换电流程

Service/Execute/Api/PlcApi.cs

@@ -3,6 +3,7 @@ using log4net;
 using Service.Charger.Client;
 using Service.Mgr;
 using Service.Padar.Client;
+using Service.PlcAfrica.Client;
 
 namespace Service.Execute.Api;
 
@@ -17,6 +18,26 @@ public class PlcApi
     /// </summary>
     static int DataTimeSeconds = 2;
 
+    /// <summary>
+
+    /// </summary>
+    /// <returns></returns>
+    public static ushort ReadAction()
+    {
+        return PlcAfricaMgr.AutoActionStatus();
+    }
+    
+    
+  
+    public static bool RobotWorkFinish()
+    {
+        return PlcAfricaMgr.RobotWorkFinish();
+    }
+    
+    public static bool RobotReady()
+    {
+        return PlcAfricaMgr.RobotReady();
+    }
 
     /// <summary>
     /// 是否远程模式
@@ -24,17 +45,17 @@ public class PlcApi
     /// <returns></returns>
     public static bool IsRemote()
     {
-        return ClientMgr.PlcClient!.Remote;
+        return PlcAfricaMgr.IsAutoAndRemote();
     }
 
-    /// <summary>
+    /*/// <summary>
     /// 是否初始化完成
     /// </summary>
     /// <returns></returns>
     public static bool IsInit()
     {
         return ClientMgr.PlcClient!.Init;
-    }
+    }*/
 
     /// <summary>
     /// 是否自动
@@ -42,11 +63,7 @@ public class PlcApi
     /// <returns></returns>
     public static bool IsAuto()
     {
-        if (ClientMgr.PlcClient!=null)
-        {
-            return ClientMgr.PlcClient.Auto;
-        }
-        return false;
+        return PlcAfricaMgr.IsAutoAndRemote();
     }
     
     /// <summary>
@@ -61,11 +78,12 @@ public class PlcApi
             $"出仓位:{outBinNo},入仓位:{inBinNo}" ,(int)SwapConstant.CommunicationType.Send);
         
         Log.Info($"PlcApi StartSwapping param= inBinNo={inBinNo}, outBinNo={outBinNo}");
-        ClientMgr.PlcClient?.SendStartBatterySwapReq(Convert.ToByte(outBinNo), Convert.ToByte(inBinNo));
-
-
-        Log.Info($"PlcApi StartSwapping done");
-        return ClientMgr.PlcClient.SwapStart;
+        if (PlcAfricaMgr.DistributeTask(ushort.Parse(inBinNo), ushort.Parse(outBinNo)))
+        {
+            Log.Info($"PlcApi StartSwapping done");
+         return   PlcAfricaMgr.StartSwap();
+        }
+        return false;
     }
 
     /// <summary>
@@ -89,7 +107,7 @@ public class PlcApi
 
     
 
-    /// <summary>
+    /*/// <summary>
     /// 发送初始化命令
     /// </summary>
     /// <returns></returns>
@@ -99,18 +117,24 @@ public class PlcApi
         ClientMgr.PlcClient?.SendInitializeCommandReq();
         Log.Info($"PlcApi Init done");
         return true;
-    }
+    }*/
 
 
     /// <summary>
     /// 发送红绿灯
     /// </summary>
     /// <returns></returns>
-    public static bool Traffic(byte Light)
+    public static bool Traffic(ushort light)
     {
-        Log.Info($"PlcApi Init ");
-        ClientMgr.PlcClient?.SendTrafficLightReq(Light);
-        Log.Info($"PlcApi Init done");
-        return true;
+        return PlcAfricaMgr.LightControl(light);
+    }
+    
+    /// <summary>
+    /// 发送红绿灯
+    /// </summary>
+    /// <returns></returns>
+    public static bool CarStatus(ushort cmd)
+    {
+        return PlcAfricaMgr.CarStatus(cmd);
     }
 }

Service/Execute/Model/DistributeTask.cs

@@ -5,7 +5,7 @@ namespace Service.Execute.Model;
 
 public class DistributeTask
 {
-    /// <summary>
+    /*/// <summary>
     /// 任务类型
     /// 0.无任务
     /// 1.换电任务
@@ -15,23 +15,23 @@ public class DistributeTask
     /// 5.消防任务
     /// </summary>
     [Property(0, 16)]
-    public ushort TaskNo { get; set; }
+    public ushort TaskNo { get; set; }*/
 
     /// <summary>
     /// 入仓位选择
     /// </summary>
-    [Property(16, 16)]
+    [Property(0, 16)]
     public ushort InBinNo { get; set; }
 
     /// <summary>
     /// 出仓仓位选择
     /// </summary>
-     [Property(32, 16)]
+     [Property(16, 16)]
     public ushort OutBinNo { get; set; }
 
