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496 lines
18 KiB
496 lines
18 KiB
using Autofac;
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using Entity.Attr;
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using Entity.Constant;
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using Entity.DbModel.Station;
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using HybirdFrameworkCore.Autofac;
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using log4net;
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using Newtonsoft.Json;
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using Repository.Station;
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using Service.Execute.Api;
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using Service.Execute.Model;
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using Service.Execute.Model.Tbox;
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using Service.Execute.SwapException;
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using Service.Execute.Utils;
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using Service.Init;
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using Service.Led;
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using Service.Padar.Client;
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using Service.RealTime;
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using Service.Sound.SoundClient;
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using Service.Station;
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using System.Runtime.CompilerServices;
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using Newtonsoft.Json;
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namespace Service.Execute.Step;
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public class CarPrepareState : IState
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{
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private readonly ILog _log = LogManager.GetLogger(typeof(CarPrepareState));
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private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();
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private readonly SwapOrderBatteryRepository _swapOrderBatteryRepository =
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AppInfo.Container.Resolve<SwapOrderBatteryRepository>();
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public static SoundClient? SoundClient { get; set; }
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public StateResult Handle(SwappingStateMachine machine)
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{
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Thread.Sleep(500);
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RfidReadModel? rfidReadModel = machine.RfidReadModel;
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if (rfidReadModel == null)
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{
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_log.Error("rfid is null");
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return new StateResult()
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{
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SwappingState = SwappingState.StationReady
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};
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}
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////调整车辆
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var adjustCarByRadar = AdjustCarByRadar(machine);
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if (InvokeStatus.Done != adjustCarByRadar)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(adjustCarByRadar, ExceptionReason.None);
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}
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//检查tbox链接状态
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InvokeStatus checkTBoxConnect = CheckTBoxConnectFlag(machine);
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if (checkTBoxConnect != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(checkTBoxConnect, ExceptionReason.None);
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}
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//车辆本地验证
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InvokeStatus checkTBoxVelLocal = CheckTBoxVelLocalFlag(machine);
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if (checkTBoxVelLocal != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(checkTBoxVelLocal, ExceptionReason.None);
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}
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machine.ExceptionReason = ExceptionReason.None;
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//选包
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InvokeStatus selectPack = SelectPack(machine);
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if (selectPack != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(selectPack, ExceptionReason.None);
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}
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//在充电的包停止充电
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InvokeStatus stopChargingForUpBin = StopChargingForUpBin(machine);
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if (stopChargingForUpBin != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(selectPack, ExceptionReason.StopChargingError);
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}
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_CommonMgr.SaveSwapBattery(machine);
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//车辆到位
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InvokeStatus carInPosition = CarInPosition(machine);
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if (carInPosition != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(carInPosition, ExceptionReason.None);
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}
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return new StateResult()
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{
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SwappingState = SwappingState.CarCtrl
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};
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}
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/// <summary>
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/// 车辆到位
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/// </summary>
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/// <returns></returns>
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public InvokeStatus CarInPosition(SwappingStateMachine machine)
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{
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return Invoker.Invoke("check CarInPosition", 500, 10, machine.IsCanceled,
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() => machine.VehiclesInPlaceFlag, () =>
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{
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var result = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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int succCount = 0;
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List<bool> succL = new List<bool>()
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{
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StaticStationInfo.TboxStateFlameout, StaticStationInfo.TboxStateBreak, StaticStationInfo.TboxStateN
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};
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var successCount = succL.Where(i => i).Count();
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TboxCarInfoModel tboxCarInfoModel = result.Result;
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var status = tboxCarInfoModel?.CarStatus;
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if (StaticStationInfo.TboxStateFlameout)
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{
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if (status?.Keys == 0)
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{
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succCount++;
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}
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}
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if (StaticStationInfo.TboxStateN)
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{
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if (status?.Gear == 0)
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{
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succCount++;
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}
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}
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if (succCount == successCount)
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{
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machine.VehiclesInPlaceFlag = true;
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CarInPositionFlag,
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machine,param:JsonConvert.SerializeObject(tboxCarInfoModel));
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}
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}, () =>
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{
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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//SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address06"));
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//TODO::播报请熄火挂N挡拉手刹
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// SoundClient.SoundPlay(SoundEnum.music06);
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machine.ExceptionReason = ExceptionReason.CarInPositionError;
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorCarInPositionTimeout.GetLed());
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//SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorCarInPositionTimeout);
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}, false, () => { }
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, 20, InvokeStatus.None);
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}
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public InvokeStatus AdjustCarByRadar(SwappingStateMachine machine)
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{
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int che = 0;
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int i = 0;
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int a = 0;
