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增加大铁列车自动驾驶逻辑；将大铁不需要的仿真任务去除

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This commit is contained in:
joylink_zhangsai 2022-07-21 17:46:47 +08:00
parent 8dcba7a311
commit afbb57d1a8
8 changed files with 154 additions and 83 deletions
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74
src/main/java/club/joylink/rtss/simulation/cbtc/ATS/service/AtsTrainMonitorService.java
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@ -5,6 +5,8 @@ import club.joylink.rtss.simulation.cbtc.ATS.operation.vo.RegulationParam;
import club.joylink.rtss.simulation.cbtc.ATS.service.ars.AtsTriggerRouteService;
import club.joylink.rtss.simulation.cbtc.ATS.service.stage.AtsRealRunRecordService;
import club.joylink.rtss.simulation.cbtc.ATS.service.stage.AtsTrainStageHandler;
import club.joylink.rtss.simulation.cbtc.CTC.data.CtcRepository;
import club.joylink.rtss.simulation.cbtc.CTC.data.CtcStationRunPlanLog;
import club.joylink.rtss.simulation.cbtc.ISCS.OnBoardPisService;
import club.joylink.rtss.simulation.cbtc.Simulation;
import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
@ -24,6 +26,7 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import java.time.Duration;
import java.time.LocalDateTime;
import java.time.temporal.ChronoUnit;
import java.util.List;
@ -212,36 +215,57 @@ public class AtsTrainMonitorService {
*/
private int getParkTimeOf(Simulation simulation, TrainInfo train, Section standTrack) {
int parkTime = 0;
LocalDateTime systemTime = simulation.getSystemTime();
SimulationDataRepository repository = simulation.getRepository();
if (train.isPlanTrain()) { // 计划车
TripPlan tripPlan = repository.getTripPlan(train.getServiceNumber(), train.getTripNumber());
StationPlan stationPlan = tripPlan.queryStationPlan(standTrack);
if (stationPlan != null) {
if (standTrack.isNormalStandTrack() && tripPlan.isFirstPlan(stationPlan)) { // 折返第一站
parkTime = this.getFirstStationPlanParkTime(stationPlan, systemTime);
} else if (standTrack.isNormalStandTrack() && tripPlan.isLastPlan(stationPlan) &&
tripPlan.isFrontTurnBack()) { // 站前折返终点站
TripPlan nextPlan = repository.queryNextTripPlanOf(tripPlan);
StationPlan firstStationPlan = nextPlan.getFirstStationPlan();
parkTime = this.getFirstStationPlanParkTime(firstStationPlan, systemTime);
} else {
parkTime = stationPlan.getParkTime();
if (!simulation.getRepository().getConfig().isRailway()) { //地铁线路
LocalDateTime systemTime = simulation.getSystemTime();
SimulationDataRepository repository = simulation.getRepository();
if (train.isPlanTrain()) { // 计划车
TripPlan tripPlan = repository.getTripPlan(train.getServiceNumber(), train.getTripNumber());
StationPlan stationPlan = tripPlan.queryStationPlan(standTrack);
if (stationPlan != null) {
if (standTrack.isNormalStandTrack() && tripPlan.isFirstPlan(stationPlan)) { // 折返第一站
parkTime = this.getFirstStationPlanParkTime(stationPlan, systemTime);
} else if (standTrack.isNormalStandTrack() && tripPlan.isLastPlan(stationPlan) &&
tripPlan.isFrontTurnBack()) { // 站前折返终点站
TripPlan nextPlan = repository.queryNextTripPlanOf(tripPlan);
StationPlan firstStationPlan = nextPlan.getFirstStationPlan();
parkTime = this.getFirstStationPlanParkTime(firstStationPlan, systemTime);
} else {
parkTime = stationPlan.getParkTime();
}
} else if (standTrack.isNormalStandTrack()) {
stationPlan = tripPlan.queryStationPlan(standTrack.getStation());
if (stationPlan != null) { // 未停靠在计划的站台轨
parkTime = stationPlan.getParkTime();
}
}
} else if (standTrack.isNormalStandTrack()) {
stationPlan = tripPlan.queryStationPlan(standTrack.getStation());
if (stationPlan != null) { // 未停靠在计划的站台轨
parkTime = stationPlan.getParkTime();
} else { // 头码车或人工车，按默认停站时间
StationParkTime stationParkTime = repository.queryStandParkTime(standTrack);
if (stationParkTime != null) {
parkTime = stationParkTime.getParkTime();
} else { // 没有数据，默认30s
parkTime = 30;
}
}
} else { // 头码车或人工车，按默认停站时间
StationParkTime stationParkTime = repository.queryStandParkTime(standTrack);
if (stationParkTime != null) {
parkTime = stationParkTime.getParkTime();
} else { // 没有数据，默认30s
parkTime = 30;
} else { //大铁线路
Station station = standTrack.getStation();
if (station != null) {
CtcRepository ctcRepository = simulation.getCtcRepository();
CtcStationRunPlanLog runPlan = ctcRepository.findRunPlan(station.getCode(), train.getTripNumber());
CtcStationRunPlanLog.RunPlanItem departRunPlan = runPlan.getDepartRunPlan();
if (departRunPlan != null) { //有发车计划
CtcStationRunPlanLog.RunPlanItem arriveRunPlan = runPlan.getArriveRunPlan();
if (arriveRunPlan != null) { //有接车计划，用计划停站时间
parkTime = (int) Duration.between(arriveRunPlan.getPlanTime(), departRunPlan.getPlanTime()).toSeconds();
} else { //无接车计划，停到计划发车时间
LocalDateTime correctSystemTime = simulation.getCorrectSystemTime();
parkTime = (int) Duration.between(correctSystemTime, departRunPlan.getPlanTime()).toSeconds();
}
} else { //无发车计划，固定停站1分钟吧
parkTime = 60;
}
}
}
parkTime = Math.max(parkTime, 0);
return parkTime;
}

