换电主流程

Repository/Repository.csproj

@@ -7,6 +7,7 @@
     </PropertyGroup>
 
     <ItemGroup>
+        <PackageReference Include="log4net" Version="2.0.15" />
         <PackageReference Include="SqlSugar.IOC" Version="2.0.0" />
         <PackageReference Include="SqlSugarCore" Version="5.1.4.115" />
     </ItemGroup>

Repository/Station/BinInfoRepository.cs

@@ -2,6 +2,8 @@ using Entity.Constant;
 using Entity.DbModel.Station;
 using Entity.Dto;
 using HybirdFrameworkCore.Autofac.Attribute;
+using log4net;
+using Newtonsoft.Json;
 using SqlSugar;
 
 namespace Repository.Station;
@@ -9,6 +11,7 @@ namespace Repository.Station;
 [Scope("SingleInstance")]
 public class BinInfoRepository : BaseRepository<BinInfo>
 {
+    private static readonly ILog _log = LogManager.GetLogger(typeof(BinInfoRepository));
     public BinInfoRepository(ISqlSugarClient sqlSugar) : base(sqlSugar)
     {
     }
@@ -19,55 +22,65 @@ public class BinInfoRepository : BaseRepository<BinInfo>
     /// <param name="swapSoc"> StaticStationInfo.SwapSoc </param>
     /// <param name="swapFinishChargeTime">StaticStationInfo.SwapFinishChargeTime</param>
     /// <returns></returns>
-    public SelectPackDto SelectPack(int swapSoc, int swapFinishChargeTime)
+    public SelectPackDto SelectPack(int swapSoc, int swapFinishChargeTime, string upMoveNo=default)
     {
+           _log.Info($"BinInfoRepository SelectPack swapSoc={swapSoc}, swapFinishChargeTime={swapFinishChargeTime},upMoveNo={upMoveNo}");
         SelectPackDto selectPackDto = new()
         {
             SuccessFlag = false,
         };
         List<BinInfo> list =
-            QueryListByClause(i => i.CacheBinFlag == 0 && i.CanSwapFlag==1 &&
+            QueryListByClause(i => i.CanSwapFlag == 1 &&
                                    i.Exists == 1 && i.Status == 1 && i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
                 "in_time asc");
-        BinInfo? cacheBinBattery = ChooseCacheBinBattery();
-        if (list.Count <= 0 && cacheBinBattery == null)
+        _log.Info($"BinInfoRepository SelectPack list1={JsonConvert.SerializeObject(list)}");
+
+        //  BinInfo? cacheBinBattery = ChooseCacheBinBattery(swapSoc);
+
+        if (list.Count <= 0)
         {
+            _log.Info($"list1 return");
             selectPackDto.Info = InfoEnum.SelectBinStatusInfo.NoBattery;
             return selectPackDto;
         }
 
-        list = list.Where(i => i.ChargeStatus == 2 || i.ChargeStatus==4).ToList();
-        if (list.Count <= 0 && cacheBinBattery == null)
+        list = list.OrderBy(i => i.CacheBinFlag).ToList();
+
+        _log.Info($"BinInfoRepository SelectPack list2={JsonConvert.SerializeObject(list)}");
+        if (!string.IsNullOrWhiteSpace(upMoveNo))
+        {
+
+            list = list.Where(i => !upMoveNo.Equals(i.No) && i.No != "" && i.No != "-1").ToList();
+            _log.Info($"BinInfoRepository SelectPack list3={JsonConvert.SerializeObject(list)},upMoveNo={upMoveNo}");
+        }
+
+        list = list.Where(i => i.ChargeStatus == 2 || i.ChargeStatus == 4).ToList();
+        if (list.Count <= 0)
         {
             selectPackDto.Info = InfoEnum.SelectBinStatusInfo.LessOfFinishCharging;
             return selectPackDto;
         }
 
 
-        list = list.Where(i => i.Soc != null && i.Soc >= swapSoc).ToList();
-        if (list.Count <= 0 && cacheBinBattery == null)
+        list = list.Where(i => i.Soc != null &&i.Soc >= swapSoc).ToList();
+        if (list.Count <= 0)
         {
             selectPackDto.Info = InfoEnum.SelectBinStatusInfo.LessOfSoc;
             return selectPackDto;
         }
 
-        list = list.Where(i => i.LastChargeFinishTime != null && new TimeSpan(DateTime.Now.Ticks -
+
+        /*list = list.Where(i => i.LastChargeFinishTime != null || new TimeSpan(DateTime.Now.Ticks -
                                                                               i.LastChargeFinishTime.ToDateTime().Ticks)
             .TotalMinutes > swapFinishChargeTime).ToList();
-        if (list.Count <= 0 && cacheBinBattery == null)
-        {
-            selectPackDto.Info = InfoEnum.SelectBinStatusInfo.LessOf3Minute;
+        if (list.Count <= 0)
+        {            selectPackDto.Info = InfoEnum.SelectBinStatusInfo.LessOf3Minute;
             return selectPackDto;
-        }
+        }*/
+
+
+        selectPackDto.BinInfo = list[0];
 
-        if (list.Count > 0)
-        {
-            selectPackDto.BinInfo = list[0];
-        }
-        else
-        {
-            selectPackDto.BinInfo = cacheBinBattery;
-        }
 
         selectPackDto.Info = InfoEnum.SelectBinStatusInfo.Success;
         selectPackDto.SuccessFlag = true;
@@ -87,4 +100,4 @@ public class BinInfoRepository : BaseRepository<BinInfo>
             QueryByClause(i => i.CacheBinFlag == 1  && i.CanSwapFlag==1 &&
                                i.Exists == 1 && i.Status == 1 && i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock);
     }
-}
+}

