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using Autofac;
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using Entity.Attr;
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using Entity.Constant;
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using HybirdFrameworkCore.Autofac;
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using log4net;
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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.StaticTools;
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using Service.Execute.SwapException;
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using Service.Execute.Utils;
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using Service.Station;
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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 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.BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.BeginSwap;
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machine.BusinessSwappingStateUpdateTime = DateTime.Now;
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_log.Info($"BusinessSwappingForCloudState={machine.BusinessSwappingForCloudState}");
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// CloudApi.SendStateLog(machine.SwapOrder, InfoEnum.BusinessSwappingForCloudState.BeginSwap);
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//再次读锁止状态，防止plc需要挪车
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InvokeStatus carInPosition2 = CarInPosition2(machine);
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if (carInPosition2 != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(carInPosition2, ExceptionReason.None);
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}
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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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InvokeStatus holdOn = HoldOn(machine);
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if (holdOn != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(holdOn, ExceptionReason.None);
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}
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//查看通道状态
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StateResult checkChannelStatus = CheckChannelStatus(machine);
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if (checkChannelStatus != null)
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{
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return checkChannelStatus;
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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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//旧电池搬运
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InvokeStatus oldBatteryCarryIn = OldBatteryCarryIn(machine);
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if (oldBatteryCarryIn != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(oldBatteryCarryIn, ExceptionReason.None);
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}
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//新电池搬运
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InvokeStatus newBatteryCarryOut = NewBatteryCarryOut(machine);
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if (newBatteryCarryOut != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(newBatteryCarryOut, 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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//航车回归安全位置
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InvokeStatus toInvokeStatus = ToSafePosition(machine);
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if (toInvokeStatus != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(toInvokeStatus, ExceptionReason.None);
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}
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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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/// 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("UnLockCar", 1000, 5, machine.IsCanceled,
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() => machine.StartSwappingFlag, () =>
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{
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Task<bool> result = TBoxApi.UnLockCar(machine.RfidReadModel.VelNo);
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bool unLock = result.Result;
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if (unLock)
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{
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//查询车辆锁止状态
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var startSwapping = PlcApi.StartSwapping(machine.SwapOrderBatteryInfo.InBinInfo.No,
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machine.SwapOrderBatteryInfo.UpBinInfo.No);
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//查詢當前任務狀態是否被更改
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var readPlcTaskStatus = PlcApi.ReadTaskStatus(1);
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if (startSwapping && readPlcTaskStatus)
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{
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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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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag,
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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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/// <summary>
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/// plc读任务状态 上使能
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/// </summary>
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/// <param name="machine"></param>
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/// <returns></returns>
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public InvokeStatus HoldOn(SwappingStateMachine machine)
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{
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return Invoker.Invoke("plc HoldOn", 1000, 5, machine.IsCanceled,
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() => machine.PlcHoldFlag, () =>
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{
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//查询车辆锁止状态
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var taskPrepare = PlcApi.ReadTaskStatus(1);
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if (taskPrepare)
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{
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bool holdOn = PlcApi.HoldOn();
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if (holdOn)
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{
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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.StartSwapInfo);
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machine.PlcHoldFlag = true;
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}
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}
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}, () => { });
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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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return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled,
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() => machine.UnOldBatteryFlag, () =>
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoUnPack.GetLed());
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int status = PlcApi.ReadPlcTaskStatus();
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//处理程序太快，plc还没有初始值的状态
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if (status == 1002 || status != 1003)
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{
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}
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else
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{
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machine.UnOldBatteryFlag = true;
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}
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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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}, () => { SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoUnPack); }, false, () => { }, 10,
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InvokeStatus.None);
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}
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public InvokeStatus OldBatteryCarryIn(SwappingStateMachine machine)
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{
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return Invoker.Invoke("plc OldBatteryCarryIn", 500, 5, machine.IsCanceled,
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() => machine.StorageOldBatteryFlag, () =>
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoOldBatteryCarryIn.GetLed());
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var readPlcTaskStatus = PlcApi.ReadPlcTaskStatus();
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if (readPlcTaskStatus == 1003 || readPlcTaskStatus != 1004)
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{
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}
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else
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{
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machine.StorageOldBatteryFlag = true;
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}
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machine.StorageOldBatteryFlag = readPlcTaskStatus == 1004;
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if (machine.StorageOldBatteryFlag)
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{
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StorageOldBatteryFlag,
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machine);
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}
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}, () => { SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoOldBatteryCarryIn); }, false, () => { }, 10,
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InvokeStatus.None);
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}
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public InvokeStatus NewBatteryCarryOut(SwappingStateMachine machine)
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{
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return Invoker.Invoke("plc NewBatteryCarryOut", 500, 5, machine.IsCanceled,
