能辉后背主流程修改完成

Entity/Constant/InfoEnum.cs

@@ -26,15 +26,15 @@ public class InfoEnum
         [Info("通道拍照定位失败，请在三分钟内重新调整车辆位置", "通道拍照定位失败，请在三分钟内重新调整车辆位置")]ErrChannelStatus,
         
         
-        [Info("电池拆卸中，请稍后", "电池拆卸中，请稍后")] InfoUnPack ,
+        [Info("亏电电池拆卸中，请稍候", "亏电电池拆卸中，请稍候")] InfoUnPack ,
       
-        [Info("电池安装中，请稍后", "电池安装中，请稍后")] InfoPack ,
+        [Info("满电电池安装中，请稍候", "满电电池安装中，请稍候")] InfoPack ,
         [Info("电池包已安装完成", "电池包已安装完成")] InfoPackFinish ,
         [Info("航车已回归安全位置", "航车已回归安全位置")] InfoToSafePosition ,
-        [Info("换电已完成，请驶离", "换电已完成，请驶离")] InfoCarLeave ,
+        [Info("换电完成，请将车辆驶出换电站", "换电完成，请将车辆驶出换电站")] InfoCarLeave ,
         [Info("换电失败，请驶离", "换电失败，请驶离")] ErrInfoCarLeave ,
-        [Info("电池入仓中，请稍后", "电池入仓中，请稍后")] InfoOldBatteryCarryIn ,
-        [Info("电池出仓中，请稍后", "电池出仓中，请稍后")] InfoNewBatteryCarryOut ,
+        [Info("亏电池搬运中，请稍候", "亏电池搬运中，请稍候")] InfoOldBatteryCarryIn ,
+        [Info("满电电池搬运中，请稍候", "满电电池搬运中，请稍候")] InfoNewBatteryCarryOut ,
         [Info("车辆上锁失败", "车辆上锁失败")] ErrLockCar ,
         [Info("通道的电池仓无可用换电电池","通道的电池仓无可用换电电池")] NoBatteryErr,
         [Info("结束充电电池数量不足","通道的电池仓无可用换电电池")] LessOfFinishChargingErr,
@@ -45,7 +45,7 @@ public class InfoEnum
         
         [Info("换电站处于本地模式，不能远程换电","换电站处于本地模式，不能远程换电")] InfoStationModelRemoteErr,
         
-        [Info("车辆驶入","车辆驶入")] CarInInfo,
+        [Info("请将车辆行驶到指定位置，并拉起手刹","请将车辆行驶到指定位置，并拉起手刹")] CarInInfo,
         [Info("换电任务启动","换电任务启动")] StartSwapInfo,
         [Info("航车拍照中，请稍后","航车拍照中，请稍后")] CarTakePhotoInfo,
         [Info("启动换电失败，请联系站务人员","启动换电失败，请联系站务人员")] ErrStartSwap,
@@ -53,6 +53,14 @@ public class InfoEnum
         [Info("电池移仓中","电池移仓中")] InfoBatteryMove,
         [Info("消防移仓中","消防移仓中")] InfoFireRemove,
         [Info("拍照失败，请在三分钟内挪车","拍照失败，请在三分钟内挪车")] ErrChannel1020,
+        [Info("车辆识别","车辆识别")] BeginReadRfid,
+        [Info("下发启动换电到车载设备超时", "下发启动换电到车载设备超时")] ErrStartSwapToTBox ,
+        [Info("请将货箱放下", "请将货箱放下")] InfoTboxDown ,
+        [Info("请将车辆下电", "请将车辆下电")] InfoTboxEnergyDown ,
+        [Info("请将货箱抬起", "请将货箱抬起")] InfoTboxHandUp ,
+        [Info("请将车辆上电", "请将车辆上电")] InfoTboxEnergyUp ,
+        [Info("通道定位失败，车辆出站请重新进站","通道定位失败，车辆出站请重新进站")] CarTakePhotoErrRepeat,
+        [Info("请操作换电启动按钮","请操作换电启动按钮")] InfoManualStartSwap
     }
     
 
@@ -106,6 +114,7 @@ public class InfoEnum
         [Const("云平台车辆认证")] CloudVelCheckFlag,
         [Const("车辆到位")] CarInPositionFlag,
         [Const("云平台下发换电指令")] CloudCarCanStartFlag,
+        [Const("换电就绪")] TBoxSwapReadyFlag,
         [Const("车辆解锁")] VelUnlockFlag,
         [Const("下发plc选包")] DistributeSelectPackFlag,
      

