换电流程

Entity/Constant/InfoEnum.cs

@@ -8,26 +8,23 @@ public class InfoEnum
 {
     public enum SwapInfo : ushort
     {
-    
+        [Info("欢迎光临换电站！(正在营业)", "欢迎光临换电站！,本站正在营业中")]
-       
+        WelcomeInfo = 1,
-        [Info("欢迎光临换电站！(正在营业)","欢迎光临换电站！,本站正在营业中")]WelcomeInfo=1,
         [Info("标签读写失败", "标签读写失败")] ErrorReadRfid,
 
         [Info("车辆连接失败", "车辆连接失败，请联系站务人员")] ErrorTBoxConn,
         [Info("云端校验失败", "云端校验失败，请联系站务人员")] ErrorCloudCheck,
         [Info("车辆已到位", "车辆已到位")] InfoCarInPosition,
+
         //TODO:: 录音内容已改
         [Info("请熄火挂空挡拉手刹", "请熄火挂空挡拉手刹")] ErrorCarInPositionTimeout,
         [Info("云平台下发换电失败", "云平台下发换电超时")] CloudSendSwapError,
 
 
-        [Info("解锁车辆失败", "解锁车辆失败")] ErrUnLockCar ,
+        [Info("解锁车辆失败,请人工解锁", "解锁车辆失败,请人工解锁")] ErrUnLockCar,
         [Info("选包失败，请驶离", "选包失败，请驶离")] ErrorSelectPack,
-        [Info("通道拍照定位失败，请在三分钟内重新调整车辆位置", "通道拍照定位失败，请在三分钟内重新调整车辆位置")]ErrChannelStatus,
+        [Info("停车超限，请使出重新进入", "停车超限，请使出重新进入")] ErrChannelStatus,
-        
-        
         [Info("电池拆卸中，请稍后", "电池拆卸中，请稍后")] InfoUnPack,
-      
         [Info("电池安装中，请稍后", "电池安装中，请稍后")] InfoPack,
         [Info("电池包已安装完成", "电池包已安装完成")] InfoPackFinish,
         [Info("航车已回归安全位置", "航车已回归安全位置")] InfoToSafePosition,
@@ -36,23 +33,36 @@ public class InfoEnum
         [Info("电池入仓中，请稍后", "电池入仓中，请稍后")] InfoOldBatteryCarryIn,
         [Info("电池出仓中，请稍后", "电池出仓中，请稍后")] InfoNewBatteryCarryOut,
         [Info("车辆上锁失败", "车辆上锁失败")] ErrLockCar,
-        [Info("通道的电池仓无可用换电电池","通道的电池仓无可用换电电池")] NoBatteryErr,
+
+        [Info("通道的电池仓无可用换电电池", "通道的电池仓无可用换电电池")]
+        NoBatteryErr,
         [Info("结束充电电池数量不足", "通道的电池仓无可用换电电池")] LessOfFinishChargingErr,
         [Info("空仓数量不足", "通道的电池仓无可用换电电池")] LessOfEmptyBinErr,
         [Info("符合soc限制数量不足", "通道的电池仓无可用换电电池")] LessOfSocErr,
-        [Info("结束充电大于3分钟的数量不足","通道的电池仓无可用换电电池")] LessOf3MinuteErr,
-        [Info("换电站处于手动模式，不能自动换电","换电站处于手动模式，不能自动换电")] InfoStationModel,
 
-        [Info("换电站处于本地模式，不能远程换电","换电站处于本地模式，不能远程换电")] InfoStationModelRemoteErr,
+        [Info("结束充电大于3分钟的数量不足", "通道的电池仓无可用换电电池")]
+        LessOf3MinuteErr,
+
+        [Info("换电站处于手动模式，不能自动换电", "换电站处于手动模式，不能自动换电")]
+        InfoStationModel,
+
+        [Info("换电站处于本地模式，不能远程换电", "换电站处于本地模式，不能远程换电")]
+        InfoStationModelRemoteErr,
 