6
src/main/java/club/joylink/rtss/simulation/cbtc/CTC/data/CtcRepository.java
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@ -356,6 +356,12 @@ public class CtcRepository {
.findFirst().orElse(null);
}
public Collection<CtcStationRunPlanLog> findRunPlans(String tripNumber) {
return this.allRunPlanList.stream()
.filter(plan -> Objects.equals(tripNumber, plan.getTripNumber()))
.collect(Collectors.toList());
}
public RouteSequence.Line getRouteSequenceLine(String stationCode, String tripNumber, boolean departure) {
RouteSequence routeSequence = routeSequenceMap.get(stationCode);
BusinessExceptionAssertEnum.SYSTEM_EXCEPTION.assertNotNull(routeSequence);

6
src/main/java/club/joylink/rtss/simulation/cbtc/CTC/service/CtcDispatchCommandService.java
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@ -67,11 +67,11 @@ public class CtcDispatchCommandService {
private void dispatchCommandParamValid(RailDispatchCommandVO vo) {
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertHasText(vo.getTitle(), "命令标题不能为空");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getTitle().length() < 20, "命令标题最大长度20");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getTitle().length() <= 20, "命令标题最大长度20");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertHasText(vo.getContent(), "命令正文不能为空");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getContent().length() < 200, "命令正文最大长度200");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getContent().length() <= 200, "命令正文最大长度200");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertHasText(vo.getNumber(), "命令号不能为空");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getNumber().length() < 10, "命令号最大长度10");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertTrue(vo.getNumber().length() <= 10, "命令号最大长度10");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertHasText(vo.getSenderName(), "发令人不能为空");
BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertCollectionNotEmpty(vo.getReceiverIds(), "收令人不能为空");
}

26
src/main/java/club/joylink/rtss/simulation/cbtc/SimulationLifeCycleServiceImpl.java
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@ -179,28 +179,26 @@ public class SimulationLifeCycleServiceImpl implements SimulationLifeCycleServic
}
private void addJobs(Simulation simulation) {
atsLogicLoop.addJobs(simulation);
if (simulation.getRepository().getConfig().isRailway()) {
ctcLogicLoop.addJobs(simulation);
} else {
depotService.addJobs(simulation);
trainTargetUpdateService.addJobs(simulation);
iVirtualRealityIbpService.addJobs(simulation);
powerSupplyService.addJobs(simulation);
iVirtualRealityPslService.addJobs(simulation);
iscsMessageCollectAndDispatcher.addJob(simulation);
iscsLogicLoop.addJob(simulation);
}
atpLogicLoop.addJobs(simulation);
depotService.addJobs(simulation);
trainTargetUpdateService.addJobs(simulation);
atsLogicLoop.addJobs(simulation);
vrTrainRunningService.addJobs(simulation);
ciLogic.addJobs(simulation);
vrDeviceLogicLoop.addJobs(simulation);
// zcLogicLoop.addJobs(simulation);
atsMessageCollectAndDispatcher.addJobs(simulation);
joylink3DMessageService.addJobs(simulation);
faultGenerator.addJobs(simulation);
iVirtualRealityIbpService.addJobs(simulation);
powerSupplyService.addJobs(simulation);
robotLogicLoop.addJobs(simulation);
iVirtualRealityPslService.addJobs(simulation);
iscsMessageCollectAndDispatcher.addJob(simulation);
iscsLogicLoop.addJob(simulation);
//////////////////////////////////////////////
// simulationRealDeviceConnectManager.addJobs(simulation);
if (simulation.getRepository().getConfig().isRailway()) {
ctcLogicLoop.addJobs(simulation);
}
}
@Override

