From 7d704e1355b838cedbd9ec6f0cb76059b7761a7a Mon Sep 17 00:00:00 2001 From: rszn <645583145@qq.com> Date: Mon, 8 Jul 2024 23:43:29 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8D=A2=E7=94=B5=E4=B8=BB=E6=B5=81=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Repository/Repository.csproj | 1 + Repository/Station/BinInfoRepository.cs | 57 +++++---- Service/Charger/Client/ClientMgr.cs | 75 ++--------- Service/Charger/Client/PlcClient.cs | 14 ++- .../BatteryPackDisassembledReqHandler.cs | 22 +--- .../BatteryStatusReportedReqHandler.cs | 54 ++++---- .../Handler/SwapBatteryFinishReqHandler.cs | 26 +--- Service/Execute/Api/PlcApi.cs | 7 +- Service/Execute/Step/CarPrepareState.cs | 16 +-- Service/Execute/Step/DoSwappingState.cs | 116 +++++++----------- Service/Execute/Step/StationReadyState.cs | 71 ++++++++--- Service/Execute/Step/SwapDoneState.cs | 106 ++++++++-------- Service/Execute/SwappingStateMachine.cs | 9 +- Service/Padar/Client/PadarMgr.cs | 10 +- WebStarter/Controllers/PlcController.cs | 30 ++--- 15 files changed, 295 insertions(+), 319 deletions(-) diff --git a/Repository/Repository.csproj b/Repository/Repository.csproj index 21979fd..e47b41c 100644 --- a/Repository/Repository.csproj +++ b/Repository/Repository.csproj @@ -7,6 +7,7 @@ + diff --git a/Repository/Station/BinInfoRepository.cs b/Repository/Station/BinInfoRepository.cs index 14ad7df..adb72e6 100644 --- a/Repository/Station/BinInfoRepository.cs +++ b/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 { + private static readonly ILog _log = LogManager.GetLogger(typeof(BinInfoRepository)); public BinInfoRepository(ISqlSugarClient sqlSugar) : base(sqlSugar) { } @@ -19,55 +22,65 @@ public class BinInfoRepository : BaseRepository /// StaticStationInfo.SwapSoc /// StaticStationInfo.SwapFinishChargeTime /// - public SelectPackDto SelectPack(int swapSoc, int swapFinishChargeTime) + public SelectPackDto SelectPack(int swapSoc, int swapFinishChargeTime, string upMoveNo=default) { + _log.Info($"BinInfoRepository SelectPack swapSoc={swapSoc}, swapFinishChargeTime={swapFinishChargeTime},upMoveNo={upMoveNo}"); SelectPackDto selectPackDto = new() { SuccessFlag = false, }; List list = - QueryListByClause(i => i.CacheBinFlag == 0 && i.CanSwapFlag==1 && + QueryListByClause(i => i.CanSwapFlag == 1 && i.Exists == 1 && i.Status == 1 && i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock, "in_time asc"); - BinInfo? cacheBinBattery = ChooseCacheBinBattery(); - if (list.Count <= 0 && cacheBinBattery == null) + _log.Info($"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 QueryByClause(i => i.CacheBinFlag == 1 && i.CanSwapFlag==1 && i.Exists == 1 && i.Status == 1 && i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock); } -} \ No newline at end of file +} diff --git a/Service/Charger/Client/ClientMgr.cs b/Service/Charger/Client/ClientMgr.cs index b0ecf68..935bd66 100644 --- a/Service/Charger/Client/ClientMgr.cs +++ b/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 Dictionary = new(); - - public static PlcClient? GetBySn(string sn) - { - Dictionary.TryGetValue(sn, out var o); - return o; - } - - /// - /// 通过channel获取client - /// - /// - /// - /// 获取不到，client则为空 - /// - 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(); - 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.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($"begin to connect {netInfo.Code} {netInfo.NetAddr}:{netInfo.NetPort}"); } } diff --git a/Service/Charger/Client/PlcClient.cs b/Service/Charger/Client/PlcClient.cs index c9b5ee1..1f4fdee 100644 --- a/Service/Charger/Client/PlcClient.cs +++ b/Service/Charger/Client/PlcClient.cs @@ -2,12 +2,10 @@ using HybirdFrameworkCore.Autofac.Attribute; using HybirdFrameworkCore.Entity; using HybirdFrameworkDriver.Session; using HybirdFrameworkDriver.TcpClient; -using HybirdFrameworkDriver.TcpServer; using log4net; using Service.Charger.Client; using Service.Charger.Codec; using Service.Charger.Handler; -using Service.Charger.Msg; using