屏蔽门增加设置障碍物的逻辑、补全状态显示

component/component_proto/psd.pb.go

@@ -75,6 +75,7 @@ type PsdState struct {
 	unknownFields protoimpl.UnknownFields
 
 	Close    bool `protobuf:"varint,1,opt,name=close,proto3" json:"close,omitempty"`
+	Obstacle bool `protobuf:"varint,2,opt,name=obstacle,proto3" json:"obstacle,omitempty"`
 }
 
 func (x *PsdState) Reset() {
@@ -116,6 +117,13 @@ func (x *PsdState) GetClose() bool {
 	return false
 }
 
+func (x *PsdState) GetObstacle() bool {
+	if x != nil {
+		return x.Obstacle
+	}
+	return false
+}
+
 type Psd struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -222,20 +230,22 @@ var File_component_psd_proto protoreflect.FileDescriptor
 var file_component_psd_proto_rawDesc = []byte{
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+	0x33,
 }
 
 var (

component/psd.go

@@ -105,6 +105,6 @@ type Psc struct {
 
 	QDTC bool
 	TZTC bool
-	ZAW    bool
+	//ZAW    bool
 	JXTCPL bool
 }

proto/src/component/psd.proto

@@ -6,6 +6,7 @@ option go_package = "./component/component_proto";
 
 message PsdState {
   bool close = 1;
+  bool obstacle = 2;
 }
 
 message Psd {

sys/circuit_sys/psd.go

@@ -47,13 +47,18 @@ func (p *PsdSys) Update(world ecs.World) {
 				p.driveMPLJ(world, psdCircuit, component.UidType.Get(entry))
 				psc.InterlockMPL = component.BitStateType.Get(psdCircuit.MPLJ).Val
 			}
-			//间隙探测
+			//间隙探测驱动
 			if psdCircuit.QDTCJ != nil && psdCircuit.TZTCJ != nil {
 				p.exciteQDTCJ(worldData, psdCircuit)
 				p.exciteTZTCJ(worldData, psdCircuit)
 				psc.QDTC = component.BitStateType.Get(psdCircuit.QDTCJ).Val
 				psc.TZTC = component.BitStateType.Get(psdCircuit.TZTCJ).Val
 			}
+			//间隙探测
+			if psdCircuit.ZAWJ != nil {
+				p.exciteZAWJ(psdCircuit, asdList)
+				psdState.Obstacle = component.BitStateType.Get(psdCircuit.ZAWJ).Val
+			}
 		} else {
 			psdState.Close = p.isAllAsdMotorClosed(asdList)
 		}
@@ -246,3 +251,17 @@ func (p *PsdSys) exciteTZTCJ(data *component.WorldData, circuit *component.PsdCi
 		component.RelayDriveType.Get(circuit.TZTCJ).Td = !qdtcj.Val
 	}
 }
+
+func (p *PsdSys) exciteZAWJ(circuit *component.PsdCircuit, asdList *component.AsdList) {
+	if component.BitStateType.Get(circuit.QDTCJ).Val {
+		for _, asd := range asdList.List {
+			if asd.HasComponent(component.AsdHasObstacleTag) {
+				component.RelayDriveType.Get(circuit.ZAWJ).Td = true
+				return
+			}
+		}
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	} else {
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	}
+}