Service/Execute/Api/TboxApi.cs

@@ -85,6 +85,34 @@ public class TBoxApi
     }
 
 
+    /// <summary>
+    /// 下发开始换电指令到tbox
+    /// </summary>
+    /// <returns></returns>
+    public static async Task<byte> StartSwap(string carNo)
+    {
+        Log.Info($" TBoxApi start StartSwap carNo={carNo} ");
+        string url = BASE_URL + "/startSwap/" + carNo;
+        try
+        {
+            string s = await _httpClient.GetStringAsync(url);
+
+
+            Log.Info($"StartSwap resp = {s}");
+            if (string.IsNullOrWhiteSpace(s))
+            {
+                return 0;
+            }
+
+            return byte.Parse(s);
+        }
+        catch (Exception e)
+        {
+            Log.Error($"StartSwap e = {e}");
+            return 0;
+        }
+    }
+
     public static async Task<bool> UnLockCarManyTimes(string carNo)
     {
         Log.Info($" TBoxApi start UnLockCarManyTimes carNo={carNo} ");
@@ -149,7 +177,7 @@ public class TBoxApi
             return false;
         }
     }
-    
+
     /// <summary>
     /// Tbox连接
     /// /Car/unLock/
@@ -172,7 +200,7 @@ public class TBoxApi
             return false;
         }
     }
-    
+
     /// <summary>
     /// Tbox断连
     /// /Car/unLock/
@@ -231,7 +259,7 @@ public class TBoxApi
     public static async Task<bool> LockCar(string carNo)
     {
         Log.Info("LockCar");
-        string url = BASE_URL +StaticStationInfo.TboxUrlLock + carNo;
+        string url = BASE_URL + StaticStationInfo.TboxUrlLock + carNo;
         try
         {
             string s = await _httpClient.GetStringAsync(url);

Service/Execute/Model/Tbox/TboxCarInfoModel.cs

@@ -1,3 +1,5 @@
+using Service.Car.Msg.Car.Req;
+
 namespace Service.Execute.Model.Tbox;
 
 /// <summary>
@@ -24,4 +26,11 @@ public class TboxCarInfoModel
     /// 车辆状态信息
     /// </summary>
     public CarStatus? CarStatus { get; set; }
+    
+    
+    /// <summary>
+    /// 温度故障数据
+    /// </summary>
+    /// <returns></returns>
+    public TemperatureDetectionMsg? TemperatureDetectionMsg { get; set; }
 }

