You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
286 lines
9.9 KiB
286 lines
9.9 KiB
using Autofac;
|
|
using AutoMapper;
|
|
using Entity.Attr;
|
|
using Entity.Constant;
|
|
using Entity.DbModel.Station;
|
|
using HybirdFrameworkCore.Autofac;
|
|
using HybirdFrameworkCore.Configuration;
|
|
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;
|
|
using Service.Execute.SwapException;
|
|
using Service.Execute.Utils;
|
|
using Service.Init;
|
|
using Service.Led;
|
|
using Service.Padar.Client;
|
|
using Service.Sound.SoundClient;
|
|
|
|
namespace Service.Execute.Step;
|
|
|
|
public class DoSwappingState : IState
|
|
{
|
|
private readonly ILog _log = LogManager.GetLogger(typeof(DoSwappingState));
|
|
private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();
|
|
|
|
public BinInfoRepository _binInfoRepository { get; set; }
|
|
|
|
public static SoundClient? SoundClient { get; set; }
|
|
|
|
|
|
public StateResult Handle(SwappingStateMachine machine)
|
|
{
|
|
//上报云平台换电开始
|
|
machine.BusinessSwappingStateUpdateTime = DateTime.Now;
|
|
|
|
|
|
//记录为 换电任务
|
|
|
|
//下发启动换电
|
|
InvokeStatus startSwapping = StartSwapping(machine);
|
|
if (startSwapping != InvokeStatus.Done)
|
|
{
|
|
return SwappingStateMachine.ReturnWithInvokeErr(startSwapping, ExceptionReason.None);
|
|
}
|
|
|
|
//旧电池拆卸
|
|
InvokeStatus unPack = UnPack(machine);
|
|
if (unPack != InvokeStatus.Done)
|
|
{
|
|
return SwappingStateMachine.ReturnWithInvokeErr(unPack, ExceptionReason.None);
|
|
}
|
|
|
|
|
|
//安装
|
|
InvokeStatus pack = Pack(machine);
|
|
if (pack != InvokeStatus.Done)
|
|
{
|
|
return SwappingStateMachine.ReturnWithInvokeErr(pack, ExceptionReason.None);
|
|
}
|
|
//安装完成
|
|
InvokeStatus packFinish = PackFinish(machine);
|
|
if (packFinish != InvokeStatus.Done)
|
|
{
|
|
return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None);
|
|
}
|
|
ClientMgr.PlcClient.ResetTaskNo();
|
|
|
|
return new StateResult()
|
|
{
|
|
|
|
SwappingState = SwappingState.SwapDone
|
|
};
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
/// 控制雷达启停
|
|
/// </summary>
|
|
/// <param name="machine"></param>
|
|
/// <param name="flag"></param>
|
|
/// <returns></returns>
|
|
public InvokeStatus ControlRadar(SwappingStateMachine machine, byte flag)
|
|
{
|
|
return Invoker.Invoke("begin Radar", 1000, 20, machine.IsCanceled, () => PadarMgr._PadarClient?.CarState > 0,
|
|
() => { PadarMgr._PadarClient?.PadarControl(flag); });
|
|
}
|
|
|
|
|
|
//public void leida ()
|
|
//{
|
|
|
|
// 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;
|
|
// ;
|
|
// }
|
|
|
|
//}
|
|
|
|
|
|
|
|
/// <summary>
|
|
/// 下发plc启动换电
|
|
/// </summary>
|
|
/// <returns></returns>
|
|
public InvokeStatus StartSwapping(SwappingStateMachine machine)
|
|
{
|
|
|
|
return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled,
|
|
() => machine.StartSwappingFlag, () =>
|
|
{
|
|
if (ClientMgr.PlcClient.IsTaskFree())
|
|
{
|
|
// ClientMgr.PlcClient.ExChangeTaskNo(1);
|
|
var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
|
|
machine.SwapOrderBatteryInfo.UpBinInfo.No);
|
|
|
|
_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.DistributeSelectPackFlag,
|
|
machine,param: $"InBin:{JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.InBinInfo)};" +
|
|
$"UpBin: {JsonConvert.SerializeObject(machine.SwapOrderBatteryInfo.UpBinInfo)}");
|
|
|
|
_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
|
|
machine);
|
|
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
//LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
//查詢當前任務狀態是否被更改
|
|
if (startSwapping)
|
|
{
|
|
