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rt-sim-training-service
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修改机器人驾驶的停车制动操作

This commit is contained in:
joylink_zhangsai 2023-12-04 11:01:00 +08:00
parent d77e70c126
commit b8768e6052
1 changed files with 1 additions and 94 deletions
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95
src/main/java/club/joylink/rtss/simulation/cbtc/robot/SimulationRobotService.java
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@ -602,101 +602,8 @@ public class SimulationRobotService {
.forEach(station -> atsStationService.doOperationModeSwitch(station));
}
private void doControlBySpeedCurve(Simulation simulation, VirtualRealityTrain train,
SpeedCurve speedCurve, float remainDistance) {
if (speedCurve.equals(SpeedCurve.ZERO)) {
this.doBreakMax(simulation, train);
return;
}
SpeedCurve.SpeedCalculator calculator = speedCurve.getCalculatorOf(remainDistance);
if (calculator.getVt() == 0
&& remainDistance <= SimulationConstants.PARK_POINT_MAX_OFFSET) { //末速度为0且当前距终点距离在停车误差内
this.doBreakMax(simulation, train);
return;
}
float speed = train.getSpeed();
if (speed == 0) {
this.doStart(simulation, train);
return;
}
float atoSpeed = train.getAtoSpeed();
float acceleration = calculator.getAcceleration();
float diff = speed - atoSpeed;
if (acceleration == 0) { //匀速段
if (diff <= -0.1) { //当前速度远小于目标速度
this.doAccelerateMax(simulation, train);
} else if (diff < 0) { //当前速度略小于目标速度
this.doAccelerate(simulation, train, 0.1f);
} else if (0 == diff) {
this.doIdle(simulation, train);
} else if (diff < 0.1) { //当前速度略大于目标速度
this.doBreak(simulation, train, -0.1f);
} else {
this.doBreakMax(simulation, train); //当前速度远大于目标速度
}
} else { //减速段
if (diff <= -0.1) { //当前速度远小于目标速度
this.doAccelerateMax(simulation, train);
} else if (diff < 0) { //当前速度略小于目标速度
this.doBreak(simulation, train, Math.abs(acceleration) - 0.1f);
} else if (0 == diff) {
this.doBreak(simulation, train, Math.abs(acceleration));
} else if (diff < 0.1) { //当前速度略大于目标速度
this.doBreak(simulation, train, Math.abs(acceleration) + 0.1f);
} else {
this.doBreakMax(simulation, train); //当前速度远大于目标速度
}
}
}
/**
* 列车启动
*
* @param simulation
* @param train
*/
private void doStart(Simulation simulation, VirtualRealityTrain train) {
driverOperateHandler.changeTrainForce(simulation, train.getGroupNumber(), 1f);
}
/**
* 惰行（不牵引，不制动）
*
* @param simulation
* @param train
*/
private void doIdle(Simulation simulation, VirtualRealityTrain train) {
driverOperateHandler.changeTrainForce(simulation, train.getGroupNumber(), 0f);
}
private void doAccelerateMax(Simulation simulation, VirtualRealityTrain train) {
this.doAccelerate(simulation, train, VirtualRealityTrain.Stable_Acceleration);
}
/**
* 列车加速
*/
private void doAccelerate(Simulation simulation, VirtualRealityTrain train, float a) {
float fk = a * train.getMass();
float fkMax = train.getCurrentFkMax();
fk = Math.min(fk, fkMax);
driverOperateHandler.changeTrainForce(simulation, train.getGroupNumber(),
Math.min(fk / fkMax, 1));
}
private void doBreakMax(Simulation simulation, VirtualRealityTrain train) {
driverOperateHandler.changeTrainForce(simulation, train.getGroupNumber(), -1f);
}
/**
* 列车制动
*/
private void doBreak(Simulation simulation, VirtualRealityTrain train, float a) {
a = -Math.abs(a);
float fb = train.getMass() * a;
float fbMax = train.getCurrentFbMax();
driverOperateHandler.changeTrainForce(simulation, train.getGroupNumber(),
Math.max(fb / fbMax, -1));
atpService.changeTrainForce(train, -1f);
}
public void addJobs(Simulation simulation) {