Service/Execute/Model/Tbox/TemperatureDetectionMsg.cs

@@ -0,0 +1,198 @@
+using HybirdFrameworkCore.Autofac.Attribute;
+
+namespace Service.Car.Msg.Car.Req;
+
+/// <summary>
+/// 温度监测信息
+/// </summary>
+public class TemperatureDetectionMsg 
+{
+    /// <summary>
+    /// 故障等级
+   /// /// 0：无故障
+   /// 1:1 级故障
+   /// 2:2 级故障
+   /// 3:3 级故障
+    /// </summary>
+    [Property(248, 8)]
+    public byte FaultLevel { get; set; }
+
+    /// <summary>
+    /// 换电系统故障码
+    /// 0：换电连接器未过温
+   ///1：换电连接器温度检测 1 过温一级故障
+   ///    注：暂不定义一级故障
+   ///2：换电连接器温度检测 2 过温一级故障
+   ///    注：暂不定义一级故障
+   ///3：换电连接器温度检测 3 过温一级故障
+   ///    注：暂不定义一级故障
+   ///4：换电连接器温度检测 4 过温一级故障
+   ///    注：暂不定义一级故障
+   ///5：换电连接器温度检测 5 过温一级故障
+   ///    注：暂不定义一级故障
+   ///6：换电连接器温度检测 6 过温一级故障
+   ///    注：暂不定义一级故障
+   ///7：换电连接器温度检测 7 过温一级故障
+   ///    注：暂不定义一级故障
+   ///8：换电连接器温度检测 8 过温一级故障
+   ///    注：暂不定义一级故障
+   ///9：换电连接器温度检测 1 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解
+   ///    除条件：Tmax＜80℃, 持续 3s；
+   ///10：换电连接器温度检测 2 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///11：换电连接器温度检测 3 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///12：换电连接器温度检测 4 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///13：换电连接器温度检测 5 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///14：换电连接器温度检测 6 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///15：换电连接器温度检测 7 过温二级故障
+   ///    判定条件：Tmax＞90℃,持续 3s；
+   ///解除条件：Tmax＜80℃, 持续 3s；
+   ///16：换电连接器温度检测 8 过温二级故障
+   ///   判定条件：Tmax＞90℃,持续 3s；
+   /// 0：换电连接器未过温
+   /// 1：换电连接器温度检测 1 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 2：换电连接器温度检测 2 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 3：换电连接器温度检测 3 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 4：换电连接器温度检测 4 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 5：换电连接器温度检测 5 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 6：换电连接器温度检测 6 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 7：换电连接器温度检测 7 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 8：换电连接器温度检测 8 过温一级故障
+   ///     注：暂不定义一级故障
+   /// 9：换电连接器温度检测 1 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解
+   ///     除条件：Tmax＜80℃, 持续 3s；
+   /// 10：换电连接器温度检测 2 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 11：换电连接器温度检测 3 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 12：换电连接器温度检测 4 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 13：换电连接器温度检测 5 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 14：换电连接器温度检测 6 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 15：换电连接器温度检测 7 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 16：换电连接器温度检测 8 过温二级故障
+   ///     判定条件：Tmax＞90℃,持续 3s；
+   /// 解除条件：Tmax＜80℃, 持续 3s；
+   /// 17：换电连接器温度检测 1 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 18：换电连接器温度检测 2 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 19：换电连接器温度检测 3 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 20：换电连接器温度检测 4 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 21：换电连接器温度检测 5 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 22：换电连接器温度检测 6 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 23：换电连接器温度检测 7 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 24：换电连接器温度检测 8 过温三级故障
+   ///     判定条件：Tmax＞100℃,持续 3s；
+   /// 解除条件：需重新上电且 Tmax＜70℃, 持续
+   /// 3s；
+   /// 25：换电连接器温度检测传感器 1 开路二级
+   ///     故障
+   /// 26：换电连接器温度检测传感器 2 开路二级
+   ///     故障
+   /// 27：换电连接器温度检测传感器 3 开路二级
+   ///     故障
+   /// 28：换电连接器温度检测传感器 4 开路二级
+   ///     故障
+   /// 29：换电连接器温度检测传感器 5 开路二级
+   ///     故障
+   /// 30：换电连接器温度检测传感器 6 开路二级
+   ///     故障
+   /// 31：换电连接器温度检测传感器 7 开路二级
+   ///     故障
+   /// 32：换电连接器温度检测传感器 8 开路二级
+   ///     故障
+    /// </summary>
+    [Property(248+8, 8)]
+    public byte FaultCode { get; set; }
+
+    /// <summary>
+    /// 换电连接器温度检测 1（放电 1正） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+2*8, 8)]
+    public double ConnectorTemp1 { get; set; }
+
+    /// <summary>
+    /// 换电连接器温度检 测 2（放电 1负） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+3*8, 8)]
+    public double ConnectorTemp2 { get; set; }
+    /// <summary>
+    /// 换电连接器温度检测3（放电2 正） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+4*8, 8)]
+    public double ConnectorTemp3 { get; set; }
+    /// <summary>
+    /// 换电连接器温度检测 4（放电 2负） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+5*8, 8)]
+    public double ConnectorTemp4 { get; set; }
+    /// <summary>
+    /// 换电连接器温度检测 5（充电 1正）有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+6*8, 8)]
+    public double ConnectorTemp5 { get; set; }
+    /// <summary>
+    /// 换电连接器温度检测 6（充电 1负） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+7*8, 8)]
+    public double ConnectorTemp6 { get; set; }
+    /// <summary>
+    /// 换电连接器温度检测 7（充电 2正） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+8*8, 8)]
+    public double ConnectorTemp7 { get; set; }
+    /// <summary>
+    ///换电连接器温度检测 8（充电 2负） 有效值-40~210，单位℃
+    /// </summary>
+    [Property(248+9*8, 8)]
+    public double ConnectorTemp8 { get; set; }
+}

Service/Execute/Step/CarCtrlState.cs

@@ -20,6 +20,13 @@ public class CarCtrlState : IState
 
     public StateResult Handle(SwappingStateMachine machine)
     {
+        //拍照定位
+        //查看通道状态
+        StateResult checkChannelStatus = CheckChannelStatus(machine);
+        if (checkChannelStatus != null)
+        {
+            return checkChannelStatus;
+        }
         
         
         //解锁车辆
@@ -29,14 +36,40 @@ public class CarCtrlState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(unLockCar, ExceptionReason.None);
         }
 
