Plc部分更改

Service/Execute/Step/CarCtrlState.cs

@@ -57,6 +57,7 @@ public class CarCtrlState : IState
                 {
                     //查询车辆锁止状态
                     Task<TboxCarInfoModel> carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
+                    carInfo.Wait();
                     var resultHeartBeatMsg = carInfo.Result.CarStatus;
                     if (resultHeartBeatMsg?.LockStatus == 1 || machine.ManualConfirmCarUnlockFlag)
                     {

Service/Execute/Step/DoSwappingState.cs

@@ -132,9 +132,9 @@ public class DoSwappingState : IState
         return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled,
             () => machine.StartSwappingFlag, () =>
             {
+                //PlcApi.CarStatus(1);
                 if (PlcAfricaMgr.PlcAfricaClient.IsTaskFree())
                 {
-                    PlcApi.CarStatus(1);
                     var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
                         machine.SwapOrderBatteryInfo.UpBinInfo.No);
                 
@@ -256,7 +256,7 @@ public class DoSwappingState : IState
         return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
             () => machine.FinishNewBatteryFlag, () =>
             {
-                if (PlcApi.ReadAction()==44 && (PlcApi.RobotWorkFinish() || PlcApi.RobotReady()))
+                if (PlcApi.ReadAction()==44 || PlcApi.RobotWorkFinish() || PlcApi.RobotReady())
                 {
                     machine.FinishNewBatteryFlag = true;
                     machine.BusinessSwappingForCloudState =

Service/Execute/Step/StationReadyState.cs

@@ -175,7 +175,8 @@ public class StationReadyState : IState
     public InvokeStatus ControlRadar(SwappingStateMachine machine, byte flag)
     {
        
-        return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState > 0
+        return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () =>
+                PadarMgr._PadarClient?.CarState > 0
             || machine.ManualSkipRadar,
             () => { PadarMgr._PadarClient?.PadarControl(flag); });
     }

Service/MyTask/WritePlcTask.cs

@@ -0,0 +1,81 @@
+using HybirdFrameworkCore.Autofac.Attribute;
+using HybirdFrameworkCore.AutoTask;
+using log4net;
+using Service.Execute;
+using Service.Execute.Api;
+using Service.PlcAfrica.Client;
+using Service.PlcAfrica.Msg;
+
+namespace Service.MyTask;
+
+[Scope]
+public class WritePlcTask : ITask
+{
+    private static readonly ILog Log = LogManager.GetLogger("WritePlcTask");
+    private volatile bool _stop;
+
+    private PlcAfricaMsg PlcAfricaMsg = new PlcAfricaMsg(); 
+    
+    public string Name()
+    {
+        return "WritePlcTask";
+    }
+
+    public int Interval()
+    {
+        return 1000 * 1;
+    }
+
+    private static bool heart = false;
+
+    public void Handle()
+    {
+        Log.Info("Plc Start write");
+        PlcAfricaMsg.TboxUnlock.Value = 0;
+        if (StationSoftMgr.SwappingStateMachine != null)
+        {
+            var swappingStateMachine = StationSoftMgr.SwappingStateMachine;
+            if (swappingStateMachine.BoxConnectFlag) //TBOX
+            {
+                var carInfo = TBoxApi.GetCarInfo(swappingStateMachine.RfidReadModel.VelVin);
+                carInfo.Wait();
+                if (swappingStateMachine.BoxCarInfoModel != null && carInfo != null)
+                {
+                    PlcAfricaMsg.TboxUnlock.Value = (ushort)carInfo.Result?.CarStatus?.LockStatus;
+                    bool writeCharge = PlcAfricaMgr.PlcAfricaClient.WriteValue(PlcAfricaMsg.TboxUnlock);
+                    Log.Info($"写锁止状态:{PlcAfricaMsg.TboxUnlock.Value}");
+                }
+                else
+                {
+                    bool writeCharge = PlcAfricaMgr.PlcAfricaClient.WriteValue(PlcAfricaMsg.TboxUnlock);
+                    Log.Info($"写锁止状态:{PlcAfricaMsg.TboxUnlock.Value}");
+                }
+            }
+            else
+            {
+                bool writeCharge = PlcAfricaMgr.PlcAfricaClient.WriteValue(PlcAfricaMsg.TboxUnlock);
+                Log.Info($"写锁止状态:{PlcAfricaMsg.TboxUnlock.Value}");
+            }
+        }
+        else
+        {
+            bool writeCharge = PlcAfricaMgr.PlcAfricaClient.WriteValue(PlcAfricaMsg.TboxUnlock);
+            Log.Info($"写锁止状态:{PlcAfricaMsg.TboxUnlock.Value}");
+        }
+    }
+
+    public bool Stoped()
+    {
+        return _stop;
+    }
+
+    public void Stop()
+    {
+        _stop = true;
+    }
+
+    public void ResetStop()
+    {
+        _stop = false;
+    }
+}

Service/PlcAfrica/Client/PlcAfricaMgr.cs

@@ -155,7 +155,7 @@ namespace Service.PlcAfrica.Client
             if (PlcAfricaClient == null)
             {
                 PlcAfricaMsg.TboxUnlock.Value = cmd;
-               return PlcAfricaClient!.WriteValue(PlcAfricaMsg.TboxUnlock);
+               return PlcAfricaClient.WriteValue(PlcAfricaMsg.TboxUnlock);
                
             }
 

Service/PlcAfrica/Msg/PlcAfricaMsg.cs

@@ -322,16 +322,17 @@ public class PlcAfricaMsg
     /// 加载机1落座传感器1  0-不在位，1-在位
     /// </summary>
     public ModbusProperty<bool> Loader1SeatSensor1 {get;set;}= new(49043,start:0,length:1,type:ModbusDataType.Bit);
-
     /// <summary>
-    /// 加载机1落座传感器2
+    /// 加载机2落座传感器1
     /// </summary>
-    public ModbusProperty<bool> Loader1SeatSensor2 {get;set;}= new(49043,start:1,length:1,type:ModbusDataType.Bit);
+    public ModbusProperty<bool> Loader2SeatSensor1 {get;set;}= new(49043,start:1,length:1,type:ModbusDataType.Bit);
+
+    
     
     /// <summary>
-    /// 加载机2落座传感器1
+    /// 加载机1落座传感器2
     /// </summary>
-    public ModbusProperty<bool> Loader2SeatSensor1 {get;set;}= new(49043,start:1,length:1,type:ModbusDataType.Bit);
+    public ModbusProperty<bool> Loader1SeatSensor2 {get;set;}= new(49043,start:1,length:1,type:ModbusDataType.Bit);
 
     /// <summary>
     /// 加载机2落座传感器2
@@ -596,4 +597,11 @@ public class PlcAfricaMsg
     /// </summary>
     public ModbusProperty<bool> TransferBinSeatSensor2 {get;set;}= new(49438,start:1,length:1,type:ModbusDataType.Bit);
     
+    /// <summary>
+    /// 电池充电状态
+    /// </summary>
+    public ModbusProperty<ushort> ChargerState1 {get;set;}= new(49437);
+    public ModbusProperty<ushort> ChargerState2 {get;set;}= new(49437);
+    public ModbusProperty<ushort> ChargerState3 {get;set;}= new(49437);
+    public ModbusProperty<ushort> ChargerState4 {get;set;}= new(49437);
 }