-    /// <summary>
+    /*/// <summary>
     /// 电池包类型 0
     /// </summary>
     [Property(48, 16)]
-    public ushort BatteryPackType { get; set; }
+    public ushort BatteryPackType { get; set; }*/
 }

Service/Execute/Step/CarPrepareState.cs

@@ -49,7 +49,6 @@ public class CarPrepareState : IState
         }
 
 
-
         ////调整车辆   
         var adjustCarByRadar = AdjustCarByRadar(machine);
         if (InvokeStatus.Done != adjustCarByRadar)

Service/Execute/Step/DoSwappingState.cs

@@ -133,6 +133,7 @@ public class DoSwappingState : IState
             {
                 if (ClientMgr.PlcClient.IsTaskFree())
                 {
+                    PlcApi.CarStatus(1);
                     //  ClientMgr.PlcClient.ExChangeTaskNo(1);
                     var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
                         machine.SwapOrderBatteryInfo.UpBinInfo.No);
@@ -143,12 +144,7 @@ public class DoSwappingState : IState
                 
                     _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());
@@ -193,15 +189,11 @@ public class DoSwappingState : IState
         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;
+
+                machine.UnOldBatteryFlag = PlcApi.ReadAction() > 15;
 
                 if (machine.UnOldBatteryFlag)
                 {
@@ -234,7 +226,7 @@ public class DoSwappingState : IState
                 // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed());
               //  LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
 
-                machine.InstallNewBatteryFlag = ClientMgr.PlcClient.SwapDone;
+                machine.InstallNewBatteryFlag =PlcApi.ReadAction() >29 ;
 
                 if (machine.InstallNewBatteryFlag)
                 {
@@ -264,7 +256,7 @@ public class DoSwappingState : IState
         return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
             () => machine.FinishNewBatteryFlag, () =>
             {
-                if (ClientMgr.PlcClient.SwapDone)
+                if (PlcApi.ReadAction()==44 || PlcApi.RobotWorkFinish() || PlcApi.RobotReady())
                 {
                     machine.FinishNewBatteryFlag = true;
                     machine.BusinessSwappingForCloudState =

Service/Execute/Step/StationReadyState.cs

@@ -152,26 +152,8 @@ public class StationReadyState : IState
             {
                 if (PlcApi.IsRemote())
                 {
-                    if (!PlcApi.IsInit())
-                    {
-                        //下发初始化
-                        PlcApi.Init();
-                    }
-                    else
-                    {
-                        //LED显示-欢迎光临_换电站点_正在营业
-                        //string welcomeContent = "欢迎光临换电站！(正在营业)";
-
-                        //SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address01"));
-                        //if(SoundClient.SoundPlay!=null)
-                        //{
-                        //    SoundClient.SoundPlay(SoundEnum.music41);
-                        //}
-
-                        // SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.WelcomeInfo);
-                        //  LedClient.SendMsgByKey(InfoEnum.SwapInfo.WelcomeInfo.GetLed());
+                 
                         isRemote = true;
-                    }
                 }
             },
             () =>
@@ -216,7 +198,7 @@ public class StationReadyState : IState
             
                 if (PadarMgr._PadarClient?.CarState == 6 ||  machine.ManualSkipRadar)
                 {
-                   PlcApi.Traffic(0);
+                   PlcApi.Traffic(1);
                     i = 0;
                     a = 0;
                         LedClient.SendMsgByKey(InfoEnum.SwapInfo.diparkir.GetLed());

Service/Execute/Step/SwapDoneState.cs

@@ -299,7 +299,7 @@ public class SwapDoneState : IState
                     _log.Info("exist radar true");
                         LedClient.SendMsgByKey(InfoEnum.SwapInfo.PleaseAwayyin.GetLed());
 
-                    PlcApi.Traffic(1);
+                    PlcApi.Traffic(2);
                     //出口写红灯
                     //更新车辆离场时间，上报云平台
                     //machine.BusinessSwappingForCloudState =

Service/PlcAfrica/Client/PlcAfricaMgr.cs

@@ -6,6 +6,10 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using HslCommunication;
+using HybirdFrameworkCore.Utils;
+using Service.Charger.Server;
+using Service.Execute.Model;
 
 namespace Service.PlcAfrica.Client
 {
@@ -20,8 +24,6 @@ namespace Service.PlcAfrica.Client
         static int DataTimeSeconds = 20;
 
 
-
-
         /// <summary>
         /// 数据刷新时间
         /// </summary>
@@ -36,5 +38,199 @@ namespace Service.PlcAfrica.Client
 