Service/Charger/Client/ClientMgr.cs

@@ -1,11 +1,7 @@
-using System.Collections.Concurrent;
-using Autofac;
-using Common.Const;
-using DotNetty.Transport.Channels;
+using Autofac;
 using Entity.DbModel.Station;
 using HybirdFrameworkCore.Autofac;
 using HybirdFrameworkCore.Autofac.Attribute;
-using HybirdFrameworkDriver.Session;
 using log4net;
 using Service.Charger.Server;
 
@@ -19,53 +15,12 @@ public static class ClientMgr
 {
     private static readonly ILog Log = LogManager.GetLogger(typeof(ClientMgr));
 
-    public static readonly ConcurrentDictionary<string, PlcClient> Dictionary = new();
-    
-    public static PlcClient? GetBySn(string sn)
-    {
-        Dictionary.TryGetValue(sn, out var o);
-        return o;
-    }
-
-    /// <summary>
-    /// 通过channel获取client
-    /// </summary>
-    /// <param name="channel"></param>
-    /// <param name="sn"></param>
-    /// <param name="client">获取不到，client则为空</param>
-    /// <returns></returns>
-    public static bool TryGetClient(IChannel channel, out string sn, out PlcClient? client)
-    {
-        string? snt = ChannelUtils.GetAttr(channel, PlcConst.ChargerSn);
-
-        if (!string.IsNullOrWhiteSpace(snt))
-        {
-            var chargerClient = GetBySn(snt);
-            if (chargerClient != null)
-            {
-                sn = snt;
-                client = chargerClient;
-                return true;
-            }
-        }
-
-        sn = string.Empty;
-        client = null;
-        return false;
-    }
-
-    public static void AddBySn(string sn, PlcClient client)
-    {
-        Dictionary[sn] = client;
-    }
+    public static PlcClient? PlcClient { get; set; }
 
     //TODO 连接、鉴权，开始充电，结束充电，设置尖峰平谷，读取尖峰平谷，发送功率调节指令，发送辅助源控制指令，下发掉线停止充电，
     public static void InitClient()
     {
-        Task.Run(() =>
-        {
-            ConnClient();
-        });
+        Task.Run(ConnClient);
     }
 
     private static void ConnClient()
@@ -79,39 +34,33 @@ public static class ClientMgr
             DestAddr = "132,208,208,224"
         };
         Log.Info($"begin to connect {netInfo.Code} {netInfo.NetAddr}:{netInfo.NetPort}");
-        PlcClient client = AppInfo.Container.Resolve<PlcClient>();
-        client.AutoReconnect = true;
-        //Plc编号
-        client.Sn = PlcConst.ChargeEqpCode;
-        //电池仓编号
-        //client.BinNo = binInfo?.No;
-        //client.BatteryNo = binInfo?.BatteryNo;
-        client.LogName = "Charger" + netInfo.Code;
-        client.ConnectedEventHandler += (sender, b) =>
+        PlcClient = AppInfo.Container.Resolve<PlcClient>();
+        PlcClient.AutoReconnect = true;
+        PlcClient.Sn = PlcConst.ChargeEqpCode;
+        PlcClient.ConnectedEventHandler += (sender, b) =>
         {
-            client.SessionAttr(netInfo.Code, netInfo.DestAddr);
+            PlcClient.SessionAttr(netInfo.Code, netInfo.DestAddr);
             //鉴权
           //  client.SendAuth();
         };
         //ip
-        client.InitBootstrap(netInfo.NetAddr, int.Parse(netInfo.NetPort));
+        PlcClient.InitBootstrap(netInfo.NetAddr, int.Parse(netInfo.NetPort));
 
         /*Task.Run(() =>
         {*/
         try
         {
 
-            client.Connect();
-            client.SessionAttr(netInfo.Code, netInfo.DestAddr);
+            PlcClient.Connect();
+            PlcClient.SessionAttr(netInfo.Code, netInfo.DestAddr);
             Log.Info($"succeed to connect {netInfo.Code} {netInfo.NetAddr}:{netInfo.NetPort}");
         }
         catch (Exception ex)
         {
-
+            Log.Error($"conn plc error ={ex.StackTrace}");
         }
         //});
 
-        AddBySn(netInfo.Code, client);
         Log.Info($"begin to connect {netInfo.Code} {netInfo.NetAddr}:{netInfo.NetPort}");
     }
 }

Service/Charger/Client/PlcClient.cs

@@ -2,12 +2,10 @@ using HybirdFrameworkCore.Autofac.Attribute;
 using HybirdFrameworkCore.Entity;
 using HybirdFrameworkDriver.Session;
 using HybirdFrameworkDriver.TcpClient;
-using HybirdFrameworkDriver.TcpServer;
 using log4net;
 using Service.Charger.Client;
 using Service.Charger.Codec;
 using Service.Charger.Handler;
-using Service.Charger.Msg;
 using Service.Charger.Msg.Host.Req;
 
 namespace Service.Charger.Server;
@@ -22,6 +20,11 @@ public class PlcClient : TcpClient<IBaseHandler, Decoder, Encoder>
     /// Plc编号
     /// </summary>
     public string Sn { get; set; }
+
+    public bool SwapDone { get; set; }
+
+    public bool DisassembleDone { get; set; }
+
     #endregion
 
