Merge branch 'master' of https://git.code.tencent.com/jl-framework/rtss_simulation into HEAD

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) {
+func DriveRelayUp(w ecs.World, id string) error {
-	w.Execute(func() {
+	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) {
+func DriveRelayDown(w ecs.World, id string) error {
-	w.Execute(func() {
+	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
 }

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
+		if psc.MkxKM { //优先门控箱的开门
-			p.gm(asdList)
-		} else if psc.MkxKM { //其次门控箱的开门
 			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)

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 {