泰国沙盘改动（防止列车按计划运行时意外过站不再运行）

src/main/java/club/joylink/rtss/services/project/DeviceServiceImpl.java

@@ -48,7 +48,9 @@ import club.joylink.rtss.vo.client.project.sr.SrSectionConfigVO;
 import club.joylink.rtss.vo.client.project.sr.SrSignalConfigVO;
 import club.joylink.rtss.vo.client.project.sr.SrSwitchConfigVO;
 import club.joylink.rtss.vo.client.project.sr.SrTrainConfigVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandRunPlanConfigVO;
 import club.joylink.rtss.vo.client.project.thailand.ThailandSectionConfigVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandSignalConfigVO;
 import club.joylink.rtss.vo.client.project.thailand.ThailandSwitchConfigVO;
 import club.joylink.rtss.vo.client.project.thailand.ThailandTrainConfigVO;
 import club.joylink.rtss.vo.client.project.xty.XtyPsdConfigVO;
@@ -62,6 +64,7 @@ import com.github.pagehelper.Page;
 import com.github.pagehelper.PageHelper;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
 import java.util.stream.Collectors;
@@ -932,7 +935,7 @@ public class DeviceServiceImpl implements DeviceService {
         signal.setType(ProjectDeviceType.SIGNAL.name());
         signal.setCreator(accountVO.getId());
         signal.setCreateTime(now);
-        SrSignalConfigVO configVO = new SrSignalConfigVO(mapSignalNewVO.getCode(),
+        ThailandSignalConfigVO configVO = new ThailandSignalConfigVO(mapSignalNewVO.getCode(),
             mapSignalNewVO.getSrCode());
         signal.setConfig(JsonUtils.writeValueAsString(configVO));
         list.add(signal);
@@ -983,100 +986,120 @@ public class DeviceServiceImpl implements DeviceService {
       train.setConfig(JsonUtils.writeValueAsString(configVO));
       list.add(train);
     }
+    //运行计划
+    ProjectDevice runPlan = new ProjectDevice();
+    runPlan.setProjectCode(projectCode);
+    runPlan.setCode("runPlan");
+    runPlan.setType(ProjectDeviceType.SAND_TABLE_RUN_PLAN.name());
+    runPlan.setCreator(accountVO.getId());
+    runPlan.setCreateTime(now);
+    ThailandRunPlanConfigVO configVO = new ThailandRunPlanConfigVO();
+    configVO.setStandTrackList(Arrays.asList("T85", "T158", "T205", "T247", "T206", "T157", "T84"));
+    runPlan.setConfig(JsonUtils.writeValueAsString(configVO));
+    list.add(runPlan);
     return list;
   }
 
   private void thailandFillTime(ThailandSectionConfigVO configVO, MapSectionNewVO section) {
     Float headDelayTime = null;
     Float tailDelayTime = null;
-    if (section.isStandTrack()) { //站台轨默认为车尾出清立即停车
+    if (section.isStandTrack()) {
       headDelayTime = 5f;
     }
     switch (section.getCode()) {
-      case "T233": //X302G
+      case "T1": //X301G
-        headDelayTime = 7.3f;
+        headDelayTime = 5f;
         break;
-      case "T232": //X303G
+      case "T2": //X302G
-        headDelayTime = 6.5f;
+        headDelayTime = 7.9f;
         break;
-      case "T231": //X304G
+      case "T3": //X303G
-        headDelayTime = 5.5f;
+        headDelayTime = 6.7f;
         break;
-      case "T178": //4站-3G
+      case "T4": //X304G
-        headDelayTime = 5.2f;
+        headDelayTime = 5.6f;
         break;
-      case "T177": //4站-IG
+      case "T5": //X305G
-        headDelayTime = 5.4f;
-        break;
-      case "T175": //4站-IIG
-        headDelayTime = 6.6f;
-        break;
-      case "T174": //4站-4G
-        headDelayTime = 6.2f;
-        break;
-      case "T176": //4站-6G
-        headDelayTime = 5.9f;
-        break;
-      case "T179": //4站-5G
-        headDelayTime = 6.5f;
-        break;
-      case "T123": //3站-3G
-        headDelayTime = 5.2f;
-        break;
-      case "T122": //3站-IG
         headDelayTime = 5.3f;
         break;
-      case "T121": //3站-IIG
+      case "T6": //X306G
-        headDelayTime = 5.9f;
-        break;
-      case "T120": //3站-4G
         headDelayTime = 5.5f;
         break;
-      case "T78": //2站-IG
+      case "T7": //X307G
+        headDelayTime = 5.3f;
+        break;
+      case "T8": //X308G
         headDelayTime = 5.5f;
         break;
-      case "T77": //2站-IIG
+      case "T89": //1站6G
         headDelayTime = 5.9f;
         break;
-      case "T76": //2站-4G
+      case "T90": //1站4G
+        headDelayTime = 6.4f;
+        break;
+      case "T85": //1站2G
+        headDelayTime = 6.8f;
+        break;
+      case "T84": //1站1G
+        headDelayTime = 5.9f;
+        break;
+      case "T94": //1站3G
+        headDelayTime = 5.2f;
+        break;
+      case "T95": //1站5G
+        headDelayTime = 6.5f;
+        break;
+      case "T160": //2站4G
+        headDelayTime = 5.5f;
+        break;
+      case "T158": //2站2G
+        headDelayTime = 5.2f;
+        break;
+      case "T157": //2站1G
+        headDelayTime = 5.8f;
+        break;
+      case "T159": //2站3G
+        headDelayTime = 5.2f;
+        break;
+      case "T204": //3站4G
         headDelayTime = 5.7f;
         break;
-      case "T22": //1站-1G
+      case "T205": //3站2G
+        headDelayTime = 5.6f;
+        break;
+      case "T206": //3站1G
+        headDelayTime = 6f;
+        break;
+      case "T207": //3站3G
         headDelayTime = 5.3f;
         break;
-      case "T23": //1站-IIG
+      case "T242": //4站6G
         headDelayTime = 5.1f;
         break;
-      case "T27": //1站-5G
+      case "T243": //3站4G
-        headDelayTime = 4.9f;
+        headDelayTime = 5.1f;
         break;
-      case "T26": //1站-3G
+      case "T244": //3站2G
+        headDelayTime = 5.1f;
+        break;
+      case "T247": //3站1G
+        headDelayTime = 5.5f;
+        break;
+      case "T254": //3站3G
         headDelayTime = 4.8f;
         break;
-      case "T24": //1站-4G
+      case "T255": //3站5G
-        headDelayTime = 5.1f;
+        headDelayTime = 4.9f;
         break;
-      case "T25": //1站-6G
+      case "T142": //QX04
-        headDelayTime = 5.1f;
-        break;
-      case "T145": //QX04
         headDelayTime = 1.9f;
         break;
-      case "T146": //QS04
+      case "T141": //其它QX/QS区段
-        headDelayTime = 2.7f;
+      case "T183":
-        break;
+      case "T184":
-      case "T104": //QX03
+      case "T223":
+      case "T224":
         tailDelayTime = 0f;
-        break;
-      case "T105": //QS03
-        tailDelayTime = 0f;
-        break;
-      case "T62": //QX02
-        tailDelayTime = 0f;
-        break;
-      case "T63": //QS02
-        tailDelayTime = 0f;
-        break;
     }
     configVO.setHeadDelayTime(headDelayTime);
     configVO.setTailDelayTime(tailDelayTime);

src/main/java/club/joylink/rtss/simulation/cbtc/data/support/SectionPosition.java

