joylink/rt-sim-training-service
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修改：添加车辆停靠车站时，车门关闭后向前行驶一点的问题，因为车头偏移小于目标偏移（设定）

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tiger_zhou 2022-08-15 17:19:01 +08:00
parent 33203131b2
commit f3df206427
1 changed files with 23 additions and 4 deletions
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27
src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java
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@ -11,6 +11,7 @@ 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;
import club.joylink.rtss.simulation.cbtc.constant.SignalModel;
import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
import club.joylink.rtss.simulation.cbtc.constant.SimulationModule;
import club.joylink.rtss.simulation.cbtc.data.CalculateService;
@ -436,13 +437,31 @@ public class SimulationRobotService {
*/
private void robotDrive(Simulation simulation, VirtualRealityTrain train, SectionPosition targetPosition) {
SimulationDataRepository repository = simulation.getRepository();
if (!train.getDoor1().isCloseAndLock() || !train.getDoor2().isCloseAndLock()) { //如果车门没关
return;
}
SectionPosition headPosition = train.getHeadPosition();
boolean right = train.isRight();
float speed = train.getSpeed();
if (!train.getDoor1().isCloseAndLock() || !train.getDoor2().isCloseAndLock()) { //如果车门没关
return;
}
/**
* 添加车辆停靠车站时，车门关闭后向前行驶一点的问题，因为车头偏移与目标偏移大于 @seeSimulationConstants.PARK_POINT_MAX_OFFSET位置，故修正逻辑如下
* 判断车辆是否停靠车站，没有开发的信号，没有新车命令，如果有其中一项的条件那么车辆可以启动
* begin 2022-08-15
*/
boolean trainPackingForStand = train.isParkingAt();
// headPosition.getSection().getStandList().stream().anyMatch(d->d.isTrainParking());
Signal targetSignal = headPosition.getSection().getSignalOf(right);
boolean closeSignal = false;
if(Objects.nonNull(targetSignal)){
closeSignal = targetSignal.getAspect() == targetSignal.getSignalModel().getDefaultAspect();
}
boolean noCommond = Objects.isNull(train.getRobotDriveParam().getThroughSignal());
if(trainPackingForStand && closeSignal && noCommond){
return;
}
/**
* end 2022-08-15
*/
Float distance = CalculateService.calculateDistance(headPosition, targetPosition, right, true);
if (distance == null || distance <= SimulationConstants.PARK_POINT_MAX_OFFSET) { //如果列车已经抵达或越过目标位置
atoService.doBreakMax(train);