17
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
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@ -179,6 +179,11 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
*/
private int parkRemainTime;
/**
* 最后一次停站的区段
*/
private Section parkSection;
/**
* 发车提示
*/
@ -538,6 +543,8 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
this.beAbout2Arrive = false;
this.target = null;
this.parkTime = 0;
this.parkRemainTime = 0;
this.parkSection = null;
this.departure = false;
this.breaking = false;
this.standParkedTrainActivity = null;
@ -780,15 +787,6 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
return this.tailPosition;
}
/**
* @param parkTime 单位s
*/
public synchronized void park(int parkTime) {
int ms = parkTime * 1000;
this.parkTime = ms;
this.parkRemainTime = ms;
}
public synchronized void depart() {
this.standParkedTrainActivity = null;
this.parkTime = 0;
@ -968,6 +966,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
} else {
this.standParkedTrainActivity = StandParkedTrainActivity.START;
}
this.parkSection = headSection;
}
public boolean isParkingAt() {

8
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/OnboardAtpApiService.java
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@ -31,14 +31,6 @@ public interface OnboardAtpApiService {
*/
void updateTripPlan(Simulation simulation, String groupNumber, TripPlan tripPlan);
/**
* 更新站台停靠时间
* @param simulation
* @param groupNumber
* @param parkTime 停站时间，单位s
*/
void updateStationParkTime(Simulation simulation, String groupNumber, int parkTime);
/**
* 发车
* @param simulation

15
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/OnboardAtpApiServiceImpl.java
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@ -110,21 +110,6 @@ public class OnboardAtpApiServiceImpl implements OnboardAtpApiService {
serviceNumber, tripNumber, destinationCode));
}
@Override
public void updateStationParkTime(Simulation simulation,
String groupNumber,
int parkTime) {
SimulationDataRepository repository = simulation.getRepository();
VirtualRealityTrain train = repository.getVRByCode(groupNumber, VirtualRealityTrain.class);
train.park(parkTime);
log.debug(String.format("列车[%s]停站时间[%s s]",
train.getGroupNumber(), parkTime));
// if (parkTime > 0) {
// // 开屏蔽门
// this.ATOService.syncOpenDoor(simulation, train);
// }
}
@Override
public void departure(Simulation simulation, String groupNumber) {
SimulationDataRepository repository = simulation.getRepository();