         [Info("车辆驶入", "车辆驶入")] CarInInfo,
         [Info("换电任务启动", "换电任务启动")] StartSwapInfo,
         [Info("航车拍照中，请稍后", "航车拍照中，请稍后")] CarTakePhotoInfo,
-        [Info("启动换电失败，请联系站务人员","启动换电失败，请联系站务人员")] ErrStartSwap,
+
-        [Info("即将进行消防移仓，请车辆驶离","即将进行消防移仓，请车辆驶离")] InfoFireRemoveLabel,
+        [Info("启动换电失败，请联系站务人员", "启动换电失败，请联系站务人员")]
+        ErrStartSwap,
+
+        [Info("即将进行消防移仓，请车辆驶离", "即将进行消防移仓，请车辆驶离")]
+        InfoFireRemoveLabel,
         [Info("电池移仓中", "电池移仓中")] InfoBatteryMove,
         [Info("消防移仓中", "消防移仓中")] InfoFireRemove,
-        [Info("拍照失败，请在三分钟内挪车","拍照失败，请在三分钟内挪车")] ErrChannel1020,
+
+        [Info("拍照失败，请在三分钟内挪车", "拍照失败，请在三分钟内挪车")]
+        ErrChannel1020,
     }
 
 
@@ -105,6 +115,7 @@ public class InfoEnum
         [Const("rfid扫描完成")] RfidReadFlag,
         [Const("云平台车辆认证")] CloudVelCheckFlag,
         [Const("车辆到位")] CarInPositionFlag,
+
         // [Const("云平台下发换电指令")] CloudCarCanStartFlag,
         [Const("车辆解锁")] VelUnlockFlag,
         // [Const("下发plc选包")] DistributeSelectPackFlag,
@@ -121,9 +132,6 @@ public class InfoEnum
     }
 
 
-
-
-
     public enum AmtBatLockStatus
     {
         UnLock = 0,

Service/Execute/Api/PlcApi.cs

@@ -9,22 +9,18 @@ public class PlcApi
     private static readonly ILog Log = LogManager.GetLogger("PlcApi");
 
 
-
     /// <summary>
     /// 数据有效时间。单位秒
     /// </summary>
     static int DataTimeSeconds = 2;
 
 
-
-
     /// <summary>
     /// 是否远程模式
     /// </summary>
     /// <returns></returns>
     public static bool IsRemote()
     {
-
         var isRemote = PlcMgr.IsRemote();
         Log.Info($"PlcApi IsRemove resp={isRemote}");
         return isRemote;
@@ -89,6 +85,13 @@ public class PlcApi
         return writeExistLamp;
     }
 
+    //z轴上升
+    public static bool ZPushUp()
+    {
+        return PlcMgr.ZPushUp();
+        
+    }
+
     /// <summary>
     /// 下发选包
     /// </summary>
@@ -108,7 +111,6 @@ public class PlcApi
     /// <returns></returns>
     public static bool StartSwapping(string inBinNo, string outBinNo)
     {
-
         Log.Info($"PlcApi StartSwapping param= inBinNo={inBinNo}, outBinNo={outBinNo}");
         var distributeTask = PlcMgr.DistributeTask(ushort.Parse(inBinNo), ushort.Parse(outBinNo), 1);
 
@@ -130,6 +132,17 @@ public class PlcApi
         return readTaskStatus;
     }
 
+    /// <summary>
+    /// 查看换电允许
+    /// </summary>
+    /// <returns></returns>
+    public static bool ReadSwapReady()
+    {
+        PlcMgr.ResetPlc();
+        Log.Info($"PlcApi ReadSwapReady ");
+        return PlcMgr.ReadSwapReady();
+    }
+
     /// <summary>
     /// plc上使能  1换电，2移仓，3消防
     /// </summary>
@@ -142,6 +155,17 @@ public class PlcApi
         return holdOn;
     }
 