     #region send
@@ -38,7 +41,7 @@ public class PlcClient : TcpClient<IBaseHandler, Decoder, Encoder>
             return Result<bool>.Fail($"Plc{Sn}未连接");
         }
         InitializeCommandReq req = new InitializeCommandReq();
-        
+
         this.Channel.WriteAndFlushAsync(req);
         return Result<bool>.Success();
     }
@@ -295,6 +298,11 @@ public class PlcClient : TcpClient<IBaseHandler, Decoder, Encoder>
 
 
 
+    public void Reset()
+    {
+        SwapDone = false;
+        DisassembleDone = false;
+    }
     private ILog Log()
     {
         var name = "Charger" + this.Sn;

Service/Charger/Handler/BatteryPackDisassembledReqHandler.cs

@@ -1,11 +1,9 @@
 using DotNetty.Transport.Channels;
 using HybirdFrameworkCore.Autofac.Attribute;
-using HybirdFrameworkCore.Utils;
 using log4net;
-using Newtonsoft.Json;
+using Service.Charger.Client;
 using Service.Charger.Msg.Charger.Req;
-using Service.Charger.Msg.Charger.Resp;
-
+using Service.Charger.Msg.Host.Resp;
 
 namespace Service.Charger.Handler;
 
@@ -20,14 +18,7 @@ public class BatteryPackDisassembledReqHandler : SimpleChannelInboundHandler<Bat
     /// <summary>
     ///
     /// </summary>
-    private static ILog Log(string? sn)
-    {
-        if (ObjUtils.IsNotNullOrWhiteSpace(sn))
-        {
-            return LogManager.GetLogger("Charger" + sn);
-        }
-        return LogManager.GetLogger(typeof(BatteryPackDisassembledReqHandler));
-    }
+    private static readonly ILog Log = LogManager.GetLogger(typeof(BatteryPackDisassembledReqHandler));
 
 
      /// <summary>
@@ -35,10 +26,7 @@ public class BatteryPackDisassembledReqHandler : SimpleChannelInboundHandler<Bat
      /// </summary>
      protected override void ChannelRead0(IChannelHandlerContext ctx, BatteryPackDisassembledReq msg)
      {
-          if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client))
-          {
-              Log(sn).Info($"process {JsonConvert.SerializeObject(msg)}");
-              ctx.Channel.WriteAndFlushAsync(new Msg.Host.Resp.BatteryPackDisassembledResq());
-          }
+         ClientMgr.PlcClient.DisassembleDone = true;
+         ctx.Channel.WriteAndFlushAsync(new BatteryPackDisassembledResq());
      }
 }

Service/Charger/Handler/BatteryStatusReportedReqHandler.cs

@@ -1,11 +1,9 @@
 using DotNetty.Transport.Channels;
+using Entity.DbModel.Station;
 using HybirdFrameworkCore.Autofac.Attribute;
-using HybirdFrameworkCore.Utils;
 using log4net;
-using Newtonsoft.Json;
+using Repository.Station;
 using Service.Charger.Msg.Charger.Req;
-using Service.Charger.Msg.Charger.Resp;
-
 
 namespace Service.Charger.Handler;
 
@@ -17,17 +15,9 @@ namespace Service.Charger.Handler;
 public class BatteryStatusReportedReqHandler : SimpleChannelInboundHandler<BatteryStatusReportedReq>, IBaseHandler
 {
 
-    /// <summary>
-    ///
-    /// </summary>
-    private static ILog Log(string? sn)
-    {
-        if (ObjUtils.IsNotNullOrWhiteSpace(sn))
-        {
-            return LogManager.GetLogger("Charger" + sn);
-        }
-        return LogManager.GetLogger(typeof(BatteryStatusReportedReqHandler));
-    }
+    private static readonly ILog Log =LogManager.GetLogger(typeof(BatteryStatusReportedReqHandler));
+
+    public BinInfoRepository BinInfoRepository { get; set; }
 
 
      /// <summary>
@@ -35,11 +25,33 @@ public class BatteryStatusReportedReqHandler : SimpleChannelInboundHandler<Batte
      /// </summary>
      protected override void ChannelRead0(IChannelHandlerContext ctx, BatteryStatusReportedReq msg)
      {
-          if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client))
-          {
-              Log(sn).Info($"process {JsonConvert.SerializeObject(msg)}");
-            //TODO::
-              //ctx.Channel.WriteAndFlushAsync("");
-          }
+         UpdateBinInfo(msg.granary01, "1");
+         UpdateBinInfo(msg.granary02, "2");
+         UpdateBinInfo(msg.granary03, "3");
+         UpdateBinInfo(msg.granary04, "4");
+         UpdateBinInfo(msg.granary05, "5");
+         UpdateBinInfo(msg.granary06, "6");
+         UpdateBinInfo(msg.granary07, "7");
+         UpdateBinInfo(msg.granary08, "8");
+     }
+
+     private void UpdateBinInfo(int exists, string binNo)
+     {
+         if (exists == 0)
+             BinInfoRepository.Update(
+                 it =>
+                     new BinInfo(){
+                         Exists = 0,
+                         BatteryNo = "-1",
+                         Soc = (decimal)-1,
+                         Soe = (decimal)-1,
+                         Soh = (decimal)-1,
+                     },
+                 it => it.No == binNo);
+         else
+
+             BinInfoRepository.Update(it => it.Exists == 1,
+                 it => it.No == binNo);
+
      }
 }

