrack track, int offset) {

src/main/java/club/joylink/rtss/websocket/SessionAuthHandshakeInterceptor.java

@@ -5,6 +5,7 @@ import club.joylink.rtss.services.LoginSessionManager;
 import club.joylink.rtss.vo.LoginUserInfoVO;
 import club.joylink.rtss.vo.UserVO;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.http.HttpStatus;
 import org.springframework.http.server.ServerHttpRequest;
 import org.springframework.http.server.ServerHttpResponse;
 import org.springframework.util.StringUtils;
@@ -34,6 +35,7 @@ public class SessionAuthHandshakeInterceptor implements HandshakeInterceptor {
         } catch (Throwable e) {
             log.error("未登录或登陆已过期", e);
         }
+        response.setStatusCode(HttpStatus.UNAUTHORIZED);
         return false;
     }
 
@@ -71,5 +73,6 @@ public class SessionAuthHandshakeInterceptor implements HandshakeInterceptor {
     @Override
     public void afterHandshake(ServerHttpRequest request, ServerHttpResponse response, WebSocketHandler wsHandler,
                                Exception exception) {
+
     }
 }

src/main/java/club/joylink/rtss/websocket/client/SimulationSessionHandler.java

@@ -0,0 +1,38 @@
+package club.joylink.rtss.websocket.client;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.messaging.simp.stomp.StompCommand;
+import org.springframework.messaging.simp.stomp.StompHeaders;
+import org.springframework.messaging.simp.stomp.StompSession;
+import org.springframework.messaging.simp.stomp.StompSessionHandler;
+
+import java.lang.reflect.Type;
+
+@Slf4j
+public class SimulationSessionHandler implements StompSessionHandler {
+    @Override
+    public void afterConnected(StompSession session, StompHeaders connectedHeaders) {
+        log.debug(String.format("stomp websocket connected"));
+    }
+
+    @Override
+    public void handleException(StompSession session, StompCommand command, StompHeaders headers, byte[] payload, Throwable exception) {
+        log.error("stomp handle exception", exception);
+    }
+
+    @Override
+    public void handleTransportError(StompSession session, Throwable exception) {
+        log.error("stomp handle transport error", exception);
+    }
+
+    @Override
+    public Type getPayloadType(StompHeaders headers) {
+        return String.class;
+    }
+
+    @Override
+    public void handleFrame(StompHeaders headers, Object payload) {
+        String json = (String) payload;
+        log.debug(String.format("receive frame:%s", json));
+    }
+}

src/main/java/club/joylink/rtss/websocket/client/StompClientManager.java

@@ -0,0 +1,27 @@
+package club.joylink.rtss.websocket.client;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.messaging.simp.stomp.StompSession;
+import org.springframework.util.concurrent.ListenableFuture;
+import org.springframework.web.socket.client.standard.StandardWebSocketClient;
+import org.springframework.web.socket.messaging.WebSocketStompClient;
+
+import java.util.concurrent.ExecutionException;
+
+@Slf4j
+public class StompClientManager {
+
+//    private static final Map<String, StompClientSupport> stompClientMap = new ConcurrentHashMap<>();
+
+    public static void main(String[] args) throws ExecutionException, InterruptedException {
+        StandardWebSocketClient socketClient = new StandardWebSocketClient();
+        WebSocketStompClient stompClient = new WebSocketStompClient(socketClient);
+        SimulationSessionHandler handler = new SimulationSessionHandler();
+        ListenableFuture<StompSession> future = stompClient
+                .connect("ws://192.168.8.129:9000/joylink-websocket?token=aaa",
+                        handler, "null");
+        StompSession stompSession = future.get();
+        stompSession.subscribe("/user/queue/simulation/1/", handler);
+    }
+
+}