控制权限转移修改

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

@@ -204,7 +204,7 @@ public class AtsStandService {
     public void cancelJumpStop(Simulation simulation, String standCode, String trainGroupNumber) {
         Stand stand = getStand(simulation, standCode);
         if (!stand.isJumpStop()) {
-            throw new SimulationException(SimulationExceptionType.Operation_Repetition);
+            return;
         }
         if (!StringUtils.hasText(trainGroupNumber)) { //如果是取消站台跳停
             stand.setAllSkip(false);

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

@@ -488,6 +488,7 @@ public class AtsStationService {
                 if (agree) {
                     if (station.getController() == null || Objects.equals(station.getController(), member)) {
                         station.setController(station.getControlApplicant());
+                        station.setControlApplicant(null);
                     }
                     return;
                 }

src/main/java/club/joylink/rtss/simulation/cbtc/data/map/MapConfig.java

@@ -181,10 +181,10 @@ public class MapConfig {
      */
     private boolean needApproachLockBeforeSetGuide;
 
-    /**
+//    /**
-     * 站台指定列车跳停仅跳停一次
+//     * 站台指定列车跳停仅跳停一次
-     */
+//     */
-    private boolean standSkipSetTrainOnlyOnce;
+//    private boolean standSkipSetTrainOnlyOnce;
 
     /**
      * 封锁命令（状态）仅在后备模式下有效
@@ -238,7 +238,7 @@ public class MapConfig {
             setSetRouteBeforeSetFlt(configVO.isSetRouteBeforeSetFlt());
             setCancelRouteWhenCancelFlt(configVO.isCancelRouteWhenCancelFlt());
             setNeedApproachLockBeforeSetGuide(configVO.isNeedApproachLockBeforeSetGuide());
-            setStandSkipSetTrainOnlyOnce(configVO.isStandSkipSetTrainOnlyOnce());
+//            setStandSkipSetTrainOnlyOnce(configVO.isStandSkipSetTrainOnlyOnce());
             setBlockadeCommandOnlyValidInStandbyMode(configVO.isBlockadeCommandOnlyValidInStandbyMode());
             setSomeCommandNeedInit(configVO.isSwitchBlockadeCommandNeedInit());
             setStationPreResetBeforeAxlePreReset(configVO.isStationPreResetBeforeAxlePreReset());

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

@@ -158,7 +158,7 @@ public class ATOService {
 //                        nextStopStandSection.getName(), nextStopStandSection.getCode()));
             boolean parking = true;
             Signal signal = target.getSignalOf(right);
-            if (!train.isHold() && (train.isJump() && signal.isNormalOpen() || !train.isNextParking())) {
+            if (!train.isHold() && (train.isJump() && (Objects.isNull(signal) || signal.isNormalOpen()) || !train.isNextParking())) {
                 parking = false;
             }
             if (parking) {

