Merge remote-tracking branch 'origin/test' into test

src/main/java/club/joylink/rtss/simulation/cbtc/communication/vo/TrainHmiDisplay.java

@@ -183,7 +183,7 @@ public class TrainHmiDisplay {
     /**
      * 确认信息
      */
-    private VirtualRealityTrain.ConfirmationMessage confirmationMessage;
+    private VirtualRealityTrain.ConfirmationMessage message;
 
     /**
      * ATO可以启动
@@ -193,7 +193,9 @@ public class TrainHmiDisplay {
     /**
      * 列车停站站台
      */
-    private String parkingStandCode;
+    private String standCode;
+
+    private VirtualRealityTrain.Handwheel gear;
 
     public TrainHmiDisplay(VirtualRealityTrain train) {
         this.code = train.getCode();
@@ -252,9 +254,10 @@ public class TrainHmiDisplay {
         this.forcePercent = getForcePercent(train);
         this.doorMode = train.getDoorMode().toString();
         this.doorSelection = train.getDoorSelection().toString();
-        this.confirmationMessage = train.findFirstMessage();
+        this.message = train.findFirstMessage();
         this.atoCanOpen = train.isAtoCanOpen();
-        this.parkingStandCode = train.queryParkingStandCode();
+        this.standCode = train.queryParkingStandCode();
+        this.gear = train.getGear();
     }
 
     private int getForcePercent(VirtualRealityTrain train) {
@@ -443,18 +446,25 @@ public class TrainHmiDisplay {
             map.put("doorSelection", this.doorSelection);
         }
         VirtualRealityTrain.ConfirmationMessage message = train.findFirstMessage();
-        if (!Objects.equals(this.confirmationMessage, message)) {
+        if (!Objects.equals(this.message, message)) {
-            this.confirmationMessage = message;
+            this.message = message;
-            map.put("message", this.confirmationMessage);
+            map.put("message", this.message);
         }
         boolean atoCanOpen = train.isAtoCanOpen();
         if (!Objects.equals(this.atoCanOpen, atoCanOpen)) {
             this.atoCanOpen = atoCanOpen;
             map.put("atoCanOpen", this.atoCanOpen);
         }
+        VirtualRealityTrain.Handwheel gear = train.getGear();
+        if (!Objects.equals(this.gear, gear)) {
+            this.gear = gear;
+            map.put("gear", this.gear);
+        }
         String standCode = train.queryParkingStandCode();
-        this.parkingStandCode = standCode;
+        if (!Objects.equals(this.standCode, standCode)) {
-        map.put("standCode", standCode);
+            this.standCode = standCode;
+            map.put("standCode", this.standCode);
+        }
         if (map.size() > 0) {
             map.put("code", this.code);
             return map;

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

@@ -228,7 +228,7 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
     private Handwheel gear;
 
     /**
-     * 实际运行速度
+     * 实际运行速度(m/s)
      */
     private float speed;
 
@@ -1051,7 +1051,14 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         }
     }
 
-    public boolean isInNeutral() {
+    public boolean isInATOGear() {
+        return Handwheel.ATO.equals(this.gear);
+    }
+
+    /**
+     * 在空挡？
+     */
+    public boolean isInNeutralGear() {
         return gear == null || Handwheel.WASH.equals(gear)  || Handwheel.DISCONNECT.equals(gear);
     }
 
@@ -1110,6 +1117,13 @@ public class VirtualRealityTrain extends VirtualRealityDevice {
         }
     }
 
+    /**
+     * 需要释放速度
+     */
+    public boolean needReleaseSpeed() {
+        return getAtoSpeed() * 3.6 < 20;
+    }
+
     @Getter
     @Setter
     public static class Door extends ControllableVrDevice<Door.Operation> {

src/main/java/club/joylink/rtss/simulation/cbtc/device/virtual/VRTrainRunningService.java

@@ -78,7 +78,7 @@ public class VRTrainRunningService {
         if (VirtualRealityTrain.Handwheel.REVERSE.equals(train.getGear())) { // 倒车挡
             currentSpeed = Math.min(train.getReverseSpeedMax(), currentSpeed);
             s = -((currentSpeed+originSpeed) * time / 2);
-        } else if (train.isInNeutral()) { // 空挡
+        } else if (train.isInNeutralGear()) { // 空挡
             currentSpeed = 0;
             s = 0;
         } else {