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() => machine.OutNewBatteryFlag, () =>
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoNewBatteryCarryOut.GetLed());
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if (PlcApi.ReadPlcTaskStatus() == 1004)
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{
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}
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else
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{
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machine.OutNewBatteryFlag = true;
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}
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if (machine.OutNewBatteryFlag)
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{
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.OutNewBatteryFlag,
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machine);
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}
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}, () => { SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoNewBatteryCarryOut);}, false, () => { }, 10,
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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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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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if (PlcApi.ReadPlcTaskStatus() == 1005)
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{
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}
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else
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{
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machine.InstallNewBatteryFlag = true;
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}
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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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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack);
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},false, () => { },
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10,InvokeStatus.None);
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}
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public InvokeStatus PackFinish(SwappingStateMachine machine)
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{
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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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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
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var readPlcTaskStatus = PlcApi.ReadPlcTaskStatus();
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if (readPlcTaskStatus == 1006 || readPlcTaskStatus == 1007)
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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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// CloudApi.SendStateLog(machine.SwapOrder, machine.BusinessSwappingForCloudState);
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machine.BusinessSwappingStateUpdateTime = DateTime.Now;
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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoPackFinish);
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag,
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machine);
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}
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}, () => { },false, () => { },
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10,InvokeStatus.None);
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}
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/// <summary>
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/// 行车回归安全位置
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/// </summary>
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/// <param name="machine"></param>
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/// <returns></returns>
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public InvokeStatus ToSafePosition(SwappingStateMachine machine)
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{
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return Invoker.Invoke("plc ToSavePosition", 500, 5, machine.IsCanceled,
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() => machine.ToSafePositionFlag, () =>
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed());
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if (PlcApi.ReadPlcTaskStatus() == 1007)
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{
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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.InfoToSafePosition);
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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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/// <summary>
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/// 查看通道状态
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/// :0：无效值
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/// 1000;拍照OK
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///1010;拍照NG
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///1020;拍照超限，请移车
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/// </summary>
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/// <returns></returns>
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public StateResult CheckChannelStatus(SwappingStateMachine machine)
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{
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int count = 0;
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while (!machine.ChannelStatusOkFlag)
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{
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_log.Info("begin plc CheckChannelStatus");
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Thread.Sleep(1000);
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var channelStatus = PlcApi.ChannelStatus();
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if (count % 10 == 0)
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{
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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoInfo);
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}
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if (channelStatus == 1000)
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{
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machine.ChannelStatusOkFlag = true;
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return null;
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}
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else if (channelStatus == 1020)
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{
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//需要移车 先解锁 提示移动车辆,等待3分钟
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var lockCar = TBoxApi.LockCar(machine.RfidReadModel.VelNo);
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if (lockCar.Result)
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{
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrChannelStatus.GetLed());
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SoundTool.PlayOneSound((int)InfoEnum.SwapInfo.ErrChannelStatus);
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//等待3分钟
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Thread.Sleep(3000);
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machine.VehiclesInPlace2Flag = false;
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machine.StartSwappingFlag = false;
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machine.PlcHoldFlag = false;
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machine.ChannelStatusOkFlag = false;
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//回归到本阶段的读锁止状态
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return new StateResult()
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{
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SwappingState = SwappingState.DoSwapping
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};
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}
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}
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else if (channelStatus == 1010)
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{
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//故障 不能继续换电，提示驶离,上报云平台，修改换电订单
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machine.SwapStatus = (int)InfoEnum.SwapOrderResult.Fail;
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machine.SwapFailReason = "拍照故障 plc故障码1010";
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//跳转到SwappDone
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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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}
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return null;
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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 CarInPosition2(SwappingStateMachine machine)
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{
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return Invoker.Invoke("check CarInPosition2", 500, 50, machine.IsCanceled,
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() => machine.VehiclesInPlace2Flag, () =>
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{
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var result = TBoxApi.GetCarInfo();
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TboxCarInfoModel tboxCarInfoModel = result.Result;
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if (tboxCarInfoModel.HeartBeatMsg.KeyStatus == 0)
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{
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machine.VehiclesInPlace2Flag = true;
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}
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}, () =>
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{
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machine.ExceptionReason = ExceptionReason.CarInPositionError;
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// machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorCarInPositionTimeout.GetLed());
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SoundTool.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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} |