Service/Charger/Handler/SwapBatteryFinishReqHandler.cs

@@ -1,11 +1,9 @@
 using DotNetty.Transport.Channels;
 using HybirdFrameworkCore.Autofac.Attribute;
-using HybirdFrameworkCore.Utils;
 using log4net;
-using Newtonsoft.Json;
+using Service.Charger.Client;
 using Service.Charger.Msg.Charger.Req;
-using Service.Charger.Msg.Charger.Resp;
-
+using Service.Charger.Msg.Host.Resp;
 
 namespace Service.Charger.Handler;
 
@@ -17,17 +15,7 @@ namespace Service.Charger.Handler;
 public class SwapBatteryFinishReqHandler : SimpleChannelInboundHandler<SwapBatteryFinishReq>, IBaseHandler
 {
 
-    /// <summary>
-    ///
-    /// </summary>
-    private static ILog Log(string? sn)
-    {
-        if (ObjUtils.IsNotNullOrWhiteSpace(sn))
-        {
-            return LogManager.GetLogger("Charger" + sn);
-        }
-        return LogManager.GetLogger(typeof(SwapBatteryFinishReqHandler));
-    }
+    private static readonly ILog Log = LogManager.GetLogger(typeof(SwapBatteryFinishReqHandler));
 
 
      /// <summary>
@@ -35,10 +23,8 @@ public class SwapBatteryFinishReqHandler : SimpleChannelInboundHandler<SwapBatte
      /// </summary>
      protected override void ChannelRead0(IChannelHandlerContext ctx, SwapBatteryFinishReq msg)
      {
-          if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client))
-          {
-              Log(sn).Info($"process {JsonConvert.SerializeObject(msg)}");
-              ctx.Channel.WriteAndFlushAsync(new Msg.Host.Resp.SwapBatteryFinishResq());
-          }
+         Log.Info("swap finish");
+         ctx.Channel.WriteAndFlushAsync(new SwapBatteryFinishResq());
+         ClientMgr.PlcClient.SwapDone = true;
      }
 }

Service/Execute/Api/PlcApi.cs

@@ -1,4 +1,5 @@
 using log4net;
+using Service.Charger.Client;
 using Service.Plc.Client;
 
 namespace Service.Execute.Api;
@@ -110,10 +111,10 @@ public class PlcApi
     {
 
         Log.Info($"PlcApi StartSwapping param= inBinNo={inBinNo}, outBinNo={outBinNo}");
-        var distributeTask = PlcMgr.DistributeTask(ushort.Parse(inBinNo), ushort.Parse(outBinNo), 1);
+        ClientMgr.PlcClient.SendStartBatterySwapReq(Convert.ToByte(outBinNo), Convert.ToByte(inBinNo));
 
-        Log.Info($"PlcApi StartSwapping resp={distributeTask}");
-        return distributeTask;
+        Log.Info($"PlcApi StartSwapping done");
+        return true;
     }
 
 

Service/Execute/Step/CarPrepareState.cs

@@ -41,12 +41,12 @@ public class CarPrepareState : IState
             };
         }
 
-        //云平台车辆认证
-        var cloudCheckVel = CloudCheckVel(machine);
-        if (cloudCheckVel != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(cloudCheckVel, ExceptionReason.None);
-        }
+        // 云平台车辆认证
+        // var cloudCheckVel = CloudCheckVel(machine);
+        // if (cloudCheckVel != InvokeStatus.Done)
+        // {
+        //     return SwappingStateMachine.ReturnWithInvokeErr(cloudCheckVel, ExceptionReason.None);
+        // }
 
         //TBox连接
         if (StaticStationInfo.TboxStateConnect)
@@ -268,7 +268,7 @@ public class CarPrepareState : IState
                 bool isConnect = result.Result;
                 if (isConnect)
                 {
-                    //读取车辆carNo=carVin 
+                    //读取车辆carNo=carVin
                     Task<TboxCarInfoModel> carInfoResult = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                     var tboxCarInfoModel = carInfoResult.Result;
                     var carInfo = tboxCarInfoModel?.CarInfo;
@@ -399,4 +399,4 @@ public class CarPrepareState : IState
             }
             , false, () => { }, 10, InvokeStatus.None);
     }
-}
+}

Service/Execute/Step/DoSwappingState.cs

@@ -1,17 +1,13 @@
 using Autofac;
-using Entity.Attr;
 using Entity.Constant;
 using HybirdFrameworkCore.Autofac;
 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.StaticTools;
 using Service.Execute.SwapException;
 using Service.Execute.Utils;
 using Service.Init;
-using Service.Station;
 
 namespace Service.Execute.Step;
 
@@ -30,11 +26,11 @@ public class DoSwappingState : IState
 
 
         //再次读锁止状态，防止plc需要挪车
-        InvokeStatus carInPosition2 = CarInPosition2(machine);
-        if (carInPosition2 != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(carInPosition2, ExceptionReason.None);
-        }
+        //InvokeStatus carInPosition2 = CarInPosition2(machine);
+        //if (carInPosition2 != InvokeStatus.Done)
+        //{
+        //    return SwappingStateMachine.ReturnWithInvokeErr(carInPosition2, ExceptionReason.None);
+        //}
 