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

@@ -64,6 +64,7 @@ public class ATOService {
             return;
         if (train.isReleased()) { // 列车释放，以低速行驶
             SpeedCurve.SpeedCalculator limitSpeedCalculator = SpeedCurve.getLimitSpeedCalculator(SpeedCurve.Release_Limit_Speed);
+            train.setAtoSpeed(limitSpeedCalculator.getVt());
             this.doControlBySpeedCalculator(train, limitSpeedCalculator, limitSpeedCalculator.getVt());
             return;
         }

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

@@ -91,40 +91,26 @@ public class ATPLogicLoop {
     }
 
     private void driveLogicRun(Simulation simulation, VirtualRealityTrain train) {
-        if (train.isReleased()) {
+//        MaService.Ma ma2 = train.getMa2();
-            if (!simulation.getRepository().hasResponder()) { // 没有应答器
+//        // ITC级别列车停车手动释放操作判断
-                // 列车处于释放中，如果列车车头已经跨过信号机还没有更新ITC-MA，触发EB
+//        if (train.isStop() && train.isITC() && train.isAtoOn() && ma2 != null && !train.isReleased()) {
-                SectionPosition headPosition = train.getHeadPosition();
+//            Section section = train.getHeadPosition().getSection();
-                SectionPosition tailPosition = train.calculateTailPosition();
+//            if (train.isParkingAt()) {
-                Signal signal = headPosition.getSection().getSignalOf(train.isRight());
+//                if (!train.isStandReadyStart() || section.equals(train.getTarget())) {
-                if (signal != null) {
+//                    return;
-                    if (new SectionPosition(signal.getSection(), signal.getOffset()).isBetween(headPosition, tailPosition)) {
+//                }
-                        this.atpService.triggerSignalEB(train);
+//            }
-                    }
+//            // 对于ITC列车，若列车在站台，且出站信号机开放，且ITC移动授权终点为出站信号机，手动进行释放操作
-                }
+//            boolean right = train.isRight();
-            }
+//            Signal signal = section.getSignalOf(right);
-            return;
+//            if (signal != null && signal.isMainAspect() &&
-        }
+//                    (ma2.getDevice().equals(signal) || (ma2.calculateDistanceToEoa() <= 0))) {
-        MaService.Ma ma2 = train.getMa2();
+//                // 信号机开放，前一个ITC-MA的终点就是此信号机 或 到终点的移动授权距离小于0（应该是折返轨情况）
-        // ITC级别列车停车手动释放操作判断
+//                // 手动释放
-        if (train.isStop() && train.isITC() && train.isAtoOn() && ma2 != null && !train.isReleased()) {
+//                log.debug(String.format("ITC列车[%s]站台准备出发，手动释放速度", train.getGroupNumber()));
-            Section section = train.getHeadPosition().getSection();
+////                atpService.confirmMessage(train, VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed);
-            if (train.isParkingAt()) {
+//            }
-                if (!train.isStandReadyStart() || section.equals(train.getTarget())) {
+//        }
-                    return;
-                }
-            }
-            // 对于ITC列车，若列车在站台，且出站信号机开放，且ITC移动授权终点为出站信号机，手动进行释放操作
-            boolean right = train.isRight();
-            Signal signal = section.getSignalOf(right);
-            if (signal != null && signal.isMainAspect() &&
-                    (ma2.getDevice().equals(signal) || (ma2.calculateDistanceToEoa() <= 0))) {
-                // 信号机开放，前一个ITC-MA的终点就是此信号机 或 到终点的移动授权距离小于0（应该是折返轨情况）
-                // 手动释放
-                log.debug(String.format("ITC列车[%s]站台准备出发，手动释放速度", train.getGroupNumber()));
-                atpService.confirmMessage(train, VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed);
-            }
-        }
         if (train.isChangeEnds() && train.isStop()) {
             // 列车换端中
             this.atpService.changeEndsProgress(train);
@@ -139,7 +125,9 @@ public class ATPLogicLoop {
     private void onboardLogicRun2(Simulation simulation, VirtualRealityTrain train) {
         this.handlePreselectionMode(simulation, train);
         this.calculateSpeedCurve(simulation, train);
+        this.closeATOIfStatusIsIncorrect(train);
         train.setAtoCanOpen(atpService.canOpenATO(train));
+        this.checkSpeedRelease(train);
 