Service.Charger.Msg.Host.Req; namespace Service.Charger.Server; @@ -22,6 +20,11 @@ public class PlcClient : TcpClient /// Plc编号 /// public string Sn { get; set; } + + public bool SwapDone { get; set; } + + public bool DisassembleDone { get; set; } + #endregion #region send @@ -38,7 +41,7 @@ public class PlcClient : TcpClient return Result.Fail($"Plc{Sn}未连接"); } InitializeCommandReq req = new InitializeCommandReq(); - + this.Channel.WriteAndFlushAsync(req); return Result.Success(); } @@ -295,6 +298,11 @@ public class PlcClient : TcpClient + public void Reset() + { + SwapDone = false; + DisassembleDone = false; + } private ILog Log() { var name = "Charger" + this.Sn; diff --git a/Service/Charger/Handler/BatteryPackDisassembledReqHandler.cs b/Service/Charger/Handler/BatteryPackDisassembledReqHandler.cs index bbac8bf..ef0ba86 100644 --- a/Service/Charger/Handler/BatteryPackDisassembledReqHandler.cs +++ b/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 /// /// - 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)); /// @@ -35,10 +26,7 @@ public class BatteryPackDisassembledReqHandler : SimpleChannelInboundHandler protected override void ChannelRead0(IChannelHandlerContext ctx, BatteryPackDisassembledReq msg) { - if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client)) - { - Log(sn).Info($"process {JsonConvert.SerializeObject(msg)}"); - ctx.Channel.WriteAndFlushAsync(new Msg.Host.Resp.BatteryPackDisassembledResq()); - } + ClientMgr.PlcClient.DisassembleDone = true; + ctx.Channel.WriteAndFlushAsync(new BatteryPackDisassembledResq()); } } diff --git a/Service/Charger/Handler/BatteryStatusReportedReqHandler.cs b/Service/Charger/Handler/BatteryStatusReportedReqHandler.cs index 6d4d90c..af24c4e 100644 --- a/Service/Charger/Handler/BatteryStatusReportedReqHandler.cs +++ b/Service/Charger/Handler/BatteryStatusReportedReqHandler.cs @@ -1,11 +1,9 @@ using DotNetty.Transport.Channels; +using Entity.DbModel.Station; using HybirdFrameworkCore.Autofac.Attribute; -using HybirdFrameworkCore.Utils; using log4net; -using Newtonsoft.Json; +using Repository.Station; using Service.Charger.Msg.Charger.Req; -using Service.Charger.Msg.Charger.Resp; - namespace Service.Charger.Handler; @@ -17,17 +15,9 @@ namespace Service.Charger.Handler; public class BatteryStatusReportedReqHandler : SimpleChannelInboundHandler, IBaseHandler { - /// - /// - /// - private static ILog Log(string? sn) - { - if (ObjUtils.IsNotNullOrWhiteSpace(sn)) - { - return LogManager.GetLogger("Charger" + sn); - } - return LogManager.GetLogger(typeof(BatteryStatusReportedReqHandler)); - } + private static readonly ILog Log =LogManager.GetLogger(typeof(BatteryStatusReportedReqHandler)); + + public BinInfoRepository BinInfoRepository { get; set; } /// @@ -35,11 +25,33 @@ public class BatteryStatusReportedReqHandler : SimpleChannelInboundHandler protected override void ChannelRead0(IChannelHandlerContext ctx, BatteryStatusReportedReq msg) { - if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client)) - { - Log(sn).Info($"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); + } } diff --git a/Service/Charger/Handler/SwapBatteryFinishReqHandler.cs b/Service/Charger/Handler/SwapBatteryFinishReqHandler.cs index 1b94a88..e66f183 100644 --- a/Service/Charger/Handler/SwapBatteryFinishReqHandler.cs +++ b/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, IBaseHandler { - /// - /// - /// - 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)); /// @@ -35,10 +23,8 @@ public class SwapBatteryFinishReqHandler : SimpleChannelInboundHandler protected override void ChannelRead0(IChannelHandlerContext ctx, SwapBatteryFinishReq msg) { - if (Client.ClientMgr.TryGetClient(ctx.Channel, out string sn, out var client)) - { - Log(sn).Info($"process {JsonConvert.SerializeObject(msg)}"); - ctx.Channel.WriteAndFlushAsync(new Msg.Host.Resp.SwapBatteryFinishResq()); - } + Log.Info("swap finish"); + ctx.Channel.WriteAndFlushAsync(new SwapBatteryFinishResq()); + ClientMgr.PlcClient.SwapDone = true; } } diff --git a/Service/Execute/Api/PlcApi.cs b/Service/Execute/Api/PlcApi.cs index 9312621..0dfb23b 100644 --- a/Service/Execute/Api/PlcApi.cs +++ b/Service/Execute/Api/PlcApi.cs @@ -1,4 +1,5 @@ using log4net; +using Service.Charger.Client; using Service.Plc.Client; namespace Service.Execute.Api; @@ -110,10 +111,10 @@ public class PlcApi { Log.Info($"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; } diff --git a/Service/Execute/Step/CarPrepareState.cs b/Service/Execute/Step/CarPrepareState.cs index 379ee8d..8b9b21d 100644 --- a/Service/Execute/Step/CarPrepareState.cs +++ b/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 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); } -} \ No newline at end of file +} diff --git a/Service/Execute/Step/DoSwappingState.cs b/Service/Execute/Step/DoSwappingState.cs index a41c948..9022117 100644 --- a/Service/Execute/Step/DoSwappingState.cs +++ b/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); } -} \ No newline at end of file +} diff --git a/Service/Execute/Step/StationReadyState.cs b/Service/Execute/Step/StationReadyState.cs index 580a8a1..70e31e4 100644 --- a/Service/Execute/Step/StationReadyState.cs +++ b/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); } + /// + /// 控制雷达启停 + /// + /// + /// + /// + 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 = 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; } -} \ No newline at end of file +} diff --git a/Service/Execute/Step/SwapDoneState.cs b/Service/Execute/Step/SwapDoneState.cs index d6081f1..90cf2bf 100644 --- a/Service/Execute/Step/SwapDoneState.cs +++ b/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 }; } + + /// + /// 控制雷达启停 + /// + /// + /// + /// + public InvokeStatus ControlRadar(SwappingStateMachine machine, byte flag) + { + return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState > 0, + () => + { + PadarMgr._PadarClient?.PadarControl(flag); + }); + } + /// /// 车辆上锁 /// @@ -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); } -} \ No newline at end of file +} diff --git a/Service/Execute/SwappingStateMachine.cs b/Service/Execute/SwappingStateMachine.cs index f5bf753..932bc7c 100644 --- a/Service/Execute/SwappingStateMachine.cs +++ b/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 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, -} \ No newline at end of file +} diff --git a/Service/Padar/Client/PadarMgr.cs b/Service/Padar/Client/PadarMgr.cs index 7d75f20..dca66b3 100644 --- a/Service/Padar/Client/PadarMgr.cs +++ b/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(); @@ -30,6 +30,6 @@ public class PadarMgr Log.Info($"succeed to connect"); }); } - - -} \ No newline at end of file + + +} diff --git a/WebStarter/Controllers/PlcController.cs b/WebStarter/Controllers/PlcController.cs index c188d37..0ef1b19 100644 --- a/WebStarter/Controllers/PlcController.cs +++ b/WebStarter/Controllers/PlcController.cs @@ -27,7 +27,7 @@ public class PlcController : ControllerBase [Route("SendInitializeCommandReq/{code}")] public Result 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 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 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 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 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 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 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 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 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 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 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 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 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.Fail("充电机未连接"); } @@ -252,7 +252,7 @@ public class PlcController : ControllerBase [Route("SendPrepareBatteryOnReq/{code}/{readyBatterySign}/{takePositionNumber}")] public Result 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);