nhet_cn_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.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
            };
        }

        //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.TboxConnect);
        ////TBox连接
        //if (StaticStationInfo.TboxStateConnect)
        //{
        //    InvokeStatus tboxConnect = TboxConnect(machine);
        //    if (tboxConnect != InvokeStatus.Done)
        //    {
        //        return SwappingStateMachine.ReturnWithInvokeErr(tboxConnect, ExceptionReason.None);
        //    }
        //}

        //当前车辆连接状态
        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);
        }


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

        //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.BeginAuxiliarySource);
        //下辅源
        InvokeStatus auxiliarySource = AuxiliarySource(machine);
        if (auxiliarySource != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(auxiliarySource, 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);
                List<bool> succL = new List<bool>()
                {
                    StaticStationInfo.TboxStateFlameout, StaticStationInfo.TboxStateBreak, StaticStationInfo.TboxStateN
                };
                var successCount = succL.Where(i => i).Count();
                TboxCarInfoModel tboxCarInfoModel = result.Result;

                var status = tboxCarInfoModel?.HeartBeatMsg;

                if (StaticStationInfo.TboxStateFlameout)
                {
                    //if (status?.EarPosition == 0&&status?.handbrake == 1)
                    if (status?.KeyStatus == 0)
                    {
                        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>
    /// 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);
                result.Wait();
                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;
    //                        SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CheckTBoxConnectFlag);
    //                    }
    //                }
    //            }
    //        }, () =>
    //        {
    //            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)
                {
                    _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);
    }


    /// <summary>
    /// 两个从电机下辅源
    /// </summary>
    /// <param name="machine"></param>
    /// <returns></returns>
    public InvokeStatus AuxiliarySource(SwappingStateMachine machine)
    {
        bool result = false;
        return Invoker.Invoke("selectPack", 1000, 3, machine.IsCanceled,
            () => result, () =>
            {
                var result1 = ChargeApi.SendAuxiliaryPower(machine.SwapOrderBatteryInfo.UpBinInfo[0].No,2);
                var result2 = ChargeApi.SendAuxiliaryPower(machine.SwapOrderBatteryInfo.UpBinInfo[1].No,2);
                result1.Wait();
                result2.Wait();
                
                result = result1.Result & result2.Result;
                result = true;
            }, () =>
            {
                machine.ExceptionReason = ExceptionReason.AuxiliarySourceError;
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.AuxiliarySource);
            }
            , false, () => { }, 10, InvokeStatus.None
            );
    } 
}