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return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled,
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() =>
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{
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoCarInPosition.GetLed());
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if (PadarMgr._PadarClient?.CarState == 6 || machine.ManualSkipRadar)
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{
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a = 0;
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i = 0;
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for (int i = 0; i < 8; i++)
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{
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LedClient.SendMsgByKey(InfoEnum.SwapInfo.diparkir.GetLed());
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}
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.Carradar,
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machine,type: machine.ManualSkipRadar? (int)SwapConstant.StepType.MANUAL :(int)SwapConstant.StepType.AUTO);
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}
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return PadarMgr._PadarClient?.CarState == 6 || machine.ManualSkipRadar;
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},
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() =>
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{
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switch (PadarMgr._PadarClient?.CarState)
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{
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case 1:
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_log.Info("radar 无车");
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break;
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case 2:
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_log.Info("radar 无电池");
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break;
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case 3:
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_log.Info("radar 角度偏移过大");
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if (che == 0)
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{
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LedClient.SendMsgByKey(InfoEnum.SwapInfo.upcar.GetLed());
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SoundClient.SoundPlay(SoundEnum.music100);
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Thread.Sleep(3000);
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SoundClient.SoundPlay(SoundEnum.music101);
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che = 1;
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}
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break;
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case 4:
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_log.Info("radar 车辆靠后");
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if (i==10)
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{
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SoundClient.SoundPlay(SoundEnum.music100);
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Thread.Sleep(6000);
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SoundClient.SoundPlay(SoundEnum.music101);
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i = 1;
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}
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LedClient.SendMsgByKey(InfoEnum.SwapInfo.Muka.GetLed());
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break;
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case 5:
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_log.Info("radar 车辆靠前");
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if (a == 10)
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{
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SoundClient.SoundPlay(SoundEnum.music100);
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Thread.Sleep(6000);
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SoundClient.SoundPlay(SoundEnum.music101);
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a = 1;
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}
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LedClient.SendMsgByKey(InfoEnum.SwapInfo.Mundur.GetLed());
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break;
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}
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});
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}
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/// <summary>
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/// 检查tbox连接状态
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/// </summary
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/// <returns></returns>
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public InvokeStatus CheckTBoxConnectFlag(SwappingStateMachine machine)
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{
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return Invoker.Invoke("check TBox connect", 1000, 10, machine.IsCanceled,
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() => machine.BoxConnectFlag, () =>
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{
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Task<bool> result = TBoxApi.IsConnected(machine.RfidReadModel.VelVin);
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bool isConnect = result.Result;
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if (isConnect)
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{
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machine.BoxConnectFlag = true;
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}
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}, () =>
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{
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music102);
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Thread.Sleep(6000);
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SoundClient.SoundPlay(SoundEnum.music103);
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}, false, () =>
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{
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_log.Error("CheckTBoxConnectFlag err");
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}
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, 30, InvokeStatus.None);
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}
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/// <summary>
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/// 连接TBox
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/// </summary
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/// <returns></returns>
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public InvokeStatus TboxConnect(SwappingStateMachine machine)
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{
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return Invoker.Invoke("TBox connect", 1000, 10, machine.IsCanceled,
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() => machine.BoxConnectFlag, () =>
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{
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Task<bool> result = TBoxApi.Connect(machine.RfidReadModel.VelVin);
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bool isConnect = result.Result;
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if (isConnect)
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{
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//读取车辆carNo=carVin
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Task<TboxCarInfoModel> carInfoResult = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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var tboxCarInfoModel = carInfoResult.Result;
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var carInfo = tboxCarInfoModel?.CarInfo;
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if (carInfo != null)
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{
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if (carInfo.CarNo.Equals(carInfo.CarVin))
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{
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machine.BoxConnectFlag = true;
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}
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}
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}
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}, () =>
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{
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music102);
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Thread.Sleep(6000);
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SoundClient.SoundPlay(SoundEnum.music103);
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//machine.ExceptionReason = ExceptionReason.ConnTBoxError;
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//SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorTBoxConn);
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}, false, () =>
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{
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machine.ExceptionReason = ExceptionReason.ConnTBoxError;
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorTBoxConn.GetLed());
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrorTBoxConn.GetLed());
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}
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, 5, InvokeStatus.None);
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}
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/// <summary>
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/// 车辆本地验证:车牌校验
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/// </summary>
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/// <returns></returns>
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public InvokeStatus CheckTBoxVelLocalFlag(SwappingStateMachine machine)
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{
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return Invoker.Invoke("check TBox VelLocal", 1000, 20, machine.IsCanceled,
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() => machine.BoxLocalCheckFlag, () =>
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{
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Task<TboxCarInfoModel> carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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var tBoxCarInfoModel = carInfo.Result;
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if (tBoxCarInfoModel.CarNo!.Trim().Equals(machine.RfidReadModel!.VelVin.Trim()))
