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 Newtonsoft.Json;
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; }

    private int a = 0;
    private int b = 0;
    public StateResult Handle(SwappingStateMachine machine)
    {
        //上报云平台换电开始
         machine.BusinessSwappingStateUpdateTime = DateTime.Now;


         //记录为 换电任务
     
        //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);
        }
        ClientMgr.PlcClient.ResetTaskNo();

        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;
    //            ;
    //    }

    //}

   

    /// <summary>
    /// 下发plc启动换电
    /// </summary>
    /// <returns></returns>
    public InvokeStatus StartSwapping(SwappingStateMachine machine)
    {

        return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled,
            () => machine.StartSwappingFlag, () =>
            {
                if (ClientMgr.PlcClient.IsTaskFree())
                {
                    //  ClientMgr.PlcClient.ExChangeTaskNo(1);
                    var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
                        machine.SwapOrderBatteryInfo.UpBinInfo.No);
                
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.DistributeSelectPackFlag,
                        machine,param: $"InBin:{JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.InBinInfo)};" +
                                       $"UpBin: {JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.UpBinInfo)}");
                
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
                        machine);
                    if (a == 0)
                    {
                        LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
                        a = 1;
                    }
                        
                    
                    Thread.Sleep(1000);
                    //LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
                    //查詢當前任務狀態是否被更改
                    if (startSwapping)
                    {
                        ClientMgr.PlcClient.ExChangeTaskNo(1);
                        machine.SwapOrder.SwapBeginTime = DateTime.Now;
                        _CommonMgr.UpdateSwapOrder(machine);
                        machine.SwapStatus = 0;
                        machine.StartSwappingFlag = true;
                        SoundClient = AppInfo.Container.Resolve<SoundClient>();
                        SoundClient.SoundPlay(SoundEnum.music91);
                        Thread.Sleep(5000);
                        SoundClient.SoundPlay(SoundEnum.music90);
                       
                    }
                }

                 
              // }
            }, () =>
            {
                //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 i = 0;
        return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled,
            () => machine.UnOldBatteryFlag, () =>
            {
                if (b==0)
                {
                    LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
                    b = 1;
                }
                
                SoundClient = AppInfo.Container.Resolve<SoundClient>();
            
                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);
                    i = 1;
                }
                   
             
            }, false, () => { }, 30,
            InvokeStatus.None);
    }

    public InvokeStatus Pack(SwappingStateMachine machine)
    {
        int f = 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.InstallNewBatteryFlag,
                        machine);
                }
            }, () =>
            {
                //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack);
                SoundClient = AppInfo.Container.Resolve<SoundClient>();
                //SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address12"));
                if (f==0)
                {
                    SoundClient.SoundPlay(SoundEnum.music52);
                   // LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
                    f = 1;
                }
                   
               
            },false, () => { },
            30,InvokeStatus.None);
    }

    public InvokeStatus PackFinish(SwappingStateMachine machine)
    {
        int b = 0;
        return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
            () => machine.FinishNewBatteryFlag, () =>
            {
                if (ClientMgr.PlcClient.SwapDone)
                {
                    machine.FinishNewBatteryFlag = true;
                    machine.BusinessSwappingForCloudState =
                        InfoEnum.BusinessSwappingForCloudState.SwapFinish;
                    machine.BusinessSwappingStateUpdateTime = DateTime.Now;
                   
                    SoundClient = AppInfo.Container.Resolve<SoundClient>();
                    SoundClient.SoundPlay(SoundEnum.music53);
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
                       machine);
                    machine.ToSafePositionFlag = true;
                    machine.BusinessSwappingStateUpdateTime = DateTime.Now;

                    machine.SwapStatus = 1;
                }
            }, () =>
            {
               // LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
               
            },false, () => { },
            30,InvokeStatus.None);
    }


}