@@ -3,12 +3,11 @@ package club.joylink.rtss.simulation.cbtc.data.support;
 import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
 import club.joylink.rtss.simulation.cbtc.data.CalculateService;
 import club.joylink.rtss.simulation.cbtc.data.map.Section;
-import lombok.Getter;
-import org.springframework.util.CollectionUtils;
-
 import java.math.BigDecimal;
 import java.math.RoundingMode;
 import java.util.Objects;
+import lombok.Getter;
+import org.springframework.util.CollectionUtils;
 
 /**
  * 地图位置坐标
@@ -16,117 +15,131 @@ import java.util.Objects;
 @Getter
 public class SectionPosition {
 
-    private Section section;
+  private Section section;
 
-    private float offset;
+  private float offset;
 
-    public SectionPosition(Section section, float offset) {
+  public SectionPosition(Section section, float offset) {
-        this.section = section;
+    this.section = section;
-        this.offset = offset;
+    this.offset = offset;
+  }
+
+  public boolean isSameSection(Section section) {
+    return this.section.getCode().equals(section.getCode());
+  }
+
+  /**
+   * 当前位置是否在other前面。更right的位置视为更前。
+   *
+   * @param other
+   * @param right
+   * @return
+   */
+  public boolean isAheadOf(SectionPosition other, boolean right) {
+    return isAheadOf(other.getSection(), other.getOffset(), right);
+  }
+
+  private boolean isAheadOf(Section section, float offset, boolean right) {
+    if (Objects.equals(this.getSection(), section)) {
+      // 同一根区段
+      if (right && this.getOffset() > offset) {
+        // 右向，此偏移量大于另一个偏移量
+        return true;
+      } else if (!right && this.getOffset() < offset) {
+        // 左向，此偏移量小于另一个偏移量
+        return true;
+      }
+    } else { // 不是同一区段，查询另一区段在指定方向上是否能找到此位置区段，如果找到，则在前
+      if (CalculateService.isTargetSectionOnDirectionExist(section, right,
+          this.getSection())) {
+        return true;
+      }
     }
+    return false;
+  }
 
-    public boolean isSameSection(Section section) {
+  @Override
-        return this.section.getCode().equals(section.getCode());
+  public String toString() {
-    }
+    return "{" +
+        String.format("%s(%s)", section.getName(), section.getCode()) +
+        String.format(", %s", offset) +
+        '}';
+  }
 
-    public boolean isAheadOf(SectionPosition other, boolean right) {
+  public Section getLogicSection() {
-        return isAheadOf(other.getSection(), other.getOffset(), right);
+    if (!CollectionUtils.isEmpty(section.getLogicList())) {
-    }
+      for (Section logic : section.getLogicList()) {
-
+        if (this.offset > logic.getMinOffset() && this.offset <= logic.getMaxOffset()) {
-    public boolean isAheadOf(Section section, float offset, boolean right) {
+          return logic;
-        if (Objects.equals(this.getSection(), section)) {
-            // 同一根区段
-            if (right && this.getOffset() > offset) {
-                // 右向，此偏移量大于另一个偏移量
-                return true;
-            } else if (!right && this.getOffset() < offset) {
-                // 左向，此偏移量小于另一个偏移量
-                return true;
-            }
-        } else { // 不是同一区段，查询另一区段在指定方向上是否能找到此位置区段，如果找到，则在前
-            if (CalculateService.isTargetSectionOnDirectionExist(section, right, this.getSection())) {
-                return true;
-            }
         }
-        return false;
+      }
     }
+    return this.section;
+  }
 
-    @Override
+  @Override
-    public String toString() {
+  public int hashCode() {
-        return "{" +
+    return section.hashCode() + Float.hashCode(offset);
-                String.format("%s(%s)", section.getName(), section.getCode()) +
+  }
-                String.format(", %s", offset) +
-                '}';
-    }
 
-    public Section getLogicSection() {
+  @Override
-        if (!CollectionUtils.isEmpty(section.getLogicList())) {
+  public boolean equals(Object obj) {
-            for (Section logic : section.getLogicList()) {
+    if (this == obj) {
-                if (this.offset > logic.getMinOffset() && this.offset <= logic.getMaxOffset()) {
+      return true;
-                    return logic;
-                }
-            }
-        }
-        return this.section;
     }
+    if (obj == null || getClass() != obj.getClass()) {
+      return false;
+    }
+    SectionPosition sp = (SectionPosition) obj;
+    return Objects.equals(this.getSection(), sp.getSection()) && offset == sp.getOffset();
+  }
 
-    @Override
+  public float getPercent() {
-    public int hashCode() {
+    return BigDecimal.valueOf(this.offset / this.getSection().getLen())
-        return section.hashCode() + Float.hashCode(offset);
+        .setScale(4, RoundingMode.HALF_UP).floatValue();
-    }
+  }
 
-    @Override
+  public boolean isAvailable() {
-    public boolean equals(Object obj) {
+    return !(this.offset < 0 || this.offset > this.section.getLen());
-        if (this == obj) return true;
+  }
-        if (obj == null || getClass() != obj.getClass()) return false;
-        SectionPosition sp = (SectionPosition) obj;
-        return Objects.equals(this.getSection(), sp.getSection()) && offset == sp.getOffset();
-    }
 
-    public float getPercent() {
+  public boolean isBetween(SectionPosition one, SectionPosition two) {
-        return BigDecimal.valueOf(this.offset / this.getSection().getLen())
+    if (one.equals(this) || two.equals(this)) {
-                .setScale(4, RoundingMode.HALF_UP).floatValue();
+      return true;
     }
+    if (one.isAheadOf(this, true)) {
+      return this.isAheadOf(two, true);
+    } else if (this.isAheadOf(one, true)) {
+      return two.isAheadOf(this, true);
+    } else {
+      return false;
+    }
+  }
 
-    public boolean isAvailable() {
+  public SectionPosition convert2PhysicalSectionPosition() {
-        return !(this.offset < 0 || this.offset > this.section.getLen());
+    Section section = this.getSection();
+    if (section.isPhysical()) {
+      return this;
+    } else {
+      Section parent = section.getParent();
+      if (parent != null) {
+        return new SectionPosition(parent, section.getMinOffset() + this.getOffset());
+      } else {
+        return null;
+      }
     }
+  }
 
