nhet_cn_back_main/Service/Execute/SwappingStateMachine.cs

using System.Collections.Concurrent;
using Autofac;
using DotNetty.Common.Utilities;
using Entity.Constant;
using Entity.DbModel.Station;
using HybirdFrameworkCore.Autofac;
using log4net;
using Newtonsoft.Json;
using Repository.Station;
using Service.Cloud.Msg.Cloud.Req;
using Service.Execute.Api;
using Service.Execute.Model;
using Service.Execute.Model.Tbox;
using Service.Execute.StaticTools;
using Service.Execute.Step;
using Service.Execute.SwapException;
using Service.Plc.Client;

namespace Service.Execute;

public class SwappingStateMachine : IDisposable
{
    private static readonly ILog Log = LogManager.GetLogger(typeof(SwappingStateMachine));
    private static readonly SwappingStateMachine SwappingMachine = new SwappingStateMachine();

    private BinInfoRepository BinInfoRepository { get; set; }

    private SwapAmtOrderRepository AmtOrderRepository { get; set; }


    public bool CancelFlag { get; set; } = false;
    public bool StopFlag { get; set; } = false;

    public bool PlcSwapFlag { get; set; } = false;

    //手动确认换电成功
    public bool ManualSwapSuccFlag { get; set; } = false;

    //手动确认解锁/上锁成功
    public bool ManualConfirmCarUnlockFlag { get; set; }

    //手动确认解锁/上锁成功
    public bool ManualConfirmCarLockFlag { get; set; }
    //plc任务异常，流程结束
    public bool PLCAbnormalFlag { get; set; }

    public OperateModel OperateModel = null;

    public readonly LedTool? LedTool = null;
    private readonly Thread _executeThread;
    private readonly 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 InfoEnum.BusinessSwappingForCloudState BusinessSwappingForCloudState =
        InfoEnum.BusinessSwappingForCloudState.UnKnown;

    public DateTime BusinessSwappingStateUpdateTime = DateTime.Now;
    public 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 int StepSort = 0;

    public RfidReadModel? RfidReadModel = null;
    public TboxCarInfoModel? BoxCarInfoModel = null;

    public SwapOrder? SwapOrder = null;
    public SwapStart? swapStart = null;
     
    public SwapOrderBatteryInfo? SwapOrderBatteryInfo = null;

    public ConcurrentDictionary<string, StepModel> StepModel =
        new ConcurrentDictionary<string, StepModel>()
        {
            ["0"] = new StepModel { StepNo = 0, Status = 0, StepName = "空闲" },
            ["1"] = new StepModel { StepNo = 1, Status = 0, StepName = "车辆到站(入口雷达检测到车辆驶入)" },
            ["2"] = new StepModel { StepNo = 2, Status = 0, StepName = "rfid扫描完成" },
            //["3"] = new StepModel { StepNo = 3, Status = 0, StepName = "云平台车辆认证" },
            ["3"] = new StepModel { StepNo = 4, Status = 0, StepName = "车辆到位" },
            // ["5"] = new StepModel { StepNo = 5, Status = 0, StepName = "云平台下发换电指令" },
            ["4"] = new StepModel { StepNo = 5, Status = 0, StepName = "车辆就绪和货箱举升到位" },
            ["5"] = new StepModel { StepNo = 5, Status = 0, StepName = "下高压完成" },
            ["6"] = new StepModel { StepNo = 5, Status = 0, StepName = "车辆解锁" },
            //["6"] = new StepModel { StepNo = 6, Status = 0, StepName = "下发plc选包" },