             Task.Run(() => PlcAfricaClient.Connect());
         }
+
+
+        public static void Reset()
+        {
+            if (PlcAfricaClient == null)
+            {
+                PlcAfricaClient.Reset();
+            }
+        }
+
+        /// <summary>
+        /// 0	无动作
+        /// 1	急停指令
+        /// 2	自动换电启动指令
+        /// 3	自动调仓启动指令
+        /// 4	暂停指令
+        /// 5	继续指令
+        /// 6	停止指令
+        /// 7	结束指令
+        /// 11	测量轴启动
+        /// 12	回原点
+        /// 101	此行及以下未实装，维持《上位机PLC通讯内容V1.5》内容
+        /// </summary>
+        /// <param name="cmd"></param>
+      
+        public static bool StartSwap()
+        {
+            if (PlcAfricaClient == null)
+            {
+                PlcAfricaMsg.OperationInstruction.Value = 2;
+                PlcAfricaClient!.WriteValue(PlcAfricaMsg.OperationInstruction);
+                Reset();
+
+                return PlcAfricaMsg.StationCommandFeedback.Value == 2;
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// 操作指令
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static bool OperationInstruction(ushort cmd)
+        {
+            if (PlcAfricaClient == null)
+            {
+                PlcAfricaMsg.OperationInstruction.Value = cmd;
+                PlcAfricaClient!.WriteValue(PlcAfricaMsg.OperationInstruction);
+                Reset();
+
+                return PlcAfricaMsg.StationCommandFeedback.Value == cmd;
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// 读8000 自动任务状态
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static ushort AutoActionStatus()
+        {
+            return PlcAfricaMsg.ActionCode.Value ;
+        }
+        
+        
+        
+        /// <summary>
+        /// 机器人状态 7001
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static bool RobotStatus(ushort cmd)
+        {
+            return PlcAfricaMsg.PowerChangeModeRobot.Value == cmd;
+        }
+        
+        /// <summary>
+        /// 机器人状态 就绪
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static bool RobotReady()
+        {
+            return PlcAfricaMsg.PowerChangeModeRobot.Value == 1;
+        }
+        
+        /// <summary>
+        /// 机器人状态 工作完成
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static bool RobotWorkFinish()
+        {
+            return PlcAfricaMsg.PowerChangeModeRobot.Value == 3;
+        }
+        
+        
+        /// <summary>
+        ///  下发车辆信息   0无车辆，1车辆解锁，2车辆上锁
+        /// </summary>
+        /// <param name="cmd"></param>
+        /// <returns></returns>
+        public static bool CarStatus(ushort cmd)
+        {
+            
+            if (PlcAfricaClient == null)
+            {
+                PlcAfricaMsg.TboxUnlock.Value = cmd;
+               return PlcAfricaClient!.WriteValue(PlcAfricaMsg.TboxUnlock);
+               
+            }
+
+            return false;
+
+        }
+    
+        
+        
+        ///
+        ///下发取放仓位
+        /// 
+        /// <summary>
+        /// 下发换电
+        /// </summary>
+        /// <returns></returns>
+        public static bool DistributeTask(ushort inBinNo, ushort outBinNo)
+        {
+            //下发任务前，增加待机状态判断
+            if (!RobotReady())
+            {
+                return false;
+            }
+        
+            DistributeTask distributeTask = new()
+            {
+               
+                InBinNo = inBinNo,
+                OutBinNo = outBinNo,
+             
+            };
+            byte[] encode = ModelConvert.Encode(distributeTask);
+            //TODO::現在手動處理encode
+            for (int i = 0; i < encode.Length; i++)
+            {
+                if (i % 2 == 0)
+                {
+                    var temp = encode[i + 1];
+                    encode[i + 1] = encode[i];
+                    encode[i] = temp;
+                }
+            }
+
+            //需要将数据转换成byte数组
+            OperateResult operateResult = PlcAfricaClient.Write("x=16;111", encode);
+
+            return operateResult.IsSuccess;
+        }
+        
+        
+        public static bool IsAutoAndRemote()
+        {
+            if ((DateTime.Now - DataValidityTime).Seconds <= DataTimeSeconds)
+            {
+                return PlcAfricaMsg.PowerChangeMode.Value == 2;
+            }
+            else
+            {
+                return false;
+            }
+        }
+        
+        
+        /// <summary>
+        /// 红绿灯 0-不亮，1-亮红灯，2-绿灯，3-绿灯闪
+        /// </summary>
+        /// <returns></returns>
+        public static bool LightControl(ushort cmd)
+        {
+            if (PlcAfricaClient == null)
+            {
+                PlcAfricaMsg.TrafficLightFunction.Value = cmd;
+                return PlcAfricaClient!.WriteValue(PlcAfricaMsg.TrafficLightFunction);
+               
+            }
+
+            return false;
+
+        }
+        
+        
     }
-}
+}

Service/PlcAfrica/Msg/PlcAfricaMsg.cs

@@ -59,6 +59,7 @@ public class PlcAfricaMsg
 
     /// <summary>
     /// 站控操作指令
+    /// 
     /// </summary>
     public ModbusProperty<ushort> OperationInstruction {get;set;}= new(47010);