From 53c2307b80fa8b7e78ca0708e44c98f6bfe0ccf4 Mon Sep 17 00:00:00 2001 From: xjl <2595686544@qq.com> Date: Wed, 31 Jul 2024 08:59:48 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8D=A2=E7=94=B5=E4=B8=AD=E8=AF=BB=E5=86=99Pl?= =?UTF-8?q?c=E5=AE=9E=E6=97=B6=E6=95=B0=E6=8D=AE=E4=BB=BB=E5=8A=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Entity/Constant/StationParamConst.cs | 2 + Service/Execute/Api/PlcApi.cs | 14 +++ Service/Execute/Step/CarCtrlState.cs | 58 +++++++++- Service/Execute/Step/DoSwappingState.cs | 8 ++ Service/Execute/Step/StationReadyState.cs | 3 + Service/Execute/SwappingStateMachine.cs | 3 + Service/Init/StaticStationInfo.cs | 10 ++ Service/MyTask/PlcHeartTask.cs | 25 +++-- Service/MyTask/PlcRealTimeTask.cs | 128 ++++++++++++++++++++++ Service/Plc/Client/PlcMgr.cs | 88 +++++++++++++++ Service/Plc/Msg/PlcToHost.cs | 24 ++-- WebStarter/appsettings.dev.json | 2 +- 12 files changed, 336 insertions(+), 29 deletions(-) create mode 100644 Service/MyTask/PlcRealTimeTask.cs diff --git a/Entity/Constant/StationParamConst.cs b/Entity/Constant/StationParamConst.cs index 500c9ac..bf02638 100644 --- a/Entity/Constant/StationParamConst.cs +++ b/Entity/Constant/StationParamConst.cs @@ -207,6 +207,8 @@ public class StationParamConst public static readonly string StationStatus = "Station.StationStatus"; public static readonly string StationWay = "Station.StationWay"; public static readonly string StationModel = "Station.StationModel"; + //换电启动模式 + public static readonly string SwapInitiateMode = "Station.SwapInitiateMode"; #region Tbox diff --git a/Service/Execute/Api/PlcApi.cs b/Service/Execute/Api/PlcApi.cs index c43e527..758ffd2 100644 --- a/Service/Execute/Api/PlcApi.cs +++ b/Service/Execute/Api/PlcApi.cs @@ -182,5 +182,19 @@ public class PlcApi Log.Info($"PlcApi ReadPlcTaskStatus resp= {readPlcTaskStatus}"); return readPlcTaskStatus; } + + /// + /// 读实体按钮状态 + /// + /// + public static bool ReadPhysicalButtonState() + { + PlcMgr.ResetPlc(); + Log.Info($"PlcApi start ReadPhysicalButtonState "); + var readPhysicalButtonState = PlcMgr.PhysicalButtonStateRadar(); + Log.Info($"PlcApi ReadPhysicalButtonState resp= {readPhysicalButtonState}"); + return readPhysicalButtonState; + } + } diff --git a/Service/Execute/Step/CarCtrlState.cs b/Service/Execute/Step/CarCtrlState.cs index 64410fb..896834a 100644 --- a/Service/Execute/Step/CarCtrlState.cs +++ b/Service/Execute/Step/CarCtrlState.cs @@ -9,6 +9,8 @@ using Service.Execute.Model.Tbox; using Service.Execute.StaticTools; using Service.Execute.SwapException; using Service.Execute.Utils; +using Service.Init; +using Service.MyTask; using Service.Station; namespace Service.Execute.Step; @@ -59,11 +61,16 @@ public class CarCtrlState : IState return SwappingStateMachine.ReturnWithInvokeErr(tBoxEnergyDown, ExceptionReason.None); } - //请操作换电启动按钮 - SoundApi.PlayOneSound((int) InfoEnum.SwapInfo.InfoManualStartSwap); - Thread.Sleep(2000); + //是否为拍按钮启动 + InvokeStatus startButton = StartButton(machine); + if (startButton != InvokeStatus.Done) + { + return SwappingStateMachine.ReturnWithInvokeErr(startButton, ExceptionReason.None); + } + + + //Thread.Sleep(2000); - return new StateResult() { @@ -88,6 +95,7 @@ public class CarCtrlState : IState //查询车辆锁止状态 Task carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin); var resultHeartBeatMsg = carInfo.Result.CarStatus; + if (resultHeartBeatMsg?.LockStatus == 1 || machine.ManualConfirmCarUnlockFlag) { machine.ManualConfirmCarUnlockFlag = false; @@ -95,6 +103,10 @@ public class CarCtrlState : IState machine.VelUnlockFlag = true; _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelUnlockFlag, machine); + {//开始下发电池包锁状态 + PlcRealTimeTask.LockStatusTask = true; + + } } } }, () => @@ -218,6 +230,9 @@ public class CarCtrlState : IState _log.Info("begin plc CheckChannelStatus"); Thread.Sleep(2000); var channelStatus = PlcApi.ChannelStatus(); + PlcRealTimeTask.cameraTask = true;//开始记录拍照偏移日志 + PlcRealTimeTask.VehicleParkingStatusTask = true;//开始下发车辆驻车状态 + if (count % 10 == 0) { SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoInfo); @@ -247,4 +262,39 @@ public class CarCtrlState : IState return null; } + + + + /// + /// 收到实体按钮已拍 + /// + /// + /// + public InvokeStatus StartButton(SwappingStateMachine machine) + { + return Invoker.Invoke("plc StartButton", 500, 5, machine.IsCanceled, + () => machine.PhysicalButtonState, () => + { + if (StaticStationInfo.SwapInitiateMode == 2) + { + if (PlcApi.ReadPhysicalButtonState()) + { + machine.PhysicalButtonState = true; + } + + SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoManualStartSwap); + } + else + { + machine.PhysicalButtonState = true; + } + + + if (machine.PhysicalButtonState) + { + // _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.UnOldBatteryFlag,machine); + } + }, () => { }, false, () => { }, 10, + InvokeStatus.None); + } } \ No newline at end of file diff --git a/Service/Execute/Step/DoSwappingState.cs b/Service/Execute/Step/DoSwappingState.cs index 08842d9..2c49209 100644 --- a/Service/Execute/Step/DoSwappingState.cs +++ b/Service/Execute/Step/DoSwappingState.cs @@ -11,6 +11,7 @@ using Service.Execute.StaticTools; using Service.Execute.SwapException; using Service.Execute.Utils; using Service.Init; +using Service.MyTask; using Service.Station; namespace Service.Execute.Step; @@ -320,6 +321,13 @@ public class DoSwappingState : IState machine.BusinessSwappingStateUpdateTime = DateTime.Now; machine.SwapStatus = 1; + + { + PlcRealTimeTask.cameraTask = false;//结束记录拍照偏移日志 + PlcRealTimeTask.LockStatusTask = false;//结束下发电池包锁状态 + PlcRealTimeTask.VehicleParkingStatusTask = false;//结束下发车辆驻车状态 + PlcRealTimeTask.RollerShutterTask= false; + } } }, () => { }); } diff --git a/Service/Execute/Step/StationReadyState.cs b/Service/Execute/Step/StationReadyState.cs index a360a16..24842f6 100644 --- a/Service/Execute/Step/StationReadyState.cs +++ b/Service/Execute/Step/StationReadyState.cs @@ -13,6 +13,7 @@ using Service.Execute.StaticTools; using Service.Execute.SwapException; using Service.Execute.Utils; using Service.Init; +using Service.MyTask; using Service.Station; using Swapping.Business.Common; @@ -146,6 +147,8 @@ public class StationReadyState : IState machine.ExceptionReason = ExceptionReason.None; _log.Info("entrance radar true"); machine.RadarInFlag = true; + PlcRealTimeTask.RollerShutterTask = true;//雷达检测到车保持卷帘门开启 + } }); } diff --git a/Service/Execute/SwappingStateMachine.cs b/Service/Execute/SwappingStateMachine.cs index 389af61..3317592 100644 --- a/Service/Execute/SwappingStateMachine.cs +++ b/Service/Execute/SwappingStateMachine.cs @@ -118,6 +118,9 @@ public class SwappingStateMachine : IDisposable public bool TboxEnergyUpFlag = false; + //实体按钮 + public bool PhysicalButtonState = false; + //开始换电 public bool StartSwappingFlag = false; diff --git a/Service/Init/StaticStationInfo.cs b/Service/Init/StaticStationInfo.cs index 152d66c..8e7d60f 100644 --- a/Service/Init/StaticStationInfo.cs +++ b/Service/Init/StaticStationInfo.cs @@ -71,6 +71,14 @@ public class StaticStationInfo get => int.Parse(Resolve(StationParamConst.SwapSoc)); set => Set(StationParamConst.SwapSoc, value); } + /// + /// 换电启动模式：1自动启动；2：拍按钮启动 + /// + public static byte SwapInitiateMode + { + get => byte.Parse(Resolve(StationParamConst.SwapInitiateMode)); + set => Set(StationParamConst.SwapInitiateMode, value); + } #region Tbox @@ -202,7 +210,9 @@ public class StaticStationInfo get => byte.Parse(Resolve(StationParamConst.AutoChargeEnabled)); set => Set(StationParamConst.AutoChargeEnabled, value); } + + #endregion diff --git a/Service/MyTask/PlcHeartTask.cs b/Service/MyTask/PlcHeartTask.cs index 54b926f..8bd3c23 100644 --- a/Service/MyTask/PlcHeartTask.cs +++ b/Service/MyTask/PlcHeartTask.cs @@ -40,12 +40,12 @@ public class PlcHeartTask: ITask writeHostToPlc.ProtocolVersion2.Value = 0; writeHostToPlc.ProtocolVersion3.Value = 1; writeHostToPlc.CommunicationDiagnosis.Value = (ushort)(heart ? 1 : 0); - writeHostToPlc.Years.Value = (ushort)DateTime.Now.Year; - writeHostToPlc.Month.Value = (ushort)DateTime.Now.Month; - writeHostToPlc.Day.Value = (ushort)DateTime.Now.Day; - writeHostToPlc.Hour.Value = (ushort)DateTime.Now.Hour; - writeHostToPlc.Points.Value = (ushort)DateTime.Now.Minute; - writeHostToPlc.Seconds.Value = (ushort)DateTime.Now.Second; + //writeHostToPlc.Years.Value = (ushort)DateTime.Now.Year; + //writeHostToPlc.Month.Value = (ushort)DateTime.Now.Month; + //writeHostToPlc.Day.Value = (ushort)DateTime.Now.Day; + //writeHostToPlc.Hour.Value = (ushort)DateTime.Now.Hour; + //writeHostToPlc.Points.Value = (ushort)DateTime.Now.Minute; + //writeHostToPlc.Seconds.Value = (ushort)DateTime.Now.Second; var lstBinInfo = BinInfoRepository.Query(); writeHostToPlc.ChargingStatus02.Value = (short)(lstBinInfo[1].ChargeStatus == 1 ? 1010 : 1000); @@ -55,18 +55,19 @@ public class PlcHeartTask: ITask writeHostToPlc.ChargingStatus06.Value = (short)(lstBinInfo[5].ChargeStatus == 1 ? 1010 : 1000); writeHostToPlc.ChargingStatus07.Value = (short)(lstBinInfo[6].ChargeStatus == 1 ? 1010 : 1000); writeHostToPlc.ChargingStatus08.Value = (short)(lstBinInfo[7].ChargeStatus == 1 ? 1010 : 1000); + //TODO 后面8个仓写9~16还是11~18 bool write01 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ProtocolVersion1); bool write02 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ProtocolVersion2); bool write03 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ProtocolVersion3); bool write0 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.CommunicationDiagnosis); - bool write1 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Years); - bool write2 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Month); - bool write3 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Day); - bool write4 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Hour); - bool write5 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Points); - bool write6 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Seconds); + //bool write1 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Years); + //bool write2 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Month); + //bool write3 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Day); + //bool write4 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Hour); + //bool write5 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Points); + //bool write6 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.Seconds); bool writeCharge2 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ChargingStatus02); bool writeCharge3 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ChargingStatus03); bool writeCharge4 = PlcMgr.PlcClient.WriteValue(writeHostToPlc.ChargingStatus04); diff --git a/Service/MyTask/PlcRealTimeTask.cs b/Service/MyTask/PlcRealTimeTask.cs new file mode 100644 index 0000000..482bedb --- /dev/null +++ b/Service/MyTask/PlcRealTimeTask.cs @@ -0,0 +1,128 @@ +using Entity.DbModel.Station; +using