 
         //下发启动换电
@@ -44,19 +40,19 @@ public class DoSwappingState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(startSwapping, ExceptionReason.None);
         }
 
-        InvokeStatus holdOn = HoldOn(machine);
-        if (holdOn != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(holdOn, ExceptionReason.None);
-        }
+        //InvokeStatus holdOn = HoldOn(machine);
+        //if (holdOn != InvokeStatus.Done)
+        //{
+        //    return SwappingStateMachine.ReturnWithInvokeErr(holdOn, ExceptionReason.None);
+        //}
 
 
         //查看通道状态
-        StateResult checkChannelStatus = CheckChannelStatus(machine);
-        if (checkChannelStatus != null)
-        {
-            return checkChannelStatus;
-        }
+        // StateResult checkChannelStatus = CheckChannelStatus(machine);
+        // if (checkChannelStatus != null)
+        // {
+        //     return checkChannelStatus;
+        // }
 
         //旧电池拆卸
         InvokeStatus unPack = UnPack(machine);
@@ -66,18 +62,18 @@ public class DoSwappingState : IState
         }
 
         //旧电池搬运
-        InvokeStatus oldBatteryCarryIn = OldBatteryCarryIn(machine);
-        if (oldBatteryCarryIn != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(oldBatteryCarryIn, ExceptionReason.None);
-        }
+        // InvokeStatus oldBatteryCarryIn = OldBatteryCarryIn(machine);
+        // if (oldBatteryCarryIn != InvokeStatus.Done)
+        // {
+        //     return SwappingStateMachine.ReturnWithInvokeErr(oldBatteryCarryIn, ExceptionReason.None);
+        // }
 
         //新电池搬运
-        InvokeStatus newBatteryCarryOut = NewBatteryCarryOut(machine);
-        if (newBatteryCarryOut != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(newBatteryCarryOut, ExceptionReason.None);
-        }
+        // InvokeStatus newBatteryCarryOut = NewBatteryCarryOut(machine);
+        // if (newBatteryCarryOut != InvokeStatus.Done)
+        // {
+        //     return SwappingStateMachine.ReturnWithInvokeErr(newBatteryCarryOut, ExceptionReason.None);
+        // }
 
         //安装
         InvokeStatus pack = Pack(machine);
@@ -87,19 +83,18 @@ public class DoSwappingState : IState
         }
 
         //安装完成
-        InvokeStatus packFinish = PackFinish(machine);
-        if (packFinish != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None);
-        }
+        //InvokeStatus packFinish = PackFinish(machine);
+        //if (packFinish != InvokeStatus.Done)
+        //{
+        //    return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None);
+        //}
 
-
-        //航车回归安全位置
-        InvokeStatus toInvokeStatus = ToSafePosition(machine);
-        if (toInvokeStatus != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(toInvokeStatus, ExceptionReason.None);
-        }
+        ////航车回归安全位置
+        //InvokeStatus toInvokeStatus = ToSafePosition(machine);
+        //if (toInvokeStatus != InvokeStatus.Done)
+        //{
+        //    return SwappingStateMachine.ReturnWithInvokeErr(toInvokeStatus, ExceptionReason.None);
+        //}
 
 
         return new StateResult()
@@ -121,13 +116,11 @@ public class DoSwappingState : IState
                 bool unLock = result.Result;
                 if (unLock)
                 {
-                    //查询车辆锁止状态
                     var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
                         machine.SwapOrderBatteryInfo.UpBinInfo.No);
 
                     //查詢當前任務狀態是否被更改
-                    var readPlcTaskStatus = PlcApi.ReadTaskStatus(1);
-                    if (startSwapping && readPlcTaskStatus)
+                    if (startSwapping)
                     {
                         machine.SwapOrder.SwapBeginTime = DateTime.Now;
                         _CommonMgr.UpdateSwapOrder(machine);
@@ -139,7 +132,7 @@ public class DoSwappingState : IState
                 }
             }, () =>
             {
-             SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwap);   
+             SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwap);
             },false, () => { },10,InvokeStatus.None);
     }
 
@@ -185,15 +178,7 @@ public class DoSwappingState : IState
                 //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoUnPack.GetLed());
 
 
-                int status = PlcApi.ReadPlcTaskStatus();
-                //处理程序太快，plc还没有初始值的状态
-                if (status == 1002 || status != 1003)
-                {
-                }
-                else
-                {
-                    machine.UnOldBatteryFlag = true;
-                }
+                machine.UnOldBatteryFlag = ClientMgr.PlcClient.DisassembleDone;
 
                 if (machine.UnOldBatteryFlag)
                 {
@@ -240,7 +225,7 @@ public class DoSwappingState : IState
 
                 if (PlcApi.ReadPlcTaskStatus() == 1004)
                 {
-                    
+
                 }
                 else
                 {
@@ -263,14 +248,7 @@ public class DoSwappingState : IState
             () => machine.InstallNewBatteryFlag, () =>
             {
                 // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed());
-                if (PlcApi.ReadPlcTaskStatus() == 1005)
-                {
-                   
-                }
-                else
-                {
-                    machine.InstallNewBatteryFlag = true;
-                }
+                machine.InstallNewBatteryFlag = ClientMgr.PlcClient.SwapDone;
 
