eaxing_back_africa_main/Service/Execute/Step/DoSwappingState.cs

using Autofac;
using AutoMapper;
using Entity.Attr;
using Entity.Constant;
using Entity.DbModel.Station;
using HybirdFrameworkCore.Autofac;
using HybirdFrameworkCore.Configuration;
using log4net;
using Repository.Station;
using Service.Charger.Client;
using Service.Execute.Api;
using Service.Execute.Model;
using Service.Execute.Model.Tbox;
using Service.Execute.SwapException;
using Service.Execute.Utils;
using Service.Init;
using Service.Led;
using Service.Padar.Client;
using Service.Sound.SoundClient;

namespace Service.Execute.Step;

public class DoSwappingState : IState
{
    private readonly ILog _log = LogManager.GetLogger(typeof(DoSwappingState));
    private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();

    public BinInfoRepository _binInfoRepository { get; set; }

    public static SoundClient? SoundClient { get; set; }


    public StateResult Handle(SwappingStateMachine machine)
    {
        //上报云平台换电开始
        //  machine.BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.BeginSwap;
        //  machine.BusinessSwappingStateUpdateTime = DateTime.Now;
        //   _log.Info($"BusinessSwappingForCloudState={machine.BusinessSwappingForCloudState}");
        //   CloudApi.SendStateLog(machine.SwapOrder, InfoEnum.BusinessSwappingForCloudState.BeginSwap);

        //while (true)
        //{
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.Idel,
        //               machine);
        //    Thread.Sleep(1000);
        //    //_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
        //    //machine);


        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.RadarInFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.RfidReadFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CloudVelCheckFlag,
        //             machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CarInPositionFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CloudCarCanStartFlag,
        //                      machine);
        //    Thread.Sleep(1000);

        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelUnlockFlag,
        //                      machine);
        //    Thread.Sleep(1000);
            
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.DistributeSelectPackFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
        //                     machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StorageOldBatteryFlag,
        //                     machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.OutNewBatteryFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.InstallNewBatteryFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
        //                      machine);
        //    Thread.Sleep(1000);
        //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
        //                     machine);
        //    Thread.Sleep(1000);
        //    //_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.RadarOutFlag,
        //    //                 machine);
        //    Thread.Sleep(10000);

        //    machine.Reset();

        //}




        //下发启动换电
        InvokeStatus startSwapping = StartSwapping(machine);
        if (startSwapping != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(startSwapping, ExceptionReason.None);
        }



        //旧电池拆卸
        InvokeStatus unPack = UnPack(machine);
        if (unPack != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(unPack, ExceptionReason.None);
        }



        //安装
        InvokeStatus pack = Pack(machine);
        if (pack != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(pack, ExceptionReason.None);
        }
        //安装完成
        InvokeStatus packFinish = PackFinish(machine);
        if (packFinish != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None);
        }

        //车辆上锁
        InvokeStatus lockCar = LockCar(machine);
        if (lockCar != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(lockCar, ExceptionReason.None);
        }

        //开启雷达
        var beginRadar = ControlRadar(machine, 1);
        if (InvokeStatus.Done != beginRadar)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(beginRadar, ExceptionReason.None);
        }

        //车辆离开
        var adjustCarByRadar = AdjustCarByRadar(machine);
        machine.Reset();
        if (InvokeStatus.Done != adjustCarByRadar)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(adjustCarByRadar, ExceptionReason.None);
        }



        return new StateResult()
        {
              
        SwappingState = SwappingState.SwapDone
        };
    }






    /// <summary>
    /// 控制雷达启停
    /// </summary>
    /// <param name="machine"></param>
    /// <param name="flag"></param>
    /// <returns></returns>
    public InvokeStatus ControlRadar(SwappingStateMachine machine, byte flag)
    {
        return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState > 0,
            () => { PadarMgr._PadarClient?.PadarControl(flag); });
    }