HybirdFrameworkCore.Autofac.Attribute; +using HybirdFrameworkCore.AutoTask; +using HybirdFrameworkCore.Entity; +using log4net; +using Repository.Station; +using Service.Execute; +using Service.Execute.Api; +using Service.Execute.Model.Tbox; +using Service.Plc.Client; +using Service.Plc.Msg; +using Service.Station; +using System.Reflection.PortableExecutable; + +namespace Service.MyTask; + +/// +/// 电池充电是风扇启停 +/// +[Scope] +public class PlcRealTimeTask : ITask +{ + private static readonly ILog Log = LogManager.GetLogger(typeof(PlcRealTimeTask)); + + + public BinInfoRepository _binInfoRepository { get; set; } + + private volatile bool _stop; + + public static bool cameraTask=false;//相机偏移记录任务(查看通道状态开始，行车回归安全位置结束) + public static bool VehicleParkingStatusTask= false;//车辆驻车状态下发任务 + public static bool LockStatusTask = false;//电池包锁状态下发任务 + + public static bool RollerShutterTask = false;//卷帘门是否保持开启状态 + + public string Name() + { + return "PlcRealTimeTask"; + } + + public int Interval() + { + return 1000 * 3; + } + + + public void Handle() + { + try + { + if (cameraTask) + { + if (PlcMgr.PlcToHostData != null) + { + Log.Info($"PlcRealTimeTask.CameraOffsetValue DeviationX={PlcMgr.PlcToHostData.DeviationX.Value}, DeviationY={PlcMgr.PlcToHostData.DeviationY.Value}" + + $",DeviationZ={PlcMgr.PlcToHostData.DeviationZ.Value},DeviationR={PlcMgr.PlcToHostData.DeviationR.Value},DeviationX2={PlcMgr.PlcToHostData.DeviationX2.Value}," + + $" DeviationY2={PlcMgr.PlcToHostData.DeviationY2.Value},DeviationZ2={PlcMgr.PlcToHostData.DeviationZ2.Value},DeviationR2={PlcMgr.PlcToHostData.DeviationR2.Value}"); + } + + } + + var resultHeartBeatMsg = StationSoftMgr.SwappingStateMachine.BoxCarInfoModel?.CarStatus; + + if (VehicleParkingStatusTask) + { + + ushort vehicleParkingStatus = 0; + if (resultHeartBeatMsg != null) + { + if (resultHeartBeatMsg?.PowerStatus == 2 && resultHeartBeatMsg.Break == 1) + { + vehicleParkingStatus = 2; + } + else + { + vehicleParkingStatus = 1; + } + } + + PlcMgr.WriteVehicleParkingStatus(vehicleParkingStatus); + + } + if (LockStatusTask) + { + ushort lockStatus = 0; + + if (resultHeartBeatMsg != null) + { + lockStatus = (ushort)(resultHeartBeatMsg?.LockStatus == 1 ? 1000 : 0); + } + + PlcMgr.WriteStopCommand(lockStatus); + } + + if (RollerShutterTask) + { + if (!PlcMgr.RollerShutterRadar()) + { + PlcMgr.WriteRollerShutter(1000); + } + } + //else//需要关闭吗 + //{ + // PlcMgr.WriteRollerShutter(1010); + //} + + } + catch (Exception e) + { + Log.Error($" PlcRealTimeTask err e={e}"); + } + } + + public bool Stoped() + { + return _stop; + } + + public void Stop() + { + _stop = true; + } + + public void ResetStop() + { + _stop = false; + } +} \ No newline at end of file diff --git a/Service/Plc/Client/PlcMgr.cs b/Service/Plc/Client/PlcMgr.cs index dfa6fc0..5d05a86 100644 --- a/Service/Plc/Client/PlcMgr.cs +++ b/Service/Plc/Client/PlcMgr.cs @@ -313,6 +313,8 @@ public class PlcMgr return bResult; } + + /// /// 获取当前灯光状态 /// @@ -343,4 +345,90 @@ public class PlcMgr return bResult; } + + /// + /// 写电池包锁止状态 + /// + /// + public static bool WriteStopCommand(ushort lockStatus) + { + bool bResult = false; + if (PlcClient != null) + { + HostToPlc writeHostToPlc = new HostToPlc(); + writeHostToPlc.StopCommand.Value = lockStatus; + bResult = PlcClient.WriteValue(writeHostToPlc.StopCommand); + } + + return bResult; + } + /// + /// 下发车辆驻车状态 + /// + /// + /// + public static bool WriteVehicleParkingStatus(ushort vehicleParkingStatus) + { + bool bResult = false; + if (PlcClient != null) + { + HostToPlc writeHostToPlc = new HostToPlc(); + writeHostToPlc.VehicleParkingStatus.Value = vehicleParkingStatus; + bResult = PlcClient.WriteValue(writeHostToPlc.VehicleParkingStatus); + } + + return bResult; + } + + /// + /// 控制卷帘门 + /// 0:无操作 + ///1000：请求开启 + ///1010：请求关闭 + /// + /// + /// + public static bool WriteRollerShutter(ushort pollerShutter) + { + bool bResult = false; + if (PlcClient != null) + { + HostToPlc writeHostToPlc = new HostToPlc(); + writeHostToPlc.RollerShutter.Value = pollerShutter; + bResult = PlcClient.WriteValue(writeHostToPlc.RollerShutter); + } + + return bResult; + } + + /// + /// 卷帘门是否开启 + /// + /// + public static bool RollerShutterRadar() + { + if ((DateTime.Now - DataValidityTime).Seconds <= DataTimeSeconds) + { + return PlcToHostData.RollerShutter.Value == 1000 ? true : false; + } + else + { + return false; + } + } + /// + /// 实体按钮是否拍下 + /// + /// + public static bool PhysicalButtonStateRadar() + { + if ((DateTime.Now - DataValidityTime).Seconds <= DataTimeSeconds) + { + return PlcToHostData.PhysicalButtonState.Value == 1000 ? true : false; + } + else + { + return false; + } + } } \ No newline at end of file diff --git a/Service/Plc/Msg/PlcToHost.cs b/Service/Plc/Msg/PlcToHost.cs index e52b4a5..4a9a444 100644 --- a/Service/Plc/Msg/PlcToHost.cs +++ b/Service/Plc/Msg/PlcToHost.cs @@ -158,11 +158,11 @@ namespace Service.Plc.Msg public ModbusProperty PercentageTorqueR { get; set; } = new(40309); /// /// 卷帘门状态 - /// 0:无操作 - /// 1000：请求开启 - /// 1010：请求关闭 + /// 0：未开启 + /// 1000：已开启 + /// 1010：已关闭 /// - public ModbusProperty RollerShutter { get; set; } = new(40116); + public ModbusProperty RollerShutter { get; set; } = new(40310); //public ModbusProperty value6 { get; set; } = new(40116,length:12); /// /// 左侧载行车设备状态 @@ -293,19 +293,19 @@ namespace Service.Plc.Msg /// /// 右侧堆垛机相机x偏差 /// - public ModbusProperty DeviationX { get; set; } = new(40411); + public ModbusProperty DeviationX { get; set; } = new(40411, scale: 0.01); /// /// 右侧堆垛机相机y偏差 /// - public ModbusProperty DeviationY { get; set; } = new(40412); + public ModbusProperty DeviationY { get; set; } = new(40412, scale: 0.01); /// /// 右侧堆垛机相机z偏差 /// - public ModbusProperty DeviationZ { get; set; } = new(40413); + public ModbusProperty DeviationZ { get; set; } = new(40413, scale: 0.01); /// /// 右侧堆垛机相机R偏差 /// - public ModbusProperty DeviationR { get; set; } = new(40414); + public ModbusProperty DeviationR { get; set; } = new(40414, scale: 0.01); public ModbusProperty value11 { get; set; } = new(40409,length:13); @@ -320,18 +320,18 @@ namespace Service.Plc.Msg /// /// 左侧堆垛机相机x偏差 /// - public ModbusProperty DeviationX2 { get; set; } = new(40429); + public ModbusProperty DeviationX2 { get; set; } = new(40429, scale: 0.01); /// /// 左侧堆垛机相机y偏差 /// - public ModbusProperty DeviationY2 { get; set; } = new(40430); + public ModbusProperty DeviationY2 { get; set; } = new(40430, scale: 0.01); /// /// 左侧堆垛机相机z偏差 /// - public ModbusProperty DeviationZ2 { get; set; } = new(40431); + public ModbusProperty DeviationZ2 { get; set; } = new(40431, scale: 0.01); /// /// 左侧堆垛机相机R偏差 /// - public ModbusProperty DeviationR2 { get; set; } = new(40432); + public ModbusProperty DeviationR2 { get; set; } = new(40432, scale: 0.01); } } diff --git a/WebStarter/appsettings.dev.json b/WebStarter/appsettings.dev.json index 032ac25..eaf30ab 100644 --- a/WebStarter/appsettings.dev.json +++ b/WebStarter/appsettings.dev.json @@ -2,7 +2,7 @@ "ConnectionStrings": { "ConfigId": "master", "DbType": "MySql", - "SqlConnection": "server=180.76.133.253;Port=16306;Database=nhet_dev;Uid=root;Pwd=Rszn123;Charset=utf8;" + "SqlConnection": "server=127.0.0.1;Port=3306;Database=nhet_dev;Uid=root;Pwd=123456;Charset=utf8;" }, "Update": { "AutoUpdate": "false",