电池自动移仓任务，tbox多次的读，plcreset

HybirdFrameworkDriver/ModbusTcpMaster/ModbusTcpMaster.cs

@@ -121,6 +121,11 @@ public class ModbusTcpMaster
         GetLog().Info("stop listen");
     }
 
+    public void Reset()
+    {
+        ReadAction(this);
+    }
+
     public byte[]? ReadRegister(int registerNo, int start, int length)
     {
         start = start % 16 == 0 ? start / 16 : start / 16 + 1;
@@ -207,7 +212,6 @@ public class ModbusTcpMaster
     {
         return ModbusTcpNet.Write(address, value);
     }
-    
 
 
     public bool WriteValue<T>(ModbusProperty<T> property)
@@ -255,7 +259,7 @@ public class ModbusTcpMaster
                     else
                     {
                         var preWriteCont = BitUtls.ProcessEnding(setValue, ByteSeq, WordSeq);
-                        
+
                         operateResult = ModbusTcpNet.Write("x=16;" + registerNo, preWriteCont);
                         result = operateResult.IsSuccess;
                     }

Service/BusinessTask/MyTask/BatteryMoveTask.cs

@@ -0,0 +1,75 @@
+using Autofac;
+using Entity.Constant;
+using Entity.DbModel.Station;
+using HybirdFrameworkCore.Autofac;
+using HybirdFrameworkCore.Entity;
+using log4net;
+using Repository.Station;
+using Service.Execute;
+using Service.Execute.Api;
+using Service.Execute.Model;
+using Service.Plc.Client;
+using Service.Station;
+
+namespace Service.BusinessTask.MyTask;
+
+/// <summary>
+/// 电池移仓任务
+/// </summary>
+public class BatteryMoveTask : AbstractTaskHandler
+{
+    private static readonly ILog Log = LogManager.GetLogger(typeof(BatteryMoveTask));
+
+  
+
+    private readonly BinInfoRepository _binInfoRepository =
+        AppInfo.Container.Resolve<BinInfoRepository>();
+
+    private readonly MonitorService _monitorService =
+        AppInfo.Container.Resolve<MonitorService>();
+
+    protected override int Interval()
+    {
+        return 20 * 1000;
+    }
+
+    /// <summary>
+    /// 自动移仓 当缓存仓没有电池的时候 如果有电池充满了  就移仓
+    /// </summary>
+    protected override void Handle()
+    {
+        var cacheBin = _binInfoRepository.QueryByClause(i => i.CacheBinFlag == 1);
+        if (cacheBin.Exists == 1)
+        {
+            return;
+        }
+
+        BinInfo? binInfo = _binInfoRepository.QueryListByClause(i => i.ChargeStatus == 4, "battery_enter_seq asc")
+            .First();
+
+        if (binInfo == null)
+        {
+            return;
+        }
+
+        Result<bool> success = _monitorService.BatteryRelocation(ushort.Parse(binInfo.No), ushort.Parse(cacheBin.No));
+
+        //查询人物状态
+        if (success.IsSuccess)
+        {
+            bool readPlcTaskStatus9000 = false;
+            while (!readPlcTaskStatus9000)
+            {
+                Thread.Sleep(1000);
+                readPlcTaskStatus9000 = PlcMgr.ReadPlcTaskStatus() == 9000;
+            }
+
+            Log.Info($"execute  BatteryMoveTask success from binNo ={binInfo.No}");
+        }
+    }
+
+    protected override string Name()
+    {
+        return "SwapOrderReportCloudTask";
+    }
+}

Service/Execute/Api/PlcApi.cs

@@ -17,11 +17,12 @@ public class PlcApi
     /// PLC是否连接
     /// </summary>
     public static bool con;
-    
+
     /// <summary>
     /// 数据有效时间。单位秒
     /// </summary>
     static int DataTimeSeconds = 2;
+
     /// <summary>
     /// 数据刷新时间
     /// </summary>
@@ -41,6 +42,7 @@ public class PlcApi
     {
         return PlcMgr.IsAuto();
     }
+
     /// <summary>
     /// 入口雷达检测
     /// </summary>
@@ -101,10 +103,10 @@ public class PlcApi
     /// <returns></returns>
     public static bool StartSwapping(string inBinNo, string outBinNo)
     {
-        return PlcMgr.DistributeTask(ushort.Parse(inBinNo),ushort.Parse(outBinNo),1);
+        return PlcMgr.DistributeTask(ushort.Parse(inBinNo), ushort.Parse(outBinNo), 1);
     }
-    
-    
+
+
     /// <summary>
     /// 读取任务状态
     /// </summary>
@@ -129,9 +131,10 @@ public class PlcApi
     /// <returns></returns>
     public static ushort ChannelStatus()
     {
+        PlcMgr.ResetPlc();
         var channelStatus = PlcMgr.ChannelStatus();
         Log.Info($"plc ChannelStatus =  {channelStatus}");
-        return  channelStatus;
+        return channelStatus;
     }
 
