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rt-sim-training-service
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修改泰国沙盘逻辑，提高UDP真实设备逻辑运行速度

This commit is contained in:
joylink_zhangsai 2023-06-07 17:54:58 +08:00
parent b70d829c65
commit 6a9b4c43c9
6 changed files with 109 additions and 51 deletions
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43
src/main/java/club/joylink/rtss/services/project/DeviceServiceImpl.java
View File

@ -994,44 +994,65 @@ public class DeviceServiceImpl implements DeviceService {
}
switch (section.getCode()) {
case "T233": //X302G
headDelayTime = 7f;
headDelayTime = 7.3f;
break;
case "T232": //X303G
headDelayTime = 7f;
headDelayTime = 6.5f;
break;
case "T231": //X304G
headDelayTime = 5.5f;
break;
case "T178": //4站-3G
headDelayTime = 5.2f;
break;
case "T177": //4站-IG
headDelayTime = 5.4f;
break;
case "T175": //4站-IIG
headDelayTime = 6.5f;
headDelayTime = 6.6f;
break;
case "T174": //4站-4G
headDelayTime = 6.2f;
break;
case "T176": //4站-6G
headDelayTime = 6f;
break;
case "T179": //4站-5G
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
headDelayTime = 5.1f;
headDelayTime = 5.9f;
break;
case "T120": //3站-4G
headDelayTime = 5.5f;
break;
case "T78": //2站-IG
headDelayTime = 5.5f;
break;
case "T77": //2站-IIG
headDelayTime = 6.1f;
headDelayTime = 5.9f;
break;
case "T76": //2站-4G
headDelayTime = 5.7f;
break;
case "T22": //1站-1G
headDelayTime = 5.1f;
headDelayTime = 5.3f;
break;
case "T23": //1站-IIG
headDelayTime = 5.1f;
break;
case "T27": //1站-5G
headDelayTime = 4.9f;
break;
case "T26": //1站-3G
headDelayTime = 4.8f;
break;
case "T24": //1站-4G
headDelayTime = 5.1f;
break;
@ -1039,10 +1060,10 @@ public class DeviceServiceImpl implements DeviceService {
headDelayTime = 5.1f;
break;
case "T145": //QX04
tailDelayTime = 0f;
headDelayTime = 1.9f;
break;
case "T146": //QS04
tailDelayTime = 0f;
headDelayTime = 2.7f;
break;
case "T104": //QX03
tailDelayTime = 0f;

2
src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/UDPRealDeviceThread.java
View File

@ -23,7 +23,7 @@ public class UDPRealDeviceThread {
* <p>
* 因沙盘对延迟要求较高，所以将频率提高
*/
public static final int RATE = 100;
public static final int RATE = 10;
@Autowired
private UDPRealDeviceServiceManager udpRealDeviceServiceManager;

2
src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandSectionServiceImpl.java
View File

@ -24,6 +24,8 @@ public class ThailandSectionServiceImpl implements UDPRealDeviceService {
@Autowired
private MaService maService;
@Autowired
private ThailandTrainServiceImpl thailandTrainService;
@Override
public boolean isMatch(RealDeviceConfig realDevice) {

102
src/main/java/club/joylink/rtss/simulation/cbtc/device/real/udp/thailand/service/ThailandTrainServiceImpl.java
View File

