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

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

@@ -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();
+        if (!simulation.getRepository().getConfig().isRailway()) { //地铁线路
-        SimulationDataRepository repository = simulation.getRepository();
+            LocalDateTime systemTime = simulation.getSystemTime();
-        if (train.isPlanTrain()) { // 计划车
+            SimulationDataRepository repository = simulation.getRepository();
-            TripPlan tripPlan = repository.getTripPlan(train.getServiceNumber(), train.getTripNumber());
+            if (train.isPlanTrain()) { // 计划车
-            StationPlan stationPlan = tripPlan.queryStationPlan(standTrack);
+                TripPlan tripPlan = repository.getTripPlan(train.getServiceNumber(), train.getTripNumber());
-            if (stationPlan != null) {
+                StationPlan stationPlan = tripPlan.queryStationPlan(standTrack);
-                if (standTrack.isNormalStandTrack() && tripPlan.isFirstPlan(stationPlan)) { // 折返第一站
+                if (stationPlan != null) {
-                    parkTime = this.getFirstStationPlanParkTime(stationPlan, systemTime);
+                    if (standTrack.isNormalStandTrack() && tripPlan.isFirstPlan(stationPlan)) { // 折返第一站
-                } else if (standTrack.isNormalStandTrack() && tripPlan.isLastPlan(stationPlan) &&
+                        parkTime = this.getFirstStationPlanParkTime(stationPlan, systemTime);
-                        tripPlan.isFrontTurnBack()) { // 站前折返终点站
+                    } else if (standTrack.isNormalStandTrack() && tripPlan.isLastPlan(stationPlan) &&
-                    TripPlan nextPlan = repository.queryNextTripPlanOf(tripPlan);
+                            tripPlan.isFrontTurnBack()) { // 站前折返终点站
-                    StationPlan firstStationPlan = nextPlan.getFirstStationPlan();
+                        TripPlan nextPlan = repository.queryNextTripPlanOf(tripPlan);
-                    parkTime = this.getFirstStationPlanParkTime(firstStationPlan, systemTime);
+                        StationPlan firstStationPlan = nextPlan.getFirstStationPlan();
-                } else {
+                        parkTime = this.getFirstStationPlanParkTime(firstStationPlan, systemTime);
-                    parkTime = stationPlan.getParkTime();
+                    } 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()) {
+            } else { // 头码车或人工车，按默认停站时间
-                stationPlan = tripPlan.queryStationPlan(standTrack.getStation());
+                StationParkTime stationParkTime = repository.queryStandParkTime(standTrack);
-                if (stationPlan != null) { // 未停靠在计划的站台轨
+                if (stationParkTime != null) {
-                    parkTime = stationPlan.getParkTime();
+                    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
+        } else { //大铁线路
-            StationParkTime stationParkTime = repository.queryStandParkTime(standTrack);
+            Station station = standTrack.getStation();
-            if (stationParkTime != null) {
+            if (station != null) {
-                parkTime = stationParkTime.getParkTime();
+                CtcRepository ctcRepository = simulation.getCtcRepository();
-            } else { // 没有数据，默认30s
+                CtcStationRunPlanLog runPlan = ctcRepository.findRunPlan(station.getCode(), train.getTripNumber());
-                parkTime = 30;
+                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;
     }
 

src/main/java/club/joylink/rtss/simulation/cbtc/CTC/data/CtcRepository.java

@@ -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);

src/main/java/club/joylink/rtss/simulation/cbtc/CTC/service/CtcDispatchCommandService.java

@@ -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");
     }

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

@@ -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);
+        atsLogicLoop.addJobs(simulation);
-        trainTargetUpdateService.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

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

@@ -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() {

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

@@ -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

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

@@ -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();

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

@@ -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.*;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
 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);
+            //准备发车
-            robotDrive(simulation, driver, train);
+            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;