                 if (machine.InstallNewBatteryFlag)
                 {
@@ -318,7 +296,7 @@ public class DoSwappingState : IState
             () => machine.ToSafePositionFlag, () =>
             {
                 //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
-              
+
                 if (PlcApi.ReadPlcTaskStatus() == 1007)
                 {
                     SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoToSafePosition);
@@ -344,13 +322,13 @@ public class DoSwappingState : IState
         int count = 0;
         while (!machine.ChannelStatusOkFlag)
         {
-            
+
             if (machine.CancelFlag)
             {
                 _log.Info($" CheckChannelStatus canceled");
                 return  StateResult.Cancel;
             }
-            
+
             _log.Info("begin plc CheckChannelStatus");
             Thread.Sleep(2000);
             var channelStatus = PlcApi.ChannelStatus();
@@ -448,7 +426,7 @@ public class DoSwappingState : IState
                         succCount++;
                     }
                 }
-                
+
                 if (succCount==successCount)
                 {
                     machine.VehiclesInPlace2Flag = true;
@@ -461,4 +439,4 @@ public class DoSwappingState : IState
             }, false, () => { }
             , 20, InvokeStatus.None);
     }
-}
+}

Service/Execute/Step/StationReadyState.cs

@@ -1,19 +1,15 @@
-using System.Text;
-using Autofac;
-using Entity.Attr;
+using Autofac;
 using Entity.Constant;
 using Entity.DbModel.Station;
 using HybirdFrameworkCore.Autofac;
 using log4net;
 using Newtonsoft.Json;
-using Repository.Station;
 using Service.Execute.Api;
 using Service.Execute.Model;
-using Service.Execute.StaticTools;
 using Service.Execute.SwapException;
 using Service.Execute.Utils;
 using Service.Init;
-using Service.Station;
+using Service.Padar.Client;
 using Swapping.Business.Common;
 
 namespace Service.Execute.Step;
@@ -54,16 +50,6 @@ public class StationReadyState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(plcIsRemote, ExceptionReason.None);
         }
 
-
-        //监测雷达
-        var entranceRadar = EntranceRadar(machine);
-
-        if (InvokeStatus.Done != entranceRadar)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(entranceRadar, ExceptionReason.None);
-        }
-
-
         //开始读rifd
         var beginRfid = BeginRead(machine);
         if (InvokeStatus.Done != beginRfid)
@@ -79,6 +65,20 @@ public class StationReadyState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(readRfid, ExceptionReason.ReadRfidError);
         }
 
+        //开启雷达
+        var beginRadar = ControlRadar(machine, 1);
+        if (InvokeStatus.Done != beginRadar)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(beginRadar, ExceptionReason.None);
+        }
+
+        //调整车辆
+        var adjustCarByRadar = AdjustCarByRadar(machine);
+        if (InvokeStatus.Done != adjustCarByRadar)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(adjustCarByRadar, ExceptionReason.None);
+        }
+
         return new StateResult()
         {
             SwappingState = SwappingState.CarPrepare,
@@ -130,6 +130,37 @@ public class StationReadyState : IState
             }, true, () => { }, 5, InvokeStatus.None);
     }
 
+    /// <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 InvokeStatus AdjustCarByRadar(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState == 6,
+            () =>
+            {
+                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 EntranceRadar(SwappingStateMachine machine)
     {
         return Invoker.Invoke("wait entrance radar", 1000, 5, machine.IsCanceled,
@@ -211,9 +242,9 @@ public class StationReadyState : IState
                 Task<RfidReadModel?> rfidReadModel = RfidApi.ReadRfid();
                 rfidReadModel.Wait();
                 var machineRfidReadModel = rfidReadModel.Result;
-                
-                
-                if ( rfidReadModel.IsCompletedSuccessfully && machineRfidReadModel != null 
+
+
+                if ( rfidReadModel.IsCompletedSuccessfully && machineRfidReadModel != null
                                                            && machineRfidReadModel.Result==1
                                                            && !string.IsNullOrEmpty(machineRfidReadModel.VelVin))
                 {
@@ -260,4 +291,4 @@ public class StationReadyState : IState
 
         return swapOrder;
     }
-}
+}

Service/Execute/Step/SwapDoneState.cs

@@ -1,17 +1,13 @@
 using Autofac;
-using Entity.Attr;
 using Entity.Constant;
 using HybirdFrameworkCore.Autofac;
 using log4net;
-using Repository.Station;
 using Service.Execute.Api;
-using Service.Execute.Model;
 using Service.Execute.Model.Tbox;
-using Service.Execute.StaticTools;
 using Service.Execute.SwapException;
 using Service.Execute.Utils;
 using Service.Init;
-using Service.Station;
+using Service.Padar.Client;
 
 namespace Service.Execute.Step;
 
@@ -48,7 +44,7 @@ public class SwapDoneState : IState
         Task.Run(() =>
         {
             //新增换电成功上报云平台数据
-            _CommonMgr.InsertCloudReportForSwapSuccess(machine);
+            // _CommonMgr.InsertCloudReportForSwapSuccess(machine);
             //换电成功关于bininfo表的更新
             _CommonMgr.UpdateBinInfoForSwapSuccess(machine);
 