@ -5,6 +5,8 @@ import club.joylink.rtss.exception.BusinessExceptionAssertEnum;
import club.joylink.rtss.simulation.cbtc.ATS.service.AtsTrainLoadService;
import club.joylink.rtss.simulation.cbtc.GroupSimulationService;
import club.joylink.rtss.simulation.cbtc.Simulation;
import club.joylink.rtss.simulation.cbtc.constant.SimulationConstants;
import club.joylink.rtss.simulation.cbtc.data.CalculateService;
import club.joylink.rtss.simulation.cbtc.data.SimulationDataRepository;
import club.joylink.rtss.simulation.cbtc.data.map.Section;
import club.joylink.rtss.simulation.cbtc.data.support.SectionPosition;
@ -18,10 +20,12 @@ import club.joylink.rtss.simulation.cbtc.device.real.udp.UDPRealDeviceService;
import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandSectionConfig;
import club.joylink.rtss.simulation.cbtc.device.real.udp.thailand.config.ThailandTrainConfig;
import club.joylink.rtss.simulation.cbtc.onboard.ATP.ATPService;
import club.joylink.rtss.simulation.cbtc.robot.SimulationRobotService;
import club.joylink.rtss.vo.client.project.thailand.ThailandSectionConfigVO;
import io.netty.buffer.ByteBuf;
import java.time.LocalDateTime;
import java.util.Objects;
import java.util.Optional;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@ -40,6 +44,8 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
private GroupSimulationService groupSimulationService;
@Autowired
private AtsTrainLoadService atsTrainLoadService;
@Autowired
private SimulationRobotService simulationRobotService;
@Override
public boolean isMatch(UDPLowConfig udpLowConfig) {
@ -64,8 +70,7 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
config.setManualGear(null);
config.setGear(null);
}
updateTrainPosition(simulation, train, config);
updateTrainSpeed(simulation, train, config);
updateTrainPositionAndSpeed(simulation, train, config);
//减少关门后的延迟发车时间
if (train.getDelayTime() > 3000) {
train.setDelayTime(3000);
@ -84,7 +89,7 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
* 1.如果列车占压新的区段，则先将列车车头位置更新至该区段的停车点之前（保证列车可以继续运行）。 2.根据区段的配置信息，决定列车何时将车头位置更新至停车点
* 3.根据上一步设置的停车时间，判断执行更新车头位置至停车点逻辑（触发列车停车逻辑）
*/
private void updateTrainPosition(Simulation simulation, VirtualRealityTrain train,
private void updateTrainPositionAndSpeed(Simulation simulation, VirtualRealityTrain train,
ThailandTrainConfig config) {
//判断列车是否到达新区段
boolean right = train.isRight(); //车头方向
@ -130,15 +135,46 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
}
//根据当前时间，判断更新车头位置至停车点
LocalDateTime timeOfArriveStopPoint = config.getTimeOfArriveStopPoint();
Optional<SectionPosition> stopPositionOptional = simulationRobotService.calculateTargetPosition(
simulation, train);
SectionPosition stopPosition = stopPositionOptional.orElse(null);
if (timeOfArriveStopPoint != null && !now.isBefore(timeOfArriveStopPoint)) {
SectionPosition stopPosition = train.getRobotDriveParam().getStopPosition();
if (stopPosition != null && stopPosition.getSection().equals(headSection)) {
train.setHeadPosition(stopPosition);
} else if (stopPosition == null || !stopPosition.getSection().equals(headSection)) {
} else {
float offset = right ? headSection.getMaxOffset() : 0;
train.setHeadPosition(new SectionPosition(headSection, offset));
}
}
//更新速度。由于沙盘对延时要求很高，机器人驾驶逻辑频率有点低，所以选择不利用机器人驾驶的逻辑
if (config.getManualGear() != null) {
return;
}
if (stopPosition != null) {
Float distance = CalculateService.calculateDistance(train.getHeadPosition(), stopPosition,
right, false);
if (distance == null || distance <= SimulationConstants.PARK_POINT_MAX_OFFSET) {
train.setSpeed(0);
return;
}
float highSpeed = 20 / 3.6f;
float lowSpeed = 10 / 3.6f;
if (headSection.isStandTrack()) {
train.setSpeed(lowSpeed);
return;
}
if (stopPosition.getSection().isStandTrack()) {
Section stopPreviousSection = stopPosition.getSection().getNextRunningSectionOf(!right);
if (stopPreviousSection != null && Objects.equals(stopPreviousSection.findAxle(),
headSection.findAxle())) { //当前车头在站台轨的前一个计轴区段
train.setSpeed(lowSpeed);
return;
}
}
train.setSpeed(highSpeed);
} else {
train.setSpeed(0);
}
}
/**
@ -184,19 +220,6 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
}
private void updateTrainSpeed(Simulation simulation, VirtualRealityTrain train,
ThailandTrainConfig config) {
//更新速度
if (config.getManualGear() != null) {
return;
}
if (train.getFk() > train.getFb()) {
train.setSpeed(10 / 3.6f);
} else if (train.getFb() > train.getFk()) {
train.setSpeed(0);
}
}
private byte[] buildData(VirtualRealityTrain train, ThailandTrainConfig config) {
int gear;
if (train.isStop()) {
@ -235,44 +258,65 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
}
switch (section.getCode()) {
case "T233": //X302G
headDelayTime = 7f;
headDelayTime = 7.3f;
break;
case "T232": //X303G
headDelayTime = 7f;
headDelayTime = 6.5f;
break;
case "T231": //X304G
headDelayTime = 5.5f;
break;
case "T178": //4站-3G
headDelayTime = 5.2f;
break;
case "T177": //4站-IG
headDelayTime = 5.4f;
break;
case "T175": //4站-IIG
headDelayTime = 6.5f;
headDelayTime = 6.6f;
break;
case "T174": //4站-4G
headDelayTime = 6.2f;
break;
case "T176": //4站-6G
headDelayTime = 6f;
break;
case "T179": //4站-5G
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
headDelayTime = 5.1f;
headDelayTime = 5.9f;
break;
case "T120": //3站-4G
headDelayTime = 5.5f;
break;
case "T78": //2站-IG
headDelayTime = 5.5f;
break;
case "T77": //2站-IIG
headDelayTime = 6.1f;
headDelayTime = 5.9f;
break;
case "T76": //2站-4G
headDelayTime = 5.7f;
break;
case "T22": //1站-1G
headDelayTime = 5.1f;
headDelayTime = 5.3f;
break;
case "T23": //1站-IIG
headDelayTime = 5.1f;
break;
case "T27": //1站-5G
headDelayTime = 4.9f;
break;
case "T26": //1站-3G
headDelayTime = 4.8f;
break;
case "T24": //1站-4G
headDelayTime = 5.1f;
break;
@ -280,10 +324,10 @@ public class ThailandTrainServiceImpl implements UDPRealDeviceService {
headDelayTime = 5.1f;
break;
case "T145": //QX04
tailDelayTime = 0f;
headDelayTime = 1.9f;
break;
case "T146": //QS04
tailDelayTime = 0f;
headDelayTime = 2.7f;
break;
case "T104": //QX03
tailDelayTime = 0f;