-    public boolean isBetween(SectionPosition one, SectionPosition two) {
+  /**
-        if (one.equals(this) || two.equals(this))
+   * 该位置位于对应区段的停车范围内
-            return true;
+   */
-        if (one.isAheadOf(this, true)) {
+  public boolean isWithinParkingRange(boolean right) {
-            return this.isAheadOf(two, true);
+    SectionPosition targetPosition = new SectionPosition(this.section,
-        } else if (this.isAheadOf(one, true)) {
+        this.section.getStopPointByDirection(right));
-            return two.isAheadOf(this, true);
+    SectionPosition max = CalculateService.calculateNextPositionByStartAndLen(targetPosition,
-        } else {
+        right, SimulationConstants.PARK_POINT_MAX_OFFSET, false);
-            return false;
+    SectionPosition min = CalculateService.calculateNextPositionByStartAndLen(targetPosition,
-        }
+        !right, SimulationConstants.PARK_POINT_MAX_OFFSET, false);
-    }
+    return this.isAheadOf(min, right) && max.isAheadOf(this, right);
-
+  }
-    public SectionPosition convert2PhysicalSectionPosition() {
-        Section section = this.getSection();
-        if (section.isPhysical()) {
-            return this;
-        } else {
-            Section parent = section.getParent();
-            if (parent != null) {
-                return new SectionPosition(parent, section.getMinOffset() + this.getOffset());
-            } else {
-                return null;
-            }
-        }
-    }
-
-    /**
-     * 该位置位于对应区段的停车范围内
-     */
-    public boolean isWithinParkingRange(boolean right) {
-        SectionPosition targetPosition = new SectionPosition(this.section, this.section.getStopPointByDirection(right));
-        SectionPosition max = CalculateService.calculateNextPositionByStartAndLen(targetPosition,
-                right, SimulationConstants.PARK_POINT_MAX_OFFSET, false);
-        SectionPosition min = CalculateService.calculateNextPositionByStartAndLen(targetPosition,
-                !right, SimulationConstants.PARK_POINT_MAX_OFFSET, false);
-        return this.isAheadOf(min, right) && max.isAheadOf(this, right);
-    }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/SandTableTrainController.java

@@ -1,21 +1,43 @@
 package club.joylink.rtss.simulation.cbtc.device.real.udp;
 
 import club.joylink.rtss.constants.ProjectCode;
+import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.dao.MapDataDAO;
 import club.joylink.rtss.entity.MapDataExample;
 import club.joylink.rtss.entity.MapDataWithBLOBs;
 import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
 import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.data.map.Section;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.service.SrTrainServiceImpl;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandRunPlanConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service.ThailandRunPlanServiceImpl;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service.ThailandTrainServiceImpl;
 import club.joylink.rtss.util.JsonUtils;
-import club.joylink.rtss.vo.map.MapLogicDataNewVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandRunPlanConfigVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandRunPlanConfigVO.Param;
+import club.joylink.rtss.vo.map.MapGraphDataNewVO;
+import club.joylink.rtss.vo.map.graph.MapSectionNewVO;
+import club.joylink.rtss.vo.map.graph.MapSignalNewVO;
+import club.joylink.rtss.vo.map.graph.MapSwitchVO;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Collectors;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.util.CollectionUtils;
+import org.springframework.util.StringUtils;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
 import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
+/**
+ * 沙盘项目接口
+ */
 @RestController
 @RequestMapping("/api/sandTable")
 public class SandTableTrainController {
@@ -25,6 +47,8 @@ public class SandTableTrainController {
   @Autowired
   private ThailandTrainServiceImpl thailandTrainService;
   @Autowired
+  private ThailandRunPlanServiceImpl thailandRunPlanService;
+  @Autowired
   private SrTrainServiceImpl srTrainService;
 
   @PutMapping("/{simulationId}/control")
@@ -42,29 +66,89 @@ public class SandTableTrainController {
     }
   }
 
+  /**
+   * 按计划运行
+   */
+  @PutMapping("/{simulationId}/runAsPlan")
+  public void runAsPlan(@PathVariable String simulationId,
+      @RequestBody @Validated List<Param> paramList) {
+    Simulation simulation = groupSimulationService.getSimulationByGroup(simulationId);
+    switch (simulation.getProject()) {
+      case ProjectCode.THAILAND_SANDBOX:
+        thailandRunPlanService.runAsPlan(simulation, paramList);
+        break;
+      default:
+    }
+
+  }
+
+  /**
+   * 获取运行计划详情
+   */
+  @GetMapping("/{simulationId}/runPlanDetail")
+  public List<ThailandRunPlanConfigVO.Detail> getRunPlanDetail(@PathVariable String simulationId) {
+    Simulation simulation = groupSimulationService.getSimulationByGroup(simulationId);
+    List<RealDeviceConfig> runPlanConfigList = simulation.getRealDeviceByType(
+        ProjectDeviceType.SAND_TABLE_RUN_PLAN);
+    if (CollectionUtils.isEmpty(runPlanConfigList)) {
+      return new ArrayList<>();
+    }
+    ThailandRunPlanConfig config = (ThailandRunPlanConfig) runPlanConfigList.get(0);
+    List<ThailandRunPlanConfigVO.Detail> list = new ArrayList<>();
+    Integer parkingDuration = config.getParkingDuration();
+    config.getDetailMap().forEach((train, detailList) -> {
+      String groupNumber = train.getGroupNumber();
+      List<ThailandRunPlanConfigVO.Detail> detailVOList = detailList.stream().map(detail -> {
+        String stationName = detail.getTrack().getStation().getName();
+        String trackName = detail.getTrack().getName();
+        boolean finished = detail.isFinished();
+        return new ThailandRunPlanConfigVO.Detail(groupNumber, stationName, trackName,
+            parkingDuration, finished);
+      }).collect(Collectors.toList());
+      detailVOList.get(0).setParkingDuration(0);
+      detailVOList.get(detailVOList.size() - 1).setParkingDuration(0);
+      list.addAll(detailVOList);
+    });
+    return list;
+  }
+
+  @PutMapping("/{simulationId}/occupy")
+  public void setOccupy(@PathVariable String simulationId, @RequestParam List<String> sectionCodes,
+      boolean occupy) {
+    Simulation simulation = groupSimulationService.getSimulationByGroup(simulationId);
+    for (String sectionCode : sectionCodes) {
+      Section section = simulation.getRepository().getByCode(sectionCode, Section.class);
+      section.findAxle().setOccupy(occupy);
+    }
+  }
+
   @Autowired
   private MapDataDAO mapDataDAO;
 
   @PutMapping("/handle")
   public void handle() {
     MapDataExample example = new MapDataExample();
+    example.createCriteria().andMapIdEqualTo(183L);
     example.setOrderByClause("id desc");
     example.setLimit(1);
     MapDataWithBLOBs data = mapDataDAO.selectByExampleWithBLOBs(example).get(0);
-    MapLogicDataNewVO logicDataNewVO = JsonUtils.read(data.getLogicData(), MapLogicDataNewVO.class);
+    MapGraphDataNewVO graphDataNewVO = JsonUtils.read(data.getGraphData(), MapGraphDataNewVO.class);
-    logicDataNewVO.getRouteList().stream()
+
-        .filter(route -> route.getStartSignalCode().equals("X542") || route.getStartSignalCode()
+    String errSections = graphDataNewVO.getSectionList().stream()
-            .equals("X11357")
+        .filter(section -> section.getType().equals("04"))
-            || route.getStartSignalCode().equals("X47820") || route.getStartSignalCode()
+        .filter(section -> !StringUtils.hasText(section.getSrCode()))
-            .equals("X4371")
+        .map(MapSectionNewVO::getCode)
-            || route.getStartSignalCode().equals("X21134") || route.getStartSignalCode()
+        .collect(Collectors.joining(","));
-            .equals("X99402")
+    String errSignals = graphDataNewVO.getSignalList().stream()
-            || route.getStartSignalCode().equals("X2670") || route.getStartSignalCode()
+        .filter(signal -> !StringUtils.hasText(signal.getSrCode()))
-            .equals("X49087"))
+        .map(MapSignalNewVO::getCode)
-        .forEach(route -> {
+        .collect(Collectors.joining(","));
-          route.setSignalAspect(3);
+    String errSwitches = graphDataNewVO.getSwitchList().stream()
-        });
+        .filter(aSwitch -> !StringUtils.hasText(aSwitch.getSrCode()) || aSwitch.getThroat() == null)
-    data.setLogicData(JsonUtils.writeValueAsString(logicDataNewVO));
+        .map(MapSwitchVO::getCode)
-    mapDataDAO.updateByPrimaryKeyWithBLOBs(data);
+        .collect(Collectors.joining(","));
+    System.out.println("异常区段：" + errSections);
+    System.out.println("异常信号机：" + errSignals);
+    System.out.println("异常区段：" + errSwitches);
   }
 }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPClient.java