@@ -74,12 +70,17 @@ public class SwapDoneState : IState
         }
 
         //出口雷达监测
-        InvokeStatus existRadar = ExistRadar(machine);
-        if (existRadar != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(existRadar, ExceptionReason.None);
-        }
-
+         InvokeStatus existRadar = ExistRadar(machine);
+         if (existRadar != InvokeStatus.Done)
+         {
+             return SwappingStateMachine.ReturnWithInvokeErr(existRadar, ExceptionReason.None);
+         }
+         //关闭雷达
+         var closeRadar = ControlRadar(machine, 0);
+         if (InvokeStatus.Done != closeRadar)
+         {
+             return SwappingStateMachine.ReturnWithInvokeErr(closeRadar, ExceptionReason.None);
+         }
 
         return new StateResult()
         {
@@ -87,6 +88,22 @@ public class SwapDoneState : IState
         };
     }
 
+
+    /// <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);
+            });
+    }
+
     /// <summary>
     /// 车辆上锁
     /// </summary>
@@ -106,26 +123,18 @@ public class SwapDoneState : IState
                     if (carInfo.Result?.CarStatus?.LockStatus == 2)
                     {
                         machine.BoxCarInfoModel = carInfo.Result;
-                        //设置出口的是绿灯
-                        if (PlcApi.WriteExistLamp(1000))
+                        SoundApi.PlayOneSound(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
+                            ? (int)InfoEnum.SwapInfo.InfoCarLeave
+                            : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
+                        machine.VelLockFlag = true;
+                        //断连Tbox
+                        if (StaticStationInfo.TboxStateDisConnect)
                         {
-                            /*machine.LedTool?.WriteProgramContent(
-                                machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
-                                    ? InfoEnum.SwapInfo.InfoCarLeave.GetLed()
-                                    : InfoEnum.SwapInfo.ErrInfoCarLeave.GetLed());*/
-                            SoundApi.PlayOneSound(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
-                                ? (int)InfoEnum.SwapInfo.InfoCarLeave
-                                : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
-                            machine.VelLockFlag = true;
-                            //断连Tbox
-                            if (StaticStationInfo.TboxStateDisConnect)
-                            {
-                                TBoxApi.DisConnect(machine.BoxCarInfoModel.CarNo);
-                            }
-
-                            _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
-                                machine);
+                            TBoxApi.DisConnect(machine.BoxCarInfoModel.CarNo);
                         }
+
+                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
+                            machine);
                     }
                 }
             }, () =>
@@ -142,7 +151,9 @@ public class SwapDoneState : IState
         return Invoker.Invoke("wait exist radar", 1000, 5, machine.IsCanceled, machine.IsManualSwapSucc,
             () => machine.RadarOutFlag, () =>
             {
-                if (PlcApi.ExitRadar())
+
+
+                if (PadarMgr._PadarClient.CarState != 1)
                 {
                     _log.Info("exist radar false");
                 }
@@ -152,23 +163,20 @@ public class SwapDoneState : IState
                     _log.Info("exist radar true");
 
 
-                    if (PlcApi.WriteExistLamp(1020))
-                    {
-                        //出口写红灯
-                        //更新车辆离场时间，上报云平台
-                        machine.BusinessSwappingForCloudState =
-                            InfoEnum.BusinessSwappingForCloudState.SwapDoneWithoutVel;
-                        machine.SwapOrder!.VehicleLeaveTime = DateTime.Now;
-                        _CommonMgr.UpdateSwapOrder(machine);
-
-                        machine.RadarOutFlag = true;
-
-                        _CommonMgr.InsertStep(
-                            machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
-                                ? InfoEnum.BusinessSwappingStep.RadarOutFlag
-                                : InfoEnum.BusinessSwappingStep.RadarOutFailFlag,
-                            machine);
-                    }
+                    //出口写红灯
+                    //更新车辆离场时间，上报云平台
+                    machine.BusinessSwappingForCloudState =
+                        InfoEnum.BusinessSwappingForCloudState.SwapDoneWithoutVel;
+                    machine.SwapOrder!.VehicleLeaveTime = DateTime.Now;
+                    _CommonMgr.UpdateSwapOrder(machine);
+
+                    machine.RadarOutFlag = true;
+
+                    _CommonMgr.InsertStep(
+                        machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
+                            ? InfoEnum.BusinessSwappingStep.RadarOutFlag
+                            : InfoEnum.BusinessSwappingStep.RadarOutFailFlag,
+                        machine);
                 }
             }, () =>
             {
@@ -177,4 +185,4 @@ public class SwapDoneState : IState
                     : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
             }, false, () => { }, 10, InvokeStatus.None);
     }
-}
+}

Service/Execute/SwappingStateMachine.cs

@@ -1,11 +1,10 @@
 using Autofac;
-using DotNetty.Common.Utilities;
 using Entity.Constant;
 using Entity.DbModel.Station;
 using HybirdFrameworkCore.Autofac;
 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;
@@ -252,6 +251,8 @@ public class SwappingStateMachine : IDisposable
             TBoxApi.Reset(RfidReadModel.VelVin);
         }
 
+        ClientMgr.PlcClient?.Reset();
+
 
         //重置所有小步状态
         ResetStep();
@@ -395,7 +396,7 @@ public class SwappingStateMachine : IDisposable
             }
         }
 
-        //预约单 
+        //预约单
         List<SwapAmtOrder> amtOrderInfos = AmtOrderRepository.QueryListByClause(it =>
             it.ExpireTime < DateTime.Now
             && it.Status == (byte)InfoEnum.AmtOrderStatus.Success).ToList();
@@ -432,4 +433,4 @@ public enum SwappingState
     Exception,
     Canceled,
     ManualSucc,
-}
+}