    //public void leida ()
    //{

    //            switch (PadarMgr._PadarClient?.CarState)
    //            {
    //                case 1:
    //                    _log.Info("radar 无车");
    //                    break;
    //                case 2:
    //                    _log.Info("radar 无电池");
    //            break;
    //                case 3:
    //                    _log.Info("radar 角度偏移过大");
    //            break;
    //                case 4:
    //                    _log.Info("radar 车辆靠后");
    //            break;
    //                case 5:
    //                    _log.Info("radar 车辆靠前");
    //            break;
    //            ;
    //    }

    //}

    public InvokeStatus AdjustCarByRadar(SwappingStateMachine machine)
    {

        return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled,
            () =>
            {
                //新增小步
                _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.RadarOutFlag,
                    machine);
                var carState = PadarMgr._PadarClient?.CarState;
                return carState.HasValue && (carState.Value == 1 || carState.Value == 2 || carState.Value == 3 || carState.Value == 4 || carState.Value == 5);
            },
            () =>
            {
                switch (PadarMgr._PadarClient?.CarState)
                {
                    case 6:
                        _log.Info("车辆未驶离");
                        break;
                   
                }
            });
    }

    /// <summary>
    /// 下发plc启动换电
    /// </summary>
    /// <returns></returns>
    public InvokeStatus StartSwapping(SwappingStateMachine machine)
    {
        int c = 0;
        return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled,
            () => machine.StartSwappingFlag, () =>
            {
                Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelVin);
                bool unLock = result.Result;
                if (unLock)
                {
                    var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
                        machine.SwapOrderBatteryInfo.UpBinInfo.No);
                    if (c==0)
                    {
                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
                         machine);
                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.DistributeSelectPackFlag,
                           machine);
                        SoundClient = AppInfo.Container.Resolve<SoundClient>();
                        SoundClient.SoundPlay(SoundEnum.music91);
                        Thread.Sleep(3000);
                        SoundClient.SoundPlay(SoundEnum.music90);
                    }

                    //查詢當前任務狀態是否被更改
                    if (startSwapping)
                    {
                        machine.SwapOrder.SwapBeginTime = DateTime.Now;
                        _CommonMgr.UpdateSwapOrder(machine);
                        machine.SwapStatus = 0;
                        machine.StartSwappingFlag = true;
                       
                    }
                 
                }
            }, () =>
            {
                //SoundClient = AppInfo.Container.Resolve<SoundClient>();
                //SoundClient.SoundPlay(SoundEnum.music70);
                LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrStartSwap.GetLed());
            },false, () => { },10,InvokeStatus.None);
    }

    /// <summary>
    /// 读取plc任务状态电池拆卸中
    /// 读取plc任务状态电池入库搬运中
    ///   读取plc任务状态电池出库搬运中
    /// 读取plc任务状态电池安装中
    ///  读取plc任务状态电池安装完成
    /// </summary>
    /// <returns></returns>
    public InvokeStatus UnPack(SwappingStateMachine machine)
    {
        int s = 0;
        int i = 0;
        return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled,
            () => machine.UnOldBatteryFlag, () =>
            {
                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoUnPack.GetLed());

                LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoUnPack.GetLed());
                SoundClient = AppInfo.Container.Resolve<SoundClient>();
                //SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address11"));
                if (s==0)
                {
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
                  machine);
                    //SoundClient.SoundPlay(SoundEnum.music51);
                    //s = 1;
                }
               
                machine.UnOldBatteryFlag = ClientMgr.PlcClient.DisassembleDone;

                if (machine.UnOldBatteryFlag)
                {
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
                        machine);
                }
               
            },
            () =>
            {
               
                if(i==0)
                {
                    SoundClient = AppInfo.Container.Resolve<SoundClient>();
                    SoundClient.SoundPlay(SoundEnum.music51);
                    //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoUnPack);
                    i = 1;
                }