 
@@ -143,5 +146,4 @@ public class PlcApi
     {
         return PlcMgr.ReadPlcTaskStatus();
     }
-
 }

Service/Execute/Api/TboxApi.cs

@@ -12,6 +12,8 @@ public class TBoxApi
     //TODO::TBox 服务地址
     private static readonly string BASE_URL = "http://localhost:5036";
 
+    private static int _times = 5;
+    private static int _successTimes = 3;
     private static readonly HttpClient _httpClient = new HttpClient()
     {
         Timeout = TimeSpan.FromSeconds(60)
@@ -81,6 +83,35 @@ public class TBoxApi
         }
     }
 
+
+    public static async Task<bool> UnLockCarManyTimes(string carNo)
+    {
+        List<bool> bools = new List<bool>();
+        for (int i = 0; i < _times; i++)
+        {
+            Thread.Sleep(100);
+            var unLockCar = await UnLockCar(carNo);
+            bools.Add(unLockCar);
+        }
+
+        return bools.Select(i => i).Count() > _successTimes;
+
+    }
+    
+    public static async Task<bool> LockCarManyTimes(string carNo)
+    {
+        List<bool> bools = new List<bool>();
+        for (int i = 0; i < _times; i++)
+        {
+            Thread.Sleep(100);
+            var unLockCar = await LockCar(carNo);
+            bools.Add(unLockCar);
+        }
+
+        return bools.Select(i => i).Count() > _successTimes;
+
+    }
+
     /// <summary>
     /// 车辆解锁
     /// </summary>

Service/Execute/Mgr/CommonMgr.cs

@@ -225,6 +225,9 @@ public class CommonMgr
             inBinInfo.Soc = -1;
             inBinInfo.Soe = -1;
             inBinInfo.BatteryNo = "-1";
+            //修改入仓顺序
+            BinInfo binInfo = _binInfoRepository.QueryListByClause(i=>i.BatteryEnterSeq!=null,"battery_enter_seq desc").First();
+            inBinInfo.BatteryEnterSeq = binInfo.BatteryEnterSeq + 1;
             _binInfoRepository.Update(inBinInfo);
             
             var upBinInfo = machineSwapOrderBatteryInfo.UpBinInfo;
@@ -233,6 +236,8 @@ public class CommonMgr
             upBinInfo.BatteryNo = "-1";
             _binInfoRepository.Update(upBinInfo);
         }
+       
+        
     }
 
     

Service/Execute/StationSoftMgr.cs

@@ -13,6 +13,8 @@ namespace Service.Execute
 
 
         private static readonly AbstractTaskHandler SwapOrderReportCloudTask = new SwapOrderReportCloudTask();
+        private static readonly AbstractTaskHandler BatteryMoveTask = new BatteryMoveTask();
+
 
         #region Task
 
@@ -22,6 +24,7 @@ namespace Service.Execute
         public static void StartTasks()
         {
             SwapOrderReportCloudTask.Start();
+            BatteryMoveTask.Start();
         }
 
         /// <summary>

Service/Execute/Step/CarCtrlState.cs

@@ -50,7 +50,7 @@ public class CarCtrlState : IState
         return Invoker.Invoke("UnLockCar", 500, 100, machine.IsCanceled,
             () => machine.VelUnlockFlag, () =>
             {
-                Task<bool> result = TBoxApi.UnLockCar(machine.RfidReadModel.VelNo);
+                Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelNo);
                 bool unLock = result.Result;
                 if (unLock)
                 {

Service/Execute/Step/DoSwappingState.cs

@@ -115,7 +115,7 @@ public class DoSwappingState : IState
         return Invoker.Invoke("UnLockCar", 1000, 5, machine.IsCanceled,
             () => machine.StartSwappingFlag, () =>
             {
-                Task<bool> result = TBoxApi.UnLockCar(machine.RfidReadModel.VelNo);
+                Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelNo);
                 bool unLock = result.Result;
                 if (unLock)
                 {
@@ -357,7 +357,7 @@ public class DoSwappingState : IState
             else if (channelStatus == 1020)
             {
                 //需要移车 先解锁  提示移动车辆,等待3分钟
-                var lockCar = TBoxApi.LockCar(machine.RfidReadModel.VelNo);
+                var lockCar = TBoxApi.LockCarManyTimes(machine.RfidReadModel.VelNo);
                 if (lockCar.Result)
                 {
                     // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrChannelStatus.GetLed());