@@ -11,7 +11,6 @@ import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.DatagramPacket;
 import io.netty.channel.socket.nio.NioDatagramChannel;
 import java.net.InetSocketAddress;
-import java.time.LocalDateTime;
 import java.util.concurrent.ConcurrentLinkedQueue;
 import lombok.Getter;
 import lombok.extern.slf4j.Slf4j;
@@ -60,16 +59,15 @@ public class UDPClient implements ApplicationRunner {
   public void write(InetSocketAddress addr, byte[] msg) {
     if (msg != null) {
       msgQueue.add(new Msg(addr, msg));
-      System.out.println(LocalDateTime.now());
     }
   }
 
   @Scheduled(fixedRate = 10)
   public void send() {
     Msg msg = msgQueue.poll();
-      if (msg == null) {
+    if (msg == null) {
-          return;
+      return;
-      }
+    }
     InetSocketAddress addr = msg.getAddr();
     byte[] data = msg.getData();
     if (channel != null && channel.isWritable() && addr != null && data != null) {

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPRealDeviceThread.java

@@ -72,7 +72,7 @@ public class UDPRealDeviceThread {
           for (RealDeviceConfig config : realDeviceList) {
             for (UDPRealDeviceService service : serviceList) {
               if (service.isMatch(udpLowConfig) && service.isMatch(config)
-                  && config.getMapElement() != null) {
+                /*&& config.getMapElement() != null*/) {
                 service.run(simulation, udpLowConfig, config);
               }
             }

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/config/ThailandRunPlanConfig.java

@@ -0,0 +1,90 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config;
+
+import club.joylink.rtss.simulation.cbtc.data.map.Route;
+import club.joylink.rtss.simulation.cbtc.data.map.Section;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.util.JsonUtils;
+import club.joylink.rtss.vo.client.project.ProjectDeviceVO;
+import club.joylink.rtss.vo.client.project.thailand.ThailandRunPlanConfigVO;
+import java.time.LocalDateTime;
+import java.util.HashMap;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import lombok.Data;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandRunPlanConfig extends RealDeviceConfig {
+
+  private ThailandRunPlanConfigVO configVO;
+
+  /**
+   * 设置计划后生成的实际计划
+   */
+  private LinkedHashMap<VirtualRealityTrain, List<Detail>> detailMap = new LinkedHashMap<>();
+
+  /**
+   * key - 始终区段code连接 value - 始终区段间的进路
+   */
+  private Map<String, Route[]> routeMap = new HashMap<>();
+
+  /**
+   * 表示是否按计划运行中
+   */
+  private boolean running;
+
+  public ThailandRunPlanConfig(ProjectDeviceVO projectDevice) {
+    super(projectDevice);
+    if (Objects.nonNull(projectDevice.getConfig())) {
+      this.configVO = JsonUtils.read(projectDevice.getConfig(), ThailandRunPlanConfigVO.class);
+    }
+  }
+
+  @Override
+  public String findDeviceCode() {
+    return null;
+  }
+
+  public int getParkingDuration() {
+    return configVO.getParkingDuration();
+  }
+
+  public Integer getDepartureDuration() {
+    return configVO.getDepartureDuration();
+  }
+
+  public void addRoutes(String fromSectionCode, String toSectionCode, Route[] routes) {
+    routeMap.put(fromSectionCode + toSectionCode, routes);
+  }
+
+  public Route[] getRoutes(String fromSectionCode, String toSectionCode) {
+    return routeMap.get(fromSectionCode + toSectionCode);
+  }
+
+  @Data
+  public static class Detail {
+
+    private VirtualRealityTrain train;
+    private Section track;
+    private LocalDateTime departureTime;
+    /**
+     * 计划是否完成
+     */
+    private boolean finished;
+    /**
+     * 进路是否已经办理
+     */
+    private boolean routeSet;
+
+    public Detail(VirtualRealityTrain train, Section track, LocalDateTime departureTime) {
+      this.train = train;
+      this.track = track;
+      this.departureTime = departureTime;
+    }
+  }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandRunPlanServiceImpl.java