+    /// <summary>
+    /// 行车回归初始位置
+    /// </summary>
+    /// <returns></returns>
+    public static bool PlcCarInit()
+    {
+        Log.Info($"PlcApi Init ");
+        return PlcMgr.PlcCarInit();
+    }
+
+
     /// <summary>
     /// 查看拍照状态
     /// </summary>
@@ -209,5 +233,24 @@ public class PlcApi
         return readPlcTaskStatus;
     }
 
+    //拍照准备
+    public static bool ReadyPlcPhoto()
+    {
+        Log.Info($"PlcApi start ReadyPlcPhoto ");
+        return PlcMgr.PhotoPreparation();
+    }
+
+    //行车在拍照位
+    public static bool CarInPhotoPosition()
+    {
+        Log.Info($"PlcApi start CarInPhotoPosition ");
+        return PlcMgr.CarInPhotoPosition();
     }
 
+    //拍照
+    public static bool TakPhoto()
+    {
+        Log.Info($"PlcApi start TakPhoto ");
+        return PlcMgr.TakePhoto();
+    }
+}

Service/Execute/Invoker.cs

@@ -287,4 +287,5 @@ public enum InvokeStatus
     Exception,
     None,
     ManualSucc,
+    Fail,
 }

Service/Execute/Step/CarCtrlState.cs

@@ -9,6 +9,7 @@ using Service.Execute.Model.Tbox;
 using Service.Execute.StaticTools;
 using Service.Execute.SwapException;
 using Service.Execute.Utils;
+using Service.Plc.Client;
 using Service.Station;
 
 namespace Service.Execute.Step;
@@ -22,6 +23,14 @@ public class CarCtrlState : IState
     {
 
 
+     
+
+        //写选包 --判断是否允许换电
+        InvokeStatus issuedPlcPack = IssuedPlcPack(machine);
+        if (issuedPlcPack != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(issuedPlcPack, ExceptionReason.None);
+        }
         //解锁车辆
         InvokeStatus unLockCar = UnLockCar(machine);
         if (unLockCar != InvokeStatus.Done)
@@ -29,14 +38,6 @@ public class CarCtrlState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(unLockCar, ExceptionReason.None);
         }
 
-        //下发选包
-        /*InvokeStatus distributeSelectPack = DistributeSelectPack(machine);
-
-        if (distributeSelectPack != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(distributeSelectPack, ExceptionReason.None);
-        }
-        */
 
         return new StateResult()
         {
@@ -44,6 +45,43 @@ public class CarCtrlState : IState
         };
     }
 
+
+    /// <summary>
+    /// 下发plc選報
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus IssuedPlcPack(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("IssuedPlcPack", 1000, 5, machine.IsCanceled,
+            () => machine.StartSwappingFlag, () =>
+            {
+                //查询当前是否有任务执行
+                var readTaskNo = PlcMgr.PlcClient?.ReadTaskNo();
+                if (readTaskNo == 0 || readTaskNo == 1)
+                {
+                    PlcMgr.PlcClient?.ExChangeTaskNo(1);
+                    //查询车辆锁止状态
+                    var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
+                        machine.SwapOrderBatteryInfo.UpBinInfo.No);
+
+                    //当前允许换电
+                    var readPlcTaskStatus = PlcApi.ReadSwapReady();
+                    if (startSwapping && readPlcTaskStatus)
+                    {
+                        machine.SwapOrder.SwapBeginTime = DateTime.Now;
+                        _CommonMgr.UpdateSwapOrder(machine);
+                        machine.SwapStatus = 0;
+                        machine.StartSwappingFlag = true;
+                    }
+                }
+                else
+                {
+                    _log.Info("当前有任务在执行");
+                }
+            }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwap); }, false, () => { }, 10,
+            InvokeStatus.None);
+    }
+
     /// <summary>
     /// 车辆解锁
     /// </summary>
@@ -69,9 +107,12 @@ public class CarCtrlState : IState
                         _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelUnlockFlag,
                             machine);
                     }
+                  
                 }
             }, () =>
             {
+                //z轴上升
+                PlcApi.ZPushUp();
                 //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
                 SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrUnLockCar);
             }, false, () => { machine.ExceptionReason = ExceptionReason.UnLockCarError; }
@@ -100,7 +141,6 @@ public class CarCtrlState : IState
             }, () =>
             {
                 //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrDistributeSelectPack.GetLed()); 
-                
             });
     }
 }