ClientMgr.PlcClient.ExChangeTaskNo(1);
|
|
machine.SwapOrder.SwapBeginTime = DateTime.Now;
|
|
_CommonMgr.UpdateSwapOrder(machine);
|
|
machine.SwapStatus = 0;
|
|
machine.StartSwappingFlag = true;
|
|
SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
SoundClient.SoundPlay(SoundEnum.music91);
|
|
Thread.Sleep(5000);
|
|
SoundClient.SoundPlay(SoundEnum.music90);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
// }
|
|
}, () =>
|
|
{
|
|
//SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
//SoundClient.SoundPlay(SoundEnum.music70);
|
|
// LedClient.SendMsgByKey(InfoEnum.SwapInfo.ErrStartSwap.GetLed());
|
|
},false, () => { },10,InvokeStatus.None);
|
|
}
|
|
|
|
/// <summary>
|
|
/// 读取plc任务状态电池拆卸中
|
|
/// 读取plc任务状态电池入库搬运中
|
|
/// 读取plc任务状态电池出库搬运中
|
|
/// 读取plc任务状态电池安装中
|
|
/// 读取plc任务状态电池安装完成
|
|
/// </summary>
|
|
/// <returns></returns>
|
|
public InvokeStatus UnPack(SwappingStateMachine machine)
|
|
{
|
|
|
|
int i = 0;
|
|
return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled,
|
|
() => machine.UnOldBatteryFlag, () =>
|
|
{
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
LedClient.SendMsgByKey(InfoEnum.SwapInfo.StartSwap.GetLed());
|
|
SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
|
|
machine.UnOldBatteryFlag = ClientMgr.PlcClient.DisassembleDone;
|
|
|
|
if (machine.UnOldBatteryFlag)
|
|
{
|
|
_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,
|
|
machine);
|
|
}
|
|
|
|
},
|
|
() =>
|
|
{
|
|
if (i==0)
|
|
{
|
|
SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
SoundClient.SoundPlay(SoundEnum.music51);
|
|
i = 1;
|
|
}
|
|
|
|
|
|
}, false, () => { }, 30,
|
|
InvokeStatus.None);
|
|
}
|
|
|
|
public InvokeStatus Pack(SwappingStateMachine machine)
|
|
{
|
|
int f = 0;
|
|
|
|
return Invoker.Invoke("plc Pack ing", 500, 5, machine.IsCanceled,
|
|
() => machine.InstallNewBatteryFlag, () =>
|
|
{
|
|
// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed());
|
|
// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
|
|
|
|
machine.InstallNewBatteryFlag = ClientMgr.PlcClient.SwapDone;
|
|
|
|
if (machine.InstallNewBatteryFlag)
|
|
{
|
|
_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.InstallNewBatteryFlag,
|
|
machine);
|
|
}
|
|
}, () =>
|
|
{
|
|
//SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack);
|
|
SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
//SoundClient.SoundPlay(AppSettingsHelper.GetContent("SoundAddr", "Address12"));
|
|
if (f==0)
|
|
{
|
|
SoundClient.SoundPlay(SoundEnum.music52);
|
|
// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPack.GetLed());
|
|
f = 1;
|
|
}
|
|
|
|
|
|
},false, () => { },
|
|
30,InvokeStatus.None);
|
|
}
|
|
|
|
public InvokeStatus PackFinish(SwappingStateMachine machine)
|
|
{
|
|
int b = 0;
|
|
return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
|
|
() => machine.FinishNewBatteryFlag, () =>
|
|
{
|
|
if (ClientMgr.PlcClient.SwapDone)
|
|
{
|
|
machine.FinishNewBatteryFlag = true;
|
|
machine.BusinessSwappingForCloudState =
|
|
InfoEnum.BusinessSwappingForCloudState.SwapFinish;
|
|
machine.BusinessSwappingStateUpdateTime = DateTime.Now;
|
|
|
|
SoundClient = AppInfo.Container.Resolve<SoundClient>();
|
|
SoundClient.SoundPlay(SoundEnum.music53);
|
|
_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
|
|
machine);
|
|
machine.ToSafePositionFlag = true;
|
|
machine.BusinessSwappingStateUpdateTime = DateTime.Now;
|
|
|
|
machine.SwapStatus = 1;
|
|
}
|
|
}, () =>
|
|
{
|
|
// LedClient.SendMsgByKey(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
|
|
|
|
},false, () => { },
|
|
30,InvokeStatus.None);
|
|
}
|
|
|
|
|
|
}
|