@@ -0,0 +1,293 @@
+package club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.service;
+
+import static club.joylink.rtss.constants.ProjectDeviceType.SAND_TABLE_RUN_PLAN;
+
+import club.joylink.rtss.constants.ProjectDeviceType;
+import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
+import club.joylink.rtss.simulation.cbtc.ATS.service.AtsTrainLoadService;
+import club.joylink.rtss.simulation.cbtc.CI.CiApiService;
+import club.joylink.rtss.simulation.cbtc.Simulation;
+import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
+import club.joylink.rtss.simulation.cbtc.data.map.Route;
+import club.joylink.rtss.simulation.cbtc.data.map.Section;
+import club.joylink.rtss.simulation.cbtc.data.map.Signal;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
+import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandRunPlanConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandRunPlanConfig.Detail;
+import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService;
+import club.joylink.rtss.vo.client.project.thailand.ThailandRunPlanConfigVO.Param;
+import io.netty.buffer.ByteBuf;
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.Objects;
+import java.util.Optional;
+import java.util.Set;
+import java.util.stream.Collectors;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
+
+@Slf4j
+@Service
+public class ThailandRunPlanServiceImpl implements UDPRealDeviceService {
+
+  private AtsTrainLoadService atsTrainLoadService;
+  private CiApiService ciApiService;
+  private ATPService atpService;
+
+  public ThailandRunPlanServiceImpl(AtsTrainLoadService atsTrainLoadService,
+      CiApiService ciApiService, ATPService atpService) {
+    this.atsTrainLoadService = atsTrainLoadService;
+    this.ciApiService = ciApiService;
+    this.atpService = atpService;
+  }
+
+  @Override
+  public boolean isMatch(UDPLowConfig udpLowConfig) {
+    return true;
+  }
+
+  @Override
+  public boolean isMatch(RealDeviceConfig realDevice) {
+    return SAND_TABLE_RUN_PLAN.equals(realDevice.getDeviceType());
+  }
+
+  @Override
+  public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    ThailandRunPlanConfig config = (ThailandRunPlanConfig) realDevice;
+    if (!config.isRunning()) {
+      return;
+    }
+    SimulationDataRepository repository = simulation.getRepository();
+    LocalDateTime systemTime = simulation.getSystemTime();
+    List<Detail> previousTrainPlanDetails = new ArrayList<>();
+    boolean planCompleted = true;
+    for (Entry<VirtualRealityTrain, List<Detail>> entry : config.getDetailMap().entrySet()) {
+      VirtualRealityTrain train = entry.getKey();
+      if (!repository.isVrTrainOnline(train.getGroupNumber())) { //列车上线
+        Section firstTrack = entry.getValue().get(0).getTrack();
+        Section secondTrack = entry.getValue().get(1).getTrack();
+        Route[] routes = config.getRoutes(firstTrack.getCode(), secondTrack.getCode());
+        atsTrainLoadService.loadSpareTrain(simulation, train.getGroupNumber(),
+            firstTrack.getCode(), routes[0].isRight());
+      }
+      Section lastArriveTrack = null;
+      for (Detail detail : entry.getValue()) {
+        if (detail.isFinished()) {
+          lastArriveTrack = detail.getTrack();
+          continue;
+        }
+        Section track = detail.getTrack();
+        if (/*train.isStop() && */Objects.equals(train.getHeadPosition().getSection(), track)) {
+          lastArriveTrack = detail.getTrack();
+          detail.setFinished(true);
+          continue;
+        }
+        planCompleted = false;
+        if (track.isOccupied()) {
+          break;
+        }
+        if (systemTime.isBefore(detail.getDepartureTime())) {
+          break;
+        }
+        Route[] routes = config.getRoutes(lastArriveTrack.getCode(), track.getCode());
+        if (routes == null) {
+          log.error("缺少[{}-{}]的进路路径", lastArriveTrack.getCode(), track.getCode());
+          break;
+        }
+        if (detail.isRouteSet()) {
+          if (routes[0].isRight() != train.isRight()) {
+            atpService.turnDirectionImmediately(train);
+          }
+          break;
+        }
+        if (previousTrainPlanDetails.stream()
+            .filter(pd -> pd.getTrack().equals(track))
+            .anyMatch(pd -> !pd.isFinished())) { //前一辆车到该股道的计划尚未完成
+          break;
+        }
+
+        boolean routeLocked = true;
+        for (int i = routes.length - 1; i >= 0; i--) {
+          Route route = routes[i];
+          if (!route.isLock()) {
+            routeLocked = false;
+            ciApiService.settingRoute(simulation, route.getCode());
+            break;
+          }
+        }
+        if (routeLocked) {
+          detail.setRouteSet(true);
+        }
+        break;
+      }
+      previousTrainPlanDetails = entry.getValue();
+    }
+    if (planCompleted) {
+      planRunning(simulation, config, false);
+    }
+  }
+
+  @Override
+  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    ThailandRunPlanConfig config = (ThailandRunPlanConfig) realDevice;
+    planRunning(simulation, config, false);
+    config.getDetailMap().clear();
+
+    SimulationDataRepository repository = simulation.getRepository();
+    repository.getStandList()
+        .forEach(stand -> {
+          if (stand.getSection().isParkingTrack()) {
+            stand.setParkingTime(0);
+          } else {
+            stand.setParkingTime(config.getParkingDuration());
+          }
+          stand.setParkingAlwaysValid(true);
+        });
+
+    Map<String, Route[]> routeMap = config.getRouteMap();
+    if (CollectionUtils.isEmpty(routeMap)) {
+      List<Section> trackList = config.getConfigVO().getStandTrackList().stream()
+          .map(code -> repository.getByCode(code, Section.class))
+          .collect(Collectors.toList());
+      List<Section> potSections = repository.getSectionList().stream()
+          .filter(Section::isParkingTrack)
+          .collect(Collectors.toList()); //筛选出的都是停车场站台轨
+      boolean right = true;
+      for (Section potSection : potSections) {
+        right = fillRoutes(config, potSection, trackList.get(0), right);
+      }
+      for (int i = 0, trackListSize = trackList.size(); i < trackListSize - 1; i++) {
+        right = fillRoutes(config, trackList.get(i), trackList.get(i + 1), right);
+      }
+      for (Section potSection : potSections) {
+        right = fillRoutes(config, trackList.get(trackList.size() - 1), potSection, right);
+      }
+    }
+  }
+
+  @Override
+  public void handle(Simulation simulation, ByteBuf msg) {
+
+  }
+
+  private boolean fillRoutes(ThailandRunPlanConfig config, Section from, Section to,
+      boolean right) {
+    Route[] routes = findRoutes(from, to, right);
+    if (routes != null) {
+      config.addRoutes(from.getCode(), to.getCode(), routes);
+      return right;
+    }
+    routes = findRoutes(from, to, !right);
+    if (routes == null) {
+      log.error("[{}-{}]的进路找不到", from.debugStr(), to.debugStr());
+    }
+    config.addRoutes(from.getCode(), to.getCode(), routes);
+    return !right;
+  }
+
+  private Route[] findRoutes(Section from, Section to, boolean right) {
+    for (int i = 0; i < 10; i++) {
+      Signal departureSignal = from.getSignalOf(right);
+      if (departureSignal == null) {
+        return null;
+      }
+      List<Route> departureRoutes = departureSignal.getRouteList();
+      if (CollectionUtils.isEmpty(departureRoutes)) {
+        return null;
+      }
+      Route departureRoute = departureRoutes.stream()
+          .filter(Route::isTrainRoute)
+          .filter(route -> {
+            Signal destination = route.getDestination();
+            return destination.isDepartureSignal();
+          }).findFirst().orElse(null);
+      if (departureRoute == null) {
+        return null;
+      }
+      Section interStationSection = departureRoute.getDestination().getSection();
+      Signal receiveSignal = interStationSection.getSignalOf(right);
+      if (receiveSignal == null) {
+        return null;
+      }
+      List<Route> receiveRoutes = receiveSignal.getRouteList();
+      if (CollectionUtils.isEmpty(receiveRoutes)) {
+        return null;
+      }
+      Optional<Route> receiveRouteOptional = receiveRoutes.stream()
+          .filter(Route::isTrainRoute)
+          .filter(route -> route.getLastRouteSection().equals(to))
+          .findFirst();
+      return receiveRouteOptional.map(route -> new Route[]{departureRoute, route}).orElse(null);
+    }
+    return null;
+  }
+
+
+  public void runAsPlan(Simulation simulation, List<Param> paramList) {
+    SimulationDataRepository repository = simulation.getRepository();
+    List<String> errMsgList = new ArrayList<>();
+    Set<String> set = new HashSet<>();
+    for (Param param : paramList) {
+      Section section = repository.getByCode(param.getTrackCode(), Section.class);
+      if (!section.isOccupied()) {
+        errMsgList.add(String.format("The track named [%s] is unoccupied", section.getName()));
+      }
+      VirtualRealityTrain train = repository.queryOnlineTrainBy(param.getGroupNumber());
+      if (train != null && !train.getHeadPosition().getSection().equals(section)) {
+        errMsgList.add(String.format(
+            "The train with number [%s] is already in use and is not on the selected section.",
+            param.getGroupNumber()));
+      }
+      if (!set.add(param.getGroupNumber())) {
+        errMsgList.add(String.format("[%s] train number is duplicated", param.getGroupNumber()));
+      }
+      if (!set.add(param.getTrackCode())) {
+        errMsgList.add(String.format("[%s] section is duplicated", section.getName()));
+      }
+    }
+    BusinessExceptionAssertEnum.ARGUMENT_ILLEGAL.assertCollectionEmpty(errMsgList,
+        String.join("\n", errMsgList));
+    List<RealDeviceConfig> runPlanList = simulation.getRealDeviceByType(
+        ProjectDeviceType.SAND_TABLE_RUN_PLAN);
+    BusinessExceptionAssertEnum.OPERATION_NOT_SUPPORTED.assertCollectionNotEmpty(runPlanList,
+        "Configuration is missing, unable to set the running plan");
+
+    ThailandRunPlanConfig runPlanConfig = (ThailandRunPlanConfig) runPlanList.get(0);
+    List<Section> standTrackList = runPlanConfig.getConfigVO().getStandTrackList().stream()
+        .map(code -> repository.getByCode(code, Section.class))
+        .collect(Collectors.toList());
+    LocalDateTime now = simulation.getSystemTime();
+    Integer departureDuration = runPlanConfig.getDepartureDuration();
+    for (int i = 0, paramListSize = paramList.size(); i < paramListSize; i++) {
+      Param param = paramList.get(i);
+      VirtualRealityTrain train = repository.getVRByCode(param.getGroupNumber(),
+          VirtualRealityTrain.class);
+      Section section = repository.getByCode(param.getTrackCode(), Section.class);
+      LocalDateTime departureTime =
+          departureDuration == null ? now : now.plusSeconds(departureDuration * i);
+
+      List<Detail> detailList = new ArrayList<>();
+      detailList.add(new Detail(train, section, departureTime));
+      standTrackList.forEach(track -> {
+        Detail detail = new Detail(train, track, departureTime);
+        detailList.add(detail);
+      });
+      detailList.add(new Detail(train, section, departureTime));
+      runPlanConfig.getDetailMap().put(train, detailList);
+    }
+    planRunning(simulation, runPlanConfig, true);
+  }
+
+  private void planRunning(Simulation simulation, ThailandRunPlanConfig config, boolean run) {
+    config.setRunning(run);
+    simulation.getRepository().getStationList().forEach(station -> station.setPlanControl(run));
+  }
+}

