rts-sim-module/fi/motor.go

package fi

import (
	"fmt"
	"joylink.club/ecs"
	"joylink.club/rtsssimulation/component"
	"joylink.club/rtsssimulation/entity"
)

// FiMotorSwitch 电机电源开关定义
type FiMotorSwitch uint8

const (
	FiMsOff       FiMotorSwitch = iota //关闭电源
	FiMsOnForward                      //正转电源
	FiMsOnReverse                      //反转电源
)

// MotorOperate 电机操作
//
// deviceId 电机id；
// fiMs 电机电源；
// fc 电机如果有变频器，设置频率；
func MotorOperate(w ecs.World, deviceId string, fiMs FiMotorSwitch, fc uint16) error {
	if fc < 0 || fc > 100 {
		return fmt.Errorf("设置变频器频率[%d]不在[0,100]范围内", fc)
	}
	ms, e := func(fiMs FiMotorSwitch) (component.MotorSwitch, error) {
		switch fiMs {
		case FiMsOff:
			return component.MsOff, nil
		case FiMsOnForward:
			return component.MsOnForward, nil
		case FiMsOnReverse:
			return component.MsOnReverse, nil
		default:
			return 0, fmt.Errorf("参数fiMs[%d]无法映射到component.MotorSwitch", fiMs)
		}
	}(fiMs)
	if e != nil {
		return e
	}
	r := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
		wd := entity.GetWorldData(w)
		deviceEntry, ok := wd.EntityMap[deviceId]
		if !ok {
			return ecs.NewErrResult(fmt.Errorf("设备[%s]实体不存在", deviceId))
		}
		//
		if !deviceEntry.HasComponent(component.MotorType) {
			return ecs.NewErrResult(fmt.Errorf("设备[%s]不是电机", deviceId))
		}
		motor := component.MotorType.Get(deviceEntry)
		motor.Ms = ms
		if deviceEntry.HasComponent(component.MotorFcType) { //变频电机
			component.MotorFcType.Get(deviceEntry).F = fc
		}
		//
		return ecs.NewOkEmptyResult()
	})
	return r.Err
}