maersai_heavy_back_main/Service/Execute/Step/CarPrepareState.cs

using Autofac;
using AutoMapper;
using Entity.Attr;
using Entity.Constant;
using Entity.DbModel.Station;
using Entity.Dto;
using HybirdFrameworkCore.Autofac;
using log4net;
using Repository.Station;
using Service.Cloud.Msg.Cloud.Resp;
using Service.Execute.Api;
using Service.Execute.Model;
using Service.Execute.Model.Tbox;
using Service.Execute.StaticTools;
using Service.Execute.SwapException;
using Service.Execute.Utils;
using Service.Init;
using Service.Station;

namespace Service.Execute.Step;

public class CarPrepareState : IState
{
    private readonly ILog _log = LogManager.GetLogger(typeof(CarPrepareState));

    private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();

    private readonly SwapOrderBatteryRepository _swapOrderBatteryRepository =
        AppInfo.Container.Resolve<SwapOrderBatteryRepository>();

    public StateResult Handle(SwappingStateMachine machine)
    {
        Thread.Sleep(500);
        RfidReadModel? rfidReadModel = machine.RfidReadModel;
        if (rfidReadModel == null)
        {
            _log.Error("rfid is null");
            return new StateResult()
            {
                SwappingState = SwappingState.StationReady
            };
        }

        //云平台车辆认证
        var cloudCheckVel = CloudCheckVel(machine);
        if (cloudCheckVel != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(cloudCheckVel, ExceptionReason.None);
        }

        //TBox连接
        if (StaticStationInfo.TboxStateConnect)
        {
            InvokeStatus tboxConnect = CheckTBoxConnectFlag(machine);
            if (tboxConnect != InvokeStatus.Done)
            {
                return SwappingStateMachine.ReturnWithInvokeErr(tboxConnect, ExceptionReason.None);
            }
        }

        //检查tbox链接状态
        InvokeStatus checkTBoxConnect = CheckTBoxConnectFlag(machine);
        if (checkTBoxConnect != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(checkTBoxConnect, ExceptionReason.None);
        }

        //车辆本地验证
        InvokeStatus checkTBoxVelLocal = CheckTBoxVelLocalFlag(machine);
        if (checkTBoxVelLocal != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(checkTBoxVelLocal, ExceptionReason.None);
        }


        //云端数据上报
        //  InvokeStatus cloudTBox = CloudTBoxFlag(machine);
        /*if (cloudTBox != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(cloudTBox, ExceptionReason.None);
        }*/

        machine.ExceptionReason = ExceptionReason.None;

        //选包
        InvokeStatus selectPack = SelectPack(machine);
        if (selectPack != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(selectPack, ExceptionReason.None);
        }


        //车辆到位
        InvokeStatus carInPosition = CarInPosition(machine);
        if (carInPosition != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(carInPosition, ExceptionReason.None);
        }

        return new StateResult()
        {
            SwappingState = SwappingState.CarCtrl
        };
    }


    /// <summary>
    /// 车辆到位
    /// </summary>
    /// <returns></returns>
    public InvokeStatus CarInPosition(SwappingStateMachine machine)
    {
        return Invoker.Invoke("check CarInPosition", 500, 5, machine.IsCanceled,
            () => machine.VehiclesInPlaceFlag, () =>
            {
                var result = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                bool keyStatus = false;
                bool breakStatus = false;
                bool nStatus = false;
                TboxCarInfoModel tboxCarInfoModel = result.Result;
                if (StaticStationInfo.TboxStateFlameout ||
                    StaticStationInfo.TboxStateBreak ||
                    StaticStationInfo.TboxStateN)
                {
                    var status = tboxCarInfoModel?.CarStatus;

                    if (StaticStationInfo.TboxStateFlameout)
                    {
                        if (status?.Keys == 0)
                        {
                            keyStatus = true;
                        }
                    }

                    if (StaticStationInfo.TboxStateBreak)
                    {
                        if (status?.Break == 1)
                        {
                            breakStatus = true;
                        }
                    }

                    if (StaticStationInfo.TboxStateN)
                    {
                        if (status?.Gear == 0)
                        {
                            nStatus = true;
                        }
                    }
                }
                else
                {
                    keyStatus = true;
                    breakStatus = true;
                    nStatus = true;
                }

                if (keyStatus && breakStatus && nStatus)
                {
                    machine.VehiclesInPlaceFlag = true;
                    //写入口等 ：红灯
                    if (PlcApi.WriteEntranceLamp(1020))
                    {
                        //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoCarInPosition.GetLed());
                        SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoCarInPosition);
                        machine.VehiclesInPlaceFlag = true;
                        //告知云平台换电准备完成
                        machine.BusinessSwappingForCloudState =
                            InfoEnum.BusinessSwappingForCloudState.SwapReady;
                        machine.ExceptionReason = ExceptionReason.None;
                        //   CloudApi.SendStateLog(machine.SwapOrder, machine.BusinessSwappingForCloudState);
                        //清除下发的指令，等待新的指令
                        //   CloudApi.ClearCarCanStartInfo();