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandSectionServiceImpl.java

@@ -4,12 +4,15 @@ import club.joylink.rtss.constants.ProjectCode;
 import club.joylink.rtss.constants.ProjectDeviceType;
 import club.joylink.rtss.simulation.cbtc.Simulation;
 import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealitySectionAxleCounter;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
 import club.joylink.rtss.simulation.cbtc.device.real.modbustcp.device.RealDeviceConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPClientConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPLowConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
 import io.netty.buffer.ByteBuf;
+import java.time.LocalDateTime;
+import java.util.HashMap;
 import java.util.Map;
 import java.util.function.Function;
 import java.util.stream.Collectors;
@@ -20,21 +23,41 @@ import org.springframework.stereotype.Service;
 @Service
 public class ThailandSectionServiceImpl implements UDPRealDeviceService {
 
+  private Map<VirtualRealityTrain, LocalDateTime> map = new HashMap<>();
+
   @Override
   public boolean isMatch(RealDeviceConfig realDevice) {
-    return realDevice instanceof UDPClientConfig && ProjectCode.THAILAND_SANDBOX
+    return (realDevice instanceof UDPClientConfig || realDevice instanceof ThailandSectionConfig)
-        .equals(realDevice.getProject());
+        && ProjectCode.THAILAND_SANDBOX.equals(realDevice.getProject());
   }
 
   @Override
   public void run(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
-
+    //本地测试模拟计轴占用
+//    List<VirtualRealityTrain> trainList = simulation.getRepository().getOnlineTrainList();
+//    LocalDateTime now = LocalDateTime.now();
+//    for (VirtualRealityTrain train : trainList) {
+//      LocalDateTime time = map.computeIfAbsent(train, K -> now.plusSeconds(7));
+//      Section section = train.getHeadPosition().getSection();
+//      VirtualRealitySectionAxleCounter currentAxle = section.findAxle();
+//      if (!train.isStop() && !now.isBefore(time)) {
+//        Section nextSection = section.getNextRunningSectionOf(train.isRight());
+//        if (nextSection == null) {
+//          continue;
+//        }
+//        VirtualRealitySectionAxleCounter nextAxle = nextSection.findAxle();
+//        if (nextAxle != currentAxle) {
+//          nextAxle.occupied(train.isRight());
+//          currentAxle.setOccupy(false);
+//        }
+//        map.put(train, time.plusSeconds(7));
+//      }
+//    }
   }
 
   @Override
   public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
-    //沙盘不需要停太长时间
+    map.clear();
-    simulation.getRepository().getStandList().forEach(stand -> stand.setParkingTime(15));
   }
 
   @Override

src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandTrainServiceImpl.java

@@ -87,6 +87,23 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
     }
   }
 
+  @Override
+  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
+    ThailandTrainConfig config = (ThailandTrainConfig) realDevice;
+    //控制vr设备
+    VirtualRealityTrain train = (VirtualRealityTrain) config.getMapElement();
+    //控制沙盘设备
+    byte[] data = buildData(train, config);
+    udpClient.write(udpLowConfig.getAddr(), data);
+    //清除状态
+    config.updateHeadSection(null);
+  }
+
+  @Override
+  public void handle(Simulation simulation, ByteBuf msg) {
+
+  }
+
   /**
    * 更新列车位置。
    * <p>
@@ -103,16 +120,22 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
     ThailandSectionConfig sectionConfig = (ThailandSectionConfig) headSection.findAxle()
         .getRealDevice(); //车头区段的配置
     if (nextSection != null) {
-      VirtualRealitySectionAxleCounter nextAxle = nextSection.findAxle();
+      boolean notSwitchTrack = !nextSection.isSwitchTrack();
-      if (nextAxle.isOccupy()) {
+      boolean isSwitchRelSections =
-        train.setHeadPosition(
+          nextSection.isSwitchTrack() && nextSection.getRelSwitch().getSectionsByPosition()
-            new SectionPosition(nextSection, right ? 0 : nextSection.getMaxOffset()));
+              .contains(nextSection);
-        config.setTimeOfArriveStopPoint(null);
+      if (notSwitchTrack || isSwitchRelSections) {
-        sectionConfig = (ThailandSectionConfig) nextAxle.getRealDevice();
+        VirtualRealitySectionAxleCounter nextAxle = nextSection.findAxle();
-        //更新变量
+        if (nextAxle.isOccupy()) {
-        previousSection = headSection;
+          train.setHeadPosition(
-        headSection = train.getHeadPosition().getSection();
+              new SectionPosition(nextSection, right ? 0 : nextSection.getMaxOffset()));
-        nextSection = null;
+          config.setTimeOfArriveStopPoint(null);
+          sectionConfig = (ThailandSectionConfig) nextAxle.getRealDevice();
+          //更新变量
+          previousSection = headSection;
+          headSection = train.getHeadPosition().getSection();
+          nextSection = null;
+        }
       }
     }
     //如果列车车头在进路首个区段，进路开始解锁。
@@ -162,6 +185,12 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
     if (config.getManualGear() != null) {
       return;
     }
+    if (train.isStop() && headSection.isStandTrack()) {
+      if (headSection.getStandList().stream().anyMatch(stand -> stand.getRemainTime() > 0)) {
+        //此处自行控制停站时间以确保用户的感知和设置的一样
+        return;
+      }
+    }
     if (stopPosition != null) {
       Float distance = CalculateService.calculateDistance(train.getHeadPosition(), stopPosition,
           right, false);
@@ -215,23 +244,6 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
     }
   }
 
