using Autofac; using Entity.Attr; using Entity.Constant; using HybirdFrameworkCore.Autofac; using log4net; using Repository.Station; 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.Plc.Client; using Service.Station; namespace Service.Execute.Step; public class DoSwappingState : IState { private readonly ILog _log = LogManager.GetLogger(typeof(DoSwappingState)); private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>(); public StateResult Handle(SwappingStateMachine machine) { //上报云平台换电开始 machine.BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.BeginSwap; machine.BusinessSwappingStateUpdateTime = DateTime.Now; _log.Info($"BusinessSwappingForCloudState={machine.BusinessSwappingForCloudState}"); // 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) { return SwappingStateMachine.ReturnWithInvokeErr(holdOn, ExceptionReason.None); } //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) { return SwappingStateMachine.ReturnWithInvokeErr(unPack, ExceptionReason.None); } //旧电池搬运 InvokeStatus oldBatteryCarryIn = OldBatteryCarryIn(machine); if (oldBatteryCarryIn != InvokeStatus.Done) { return SwappingStateMachine.ReturnWithInvokeErr(oldBatteryCarryIn, ExceptionReason.None); } //新电池搬运 InvokeStatus newBatteryCarryOut = NewBatteryCarryOut(machine); if (newBatteryCarryOut != InvokeStatus.Done) { return SwappingStateMachine.ReturnWithInvokeErr(newBatteryCarryOut, ExceptionReason.None); } //安装 InvokeStatus pack = Pack(machine); if (pack != InvokeStatus.Done) { return SwappingStateMachine.ReturnWithInvokeErr(pack, ExceptionReason.None); } //安装完成 InvokeStatus packFinish = PackFinish(machine); if (packFinish != InvokeStatus.Done) { return SwappingStateMachine.ReturnWithInvokeErr(packFinish, ExceptionReason.None); } //航车回归安全位置 InvokeStatus toInvokeStatus = ToSafePosition(machine); if (toInvokeStatus != InvokeStatus.Done) { return SwappingStateMachine.ReturnWithInvokeErr(toInvokeStatus, ExceptionReason.None); } //查询换电任务是否结束 return new StateResult() { SwappingState = SwappingState.SwapDone }; } /// <summary> /// 下发plc启动换电 /// </summary> /// <returns></returns> public InvokeStatus StartSwapping(SwappingStateMachine machine) { return Invoker.Invoke("StartSwapping", 1000, 5, machine.IsCanceled, () => machine.StartSwappingFlag, () => { Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelVin); bool unLock = result.Result; if (unLock) { //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); //查詢當前任務狀態是否被更改 var readPlcTaskStatus = PlcApi.ReadTaskStatus(1); if (startSwapping && readPlcTaskStatus) { machine.SwapOrder.SwapBeginTime = DateTime.Now; _CommonMgr.UpdateSwapOrder(machine); machine.SwapStatus = 0; machine.StartSwappingFlag = true; _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StartSwappingFlag, machine); } } else { _log.Info("当前有任务在执行"); } } }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwap); }, false, () => { }, 10, InvokeStatus.None); } /// <summary> /// plc读任务状态 上使能 /// </summary> /// <param name="machine"></param> /// <returns></returns> public InvokeStatus HoldOn(SwappingStateMachine machine) { return Invoker.Invoke("plc HoldOn", 1000, 5, machine.IsCanceled, () => machine.PlcHoldFlag, () => { //查询车辆锁止状态 var taskPrepare = PlcApi.ReadTaskStatus(1); if (taskPrepare) { bool holdOn = PlcApi.HoldOn(); if (holdOn) { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.StartSwapInfo); machine.PlcHoldFlag = true; } } }, () => { }); } /// <summary> /// 读取plc任务状态电池拆卸中 /// 读取plc任务状态电池入库搬运中 /// 读取plc任务状态电池出库搬运中 /// 读取plc任务状态电池安装中 /// 读取plc任务状态电池安装完成 /// </summary> /// <returns></returns> public InvokeStatus UnPack(SwappingStateMachine machine) { return Invoker.Invoke("plc UnPack", 500, 5, machine.IsCanceled, () => machine.UnOldBatteryFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoUnPack.GetLed()); int status = PlcApi.ReadPlcTaskStatus(); //处理程序太快,plc还没有初始值的状态 if (status == 1002 || status != 1003) { } else { machine.UnOldBatteryFlag = true; } if (machine.UnOldBatteryFlag) { _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag, machine); } }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoUnPack); }, false, () => { }, 10, InvokeStatus.None); } public InvokeStatus OldBatteryCarryIn(SwappingStateMachine machine) { return Invoker.Invoke("plc OldBatteryCarryIn", 500, 5, machine.IsCanceled, () => machine.StorageOldBatteryFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoOldBatteryCarryIn.GetLed()); var