                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CarInPositionFlag,
                            machine);
                        machine.BoxCarInfoModel = tboxCarInfoModel;
                    }
                }
            }, () =>
            {
                machine.ExceptionReason = ExceptionReason.CarInPositionError;
                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorCarInPositionTimeout.GetLed());
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorCarInPositionTimeout);
            }, false, () => { }
            , 10, InvokeStatus.None);
    }


    /// <summary>
    /// 云平台车辆认证
    /// </summary>
    /// <returns></returns>
    public InvokeStatus CloudCheckVel(SwappingStateMachine machine)
    {
        return Invoker.Invoke("cloud check vehicle", 500, 20, machine.IsCanceled,
            () => machine.CloudVelCheckFlag, () =>
            {
                if (StationConstant.StationModel.Remote ==
                    BaseEnumExtensions.GetEnumByCode<StationConstant.StationModel>(
                        StaticStationInfo.StationModel))
                {
                    VehicleCertificationResp? vehicleCertificationResp =
                        CloudApi.VehicleCheck(machine.RfidReadModel, machine.SwapOrder);

                    if (vehicleCertificationResp == null || vehicleCertificationResp.re != 0)
                    {
                        _log.Info("cloud check vehicle error");
                        //  machine.LedTool?.WriteProgramContent("换电准备中：云平台车辆验证完成");
                    }
                    else
                    {
                        machine.ExceptionReason = ExceptionReason.None;
                        _log.Info("cloud check vehicle done");
                        machine.CloudVelCheckFlag = true;
                        //  machine.LedTool?.WriteProgramContent("换电准备中：云平台车辆验证完成");

                        machine.SwapOrder.CloudSn = vehicleCertificationResp.on;
                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.CloudVelCheckFlag,
                            machine);
                    }
                }
                else
                {
                    machine.CloudVelCheckFlag = true;
                }
            }, () =>
            {
                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorCloudCheck.GetLed());
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorCloudCheck);
            }, false, () => { machine.ExceptionReason = ExceptionReason.CloudCheckError; }
            , 20, InvokeStatus.None);
    }


    /// <summary>
    /// 检查tbox连接状态
    /// </summary
    /// <returns></returns>
    public InvokeStatus CheckTBoxConnectFlag(SwappingStateMachine machine)
    {
        return Invoker.Invoke("check TBox connect", 1000, 10, machine.IsCanceled,
            () => machine.BoxConnectFlag, () =>
            {
                Task<bool> result = TBoxApi.IsConnected(machine.RfidReadModel.VelVin);
                bool isConnect = result.Result;
                if (isConnect)
                {
                    machine.BoxConnectFlag = true;
                }
            }, () =>
            {
                machine.ExceptionReason = ExceptionReason.ConnTBoxError;
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorTBoxConn);
            }, false, () =>
            {
                machine.ExceptionReason = ExceptionReason.ConnTBoxError;
                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorTBoxConn.GetLed());
            }
            , 20, InvokeStatus.None);
    }


    /// <summary>
    /// 连接TBox
    /// </summary
    /// <returns></returns>
    public InvokeStatus TboxConnect(SwappingStateMachine machine)
    {
        return Invoker.Invoke("TBox connect", 1000, 10, machine.IsCanceled,
            () => machine.BoxConnectFlag, () =>
            {
                Task<bool> result = TBoxApi.Connect(machine.RfidReadModel.VelVin);
                bool isConnect = result.Result;
                if (isConnect)
                {
                    //读取车辆carNo=carVin 
                    Task<TboxCarInfoModel> carInfoResult = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                    var tboxCarInfoModel = carInfoResult.Result;
                    var carInfo = tboxCarInfoModel?.CarInfo;
                    if (carInfo != null)
                    {
                        if (carInfo.CarNo.Equals(carInfo.CarVin))
                        {
                            machine.BoxConnectFlag = true;
                        }
                    }
                }
            }, () =>
            {
                machine.ExceptionReason = ExceptionReason.ConnTBoxError;
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorTBoxConn);
            }, false, () =>
            {
                machine.ExceptionReason = ExceptionReason.ConnTBoxError;
                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorTBoxConn.GetLed());
            }
            , 20, InvokeStatus.None);
    }