Service/Execute/Step/CarPrepareState.cs

@@ -96,6 +96,26 @@ public class CarPrepareState : IState
         {
             return SwappingStateMachine.ReturnWithInvokeErr(carInPosition, ExceptionReason.None);
         }
+        //读取车辆在拍照位置
+        InvokeStatus plcPhotoReady = CarInPhotoPosition(machine);
+        if (plcPhotoReady != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(plcPhotoReady, ExceptionReason.None);
+        }
+        //拍照
+        InvokeStatus takePhoto = TakePhoto(machine);
+        if (takePhoto != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(takePhoto, ExceptionReason.None);
+        }
+        
+        //查看通道状态
+        StateResult checkChannelStatus = CheckChannelStatus(machine);
+        if (checkChannelStatus != null)
+        {
+            return checkChannelStatus;
+        }
+        
 
         return new StateResult()
         {
@@ -103,6 +123,110 @@ public class CarPrepareState : IState
         };
     }
 
+      /// <summary>
+    /// 查看通道状态
+    /// :0：无效值
+    /// 1000;拍照OK
+    ///1010;拍照NG
+    ///1020;拍照超限，请移车
+    /// </summary>
+    /// <returns></returns>
+    public StateResult CheckChannelStatus(SwappingStateMachine machine)
+    {
+        int count = 0;
+        while (!machine.ChannelStatusOkFlag)
+        {
+            if (machine.CancelFlag)
+            {
+                _log.Info($" CheckChannelStatus canceled");
+                return StateResult.Cancel;
+            }
+
+            _log.Info("begin plc CheckChannelStatus");
+            Thread.Sleep(2000);
+            var channelStatus = PlcApi.ChannelStatus();
+            if (count % 10 == 0)
+            {
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoInfo);
+            }
+
+            count++;
+
+            if (channelStatus == 1000)
+            {
+                machine.ChannelStatusOkFlag = true;
+                return null;
+            }
+            else if (channelStatus == 1020)
+            {
+                //需要移车 先解锁  提示移动车辆,等待3分钟
+                if (PlcApi.PlcCarInit())
+                {
+                    // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrChannelStatus.GetLed());
+                    SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrChannelStatus);
+                    //等待2分钟
+                    Thread.Sleep(3 * 60 * 1000);
+                    machine.SwapStatus = (int)InfoEnum.SwapOrderResult.Fail;
+                    machine.SwapFailReason = "拍照故障 plc故障码1020";
+                    //回归到本阶段的读锁止状态
+                    return new StateResult()
+                    {
+                        SwappingState = SwappingState.SwapDone
+                    };
+                }
+            }
+            else if (channelStatus == 1010)
+            {
+                //故障 不能继续换电，提示驶离,上报云平台，修改换电订单
+                machine.SwapStatus = (int)InfoEnum.SwapOrderResult.Fail;
+                machine.SwapFailReason = "拍照故障 plc故障码1010";
+                //跳转到SwappDone
+                return new StateResult()
+                {
+                    SwappingState = SwappingState.SwapDone
+                };
+            }
+        }
+
+        return null;
+    }
+
+    /// <summary>
+    /// 拍照准备
+    /// </summary
+    /// <returns></returns>
+    public InvokeStatus CarInPhotoPosition(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("Car In Photo Position", 500, 10, machine.IsCanceled,
+            () => machine.CarInPhotoPositionFlag, () =>
+            {
+                machine.CarInPhotoPositionFlag = PlcApi.CarInPhotoPosition();
+            }, () =>
+            {
+                machine.ExceptionReason = ExceptionReason.CarInPhotoPositionError;
+              //  SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorTBoxConn);
+            }, false, () =>
+            {
+                machine.ExceptionReason = ExceptionReason.CarInPhotoPositionError;
+            }
+            , 20, InvokeStatus.None);
+    }
+    
+    /// <summary>
+    /// 启动拍照 
+    /// </summary
+    /// <returns></returns>
+    public InvokeStatus TakePhoto(SwappingStateMachine machine)
+    {
+        bool takePhotoFlag = false;
+        return Invoker.Invoke("Take Photo", 500, 10, machine.IsCanceled,
+            () => takePhotoFlag, () =>
+            {
+                takePhotoFlag = PlcApi.TakPhoto();
+            });
+    }
+
+   
 