-  @Override
-  public void init(Simulation simulation, UDPLowConfig udpLowConfig, RealDeviceConfig realDevice) {
-    ThailandTrainConfig config = (ThailandTrainConfig) realDevice;
-    //控制vr设备
-    VirtualRealityTrain train = (VirtualRealityTrain) config.getMapElement();
-    //控制沙盘设备
-    byte[] data = buildData(train, config);
-    udpClient.write(udpLowConfig.getAddr(), data);
-    //清除状态
-    config.updateHeadSection(null);
-  }
-
-  @Override
-  public void handle(Simulation simulation, ByteBuf msg) {
-
-  }
-
   private byte[] buildData(VirtualRealityTrain train, ThailandTrainConfig config) {
     int gear;
     if (train.isStop()) {

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

@@ -196,11 +196,11 @@ public class SimulationRobotService {
           doBreakMax(simulation, train);
         }
       } else if (train.isRobotNeedRun() && (train.isRMMode()
-              || train.isNRMMode())) { //CM应当根据推荐速度驾驶，待实现
+          || train.isNRMMode())) { //CM应当根据推荐速度驾驶，待实现
         VirtualRealityTrain linkTrain = train.getLinkTrain();
         if (linkTrain == null) {
           Optional<SectionPosition> targetPositionOptional = calculateTargetPosition(simulation,
-                  train);
+              train);
           targetPositionOptional.ifPresent(tp -> robotDrive(simulation, driver, train, tp));
         } else {
           robotDrive(simulation, driver, train, train.getRobotTargetPosition());
@@ -255,8 +255,10 @@ public class SimulationRobotService {
     Signal throughSignal = robotDriveParam.getThroughSignal();
     SignalAspect throughAspect = robotDriveParam.getThroughSignalAspect();
     Section section = headPosition.getSection();
+    boolean parking = train.isParkingAt();
 
-    if (throughSignal != null && !Objects.equals(section, throughSignal.getSection())) { //当车头与要越过的信号机不在同一区段
+    if (throughSignal != null && !Objects.equals(section,
+        throughSignal.getSection())) { //当车头与要越过的信号机不在同一区段
       throughSignal = null;
       throughAspect = null;
       robotDriveParam.setThrough(DriveParamVO.NO);
@@ -268,37 +270,25 @@ public class SimulationRobotService {
       // 车头在正常的站台上
       if (section.isNormalStandTrack() && !section.equals(train.getParkSection())) { //正常站台轨且未在此处停过车
         // 如果计划停车区段为空或者计划停车区段中有包含当前区段
-        if (CollectionUtils.isEmpty(plannedParkingSections) || plannedParkingSections.contains(section)) {
+        if (CollectionUtils.isEmpty(plannedParkingSections) || plannedParkingSections.contains(
+            section)) {
           SectionPosition stopPosition = section.buildStopPointPosition(right);
-          if (targetPosition == null || stopPosition.isAheadOf(targetPosition, right)) {
+          if (targetPosition == null || stopPosition.isAheadOf(targetPosition, !right)) {
             // 如果头部位置偏移小于停车点位置偏移，目标点为当前停车点
-            if (headPosition.getOffset() < (section.getStopPointByDirection(right) + SimulationConstants.PARK_POINT_MAX_OFFSET)) { //防止意外开过站后无法发车
+            if (headPosition.getOffset() < (section.getStopPointByDirection(right)
+                + SimulationConstants.PARK_POINT_MAX_OFFSET)) { //防止意外开过站后无法发车
               targetPosition = stopPosition;
             }
           }
         }
       }
 
-      // 取禁止信号前停车位置与当前目标停车位置中更近的一个
+      targetPosition = updateTargetPositionOfSignal(headPosition, right,
-      Signal signal = section.getSignalOf(right);
+          throughSignal, throughAspect, section, i, targetPosition, train.isParkingAt());
-      if (signal != null && !signal.isShunting()) { // 信号机不为调车信号机
-        VirtualRealitySignal vrSignal = signal.getVirtualSignal();
-        SectionPosition signalPosition = signal.getPosition();
-        if (vrSignal != null && (i != 0 || signalPosition.isAheadOf(headPosition, right))) { //有实体信号机且列车未越过信号机
-          if (Objects.equals(vrSignal.getAspect(), signal.getDefaultAspect()) //禁止信号
-              || Objects.equals(vrSignal.getAspect(), signal.getGuideAspect())) { //引导信号
-            if (!Objects.equals(signal, throughSignal) || !Objects.equals(vrSignal.getAspect(), throughAspect)) {
-              SectionPosition noPassPosition = CalculateService.calculateNextPositionByStartAndLen(signalPosition, !right, 2, true);
-              if (targetPosition == null || noPassPosition.isAheadOf(targetPosition, right)) {
-                targetPosition = noPassPosition;
-              }
-            }
-          }
-        }
-      }
 
       if (targetPosition == null) {
-        if (selectedPosition != null && section.equals(selectedPosition.getSection())) { //不会有比选定位置更靠前的停车点了
+        if (selectedPosition != null && section.equals(
+            selectedPosition.getSection())) { //不会有比选定位置更靠前的停车点了
           targetPosition = selectedPosition;
         } else {
           Section tempSection = section.findNextRunningSectionBaseRealSwitch(right);
@@ -310,13 +300,13 @@ public class SimulationRobotService {
         }
       } else {
         if (selectedPosition != null) {
-          if (selectedPosition.isAheadOf(targetPosition, right)) {
+          if (selectedPosition.isAheadOf(targetPosition, !right)) {
             targetPosition = selectedPosition;
           } else {
             break;
           }
         }
-        if (selectedPosition != null && selectedPosition.isAheadOf(targetPosition, right)) {
+        if (selectedPosition != null && selectedPosition.isAheadOf(targetPosition, !right)) {
           targetPosition = selectedPosition;
         } else {
 
