换电中读写Plc实时数据任务

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
 

Service/Execute/Api/PlcApi.cs

@@ -182,5 +182,19 @@ public class PlcApi
         Log.Info($"PlcApi ReadPlcTaskStatus  resp= {readPlcTaskStatus}");
         return readPlcTaskStatus;
     }
+
+    /// <summary>
+    /// 读实体按钮状态
+    /// </summary>
+    /// <returns></returns>
+    public static bool ReadPhysicalButtonState()
+    {
+        PlcMgr.ResetPlc();
+        Log.Info($"PlcApi start ReadPhysicalButtonState ");
+        var readPhysicalButtonState = PlcMgr.PhysicalButtonStateRadar();
+        Log.Info($"PlcApi ReadPhysicalButtonState  resp= {readPhysicalButtonState}");
+        return readPhysicalButtonState;
+    }
+    
 }
 

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;
@@ -59,10 +61,15 @@ 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<TboxCarInfoModel> 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;
     }
+
+
+
+    /// <summary>
+    /// 收到实体按钮已拍
+    /// </summary>
+    /// <param name="machine"></param>
+    /// <returns></returns>
+    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);
+    }
 }

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;
+                    }
                 }
             }, () => { });
     }

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
+
                 }
             });
     }

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;
 

Service/Init/StaticStationInfo.cs

@@ -71,6 +71,14 @@ public class StaticStationInfo
         get => int.Parse(Resolve(StationParamConst.SwapSoc));
         set => Set(StationParamConst.SwapSoc, value);
     }
+    /// <summary>
+    /// 换电启动模式：1自动启动；2：拍按钮启动
+    /// </summary>
+    public static byte SwapInitiateMode
+    {
+        get => byte.Parse(Resolve(StationParamConst.SwapInitiateMode));
+        set => Set(StationParamConst.SwapInitiateMode, value);
+    }
 
     #region Tbox
 
@@ -203,6 +211,8 @@ public class StaticStationInfo
         set => Set(StationParamConst.AutoChargeEnabled, value);
     }
     
+
+    
     #endregion
 
 

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);

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;
+
+/// <summary>
+/// 电池充电是风扇启停
+/// </summary>
+[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;
+    }
+}

Service/Plc/Client/PlcMgr.cs

@@ -313,6 +313,8 @@ public class PlcMgr
         return bResult;
     }
 
+    
+    
     /// <summary>
     /// 获取当前灯光状态
     /// </summary>
@@ -343,4 +345,90 @@ public class PlcMgr
 
         return bResult;
     }
+
+    /// <summary>
+    /// 写电池包锁止状态
+    /// </summary>
+    /// <returns></returns>
+    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;
+    }
+    /// <summary>
+    /// 下发车辆驻车状态
+    /// </summary>
+    /// <param name="vehicleParkingStatus"></param>
+    /// <returns></returns>
+    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;
+    }
+
+    /// <summary>
+    /// 控制卷帘门
+    /// 0:无操作
+    ///1000：请求开启
+    ///1010：请求关闭
+    /// </summary>
+    /// <param name="pollerShutter"></param>
+    /// <returns></returns>
+    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;
+    }
+
+    /// <summary>
+    /// 卷帘门是否开启
+    /// </summary>
+    /// <returns></returns>
+    public static bool RollerShutterRadar()
+    {
+        if ((DateTime.Now - DataValidityTime).Seconds <= DataTimeSeconds)
+        {
+            return PlcToHostData.RollerShutter.Value == 1000 ? true : false;
+        }
+        else
+        {
+            return false;
+        }
+    }
+    /// <summary>
+    /// 实体按钮是否拍下
+    /// </summary>
+    /// <returns></returns>
+    public static bool PhysicalButtonStateRadar()
+    {
+        if ((DateTime.Now - DataValidityTime).Seconds <= DataTimeSeconds)
+        {
+            return PlcToHostData.PhysicalButtonState.Value == 1000 ? true : false;
+        }
+        else
+        {
+            return false;
+        }
+    }
 }

Service/Plc/Msg/PlcToHost.cs

@@ -158,11 +158,11 @@ namespace Service.Plc.Msg
         public ModbusProperty<short> PercentageTorqueR { get; set; } = new(40309);
         /// <summary>
         /// 卷帘门状态
-        /// <para>0:无操作</para>
-        /// <para>1000：请求开启</para>
-        /// <para>1010：请求关闭</para>
+        /// <para>0：未开启</para>
+        /// <para>1000：已开启</para>
+        /// <para>1010：已关闭</para>
         /// </summary>
-        public ModbusProperty<ushort> RollerShutter { get; set; } = new(40116);
+        public ModbusProperty<ushort> RollerShutter { get; set; } = new(40310);
         //public ModbusProperty<ushort> value6 { get; set; } = new(40116,length:12);
         /// <summary>
         /// 左侧载行车设备状态
@@ -293,19 +293,19 @@ namespace Service.Plc.Msg
         /// <summary>
         /// 右侧堆垛机相机x偏差
         /// </summary>
-        public ModbusProperty<short> DeviationX { get; set; } = new(40411);
+        public ModbusProperty<short> DeviationX { get; set; } = new(40411, scale: 0.01);
         /// <summary>
         /// 右侧堆垛机相机y偏差
         /// </summary>
-        public ModbusProperty<short> DeviationY { get; set; } = new(40412);
+        public ModbusProperty<short> DeviationY { get; set; } = new(40412, scale: 0.01);
         /// <summary>
         /// 右侧堆垛机相机z偏差
         /// </summary>
-        public ModbusProperty<short> DeviationZ { get; set; } = new(40413);
+        public ModbusProperty<short> DeviationZ { get; set; } = new(40413, scale: 0.01);
         /// <summary>
         /// 右侧堆垛机相机R偏差
         /// </summary>
-        public ModbusProperty<short> DeviationR { get; set; } = new(40414);
+        public ModbusProperty<short> DeviationR { get; set; } = new(40414, scale: 0.01);
 
         public ModbusProperty<ushort> value11 { get; set; } = new(40409,length:13);
 
@@ -320,18 +320,18 @@ namespace Service.Plc.Msg
         /// <summary>
         /// 左侧堆垛机相机x偏差
         /// </summary>
-        public ModbusProperty<short> DeviationX2 { get; set; } = new(40429);
+        public ModbusProperty<short> DeviationX2 { get; set; } = new(40429, scale: 0.01);
         /// <summary>
         /// 左侧堆垛机相机y偏差
         /// </summary>
-        public ModbusProperty<short> DeviationY2 { get; set; } = new(40430);
+        public ModbusProperty<short> DeviationY2 { get; set; } = new(40430, scale: 0.01);
         /// <summary>
         /// 左侧堆垛机相机z偏差
         /// </summary>
-        public ModbusProperty<short> DeviationZ2 { get; set; } = new(40431);
+        public ModbusProperty<short> DeviationZ2 { get; set; } = new(40431, scale: 0.01);
         /// <summary>
         /// 左侧堆垛机相机R偏差
         /// </summary>
-        public ModbusProperty<short> DeviationR2 { get; set; } = new(40432);
+        public ModbusProperty<short> DeviationR2 { get; set; } = new(40432, scale: 0.01);
     }
 }

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",