     /// <summary>
     /// 车辆到位
@@ -123,7 +247,7 @@ public class CarPrepareState : IState
                 TboxCarInfoModel tboxCarInfoModel = result.Result;
 
                 var status = tboxCarInfoModel?.CarStatus;
-
+                PlcApi.ReadyPlcPhoto();
                 if (StaticStationInfo.TboxStateFlameout)
                 {
                     if (status?.Keys == 0)
@@ -151,6 +275,7 @@ public class CarPrepareState : IState
 
                 if (succCount == successCount)
                 {
+                   
                     machine.VehiclesInPlaceFlag = true;
                     //写入口等 ：红灯
                     if (PlcApi.WriteEntranceLamp(1020))

Service/Execute/Step/DoSwappingState.cs

@@ -30,21 +30,6 @@ public class DoSwappingState : IState
         //   CloudApi.SendStateLog(machine.SwapOrder, InfoEnum.BusinessSwappingForCloudState.BeginSwap);
 
 
-        //再次读锁止状态，防止plc需要挪车
-        InvokeStatus carInPosition2 = CarInPosition2(machine);
-        if (carInPosition2 != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(carInPosition2, ExceptionReason.None);
-        }
-
-
-        //下发启动换电
-        InvokeStatus startSwapping = StartSwapping(machine);
-        if (startSwapping != InvokeStatus.Done)
-        {
-            return SwappingStateMachine.ReturnWithInvokeErr(startSwapping, ExceptionReason.None);
-        }
-
         InvokeStatus holdOn = HoldOn(machine);
         if (holdOn != InvokeStatus.Done)
         {
@@ -52,13 +37,6 @@ public class DoSwappingState : IState
         }
 
 
-        //查看通道状态
-        StateResult checkChannelStatus = CheckChannelStatus(machine);
-        if (checkChannelStatus != null)
-        {
-            return checkChannelStatus;
-        }
-
         //旧电池拆卸
         InvokeStatus unPack = UnPack(machine);
         if (unPack != InvokeStatus.Done)
@@ -166,16 +144,15 @@ public class DoSwappingState : IState
             () => machine.PlcHoldFlag, () =>
             {
                 //查询换电任务状态
-                var taskPrepare = PlcApi.ReadTaskStatus(1);
+
-                if (taskPrepare)
-                {
                 bool holdOn = PlcApi.HoldOn(1);
                 if (holdOn)
                 {
+                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
+                        machine);
                     SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.StartSwapInfo);
                     machine.PlcHoldFlag = true;
                 }
-                }
             }, () => { });
     }
 
@@ -262,7 +239,8 @@ public class DoSwappingState : IState
                     _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.OutNewBatteryFlag,
                         machine);
                 }
-            }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoNewBatteryCarryOut); }, false, () => { }, 10,
+            }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoNewBatteryCarryOut); }, false, () => { },
+            10,
             InvokeStatus.None);
     }
 