@@ -329,7 +319,50 @@ public class SimulationRobotService {
     if (targetPosition == null) { //上方的区段遍历完后，即没有找到目标区段，也没有找到轨道尽头
       targetPosition = new SectionPosition(section, right ? 0 : section.getMaxOffset());
     }
-    return Optional.ofNullable(targetPosition);
+    return Optional.of(targetPosition);
+  }
+
+  /**
+   * 获取以信号机为依据的目标位置
+   *
+   * @param i 区段的索引
+   * @return 如果计算出的targetPosition比参数中的更近，则返回新的，否则返回原来的
+   */
+  private SectionPosition updateTargetPositionOfSignal(SectionPosition headPosition, boolean right,
+      Signal throughSignal, SignalAspect throughAspect, Section section, int i,
+      SectionPosition targetPosition, boolean parking) {
+    Signal signal = section.getSignalOf(right);
+    if (signal == null || signal.isShunting()) {
+      return targetPosition;
+    }
+    VirtualRealitySignal vrSignal = signal.getVirtualSignal();
+    SectionPosition signalPosition = signal.getPosition();
+    if (vrSignal == null || (i == 0 && headPosition.isAheadOf(signalPosition, right))) {
+      //解释下||后面的条件，如果i!=0，则车头位置一定不可能在信号机前方，即i==0只是为了减少计算，对结果没有影响
+      return targetPosition;
+    }
+    if (targetPosition != null && signalPosition.isAheadOf(targetPosition, right)) {
+      //只要目标位置没有越过信号机，则没必要一定和信号机保持2m距离
+      return targetPosition;
+    }
+    if (!Objects.equals(vrSignal.getAspect(), signal.getDefaultAspect())
+        && !Objects.equals(vrSignal.getAspect(), signal.getGuideAspect())) { //非禁止/引导信号
+      return targetPosition;
+    }
+    if (Objects.equals(signal, throughSignal)
+        && Objects.equals(vrSignal.getAspect(), throughAspect)) {
+      return targetPosition;
+    }
+    if (parking && section.equals(headPosition.getSection())) { //避免停站结束后向前移动到信号机前
+      return headPosition;
+    }
+    SectionPosition newPosition = CalculateService.calculateNextPositionByStartAndLen(
+        signalPosition, !right, 2, true);
+    if (targetPosition == null || newPosition.isAheadOf(targetPosition, !right)) {
+      return newPosition;
+    } else {
+      return targetPosition;
+    }
   }
 
   private void releaseEB(Simulation simulation, SimulationMember driver,

src/main/java/club/joylink/rtss/vo/client/project/ProjectDeviceVO.java

@@ -34,6 +34,7 @@ import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSectionConf
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSignalConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrSwitchConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.sr.config.SrTrainConfig;
+import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandRunPlanConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSignalConfig;
 import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSwitchConfig;
@@ -176,6 +177,9 @@ public class ProjectDeviceVO {
         case TRAIN:
           list.add(new ThailandTrainConfig(deviceVO));
           break;
+        case SAND_TABLE_RUN_PLAN:
+          list.add(new ThailandRunPlanConfig(deviceVO));
+          break;
       }
     }
     return list;

src/main/java/club/joylink/rtss/vo/client/project/thailand/ThailandRunPlanConfigVO.java

@@ -0,0 +1,59 @@
+package club.joylink.rtss.vo.client.project.thailand;
+
+import club.joylink.rtss.vo.client.project.RealConfigVO;
+import java.util.List;
+import javax.validation.constraints.NotBlank;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.Getter;
+import lombok.Setter;
+
+@Getter
+@Setter
+public class ThailandRunPlanConfigVO extends RealConfigVO {
+
+  private List<String> standTrackList;
+
+  /**
+   * 停站时长/s
+   */
+  private int parkingDuration = 15;
+
+  /**
+   * 发车间隔/s。多辆车从停车场发车的间隔时长
+   */
+  private Integer departureDuration;
+
+  public ThailandRunPlanConfigVO() {
+    super(null, null);
+  }
+
+  public ThailandRunPlanConfigVO(Integer addr, Integer quantity) {
+    super(addr, quantity);
+  }
+
+  @Override
+  public String findDeviceCode() {
+    return null;
+  }
+
+  @Data
+  @AllArgsConstructor
+  public static class Detail {
+
+    private String groupNumber;
+    private String stationName;
+    private String trackName;
+    private Integer parkingDuration;
+    private boolean finished;
+  }
+
+  @Data
+  public static class Param {
+
+    @NotBlank(message = "groupNumber cannot be null")
+    private String groupNumber;
+    @NotBlank(message = "track cannot be null")
+    private String trackCode;
+  }
+}

src/main/java/club/joylink/rtss/websocket/interceptor/SessionAuthHandshakeInterceptor.java

@@ -3,50 +3,49 @@ package club.joylink.rtss.websocket.interceptor;
 import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
 import club.joylink.rtss.services.LoginSessionManager;
 import club.joylink.rtss.vo.LoginUserInfoVO;
+import java.util.Map;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.server.ServerHttpRequest;
 import org.springframework.http.server.ServerHttpResponse;
 import org.springframework.util.StringUtils;
 import org.springframework.web.socket.WebSocketHandler;
-import org.springframework.web.socket.server.HandshakeInterceptor;
-
-import java.util.HashMap;
-import java.util.Map;
 
 @Slf4j
 public class SessionAuthHandshakeInterceptor extends BaseInterceptor {
-    private static final String Token_Key = "token";
-    public static final String ATTR_USER_KEY = "user";
-    private LoginSessionManager loginSessionManager;
 
-    public SessionAuthHandshakeInterceptor(LoginSessionManager loginSessionManager) {
+  private static final String Token_Key = "token";
-        this.loginSessionManager = loginSessionManager;
+  public static final String ATTR_USER_KEY = "user";
+  private LoginSessionManager loginSessionManager;
+
+  public SessionAuthHandshakeInterceptor(LoginSessionManager loginSessionManager) {
+    this.loginSessionManager = loginSessionManager;
+  }
+
+  @Override
+  public boolean beforeHandshake(ServerHttpRequest request, ServerHttpResponse response,
+      WebSocketHandler wsHandler,
+      Map<String, Object> attributes) throws Exception {
+    try {
+      LoginUserInfoVO loginUserInfoVO = getLoginUser(request);
+      attributes.put(ATTR_USER_KEY, loginUserInfoVO);
+      return true;
+    } catch (Throwable e) {
+      log.error("未登录或登陆已过期");
     }
+    response.setStatusCode(HttpStatus.UNAUTHORIZED);
+    return false;
+  }
 
-    @Override
+  private LoginUserInfoVO getLoginUser(ServerHttpRequest request) {
-    public boolean beforeHandshake(ServerHttpRequest request, ServerHttpResponse response, WebSocketHandler wsHandler,
-                                   Map<String, Object> attributes) throws Exception {
-        try {
-            LoginUserInfoVO loginUserInfoVO = getLoginUser(request);
-            attributes.put(ATTR_USER_KEY, loginUserInfoVO);
-            return true;
-        } catch (Throwable e) {
-            log.error("未登录或登陆已过期", e);
-        }
-        response.setStatusCode(HttpStatus.UNAUTHORIZED);
-        return false;
-    }
-
-    private LoginUserInfoVO getLoginUser(ServerHttpRequest request) {
 //        String query = request.getURI().getQuery();
-        Map<String, String> map = this.findQueryParams(request);
+    Map<String, String> map = this.findQueryParams(request);
-        log.info(String.format("webSocket handshake query: [%s]", map));
+    log.info(String.format("webSocket handshake query: [%s]", map));
-        BusinessExceptionAssertEnum.NOT_LOGIN.assertTrue(StringUtils.hasText(map.get(Token_Key)));
+    BusinessExceptionAssertEnum.NOT_LOGIN.assertTrue(StringUtils.hasText(map.get(Token_Key)));
-        return this.loginSessionManager.getLoginInfoByToken(map.get(Token_Key));
+    return this.loginSessionManager.getLoginInfoByToken(map.get(Token_Key));
 //        AccountVO accountVO = loginInfoVO.getAccountVO();
 //        BusinessExceptionAssertEnum.NOT_LOGIN.assertNotNull(accountVO);
 //        return accountVO;
-    }
+  }
 
 }