85
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
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@ -4,6 +4,8 @@ import club.joylink.rtss.services.psl.IVirtualRealityPslService;
import club.joylink.rtss.simulation.cbtc.ATP.ground.MaService;
import club.joylink.rtss.simulation.cbtc.ATS.operation.handler.DriverOperateHandler;
import club.joylink.rtss.simulation.cbtc.ATS.service.AtsStationService;
import club.joylink.rtss.simulation.cbtc.CTC.data.CtcRepository;
import club.joylink.rtss.simulation.cbtc.CTC.data.CtcStationRunPlanLog;
import club.joylink.rtss.simulation.cbtc.Simulation;
import club.joylink.rtss.simulation.cbtc.command.CommandBO;
import club.joylink.rtss.simulation.cbtc.constant.SignalAspect;
@ -14,6 +16,7 @@ import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
import club.joylink.rtss.simulation.cbtc.data.map.*;
import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition;
import club.joylink.rtss.simulation.cbtc.data.vo.ControlTransferReplyVO;
import club.joylink.rtss.simulation.cbtc.data.vo.TrainInfo;
import club.joylink.rtss.simulation.cbtc.data.vr.*;
import club.joylink.rtss.simulation.cbtc.member.SimulationMember;
import club.joylink.rtss.simulation.cbtc.onboard.ATO.SpeedCurve;
@ -23,10 +26,7 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.*;
import java.util.stream.Collectors;
import static club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed;
@ -64,7 +64,10 @@ public class RobotLogicLoop {
robotStationControlAutoTransfer(simulation);
}
private void robotOpenATO(Simulation simulation, VirtualRealityTrain train) {
/**
* 机器人准备发车
*/
private void robotReadyForDeparture(Simulation simulation, VirtualRealityTrain train) {
StandParkedTrainActivity activity = train.getStandParkedTrainActivity();
if (activity != null) {
switch (activity) {
@ -142,6 +145,7 @@ public class RobotLogicLoop {
*/
private void robotDriverLogicLoop(Simulation simulation) {
List<SimulationMember> drivers = simulation.querySimulationMembersOfRole(SimulationMember.Type.DRIVER);
boolean railway = simulation.getRepository().getConfig().isRailway();
for (SimulationMember driver : drivers) {
if (!driver.isRobot())
continue;
@ -150,15 +154,78 @@ public class RobotLogicLoop {
if (!repository.isVrTrainOnline(train.getGroupNumber())) { //如果列车不在线
continue;
}
robotOpenATO(simulation, train);
robotDrive(simulation, driver, train);
//准备发车
robotReadyForDeparture(simulation, train);
//机器人驾驶
if (train.getRobotTargetPosition() != null) {
robotDriveByCommand(simulation, driver, train);
} else if (railway) {
railRobotDrive(simulation, train);
}
}
}
/**
* 机器人驾驶
* 大铁机器人自动驾驶。
* 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 robotDrive(Simulation simulation, SimulationMember driver, VirtualRealityTrain train) {
private void railRobotDrive(Simulation simulation, VirtualRealityTrain train) {
if (!train.getDoor1().isCloseAndLock() || !train.getDoor2().isCloseAndLock())
return;
SimulationDataRepository repository = simulation.getRepository();
boolean right = train.isRight();
SectionPosition headPosition = train.getHeadPosition();
Section nextSection = headPosition.getSection();
TrainInfo trainInfo = repository.getSupervisedTrainByGroup(train.getGroupNumber());
CtcRepository ctcRepository = simulation.getCtcRepository();
Collection<CtcStationRunPlanLog> runPlans = ctcRepository.findRunPlans(trainInfo.getTripNumber());
Set<Section> tracks = new HashSet<>();
for (CtcStationRunPlanLog runPlan : runPlans) {
CtcStationRunPlanLog.RunPlanItem arriveRunPlan = runPlan.getArriveRunPlan();
if (arriveRunPlan != null)
tracks.add(arriveRunPlan.getTrackSection());
CtcStationRunPlanLog.RunPlanItem departRunPlan = runPlan.getDepartRunPlan();
if (departRunPlan != null)
tracks.add(departRunPlan.getTrackSection());
}
SectionPosition targetPosition = null;
for (int i = 0; i < 10; i++) {
if (tracks.contains(nextSection) && !nextSection.equals(train.getParkSection())) { //这个判断感觉迟早要出问题
targetPosition = nextSection.buildStopPointPosition(right); //站台轨停车点
break;
}
Signal signal = nextSection.getSignalOf(right);
if (signal != null && !signal.isShunting()) { //有同向非通过信号机
SectionPosition signalPosition = signal.getPosition();
VirtualRealitySignal vrSignal = signal.getVirtualSignal();
if (vrSignal != null && !headPosition.isAheadOf(signalPosition, right)) { //有物理信号机并且车头没有越过信号机
if (!SignalAspect.G.equals(vrSignal.getAspect())
&& !SignalAspect.Y.equals(vrSignal.getAspect())
&& !SignalAspect.YY.equals(vrSignal.getAspect())) { //大铁线路暂时默认绿灯和黄/双黄灯是正常通行信号
targetPosition = CalculateService.calculateNextPositionByStartAndLen(signalPosition, !right, 5, true); //信号机前5m处
break;
}
}
}
Section next = nextSection.getNextRunningSectionOf(right);
if (next == null) {
targetPosition = new SectionPosition(nextSection, right ? nextSection.getLen() - 10 : 10); //轨道尽头10m处
break;
}
nextSection = next;
}
if (targetPosition == null && nextSection != null) {
targetPosition = new SectionPosition(nextSection, right ? 0 : nextSection.getMaxOffset());
}
if (targetPosition != null)
robotDrive(simulation, train, targetPosition);
}
/**
* 机器人根据指令驾驶列车
*/
private void robotDriveByCommand(Simulation simulation, SimulationMember driver, VirtualRealityTrain train) {
SectionPosition targetPosition = train.getRobotTargetPosition();
if (targetPosition == null)
return;