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新仿真逻辑——虚拟真实设备逻辑开发

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This commit is contained in:
walker-sheng 2021-03-11 13:26:48 +08:00
parent 9681255916
commit 8da937e941
14 changed files with 374 additions and 66 deletions
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37
src/main/java/club/joylink/rtss/simulation/Simulation.java
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@ -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.runAsSpeed();
this.state.set(START);
}
/**
@ -260,8 +245,8 @@ public abstract class Simulation<U extends SimulationUser, M extends Simulation
return this.state.get();
}
public boolean isRunning() {
return this.state.get() == RUNNING;
public boolean isStart() {
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);
}

87
src/main/java/club/joylink/rtss/simulation/rt/srd/SrdService.java
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@ -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);
TrackPosition np = calculatePosition(position, s, right);
int s = this.calculateLen(srTrain, cv, TRAIN_RUN_RATE);
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) {
return cv * time;
private int calculateLen(SrTrain srTrain, int cv, int 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);

15
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrAXC.java
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@ -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) {
}
}

21
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrDevice.java
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@ -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);
}
}

49
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrPSD.java
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@ -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));
}
}
}

75
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrSignal.java
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@ -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 RED = 2;
public static final int GREEN = 3;
public static final int YELLOW = 4;
public static final int RED_YELLOW = 5;
public static final int CLOSE = 1; // 关闭
public static final int RED = 2; // 红灯信号(禁止信号)
public static final int GREEN = 3; // 绿灯信号(直向通行)
public static final int YELLOW = 4; // 黄灯信号(侧向通行)
public static final int GUIDE = 5; // 引导信号(正线为黄红)
AtomicInteger command = new AtomicInteger(C_NONE);
public static final int C_NONE = 0;
public static final int C_CLOSE = 1;
public static final int C_RED = 2;
public static final int C_GREEN = 3;
public static final int C_YELLOW = 4;
public static final int C_RED_YELLOW = 5;
AtomicInteger command = new AtomicInteger(NONE);
public static final int NONE = 0;
/**
* 转换完成时间
*/
LocalDateTime finishTime;
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));
}
}
}

14
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTrack.java
View File

@ -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);
}
}

12
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTrain.java
View File

@ -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) {
this.headPosition = position;
public void updatePositionAndSpeed(TrackPosition headPosition, TrackPosition tailPosition, int v) {
this.headPosition = headPosition;
this.tailPosition = tailPosition;
this.speed = v;
}
@Override
public void applyState(int state) {
}
}

47
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrTurnout.java
View File

@ -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));
}
}
}

12
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/SrdRepository.java
View File

@ -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() {

3
src/main/java/club/joylink/rtss/simulation/rt/srd/bo/TrackPosition.java
View File

@ -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) {

3
src/main/java/club/joylink/rtss/websocket/SessionAuthHandshakeInterceptor.java
View File

@ -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) {
}
}

38
src/main/java/club/joylink/rtss/websocket/client/SimulationSessionHandler.java Normal file
View File

@ -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));
}
}

27
src/main/java/club/joylink/rtss/websocket/client/StompClientManager.java Normal file
View File

@ -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);
}
}