         boolean right = train.isRight();
         SectionPosition headPosition = train.getHeadPosition();
@@ -187,6 +175,7 @@ public class ATPLogicLoop {
 //            this.checkTrainJumpAndSend2Ats(simulation, train, headPosition, tailPosition, right);
             if (train.isAtpOn()) {
                 this.atpService.speedProtect(simulation, train);
+                speedReleaseProtect(simulation, train);
             }
             if (train.isEB()) {
                 return;
@@ -198,6 +187,43 @@ public class ATPLogicLoop {
         this.atoService.ato2(train);
     }
 
+    /**
+     * 速度释放特殊防护
+     */
+    private void speedReleaseProtect(Simulation simulation, VirtualRealityTrain train) {
+        if (train.isEB())
+            return;
+        if (train.isReleased()) {
+            if (!simulation.getRepository().hasResponder()) { // 没有应答器
+                // 列车处于释放中，如果列车车头已经跨过信号机还没有更新ITC-MA，触发EB
+                SectionPosition headPosition = train.getHeadPosition();
+                SectionPosition tailPosition = train.calculateTailPosition();
+                Signal signal = headPosition.getSection().getSignalOf(train.isRight());
+                if (signal != null) {
+                    if (new SectionPosition(signal.getSection(), signal.getOffset()).isBetween(headPosition, tailPosition)) {
+                        this.atpService.triggerSignalEB(train);
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 关闭ATO，如果状态不正确
+     */
+    private void closeATOIfStatusIsIncorrect(VirtualRealityTrain train) {
+        if (train.isEB() || !train.isInATOGear() || !train.isAMMode())
+            atpService.closeATO(train);
+    }
+
+    /**
+     * 检查并提示速度释放
+     */
+    private void checkSpeedRelease(VirtualRealityTrain train) {
+        if (!train.isReleased() && train.isITC() && train.needReleaseSpeed())
+            train.addMessage(VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed);
+    }
+
     private void calculateSpeedCurve(Simulation simulation, VirtualRealityTrain train) {
         if (!train.isAtpOn())
             return;

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

@@ -378,7 +378,8 @@ public class ATPService {
             return false;
         if (!train.isAtpOn()) //列车ATP未启用
             return false;
-        if (train.containsMessage(VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed))
+        if (train.isITC() && !train.isReleased()
+                && train.containsMessage(VirtualRealityTrain.ConfirmationMessage.Confirm_Release_Speed) )
             return false;
         return true;
     }

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

@@ -33,6 +33,8 @@ 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;
+
 /**
  * 仿真机器人逻辑循环
  */
@@ -102,8 +104,10 @@ public class RobotLogicLoop {
                 }
                 break;
             case START:
-                if (!train.isAtoOn()) {
+                if (train.isAtoCanOpen()) {
                     atpService.openATO(train);
+                } else if (train.isITC()) {
+                    atpService.confirmMessage(train, Confirm_Release_Speed);
                 }
                 break;
         }

src/main/java/club/joylink/rtss/vo/client/factory/SocketMessageFactory.java

@@ -10,6 +10,7 @@ import club.joylink.rtss.simulation.cbtc.data.vo.*;
 import club.joylink.rtss.simulation.cbtc.member.SimulationMember;
 import club.joylink.rtss.simulation.cbtc.member.SimulationUser;
 import club.joylink.rtss.simulation.cbtc.message.websocket.SimulationSubscribeTopic;
+import club.joylink.rtss.util.JsonUtils;
 import club.joylink.rtss.vo.LoginUserInfoVO;
 import club.joylink.rtss.vo.client.SocketMessageVO;
 import club.joylink.rtss.vo.client.WebSocketMessageType;
@@ -315,7 +316,7 @@ public class SocketMessageFactory {
      * @return
      */
     public static SocketMessageVO<Object> buildHmiMessage(String group, Object display) {
-        return build(WebSocketMessageType.Train_Hmi_3D, group, display);
+        return build(WebSocketMessageType.Train_Hmi_3D, group, JsonUtils.writeValueNullableFieldAsString(display));
     }
 
     /**