@@ -337,78 +315,6 @@ public class DoSwappingState : IState
     }
 
 
-    /// <summary>
-    /// 查看通道状态
-    /// :0：无效值
-    /// 1000;拍照OK
-    ///1010;拍照NG
-    ///1020;拍照超限，请移车
-    /// </summary>
-    /// <returns></returns>
-    public StateResult CheckChannelStatus(SwappingStateMachine machine)
-    {
-        int count = 0;
-        while (!machine.ChannelStatusOkFlag)
-        {
-            if (machine.CancelFlag)
-            {
-                _log.Info($" CheckChannelStatus canceled");
-                return StateResult.Cancel;
-            }
-
-            _log.Info("begin plc CheckChannelStatus");
-            Thread.Sleep(2000);
-            var channelStatus = PlcApi.ChannelStatus();
-            if (count % 10 == 0)
-            {
-                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoInfo);
-            }
-
-            count++;
-
-            if (channelStatus == 1000)
-            {
-                machine.ChannelStatusOkFlag = true;
-                return null;
-            }
-            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.LockCarManyTimes(machine.RfidReadModel.VelVin);
-                if (lockCar.Result)
-                {
-                    // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrChannelStatus.GetLed());
-                    SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrChannelStatus);
-                    //等待2分钟
-                    Thread.Sleep(3 * 60 * 1000);
-                    machine.VehiclesInPlace2Flag = false;
-                    machine.StartSwappingFlag = false;
-                    machine.PlcHoldFlag = false;
-                    machine.ChannelStatusOkFlag = false;
-                    //回归到本阶段的读锁止状态
-                    return new StateResult()
-                    {
-                        SwappingState = SwappingState.DoSwapping
-                    };
-                }
-            }
-            else if (channelStatus == 1010)
-            {
-                //故障 不能继续换电，提示驶离,上报云平台，修改换电订单
-                machine.SwapStatus = (int)InfoEnum.SwapOrderResult.Fail;
-                machine.SwapFailReason = "拍照故障 plc故障码1010";
-                //跳转到SwappDone
-                return new StateResult()
-                {
-                    SwappingState = SwappingState.SwapDone
-                };
-            }
-        }
-
-        return null;
-    }
-
-
     /// <summary>
     /// 车辆到位
     /// </summary>
@@ -424,7 +330,8 @@ public class DoSwappingState : IState
                 int succCount = 0;
                 List<bool> succL = new List<bool>()
                 {
-                    StaticStationInfo.TboxStateFlameout, StaticStationInfo.TboxStateBreak, StaticStationInfo.TboxStateN
+                    StaticStationInfo.TboxStateFlameout, StaticStationInfo.TboxStateBreak,
+                    StaticStationInfo.TboxStateN
                 };
                 var successCount = succL.Where(i => i).Count();
 

Service/Execute/Step/StationReadyState.cs

@@ -65,6 +65,7 @@ public class StationReadyState : IState
         }
         
         
+
         //开始读rifd
         var beginRfid = BeginRead(machine);
         if (InvokeStatus.Done != beginRfid)

Service/Execute/SwapException/ExceptionReason.cs

@@ -21,5 +21,6 @@ namespace Service.Execute.SwapException;
         LockCarError,
         LvPwrOffError,
         SelfCheckError,
-        TimeOutError
+        TimeOutError,
+        CarInPhotoPositionError,
     }

Service/Execute/SwappingStateMachine.cs

@@ -89,6 +89,7 @@ public class SwappingStateMachine : IDisposable
             ["13"] = new StepModel { StepNo = 13, Status = 0, StepName = "换电完成(车辆驶离)" },
             ["14"] = new StepModel { StepNo = 14, Status = 0, StepName = "换电失败(车辆驶离)" },
         };
+
     #region 小步状态
 
     //雷达检测/车辆进入
@@ -106,6 +107,8 @@ public class SwappingStateMachine : IDisposable
     //Tbox连接
     public bool BoxConnectFlag = false;
 
+    public bool CarInPhotoPositionFlag = false;
+
     //车辆lock
     public bool BoxLocalCheckFlag = false;
 
@@ -374,7 +377,7 @@ public class SwappingStateMachine : IDisposable
 
 
         BoxConnectFlag = false;
-
+        CarInPhotoPositionFlag = false;
 
         BoxLocalCheckFlag = false;
 
