joylink/rt-sim-training-service
6
0
Fork 0
Code Issues 3 Pull Requests Actions Packages Projects Releases 10 Wiki Activity

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

Browse Source
This commit is contained in:
walker-sheng 2021-09-26 17:39:22 +08:00
commit e94772cff0
8 changed files with 106 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/main/java/club/joylink/rtss/simulation/cbtc/communication/vo/TrainHmiDisplay.java
View File

@ -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)) {
this.confirmationMessage = message;
map.put("message", this.confirmationMessage);
if (!Objects.equals(this.message, message)) {
this.message = message;
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;
map.put("standCode", standCode);
if (!Objects.equals(this.standCode, standCode)) {
this.standCode = standCode;
map.put("standCode", this.standCode);
}
if (map.size() > 0) {
map.put("code", this.code);
return map;

18
src/main/java/club/joylink/rtss/simulation/cbtc/data/vr/VirtualRealityTrain.java
View File

@ -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> {

2
src/main/java/club/joylink/rtss/simulation/cbtc/device/virtual/VRTrainRunningService.java
View File

@ -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 {

1
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATO/service/ATOService.java
View File

@ -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;
}

94
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
View File

@ -91,40 +91,26 @@ public class ATPLogicLoop {
}
private void driveLogicRun(Simulation simulation, VirtualRealityTrain train) {
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);
}
}
}
return;
}
MaService.Ma ma2 = train.getMa2();
// ITC级别列车停车手动释放操作判断
if (train.isStop() && train.isITC() && train.isAtoOn() && ma2 != null && !train.isReleased()) {
Section section = train.getHeadPosition().getSection();
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);
}
}
// MaService.Ma ma2 = train.getMa2();
// // ITC级别列车停车手动释放操作判断
// if (train.isStop() && train.isITC() && train.isAtoOn() && ma2 != null && !train.isReleased()) {
// Section section = train.getHeadPosition().getSection();
// 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;

3
src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPService.java
View File

@ -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;
}

6
src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
View File

@ -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;
}

3
src/main/java/club/joylink/rtss/vo/client/factory/SocketMessageFactory.java
View File

@ -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));
}
/**