            ["7"] = new StepModel { StepNo = 6, Status = 0, StepName = "开始换电" },
            ["8"] = new StepModel { StepNo = 7, Status = 0, StepName = "拆旧电池完成" },
            ["9"] = new StepModel { StepNo = 8, Status = 0, StepName = "入库旧电池完成" },
            ["10"] = new StepModel { StepNo = 9, Status = 0, StepName = "搬运新电池完成" },
            ["11"] = new StepModel { StepNo = 10, Status = 0, StepName = "安装新电池完成" },
            ["12"] = new StepModel { StepNo = 11, Status = 0, StepName = "安装完成" },
            ["13"] = new StepModel { StepNo = 12, Status = 0, StepName = "车辆上锁" },
            ["14"] = new StepModel { StepNo = 13, Status = 0, StepName = "换电完成(车辆驶离)" },
            ["15"] = new StepModel { StepNo = 14, Status = 0, StepName = "换电失败(车辆驶离)" },
        };


    #region 小步状态

    //雷达检测/车辆进入
    public bool RadarInFlag = false;

    //开始读rf
    public bool BeginRfidReadFlag = false;

    //读rfid
    public bool RfidReadFlag = false;

    //云平台车辆
    public bool CloudVelCheckFlag = false;

    //Tbox连接
    public bool BoxConnectFlag = false;

    //车辆lock
    public bool BoxLocalCheckFlag = false;

    //车辆数据上传
    public bool CloudTBoxFlag = false;

    //选包
    public bool SelectPackFlag = false;

    //车辆到位
    public bool VehiclesInPlaceFlag = false;

    //下发选包
    public bool DistributeSelectPackFlag = false;

    //云平台下发
    public bool CloudCarCanStartFlag = false;

    //车辆解锁
    public bool VelUnlockFlag = false;
    
    //给Tbox下发开始换电
    public bool StartSwapToTBoxFlag = false;
    public bool TboxHandUpFlag = false;
    public bool TboxEnergyDownFlag = false;
    public bool TboxDownFlag = false;

    public bool TboxEnergyUpFlag = false;

    //实体按钮
    public bool PhysicalButtonState = false;

    //开始换电
    public bool StartSwappingFlag = false;


    //上使能
    public bool PlcHoldFlag = false;

    //拍照状态
    public bool ChannelStatusOkFlag = false;

    //二次检测车
    public bool VehiclesInPlace2Flag = false;

    //拆旧电池
    public bool UnOldBatteryFlag = false;

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

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

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

    //安装完成
    public bool FinishNewBatteryFlag = false;

    //航车回归安全位置
    public bool ToSafePositionFlag = false;

    //车辆上锁
    public bool VelLockFlag = false;


    //车辆离开
    public 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();
        _dictionary[SwappingState.ManualSucc] = new ManualSuccState();

        LedTool = new LedTool();

        BinInfoRepository = AppInfo.Container.Resolve<BinInfoRepository>();
        AmtOrderRepository = AppInfo.Container.Resolve<SwapAmtOrderRepository>();
    }

    public static SwappingStateMachine GetInstance()
    {
        return SwappingMachine;
    }


    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 if (status == InvokeStatus.ManualSucc)
        {
            return new StateResult() { SwappingState = SwappingState.ManualSucc };
        }
        else if(status == InvokeStatus.Exception)
        {
            return new StateResult() { SwappingState = SwappingState.SwapDone };
        }
        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 IsManualSwapSucc()
    {
        return ManualSwapSuccFlag;
    }

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

    public void Reset()
    {
        Log.Info("reset data");
        if (PlcMgr.PlcClient?.ReadTaskNo() == 1)
        {
            PlcMgr.PlcClient?.ExChangeTaskNo(0);
        }

        ResetOrderAmtStatus();
        if (RfidReadModel != null)
        {
            //wifi数据重置
            TBoxApi.Reset(RfidReadModel.VelVin);
            TBoxApi.SetHeart("1", 1);
        }


        //重置所有小步状态
        ResetStep();
        ResetData();

