eaxing_back_africa_main/Service/PlcAfrica/Client/PlcAfricaMgr.cs

using Autofac;
using HybirdFrameworkCore.Autofac;
using Service.PlcAfrica.Msg;
using System;
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
{
    public class PlcAfricaMgr
    {
        public static PlcAfricaClient? PlcAfricaClient;
        public static PlcAfricaMsg PlcAfricaMsg = new PlcAfricaMsg();

        /// <summary>
        /// 数据有效时间。单位秒
        /// </summary>
        static int DataTimeSeconds = 20;


        /// <summary>
        /// 数据刷新时间
        /// </summary>
        public static DateTime DataValidityTime = DateTime.Now;

        public static void PlcInit()
        {
            if (PlcAfricaClient == null)
            {
                PlcAfricaClient = AppInfo.Container.Resolve<PlcAfricaClient>();
            }

            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;
        }

        public static bool StationCommandFeedback()
        {
            return PlcAfricaMsg.StationCommandFeedback.Value == 2;
        }

        /// <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 = inBinNo,//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;7008", 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;

        }
        
        
    }
}