maersai_heavy_back_main/Service/Execute/SwappingStateMachine.cs

using Entity.DbModel.Station;
using log4net;
using Newtonsoft.Json;
using Service.Execute.Enum;
using Service.Execute.Model;
using Service.Execute.StaticTools;
using Service.Execute.Step;
using Service.Execute.SwapException;
using Service.Execute.Tech;

namespace Service.Execute;

public class SwappingStateMachine : IDisposable
{
    private static readonly ILog _log = LogManager.GetLogger(typeof(SwappingStateMachine));
    private static SwappingStateMachine _swappingStateMachine = new SwappingStateMachine();
    
    
    public static bool CancelFlag { get; set; } = false;
    public static bool StopFlag { get; set; } = false;

    public LedTool LedTool = null;
    private Thread _executeThread;
    private Dictionary<SwappingState, IState> Dictionary = new Dictionary<SwappingState, IState>();

    private StateResult _result = new StateResult() { SwappingState = SwappingState.Begin };
    //给云平台的实时状态
    public static InfoEnum.BusinessSwappingForCloudState BusinessSwappingForCloudState =
        InfoEnum.BusinessSwappingForCloudState.UnKnown;
    public static DateTime BusinessSwappingStateUpdateTime = DateTime.Now;
    public static ExceptionReason ExceptionReason = ExceptionReason.None;

    //换电实时状态 0：开始 1：成功 2:失败
    public int? SwapStatus = null;
    public string SwapFailReason = "";

    public RfidReadModel? RfidReadModel=null;
    public TboxCarInfoModel? TBoxCarInfoModel = null;

    public SwapOrder? SwapOrder=null;

    public SwapOrderBatteryInfo SwapOrderBatteryInfo = null;


    #region 小步状态

    //雷达检测/车辆进入
    public static bool RadarInFlag = false;
    //开始读rfid
    public static bool BeginRfidReadFlag = false;
    //读rfid
    public static bool RfidReadFlag = false;

    //云平台车辆认证
    public static bool CloudVelCheckFlag = false;

    //Tbox连接
    public static bool TBoxConnectFlag = false;
    
    //Tbox本地校验
    public static bool TBoxLocalCheckFlag = false;
    
    //Tbox数据上传
    public static bool CloudTBoxFlag = false;

    //选包
    public static bool SelectPackFlag = false;

    //车辆到位
    public static bool VehiclesInPlaceFlag = false;


    //下发选包
    public static bool DistributeSelectPackFlag = false;

    //云平台下发启动换电
    public static bool CloudCarCanStartFlag = false;

    //车辆解锁
    public static bool VelUnlockFlag = false;

    //开始换电
    public static bool StartSwappingFlag = false;
    //拍照状态
    public static bool ChannelStatusOkFlag = false;
    
    //二次检测车辆到位
    public static bool VehiclesInPlace2Flag = false;
    //拆旧电池
    public static bool UnOldBatteryFlag = false;

    //入库旧电池
    public static bool StorageOldBatteryFlag = false;

    //搬运新电池
    public static bool OutNewBatteryFlag = false;

    //安装新电池
    public static bool InstallNewBatteryFlag = false;

    //安装完成
    public static bool FinishNewBatteryFlag = false;

    //车辆上锁
    public static bool VelLockFlag = false;


    //车辆离开
    public static bool RadarOutFlag = false;

    #endregion


    private SwappingStateMachine()
    {
        _executeThread = new Thread(Work);
        _executeThread.Name = "Swapping main";

        Dictionary[SwappingState.Begin] = new BeginState();
        Dictionary[SwappingState.StationReady] = new StationReadyState();
        Dictionary[SwappingState.CarPrepare] = new CarPrepareState();
        Dictionary[SwappingState.SwapCanStart] = new SwapCanStartState();
        Dictionary[SwappingState.CarCtrl] = new CarCtrlState();
        Dictionary[SwappingState.DoSwapping] = new DoSwappingState();
        Dictionary[SwappingState.SwapDone] = new SwapDoneState();
        Dictionary[SwappingState.Exception] = new ExceptionState();
        Dictionary[SwappingState.Canceled] = new CancelState();

        LedTool = new LedTool();
    }

    public static SwappingStateMachine GetInstance()
    {
        return _swappingStateMachine;
    }


    public static StateResult ReturnWithInvokeErr(InvokeStatus status,ExceptionReason exceptionReason)
    {
        if (status == InvokeStatus.Cancel)
        {
            return new StateResult() { SwappingState = SwappingState.Canceled };
        }
        else if(status==InvokeStatus.TimeOut)
        {
            return null;
        }
        else
        {
            return StateResult.Exception(exceptionReason, null);
        }
    }

    private void Work()
    {
        _log.Info("State machine begin work");
        while (!StopFlag)
        {
            _log.Info($"handle = {_result.SwappingState} begin");
            try
            {
                StateResult? result = Dictionary[_result.SwappingState].Handle(this);
                if (result != null)
                {
                    _result = result;
                }
            }
            catch (Exception e)
            {
                _log.Error($"handle {_result.SwappingState} error", e);
            }

            _log.Info($"handle = {_result.SwappingState} end");
            Thread.Sleep(500);
        }

        _log.Info("State machine canceled");
    }

    public void Stop()
    {
        StopFlag = true;
        CancelFlag = true;
        Thread.Sleep(2000);
    }

    public bool IsCanceled()
    {
        return CancelFlag;
    }

    public bool Start()
    {
        Reset();
        _executeThread.Start();
        _log.Info($"start machine ok");
        return true;
    }

    public void Reset()
    {
    }


    public void Dispose()
    {
        StopFlag = true;
        CancelFlag = true;
        Thread.Sleep(2000);
    }
}

public enum SwappingState
{
    Begin,
    StationReady,
    CarPrepare,
    SwapCanStart,
    CarCtrl,
    DoSwapping,
    SwapDone,
    Exception,
    Canceled
}