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屏蔽门增加设置障碍物的逻辑、补全状态显示

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This commit is contained in:
joylink_zhangsai 2024-01-24 09:59:17 +08:00
parent 2879914757
commit 247003d00b
4 changed files with 48 additions and 18 deletions
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36
component/component_proto/psd.pb.go
View File

@ -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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}
var (

2
component/psd.go
View File

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

1
proto/src/component/psd.proto
View File

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

21
sys/circuit_sys/psd.go
View File

@ -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
}
}