From 4ee6f05b62ffe82f5d8e79ae85dbf3855fd2f229 Mon Sep 17 00:00:00 2001
From: thesai <1021828630@qq.com>
Date: Sun, 18 Feb 2024 10:06:56 +0800
Subject: [PATCH] =?UTF-8?q?=E6=BB=91=E5=8A=A8=E9=97=A8=E5=A2=9E=E5=8A=A0{?=
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---
 component/component_proto/psd.pb.go | 19 ++++++++++++++-----
 proto/src/component/psd.proto       |  1 +
 sys/device_sys/asd.go               |  6 ++++++
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/component/component_proto/psd.pb.go b/component/component_proto/psd.pb.go
index 21dc2e6..9fd808f 100644
--- a/component/component_proto/psd.pb.go
+++ b/component/component_proto/psd.pb.go
@@ -170,6 +170,7 @@ type AsdState struct {
 	Gmdw bool `protobuf:"varint,1,opt,name=gmdw,proto3" json:"gmdw,omitempty"` //关门到位（实际位置）
 	Kmdw bool `protobuf:"varint,2,opt,name=kmdw,proto3" json:"kmdw,omitempty"` //开门到位（实际位置）
 	Mgj  bool `protobuf:"varint,3,opt,name=mgj,proto3" json:"mgj,omitempty"`   //门关继电器
+	Zaw  bool `protobuf:"varint,4,opt,name=zaw,proto3" json:"zaw,omitempty"`   //有障碍物
 }
 
 func (x *AsdState) Reset() {
@@ -225,6 +226,13 @@ func (x *AsdState) GetMgj() bool {
 	return false
 }
 
+func (x *AsdState) GetZaw() bool {
+	if x != nil {
+		return x.Zaw
+	}
+	return false
+}
+
 var File_component_psd_proto protoreflect.FileDescriptor
 
 var file_component_psd_proto_rawDesc = []byte{
@@ -238,14 +246,15 @@ var file_component_psd_proto_rawDesc = []byte{
 	0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10, 0x00, 0x12, 0x12, 0x0a,
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+	0x2e, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f, 0x6d, 0x70,
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+	0x74, 0x6f, 0x33,
 }
 
 var (
diff --git a/proto/src/component/psd.proto b/proto/src/component/psd.proto
index ce4bb1f..4c4a519 100644
--- a/proto/src/component/psd.proto
+++ b/proto/src/component/psd.proto
@@ -22,4 +22,5 @@ message AsdState {
   bool kmdw = 2; //开门到位（实际位置）
 
   bool mgj = 3; //门关继电器
+  bool zaw = 4; //有障碍物
 }
\ No newline at end of file
diff --git a/sys/device_sys/asd.go b/sys/device_sys/asd.go
index f0ec2a4..b99e31f 100644
--- a/sys/device_sys/asd.go
+++ b/sys/device_sys/asd.go
@@ -69,5 +69,11 @@ func (s *AsdSys) Update(world ecs.World) {
 			asdState.Kmdw = false
 			asdState.Gmdw = false
 		}
+		//障碍物
+		if entry.HasComponent(component.AsdHasObstacleTag) {
+			asdState.Zaw = true
+		} else {
+			asdState.Zaw = false
+		}
 	})
 }