@@ -441,7 +444,8 @@ public class SwappingStateMachine : IDisposable
         {
             if (SwapOrderBatteryInfo?.UpBinInfo != null) ;
             {
-                BinInfoRepository.Update(i=>i.AmtLock==(int)InfoEnum.AmtBatLockStatus.UnLock,i=>i.Id==SwapOrderBatteryInfo.UpBinInfo.Id);
+                BinInfoRepository.Update(i => i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
+                    i => i.Id == SwapOrderBatteryInfo.UpBinInfo.Id);
             }
         }
 

Service/Plc/Client/PlcMgr.cs

@@ -17,7 +17,6 @@ public class PlcMgr
 
 
     public
-
         /// <summary>
         /// 数据有效时间。单位秒
         /// </summary>
@@ -56,6 +55,49 @@ public class PlcMgr
         return false;
     }
 
+    /// <summary>
+    /// 拍照准备
+    /// </summary>
+    /// <returns></returns>
+    public static bool PhotoPreparation()
+    {
+        if (PlcClient != null)
+        {
+            HostToPlcData.PhotoPreparation.Value = 1000;
+            return PlcClient.WriteValue(HostToPlcData.PhotoPreparation);
+        }
+
+        return false;
+    }
+
+    /// <summary>
+    /// 车辆在拍照位
+    /// </summary>
+    /// <returns></returns>
+    public static bool TakePhoto()
+    {
+        if (PlcClient != null)
+        {
+            HostToPlcData.StartPhoto.Value = 1000;
+            return PlcClient.WriteValue(HostToPlcData.StartPhoto);
+        }
+
+        return false;
+    }
+
+    /// <summary>
+    /// 拍照
+    /// </summary>
+    /// <returns></returns>
+    public static bool CarInPhotoPosition()
+    {
+        if (PlcClient != null)
+        {
+            return PlcToHostData.CarInPhotoPosition.Value == 1000;
+        }
+
+        return false;
+    }
 
     public static bool AirBlowerControl(ushort value)
     {
@@ -199,6 +241,7 @@ public class PlcMgr
                     {
                         return true;
                     }
+
                     return false;
                 case 2:
                     return PlcToHostData.MovingCondition.Value == 1001;
@@ -212,6 +255,11 @@ public class PlcMgr
         return false;
     }
 
+    public static bool ReadSwapReady()
+    {
+        return PlcToHostData.WhetherAllowPowerChange.Value == 1010;
+    }
+
     /// <summary>
     /// plc上使能  1换电，2移仓，3消防
     /// </summary>
@@ -278,6 +326,22 @@ public class PlcMgr
         return 0;
     }
 
+
+    /// <summary>
+    /// 行车回归安全位置
+    /// </summary>
+    /// <returns></returns>
+    public static bool PlcCarInit()
+    {
+        if (PlcClient != null)
+        {
+            HostToPlcData.Regression.Value = 1000;
+            return PlcClient.WriteValue(HostToPlcData.Regression);
+        }
+
+        return false;
+    }
+
     /// <summary>
     /// 重新读
     /// </summary>
@@ -345,6 +409,17 @@ public class PlcMgr
         return bResult;
     }
 
+    public static bool ZPushUp()
+    {
+        if (PlcClient != null)
+        {
+            HostToPlcData.BatteryUnlockedState.Value = 1000;
+            return PlcClient.WriteValue(HostToPlcData.BatteryUnlockedState);
+        }
+
+        return false;
+    }
+
     /// <summary>
     /// 获取当前灯光状态
     /// </summary>
@@ -375,6 +450,4 @@ public class PlcMgr
 
         return bResult;
     }
-    
-    
 }

Service/Plc/Msg/PlcToHost.cs

@@ -106,6 +106,14 @@ namespace Service.Plc.Msg
         /// 1000:已拍按钮
         /// </summary>
         public ModbusProperty<ushort> PhysicalButtonState { get; set; } = new(40112);
+        
+        
+        /// <summary>
+        /// 在拍照位
+        /// 0:无状态
+        /// 1000:已拍按钮
+        /// </summary>
+        public ModbusProperty<ushort> CarInPhotoPosition { get; set; } = new(40113);
         /// <summary>
         /// 三色灯控制通道状态(入口)
         /// <para>0：无颜色</para>