Service/Padar/Client/PadarMgr.cs

@@ -10,13 +10,13 @@ public class PadarMgr
 {
     private static readonly ILog Log = LogManager.GetLogger(typeof(PadarMgr));
 
-    public static PadarClient _PadarClient;
+    public static PadarClient? _PadarClient;
     public static void InitClient()
     {
         //TODO::查询 服务器 连接
         Task.Run(() => { ConnClient(); });
     }
-    
+
     private static void ConnClient()
     {
         PadarClient client = AppInfo.Container.Resolve<PadarClient>();
@@ -30,6 +30,6 @@ public class PadarMgr
             Log.Info($"succeed to connect");
         });
     }
-    
-    
-}
+
+
+}

WebStarter/Controllers/PlcController.cs

@@ -27,7 +27,7 @@ public class PlcController : ControllerBase
      [Route("SendInitializeCommandReq/{code}")]
     public Result<bool> SendInitializeCommandReq(string code)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
            return chargerClient.SendInitializeCommandReq();
@@ -44,7 +44,7 @@ public class PlcController : ControllerBase
     [Route("SendOutboundCommandReq/{code}/{outboundMode}/{takePositionNumber}")]
     public Result<bool> SendOutboundCommandReq(string code, byte outboundMode, byte takePositionNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendOutboundCommandReq(outboundMode, takePositionNumber);
@@ -61,7 +61,7 @@ public class PlcController : ControllerBase
     [Route("SendStartBatterySwapReq/{code}/{takePositionNumber}/{positionNumber}")]
     public Result<bool> SendStartBatterySwapReq(string code, byte takePositionNumber, byte positionNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendStartBatterySwapReq(takePositionNumber, positionNumber);
@@ -78,7 +78,7 @@ public class PlcController : ControllerBase
     [Route("SendStartMovElectricityReq/{code}/{takeBatteryShelfNumber}/{saveBatteryShelfNumber}")]
     public Result<bool> SendStartMovElectricityReq(string code, byte takeBatteryShelfNumber, byte saveBatteryShelfNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendStartMovElectricityReq(takeBatteryShelfNumber, saveBatteryShelfNumber);
@@ -95,7 +95,7 @@ public class PlcController : ControllerBase
     [Route("SendVehicleModelReq/{code}/{cartNo}")]
     public Result<bool> SendVehicleModelReq(string code, byte cartNo)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendVehicleModelReq(cartNo);
@@ -112,7 +112,7 @@ public class PlcController : ControllerBase
     [Route("SendMoveCommandReq/{code}/{takePositionNumber}/{positionNumber}")]
     public Result<bool> SendMoveCommandReq(string code, byte takePositionNumber, byte positionNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendMoveCommandReq(takePositionNumber, positionNumber);
@@ -129,7 +129,7 @@ public class PlcController : ControllerBase
     [Route("SendContinueCommandReq/{code}")]
     public Result<bool> SendContinueCommandReq(string code)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendContinueCommandReq();
@@ -146,7 +146,7 @@ public class PlcController : ControllerBase
     [Route("SendPauseCommandReq/{code}")]
     public Result<bool> SendPauseCommandReq(string code)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendPauseCommandReq();
@@ -163,7 +163,7 @@ public class PlcController : ControllerBase
     [Route("SendInboundCommandsReq/{code}/{positionNumber}")]
     public Result<bool> SendInboundCommandsReq(string code, byte positionNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendInboundCommandsReq(positionNumber);
@@ -180,7 +180,7 @@ public class PlcController : ControllerBase
     [Route("SendTerminationOrderReq/{code}")]
     public Result<bool> SendTerminationOrderReq(string code)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendTerminationOrderReq();
@@ -197,7 +197,7 @@ public class PlcController : ControllerBase
     [Route("SendFaultResetReq/{code}")]
     public Result<bool> SendFaultResetReq(string code)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendFaultResetReq();
@@ -214,7 +214,7 @@ public class PlcController : ControllerBase
     //[Route("SendParameterSettingsReq/{code}/{messageBodyAddress}/{parameterType}/{parameter}")]
     //public Result<bool> SendParameterSettingsReq(string code, byte[] messageBodyAddress, byte parameterType, byte parameter)
     //{
-    //    Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+    //    Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
     //    if (chargerClient != null)
     //    {
     //        return chargerClient.SendParameterSettingsReq(messageBodyAddress, parameterType, parameter);
@@ -234,11 +234,11 @@ public class PlcController : ControllerBase
     [Route("SendParameterSettingsReq/{code}/{parameterType}/{parameter}")]
     public Result<bool> SendParameterSettingsReq(string code, byte parameterType, byte parameter)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendParameterSettingsReq( parameterType, parameter);
-        }                                                                            
+        }
         return Result<bool>.Fail("充电机未连接");
     }
 
@@ -252,7 +252,7 @@ public class PlcController : ControllerBase
     [Route("SendPrepareBatteryOnReq/{code}/{readyBatterySign}/{takePositionNumber}")]
     public Result<bool> SendPrepareBatteryOnReq(string code, byte readyBatterySign, byte takePositionNumber)
     {
-        Service.Charger.Server.PlcClient? chargerClient = ClientMgr.GetBySn(code);
+        Service.Charger.Server.PlcClient? chargerClient =  ClientMgr.PlcClient;
         if (chargerClient != null)
         {
             return chargerClient.SendPrepareBatteryOnReq(readyBatterySign, takePositionNumber);