Service/Execute/Step/SwapDoneState.cs

@@ -76,7 +76,7 @@ public class SwapDoneState : IState
         return Invoker.Invoke("LockCar", 500, 100, machine.IsCanceled,
             () => machine.VelLockFlag, () =>
             {
-                Task<bool> result = TBoxApi.LockCar(machine.RfidReadModel.VelNo);
+                Task<bool> result = TBoxApi.LockCarManyTimes(machine.RfidReadModel.VelNo);
                 bool unLock = result.Result;
                 if (unLock)
                 {

Service/Plc/Client/PlcClient.cs

@@ -20,7 +20,7 @@ public class PlcClient : ModbusTcpMaster
         ReadAction = BatchRead;
         Ip = "172.0.20.66";
         Port = 502;
-        Duration = 2000;
+        Duration = 1000;
         AutoReConnect = true;
         _binInfoRepository = binInfoRepository;
         //DataFormat = HslCommunication.Core.DataFormat.DCBA;

Service/Plc/Client/PlcMgr.cs

@@ -280,6 +280,14 @@ public class PlcMgr
         return 0;
     }
 
+    /// <summary>
+    /// 重新读
+    /// </summary>
+    public static void ResetPlc()
+    {
+        PlcClient.Reset();
+    }
+
 
     /// <summary>
     /// 读plc任务状态

Service/Station/MonitorService.cs

@@ -115,10 +115,13 @@ public class MonitorService
     {
         SwapAndChargingCountResp chargingCountResp = new()
         {
-            ChargeTodayCount = ChargeOrderRepository.GetCount(i =>  DateTime.Today<=i.EndTime && i.EndTime<= DateUtils.GetTomorrowFirst()),
+            ChargeTodayCount = ChargeOrderRepository.GetCount(i =>
+                DateTime.Today <= i.EndTime && i.EndTime <= DateUtils.GetTomorrowFirst()),
             ChargeTotalCount = ChargeOrderRepository.GetCount(i => i.EndTime != null),
             SwapTodayCount =
-                SwapOrderRepository.GetCount(i => i.SwapResult != 0 && DateTime.Today<=i.SwapEndTime && i.SwapEndTime<= DateUtils.GetTomorrowFirst()),
+                SwapOrderRepository.GetCount(i =>
+                    i.SwapResult != 0 && DateTime.Today <= i.SwapEndTime &&
+                    i.SwapEndTime <= DateUtils.GetTomorrowFirst()),
             SwapTotalCount = SwapOrderRepository.GetCount(i => i.SwapResult != 0),
         };
 
@@ -135,7 +138,8 @@ public class MonitorService
     {
         //校验:出仓位
         BinInfo? removeBin = BinInfoRepository.QueryByClause(i =>
-            i.No.Equals(removeBinNo) && (i.ChargeStatus == 2 || i.ChargeStatus==4) && i.Exists == 1 && i.AmtLock == 0);
+            i.No.Equals(removeBinNo) && (i.ChargeStatus == 2 || i.ChargeStatus == 4) && i.Exists == 1 &&
+            i.AmtLock == 0);
 
         if (removeBin == null)
         {
@@ -143,18 +147,27 @@ public class MonitorService
         }
 
         BinInfo? putBin = BinInfoRepository.QueryByClause(i =>
-            i.No.Equals(putBinNo) && (i.ChargeStatus == 2 || i.ChargeStatus==4) && i.Exists == 0 && i.AmtLock == 0 && i.Status == 1);
+            i.No.Equals(putBinNo) && (i.ChargeStatus == 2 || i.ChargeStatus == 4) && i.Exists == 0 && i.AmtLock == 0 &&
+            i.Status == 1);
         if (putBin == null)
         {
             return Result<bool>.Fail("入仓位状态有误");
         }
 
-        var result = PlcMgr.DistributeTask(putBinNo, removeBinNo, 2) ? Result<bool>.Success() : Result<bool>.Fail();
-       
-        if (!result.IsSuccess)
+        var result = PlcMgr.DistributeTask(putBinNo, removeBinNo, 2);
+
+        if (!result)
         {
             return Result<bool>.Fail();
         }
+
+        bool taskSuccess = false;
+        if (!taskSuccess)
+        {
+            taskSuccess=PlcMgr.ReadTaskStatus(2);
+            PlcMgr.DistributeTask(putBinNo, removeBinNo, 2);
+        }
+
         var succ = PlcMgr.HoldOn();
 
         if (!succ)