readPlcTaskStatus = PlcApi.ReadPlcTaskStatus(); if (readPlcTaskStatus == 1003 || readPlcTaskStatus != 1004) { } else { machine.StorageOldBatteryFlag = true; } machine.StorageOldBatteryFlag = readPlcTaskStatus == 1004; if (machine.StorageOldBatteryFlag) { _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.StorageOldBatteryFlag, machine); } }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoOldBatteryCarryIn); }, false, () => { }, 10, InvokeStatus.None); } public InvokeStatus NewBatteryCarryOut(SwappingStateMachine machine) { return Invoker.Invoke("plc NewBatteryCarryOut", 500, 5, machine.IsCanceled, () => machine.OutNewBatteryFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoNewBatteryCarryOut.GetLed()); if (PlcApi.ReadPlcTaskStatus() == 1004) { } else { machine.OutNewBatteryFlag = true; } if (machine.OutNewBatteryFlag) { _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.OutNewBatteryFlag, machine); } }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoNewBatteryCarryOut); }, false, () => { }, 10, InvokeStatus.None); } public InvokeStatus Pack(SwappingStateMachine machine) { return Invoker.Invoke("plc Pack ing", 500, 5, machine.IsCanceled, () => machine.InstallNewBatteryFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPack.GetLed()); if (PlcApi.ReadPlcTaskStatus() == 1005) { } else { machine.InstallNewBatteryFlag = true; } if (machine.InstallNewBatteryFlag) { _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.InstallNewBatteryFlag, machine); } }, () => { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPack); }, false, () => { }, 10, InvokeStatus.None); } public InvokeStatus PackFinish(SwappingStateMachine machine) { return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled, () => machine.FinishNewBatteryFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed()); var readPlcTaskStatus = PlcApi.ReadPlcTaskStatus(); if (readPlcTaskStatus == 1006 || readPlcTaskStatus == 1007) { machine.FinishNewBatteryFlag = true; machine.BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.SwapFinish; // CloudApi.SendStateLog(machine.SwapOrder, machine.BusinessSwappingForCloudState); machine.BusinessSwappingStateUpdateTime = DateTime.Now; SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoPackFinish); _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.FinishNewBatteryFlag, machine); } }, () => { }, false, () => { }, 10, InvokeStatus.None); } /// <summary> /// 行车回归安全位置 /// </summary> /// <param name="machine"></param> /// <returns></returns> public InvokeStatus ToSafePosition(SwappingStateMachine machine) { return Invoker.Invoke("plc ToSavePosition", 500, 5, machine.IsCanceled, () => machine.ToSafePositionFlag, () => { // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.InfoPackFinish.GetLed()); if (PlcApi.ReadPlcTaskStatus() == 1007) { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoToSafePosition); machine.ToSafePositionFlag = true; machine.BusinessSwappingStateUpdateTime = DateTime.Now; machine.SwapStatus = 1; } }, () => { }); } /// <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> /// <returns></returns> public InvokeStatus CarInPosition2(SwappingStateMachine machine) { return Invoker.Invoke("check CarInPosition2", 500, 50, machine.IsCanceled, () => machine.VehiclesInPlace2Flag, () => { var result = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin); TboxCarInfoModel tboxCarInfoModel = result.Result; int succCount = 0; List<bool> succL = new List<bool>() { StaticStationInfo.TboxStateFlameout, StaticStationInfo.TboxStateBreak, StaticStationInfo.TboxStateN }; var successCount = succL.Where(i => i).Count(); var status = tboxCarInfoModel?.CarStatus; if (StaticStationInfo.TboxStateFlameout) { if (status?.Keys == 0) { succCount++; } } if (StaticStationInfo.TboxStateBreak) { if (status?.Break == 1) { succCount++; } } if (StaticStationInfo.TboxStateN) { if (status?.Gear == 0) { succCount++; } } if (succCount == successCount) { machine.VehiclesInPlace2Flag = true; } }, () => { machine.ExceptionReason = ExceptionReason.CarInPositionError; // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrorCarInPositionTimeout.GetLed()); SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrorCarInPositionTimeout); }, false, () => { } , 20, InvokeStatus.None); } }