        //重置云平台下发的指令
        //  CloudApi.ClearCarCanStartInfo();
    }

    public bool Cancel()
    {
        CancelFlag = true;
        Thread.Sleep(5000);
        Log.Info($"Cancel machine ok");
        return true;
    }

    public bool Manual()
    {
        ManualSwapSuccFlag = true;
        Thread.Sleep(5000);
        Log.Info($"ManualSwapSuccFlag machine ok");
        return true;
    }

    public bool ManualConfirmLockCar()
    {
        ManualConfirmCarLockFlag = true;
        Thread.Sleep(2000);
        Log.Info($"ManualConfirmLockCar  ok");
        return true;
    }

    public bool ManualConfirmUnLockCar()
    {
        ManualConfirmCarUnlockFlag = true;
        Thread.Sleep(2000);
        Log.Info($"ManualConfirmLockCar  ok");
        return true;
    }


    private void ResetData()
    {
        BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.Idle;
        BusinessSwappingStateUpdateTime = DateTime.Now;
        ExceptionReason = ExceptionReason.None;
        OperateModel = null;
        

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

        RfidReadModel = null;
        BoxCarInfoModel = null;

        SwapOrder = null;

        SwapOrderBatteryInfo = null;
        StepSort = 0;
        foreach (var key in StepModel.Keys.ToList())
        {
            StepModel[key].Status = 0;
            StepModel[key].StartTime = null;
        }


        PlcSwapFlag = false;
        ManualSwapSuccFlag = false;
        OperateModel = null;
        ManualConfirmCarUnlockFlag = false;
        ManualConfirmCarLockFlag = false;
        CancelFlag = false;
        StopFlag = false;
        PLCAbnormalFlag=false;
    }

    private void ResetStep()
    {
        RadarInFlag = false;


        BeginRfidReadFlag = false;


        RfidReadFlag = false;


        CloudVelCheckFlag = false;


        BoxConnectFlag = false;


        BoxLocalCheckFlag = false;


        CloudTBoxFlag = false;


        SelectPackFlag = false;


        VehiclesInPlaceFlag = false;


        DistributeSelectPackFlag = false;


        CloudCarCanStartFlag = false;


        VelUnlockFlag = false;


        StartSwappingFlag = false;


        PlcHoldFlag = false;


        ChannelStatusOkFlag = false;


        VehiclesInPlace2Flag = false;


        UnOldBatteryFlag = false;


        StorageOldBatteryFlag = false;


        OutNewBatteryFlag = false;


        InstallNewBatteryFlag = false;


        FinishNewBatteryFlag = false;


        ToSafePositionFlag = false;


        VelLockFlag = false;


        RadarOutFlag = false;

        StartSwapToTBoxFlag = false;
        TboxHandUpFlag = false;
        TboxEnergyDownFlag = false;
        TboxDownFlag = false;
        TboxEnergyUpFlag = false;
    }

    //关于仓库锁定相关重置
    private void ResetOrderAmtStatus()
    {
        //仓库解锁 解锁两个
        if (SwapOrderBatteryInfo != null)
        {
            if (SwapOrderBatteryInfo?.UpBinInfo != null) ;
            {
                BinInfoRepository.Update(i => i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
                    i => i.Id == SwapOrderBatteryInfo.UpBinInfo[0].Id);
                BinInfoRepository.Update(i => i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
                    i => i.Id == SwapOrderBatteryInfo.UpBinInfo[1].Id);
            }
        }

        //预约单
        List<SwapAmtOrder> amtOrderInfos = AmtOrderRepository.QueryListByClause(it =>
            it.ExpireTime < DateTime.Now
            && it.Status == (byte)InfoEnum.AmtOrderStatus.Success).ToList();
        if (amtOrderInfos.Count > 0)
        {
            List<string> binNos = amtOrderInfos.SelectMany(i => i.AmtBinNoList.Split(',').ToList()).Distinct().ToList();
            List<BinInfo> listByClause = BinInfoRepository.QueryListByClause(i => binNos.Contains(i.No));
            foreach (var binInfo in listByClause)
            {
                binInfo.AmtLock = (int)InfoEnum.AmtBatLockStatus.UnLock;
            }

            BinInfoRepository.Update(listByClause);
        }
    }

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

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