5
src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java
View File

@ -207,7 +207,7 @@ public class SimulationRobotService {
/**
* 计算目标位置
*/
private Optional<SectionPosition> calculateTargetPosition(Simulation simulation,
public Optional<SectionPosition> calculateTargetPosition(Simulation simulation,
VirtualRealityTrain train) {
DriveParamVO robotDriveParam = train.getRobotDriveParam();
if (train.isEB()) {
@ -345,11 +345,8 @@ public class SimulationRobotService {
*/
private void robotDrive(Simulation simulation, SimulationMember driver, VirtualRealityTrain train,
SectionPosition targetPosition) {
train.getRobotDriveParam().setStopPosition(targetPosition);
if (!train.isInTheGear(VirtualRealityTrain.Handwheel.MANUAL)) { //确保当前在手动档位
return;
// CommandBO.Step step = CommandBO.buildGearChangeStep(train.getGroupNumber(), VirtualRealityTrain.Handwheel.MANUAL);
// atsOperationDispatcher.execute(simulation, driver, step.getOperationType().name(), step.getOperationParams());
}
if (train.isEB()) {
if (train.getRobotDriveParam().isReleaseEB()) {

6
src/main/java/club/joylink/rtss/vo/client/operation/DriveParamVO.java
View File

@ -57,12 +57,6 @@ public class DriveParamVO {
*/
private int through;
/**
* 这个停车位置是机器人驾驶逻辑计算出来的，这个字段仅供泰国沙盘的列车逻辑使用。
*/
@JsonIgnore
private SectionPosition stopPosition;
public static final int NO = 0;
public static final int RED_SIGNAL = 1;
public static final int GUIDE_SIGNAL = 2;