    /// <summary>
    /// 车辆本地验证:车牌校验
    /// </summary>
    /// <returns></returns>
    public InvokeStatus CheckTBoxVelLocalFlag(SwappingStateMachine machine)
    {
        return Invoker.Invoke("check TBox VelLocal", 1000, 20, machine.IsCanceled,
            () => machine.BoxLocalCheckFlag, () =>
            {
                Task<TboxCarInfoModel> carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                var tBoxCarInfoModel = carInfo.Result;

                if (tBoxCarInfoModel.CarNo!.Trim().Equals(machine.RfidReadModel!.VelVin.Trim()))
                {
                    machine.BoxLocalCheckFlag = true;
                    machine.BoxCarInfoModel = tBoxCarInfoModel;
                }
            }, () => { machine.ExceptionReason = ExceptionReason.LocalCheckVarError; }, true, () =>
            {
                machine.ExceptionReason = ExceptionReason.LocalCheckVarError;
            }
            , 3, InvokeStatus.TimeOut);
    }


    /// <summary>
    /// 蓝牙数据云平台上报
    /// </summary>
    /// <returns></returns>
    public InvokeStatus CloudTBoxFlag(SwappingStateMachine machine)
    {
        return Invoker.Invoke("cloud TBox upload", 500, 20, machine.IsCanceled,
            () => machine.CloudTBoxFlag, () =>
            {
                Task<TboxCarInfoModel> result = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                TboxCarInfoModel tBoxCarInfoModel = result.Result;
                machine.BoxCarInfoModel = tBoxCarInfoModel;
                if (tBoxCarInfoModel != null)
                {
                    if (tBoxCarInfoModel.Connected)
                    {
                        //将数据上报云平台
                        //    CloudApi.UploadTBoxCarInfo(machine.SwapOrder!, machine.BoxCarInfoModel);
                    }
                }
            }, () =>
            {
                //  machine.LedTool?.WriteProgramContent("车辆电池数据上报异常，请联系站务人员");
                //   SoundApi.PlayOneSound(InfoEnum.SwapInfo.ErrorSelectPack);
            }, false, () => { machine.ExceptionReason = ExceptionReason.CloudCarDataUploadError; }
            , 20, InvokeStatus.None);
    }

    /// <summary>
    /// 选包：
    /// 有预约单： 获取预约单的电池
    /// 无预约单：
    ///     1.仓位状态：启动
    ///     2.电池在位
    ///     3.充电状态：不在充电中
    ///     4.未锁定
    ///     5.最后一次结束充电时间> ()
    ///     6.soc >()
    /// </summary>
    /// <param name="machine"></param>
    public InvokeStatus SelectPack(SwappingStateMachine machine)
    {
        SwapAmtOrder? swapAmtOrder = _CommonMgr.QueryAmtOrder(machine);


        return Invoker.Invoke("selectPack", 1000, 10, machine.IsCanceled,
            () => machine.SelectPackFlag, () =>

            {
                SwapOrderBatteryInfo orderBatteryInfo = null;
                if (swapAmtOrder != null)
                {
                    orderBatteryInfo = _CommonMgr.SelectPackArm(swapAmtOrder,machine);
                }
                else
                {
                    orderBatteryInfo = _CommonMgr.SelectPackNotArm(machine);
                }

                if (orderBatteryInfo.CanSwap != InfoEnum.SelectBinStatusInfo.Success)
                {
                    //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorSelectPack.GetLed());


                    _log.Info($"SelectPack error CanSwap={machine.SwapOrderBatteryInfo.CanSwap}");
                }
                else
                {
                    //选包成功
                    _CommonMgr.LockBinAndUpdateAmt(orderBatteryInfo);
                    machine.SwapOrderBatteryInfo = orderBatteryInfo;
                    _CommonMgr.SaveSwapBattery(machine);
                    machine.SelectPackFlag = true;
                }
            }, () =>
            {
                machine.ExceptionReason = ExceptionReason.SelectPackError;
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorSelectPack);
            }
            , false, () => { }, 10, InvokeStatus.None);
    }
}