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{
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machine.BoxLocalCheckFlag = true;
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machine.BoxCarInfoModel = tBoxCarInfoModel;
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}
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}, () => { machine.ExceptionReason = ExceptionReason.LocalCheckVarError; }, true, () =>
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{
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machine.ExceptionReason = ExceptionReason.LocalCheckVarError;
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music108);
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Thread.Sleep(3000);
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SoundClient.SoundPlay(SoundEnum.music109);
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Thread.Sleep(3000);
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}
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, 30, InvokeStatus.TimeOut);
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}
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/// <summary>
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/// 蓝牙数据云平台上报
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/// </summary>
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/// <returns></returns>
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public InvokeStatus CloudTBoxFlag(SwappingStateMachine machine)
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{
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return Invoker.Invoke("cloud TBox upload", 500, 20, machine.IsCanceled,
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() => machine.CloudTBoxFlag, () =>
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{
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Task<TboxCarInfoModel> result = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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TboxCarInfoModel tBoxCarInfoModel = result.Result;
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machine.BoxCarInfoModel = tBoxCarInfoModel;
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if (tBoxCarInfoModel != null)
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{
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if (tBoxCarInfoModel.Connected)
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{
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//将数据上报云平台
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// CloudApi.UploadTBoxCarInfo(machine.SwapOrder!, machine.BoxCarInfoModel);
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}
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}
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}, () =>
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{
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// machine.LedTool?.WriteProgramContent("车辆电池数据上报异常，请联系站务人员");
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// SoundApi.PlayOneSound(InfoEnum.SwapInfo.ErrorSelectPack);
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrorSelectPack.GetLed());
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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//SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address09"));
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SoundClient.SoundPlay(SoundEnum.music09);
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}, false, () => { machine.ExceptionReason = ExceptionReason.CloudCarDataUploadError; }
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, 20, InvokeStatus.None);
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}
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/// <summary>
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/// 选包：
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/// 有预约单： 获取预约单的电池
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/// 无预约单：
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/// 1.仓位状态：启动
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/// 2.电池在位
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/// 3.充电状态：不在充电中
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/// 4.未锁定
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/// 5.最后一次结束充电时间> ()
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/// 6.soc >()
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/// </summary>
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/// <param name="machine"></param>
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public InvokeStatus SelectPack(SwappingStateMachine machine)
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{
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int e = 0;
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SwapAmtOrder? swapAmtOrder = _CommonMgr.QueryAmtOrder(machine);
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return Invoker.Invoke("selectPack", 1000, 10, machine.IsCanceled,
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() => machine.SelectPackFlag, () =>
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{
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SwapOrderBatteryInfo orderBatteryInfo = null;
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if (swapAmtOrder != null)
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{
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orderBatteryInfo = _CommonMgr.SelectPackArm(swapAmtOrder, machine);
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}
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else
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{
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orderBatteryInfo = _CommonMgr.SelectPackNotArm(machine);
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}
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if (orderBatteryInfo.CanSwap == InfoEnum.SelectBinStatusInfo.Success)
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{
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//选包成功
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_CommonMgr.LockBinAndUpdateAmt(orderBatteryInfo);
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machine.SwapOrderBatteryInfo = orderBatteryInfo;
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bool isManual = StaticStationInfo.SelectPackManually == (int)SwapConstant.AutoOrManual.Manual;
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machine.SelectPackFlag = true;
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.SelectPackSuccess,
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machine,isManual?"手动选包":"自动选包",param: JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo)
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,type:isManual?(int)SwapConstant.StepType.MANUAL:(int)SwapConstant.StepType.AUTO);
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}
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}, () =>
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{
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrorSelectPack.GetLed());
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music106);
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Thread.Sleep(3000);
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SoundClient.SoundPlay(SoundEnum.music107);
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machine.ExceptionReason = ExceptionReason.SelectPackError;
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}
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, false, () => { }, 20, InvokeStatus.None);
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}
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public InvokeStatus StopChargingForUpBin(SwappingStateMachine machine)
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{
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return Invoker.Invoke("select pack - stop charging", 1000, 60, machine.IsCanceled,
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() => machine.SelectPackStopChargingFlag,
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() =>
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{
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if (machine is { SelectPackFlag: true, SwapOrderBatteryInfo.UpBinInfo.ChargeStatus: 1 })
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{
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var binNo = machine.SwapOrderBatteryInfo?.UpBinInfo.No;
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BinInfo? binInfo = _CommonMgr._binInfoRepository.SelectByBinNo(binNo);
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if (binInfo is { ChargeStatus: 4 })
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{
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machine.SwapOrderBatteryInfo.UpBinInfo = binInfo;
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machine.SelectPackStopChargingFlag = true;
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HubHolder.S2CMsg(JsonConvert.SerializeObject(new RtMsg
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{
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Cmd = "BeginStopChargingDone",
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Msg = $"{binNo}"
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})).Wait();
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return;
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}
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//停止充电
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HubHolder.S2CMsg(JsonConvert.SerializeObject(new RtMsg
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{
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Cmd = "BeginStopCharging",
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Msg = $"{binNo}"
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})).Wait();
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Task<bool> stopCharge = ChargeApi.StopCharge(binNo);
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stopCharge.Wait(TimeSpan.FromSeconds(10));
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}
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else
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{
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machine.SelectPackStopChargingFlag = true;
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}
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});
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}
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}
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