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

@@ -215,14 +215,14 @@ public class ATPLogicLoop {
             case OPEN_DOOR: // 开门
                 if (train.isJump()) { // 列车跳停,跳过开门
                     train.earlyDeparture();
-                    if (simulation.getRepository().getConfig().isStandSkipSetTrainOnlyOnce()) {
+//                    if (simulation.getRepository().getConfig().isStandSkipSetTrainOnlyOnce()) {
                         List<Stand> standList = train.getHeadPosition().getSection().getStandList();
                         if (!CollectionUtils.isEmpty(standList)) {
                             standList.stream().filter(stand -> stand.isGivenTrainSkip(train.getGroupNumber())).forEach(stand -> {
                                 atsApiService.cancelStandSkipSetOfTrain(simulation,train.getGroupNumber(), stand.getCode());
                             });
                         }
-                    }
+//                    }
                 } else {
                     this.atoService.syncOpenDoor(simulation, train);
                     if (this.isAllDoorOpen(simulation, train)) {
@@ -665,13 +665,13 @@ public class ATPLogicLoop {
                 // 列车成功越站
                 this.atsApiService.handleTrainPassingStation(simulation, train.getGroupNumber(),
                         nextStation.getCode(), tailSection.getCode());
-                if (simulation.getRepository().getConfig().isStandSkipSetTrainOnlyOnce()) {
+//                if (simulation.getRepository().getConfig().isStandSkipSetTrainOnlyOnce()) {
-                    List<Stand> standList = train.getHeadPosition().getSection().getStandList();
+//                    List<Stand> standList = train.getHeadPosition().getSection().getStandList();
-                    if (CollectionUtils.isEmpty(standList)) {
+//                    if (CollectionUtils.isEmpty(standList)) {
-                        return;
+//                        return;
-                    }
+//                    }
-                    standList.stream().filter(stand -> stand.isGivenTrainSkip(train.getGroupNumber())).forEach(stand -> atsApiService.cancelStandSkipSetOfTrain(simulation, train.getGroupNumber(), stand.getCode()));
+//                    standList.stream().filter(stand -> stand.isGivenTrainSkip(train.getGroupNumber())).forEach(stand -> atsApiService.cancelStandSkipSetOfTrain(simulation, train.getGroupNumber(), stand.getCode()));
-                }
+//                }
             }
         }
     }

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

@@ -14,11 +14,14 @@ import club.joylink.rtss.simulation.cbtc.driving.DrivingService;
 import club.joylink.rtss.simulation.cbtc.member.SimulationMember;
 import club.joylink.rtss.simulation.cbtc.onboard.ATO.SpeedCurve;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.core.task.TaskExecutor;
 import org.springframework.stereotype.Component;
 
 import java.util.Collections;
 import java.util.List;
 import java.util.Map;
+import java.util.Objects;
 import java.util.stream.Collectors;
 
 /**
@@ -38,13 +41,20 @@ public class RobotLogicLoop {
     @Autowired
     private DriverOperateHandler driverOperateHandler;
 
+    @Qualifier("nsExecutor")
+    @Autowired
+    private TaskExecutor executor;
     /**
      * 根据目标位置运行
      */
     public void run(Simulation simulation) {
-        robotDriverLogicLoop(simulation);
+        executor.execute(() -> robotDriverLogicLoop(simulation));
+        executor.execute(() -> robotReplyControlTransferApplicationLogicLoop(simulation));
+        executor.execute(() -> robotStationControlAutoTransfer(simulation));
+
+
+
 
-        robotReplyControlTransferApplicationLogicLoop(simulation);
     }
 
     /**
@@ -151,6 +161,18 @@ public class RobotLogicLoop {
         }
     }
 
+    /**机器人自动执行车站控制权限转移*/
+    private void robotStationControlAutoTransfer(Simulation simulation) {
+        if (simulation.getScript() != null && simulation.getScript().isBgSet()) {
+            return;
+        }
+        Map<SimulationMember, List<Station>> robotControlStations = simulation.getRepository().getStationList().stream()
+                .filter(station -> Objects.nonNull(station.getController()) && station.getController().isRobot() && Objects.nonNull(station.getControlApplicant())).collect(Collectors.groupingBy(Station::getController));
+        robotControlStations.forEach((controler, stations) -> {
+            atsStationService.transferControl(simulation, stations.stream().map(Station::getCode).collect(Collectors.toList()), true, controler);
+        });
+    }
+
     /**
      * 机器人回复控制权转换申请
      *

src/main/java/club/joylink/rtss/vo/client/map/RealLineConfigVO.java

@@ -120,10 +120,10 @@ public class RealLineConfigVO {
      */
     private boolean needApproachLockBeforeSetGuide = true;
 
-    /**
+//    /**
-     * 站台指定列车跳停仅跳停一次
+//     * 站台指定列车跳停仅跳停一次
-     */
+//     */
-    private boolean standSkipSetTrainOnlyOnce;
+//    private boolean standSkipSetTrainOnlyOnce;
 
     /**
      * 封锁命令（状态）仅在后备模式下有效