            }, false, () => { }, 10,
            InvokeStatus.None);
    }

    public InvokeStatus Pack(SwappingStateMachine machine)
    {
        int a = 0;
        return Invoker.Invoke("plc Pack ing", 500, 5, machine.IsCanceled,
            () => machine.InstallNewBatteryFlag, () =>
            {
                // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed());
                LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());

                machine.InstallNewBatteryFlag = ClientMgr.PlcClient.SwapDone;

                if (machine.InstallNewBatteryFlag)
                {
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
                        machine);
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StorageOldBatteryFlag,
                        machine);
                }
            }, () =>
            {
                //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack);
                SoundClient = AppInfo.Container.Resolve<SoundClient>();
                //SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address12"));
                if (a == 0)
                {
                    SoundClient.SoundPlay(SoundEnum.music52);
                    LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
                    a = 1;
                }

               
            },false, () => { },
            10,InvokeStatus.None);
    }

    public InvokeStatus PackFinish(SwappingStateMachine machine)
    {
        int b = 0;
        return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
            () => machine.FinishNewBatteryFlag, () =>
            {
                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
                if (ClientMgr.PlcClient.SwapDone)
                {
                    machine.FinishNewBatteryFlag = true;
                    machine.BusinessSwappingForCloudState =
                        InfoEnum.BusinessSwappingForCloudState.SwapFinish;
                    //  CloudApi.SendStateLog(machine.SwapOrder, machine.BusinessSwappingForCloudState);
                    machine.BusinessSwappingStateUpdateTime = DateTime.Now;
                    SoundClient = AppInfo.Container.Resolve<SoundClient>();
                    if (b==0)
                    {
                       // SoundClient.SoundPlay(SoundEnum.music77);

                        LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
                        b = 1;
                    }
                   

                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.OutNewBatteryFlag,
                        machine);
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.InstallNewBatteryFlag,
                       machine);
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
                       machine);
                    //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoToSafePosition);
                    machine.ToSafePositionFlag = true;
                    machine.BusinessSwappingStateUpdateTime = DateTime.Now;

                    machine.SwapStatus = 1;
                }
            }, () => { },false, () => { },
            10,InvokeStatus.None);
    }



    /// <summary>
    /// 车辆上锁
    /// </summary>
    /// <returns></returns>
    public InvokeStatus LockCar(SwappingStateMachine machine)
    {
        int v = 0;
        return Invoker.Invoke("LockCar", 500, 100, machine.IsCanceled, machine.IsManualSwapSucc,
            () => machine.VelLockFlag, () =>
            {
                Task<bool> result = TBoxApi.LockCarManyTimes(machine.RfidReadModel.VelVin);

                bool unLock = result.Result;
                if (unLock)
                {
                    //查询车辆锁止状态
                    Task<TboxCarInfoModel> carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                    if (carInfo.Result?.CarStatus?.LockStatus == 2)
                    {

                        machine.BoxCarInfoModel = carInfo.Result;
                        SoundApi.PlayOneSound(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
                            ? (int)InfoEnum.SwapInfo.InfoCarLeave
                            : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);

                        LedClient.SendMsgByKey(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
                            ? InfoEnum.SwapInfo.InfoCarLeave.GetLed()
                            : InfoEnum.SwapInfo.ErrInfoCarLeave.GetLed());
                        machine.VelLockFlag = true;
                        var SoundClient = AppInfo.Container.Resolve<SoundClient>();
                        //SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address19"));
                        if (v == 0)
                        {

                            _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
                                machine);
                            _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.RadarOutFlag,
                               machine);
                           
                            SoundClient.SoundPlay(SoundEnum.music77);
                            Thread.Sleep(3000);
                            SoundClient.SoundPlay(SoundEnum.music76);
                           
                            v = 1;
                        }
                        //断连Tbox
                        if (StaticStationInfo.TboxStateDisConnect)
                        {
                            TBoxApi.DisConnect(machine.BoxCarInfoModel.CarNo);
                        }
                        //新增小步
                  
                    }
                }
            }, () =>
            {
                // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrLockCar.GetLed());
                //  SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrLockCar);
                
                
                LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrLockCar.GetLed());
            }, false, () => { machine.ExceptionReason = ExceptionReason.LockCarError; }
            , 10, InvokeStatus.None);
    }
}