From 32a8921f9be37aa583893e1bd5594ade5355c421 Mon Sep 17 00:00:00 2001
From: weizhihong <weizhihong@joylink.club>
Date: Mon, 6 Nov 2023 13:41:57 +0800
Subject: [PATCH 1/2] =?UTF-8?q?=E3=80=90=E7=BB=A7=E7=94=B5=E5=99=A8?=
 =?UTF-8?q?=E6=93=8D=E4=BD=9C=E8=BF=94=E5=9B=9E=E5=A4=84=E7=90=86=E7=BB=93?=
 =?UTF-8?q?=E6=9E=9C=E4=BF=A1=E6=81=AF=E3=80=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 fi/relay.go | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/fi/relay.go b/fi/relay.go
index 34204c9..90f199a 100644
--- a/fi/relay.go
+++ b/fi/relay.go
@@ -30,8 +30,8 @@ func driveWjRelay(w ecs.World, entry *ecs.Entry, td bool) {
 }
 
 // 驱动继电器到吸起位置
-func DriveRelayUp(w ecs.World, id string) {
-	w.Execute(func() {
+func DriveRelayUp(w ecs.World, id string) error {
+	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
 		wd := entity.GetWorldData(w)
 		entry, ok := wd.EntityMap[id]
 		if ok {
@@ -41,14 +41,16 @@ func DriveRelayUp(w ecs.World, id string) {
 				driveWjRelay(w, entry, true)
 			}
 		} else {
-			fmt.Printf("未找到id=%s的继电器\n", id)
+			return ecs.NewErrResult(fmt.Errorf("未找到id=%s的继电器", id))
 		}
+		return ecs.NewOkEmptyResult()
 	})
+	return result.Err
 }
 
 // 驱动继电器到落下位置
-func DriveRelayDown(w ecs.World, id string) {
-	w.Execute(func() {
+func DriveRelayDown(w ecs.World, id string) error {
+	result := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
 		wd := entity.GetWorldData(w)
 		entry, ok := wd.EntityMap[id]
 		if ok {
@@ -58,7 +60,9 @@ func DriveRelayDown(w ecs.World, id string) {
 				driveWjRelay(w, entry, false)
 			}
 		} else {
-			fmt.Printf("未找到id=%s的继电器\n", id)
+			return ecs.NewErrResult(fmt.Errorf("未找到id=%s的继电器", id))
 		}
+		return ecs.NewOkEmptyResult()
 	})
+	return result.Err
 }

From 010c822b13d19dc70ab2c0be0e3cd535cf0926ee Mon Sep 17 00:00:00 2001
From: joylink_zhangsai <1021828630@qq.com>
Date: Mon, 6 Nov 2023 13:53:59 +0800
Subject: [PATCH 2/2] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B1=8F=E8=94=BD?=
 =?UTF-8?q?=E9=97=A8=E6=95=85=E9=9A=9C=E6=93=8D=E4=BD=9Cbug?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sys/circuit_sys/psd.go | 6 +++---
 sys/device_sys/asd.go  | 2 ++
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/sys/circuit_sys/psd.go b/sys/circuit_sys/psd.go
index b48385d..d212439 100644
--- a/sys/circuit_sys/psd.go
+++ b/sys/circuit_sys/psd.go
@@ -80,11 +80,11 @@ func (p *PsdSys) Update(world ecs.World) {
 		//设置滑动门电机通断电状态
 		repo := entity.GetWorldData(world).Repo
 		psd := repo.FindPsd(component.UidType.Get(entry).Id)
-		if psc.MkxGM { //优先门控箱的关门
-			p.gm(asdList)
-		} else if psc.MkxKM { //其次门控箱的开门
+		if psc.MkxKM { //优先门控箱的开门
 			group := psd.FindAsdGroup(8)
 			p.km(group.Start, group.End, asdList)
+		} else if psc.MkxKM { //其次门控箱的关门
+			p.gm(asdList)
 		} else if !psc.InterlockMPL { //联锁操作没有被旁路
 			if psc.InterlockGM {
 				p.gm(asdList)
diff --git a/sys/device_sys/asd.go b/sys/device_sys/asd.go
index 6e453b1..99e37d3 100644
--- a/sys/device_sys/asd.go
+++ b/sys/device_sys/asd.go
@@ -28,9 +28,11 @@ func (s *AsdSys) Update(world ecs.World) {
 		if entry.HasComponent(component.AsdCannotOpenTag) {
 			pos = consts.TwoPosMin
 			speed = 0
+			psdMotorState.TD = false
 		} else if entry.HasComponent(component.AsdCannotCloseTag) {
 			pos = consts.TwoPosMax
 			speed = 0
+			psdMotorState.TD = false
 		} else if psdMotorState.TD {
 			if psdMotorState.KM {
 				if pos == consts.TwoPosMax {