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285 lines
9.6 KiB
285 lines
9.6 KiB
using Autofac;
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using AutoMapper;
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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 HybirdFrameworkCore.Configuration;
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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.Charger.Client;
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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.PlcAfrica.Client;
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using Service.Sound.SoundClient;
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namespace Service.Execute.Step;
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public class DoSwappingState : IState
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{
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private readonly ILog _log = LogManager.GetLogger(typeof(DoSwappingState));
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private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();
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public BinInfoRepository _binInfoRepository { get; set; }
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public static SoundClient? SoundClient { get; set; }
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private int a = 0;
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private int b = 0;
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public StateResult Handle(SwappingStateMachine machine)
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{
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//上报云平台换电开始
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machine.BusinessSwappingStateUpdateTime = DateTime.Now;
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//记录为 换电任务
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//下发启动换电
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InvokeStatus startSwapping = StartSwapping(machine);
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if (startSwapping != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(startSwapping, ExceptionReason.None);
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}
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//旧电池拆卸
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InvokeStatus unPack = UnPack(machine);
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if (unPack != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(unPack, ExceptionReason.None);
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}
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//安装
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InvokeStatus pack = Pack(machine);
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if (pack != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(pack, ExceptionReason.None);
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}
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//安装完成
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InvokeStatus packFinish = PackFinish(machine);
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if (packFinish != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None);
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}
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PlcAfricaMgr.PlcAfricaClient.ResetTaskNo();
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return new StateResult()
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{
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SwappingState = SwappingState.SwapDone
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};
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}
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/// <summary>
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/// 控制雷达启停
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/// </summary>
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/// <param name="machine"></param>
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/// <param name="flag"></param>
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/// <returns></returns>
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public InvokeStatus ControlRadar(SwappingStateMachine machine, byte flag)
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{
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return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState > 0,
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() => { PadarMgr._PadarClient?.PadarControl(flag); });
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}
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//public void leida ()
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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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// break;
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// case 4:
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// _log.Info("radar 车辆靠后");
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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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// break;
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// ;
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// }
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//}
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/// <summary>
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/// 下发plc启动换电
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/// </summary>
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/// <returns></returns>
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public InvokeStatus StartSwapping(SwappingStateMachine machine)
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{
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return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled,
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() => machine.StartSwappingFlag, () =>
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{
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if (PlcAfricaMgr.PlcAfricaClient.IsTaskFree())
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{
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PlcApi.CarStatus(1);
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var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
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machine.SwapOrderBatteryInfo.UpBinInfo.No);
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.DistributeSelectPackFlag,
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machine,param: $"InBin:{JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.InBinInfo)};" +
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$"UpBin: {JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.UpBinInfo)}");
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
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machine);
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Thread.Sleep(1000);
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//LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
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//查詢當前任務狀態是否被更改
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if (startSwapping)
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{
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PlcAfricaMgr.PlcAfricaClient.ExChangeTaskNo(1);
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machine.SwapOrder.SwapBeginTime = DateTime.Now;
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_CommonMgr.UpdateSwapOrder(machine);
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machine.SwapStatus = 0;
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machine.StartSwappingFlag = true;
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music91);
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Thread.Sleep(5000);
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SoundClient.SoundPlay(SoundEnum.music90);
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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.music70);
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrStartSwap.GetLed());
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},false, () => { },10,InvokeStatus.None);
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}
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/// <summary>
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/// 读取plc任务状态电池拆卸中
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/// 读取plc任务状态电池入库搬运中
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/// 读取plc任务状态电池出库搬运中
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/// 读取plc任务状态电池安装中
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/// 读取plc任务状态电池安装完成
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/// </summary>
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/// <returns></returns>
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public InvokeStatus UnPack(SwappingStateMachine machine)
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{
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int i = 0;
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return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled,
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() => machine.UnOldBatteryFlag, () =>
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{
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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machine.UnOldBatteryFlag = PlcApi.ReadAction() > 15;
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if (machine.UnOldBatteryFlag)
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{
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
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machine);
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}
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},
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() =>
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{
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if (i==0)
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{
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music51);
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i = 1;
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}
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}, false, () => { }, 30,
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InvokeStatus.None);
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}
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public InvokeStatus Pack(SwappingStateMachine machine)
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{
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int f = 0;
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return Invoker.Invoke("plc Pack ing", 500, 5, machine.IsCanceled,
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() => machine.InstallNewBatteryFlag, () =>
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed());
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
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machine.InstallNewBatteryFlag =PlcApi.ReadAction() >29 ;
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if (machine.InstallNewBatteryFlag)
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{
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.InstallNewBatteryFlag,
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machine);
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}
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}, () =>
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{
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//SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack);
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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//SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address12"));
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if (f==0)
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{
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SoundClient.SoundPlay(SoundEnum.music52);
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
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f = 1;
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}
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},false, () => { },
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30,InvokeStatus.None);
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}
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public InvokeStatus PackFinish(SwappingStateMachine machine)
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{
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int b = 0;
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return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
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() => machine.FinishNewBatteryFlag, () =>
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{
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if (PlcApi.ReadAction()==44 || PlcApi.RobotWorkFinish() || PlcApi.RobotReady())
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{
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machine.FinishNewBatteryFlag = true;
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machine.BusinessSwappingForCloudState =
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InfoEnum.BusinessSwappingForCloudState.SwapFinish;
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machine.BusinessSwappingStateUpdateTime = DateTime.Now;
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SoundClient = AppInfo.Container.Resolve<SoundClient>();
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SoundClient.SoundPlay(SoundEnum.music53);
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
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machine);
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machine.ToSafePositionFlag = true;
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machine.BusinessSwappingStateUpdateTime = DateTime.Now;
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machine.SwapStatus = 1;
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}
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}, () =>
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{
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// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
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},false, () => { },
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30,InvokeStatus.None);
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}
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}
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