-        //下发选包
-        /*InvokeStatus distributeSelectPack = DistributeSelectPack(machine);
+        //站控下发换电启动命令到VCU和TBOX //vcu反馈换电就绪
+        InvokeStatus startSwapToTBox = StartSwapToTBox(machine);
+        if (startSwapToTBox != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(startSwapToTBox, ExceptionReason.None);
+        }
+
+
+        //TBOX收到抬起到位信号
+        InvokeStatus tBoxHandUp = TBoxHandUp(machine);
+        if (tBoxHandUp != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(tBoxHandUp, ExceptionReason.None);
+        }
+
+
+        //TBOX收到车辆下电OK信号
+        InvokeStatus tBoxEnergyDown = TBoxEnergyDown(machine);
+        if (tBoxEnergyDown != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(tBoxEnergyDown, ExceptionReason.None);
+        }
+
+        //请操作换电启动按钮
+        SoundApi.PlayOneSound((int) InfoEnum.SwapInfo.InfoManualStartSwap);
+        Thread.Sleep(2000);
+
+        /*//下发选包
+        InvokeStatus distributeSelectPack = DistributeSelectPack(machine);
 
         if (distributeSelectPack != InvokeStatus.Done)
         {
             return SwappingStateMachine.ReturnWithInvokeErr(distributeSelectPack, ExceptionReason.None);
-        }
-        */
+        }*/
 
         return new StateResult()
         {
@@ -54,7 +87,7 @@ public class CarCtrlState : IState
             () => machine.VelUnlockFlag, () =>
             {
                 Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelVin);
-               
+
                 bool unLock = result.Result;
                 if (unLock)
                 {
@@ -72,12 +105,97 @@ public class CarCtrlState : IState
                 }
             }, () =>
             {
-             //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
                 SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrUnLockCar);
             }, false, () => { machine.ExceptionReason = ExceptionReason.UnLockCarError; }
             , 10, InvokeStatus.None);
     }
 
+    /// <summary>
+    ///收到抬起到位信号
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus StartSwapToTBox(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("StartSwapToTBox", 500, 10, machine.IsCanceled,
+            () => machine.TboxHandUpFlag, () =>
+            {
+                Task<byte> result = TBoxApi.StartSwap(machine.RfidReadModel.VelVin);
+
+                byte res = result.Result;
+                //换电就绪
+                if (res == 1)
+                {
+                    //查询车辆锁止状态
+                    machine.TboxHandUpFlag = true;
+                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
+                        machine);
+                }
+            }, () =>
+            {
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwapToTBox);
+            }, false, () => { machine.ExceptionReason = ExceptionReason.StartSwapToTBoxError; }
+            , 10, InvokeStatus.None);
+    }
+
+    /// <summary>
+    ///收到抬起到位信号
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus TBoxHandUp(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("TBoxHandUp", 500, 5, machine.IsCanceled,
+            () => machine.TboxHandUpFlag, () =>
+            {
+                Task<byte> result = TBoxApi.StartSwap(machine.RfidReadModel.VelVin);
+
+                byte res = result.Result;
+                //换电就绪
+                if (res == 2)
+                {
+                    //查询车辆锁止状态
+                    machine.TboxHandUpFlag = true;
+                    //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
+                    //      machine);
+                }
+            }, () =>
+            {
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxHandUp);
+            }, false, () => { }
+            , 10, InvokeStatus.None);
+    }
+
+
+    /// <summary>
+    ///收到下电成功
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus TBoxEnergyDown(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("TBoxEnergyDown", 500, 5, machine.IsCanceled,
+            () => machine.TboxEnergyDownFlag, () =>
+            {
+                Task<byte> result = TBoxApi.StartSwap(machine.RfidReadModel.VelVin);
+
+                byte res = result.Result;
+                //换电就绪
+                if (res == 3)
+                {
+                    //查询车辆锁止状态
+                    machine.TboxEnergyDownFlag = true;
+                    //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
+                    //      machine);
+                }
+            }, () =>
+            {
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyDown);
+            }, false, () => { }
+            , 10, InvokeStatus.None);
+    }
+
 
     /// <summary>
     /// 下发选包
@@ -99,8 +217,60 @@ public class CarCtrlState : IState
                 }
             }, () =>
             {
-              //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrDistributeSelectPack.GetLed()); 
-                
+                //  machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrDistributeSelectPack.GetLed()); 
             });
     }
+
+
+    /// <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 
+            {
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoErrRepeat);
+                //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;
+    }
 }

Service/Execute/Step/DoSwappingState.cs

@@ -50,13 +50,7 @@ public class DoSwappingState : IState
             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);
@@ -331,77 +325,7 @@ public class DoSwappingState : IState
     }
 
 
-    /// <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>

Service/Execute/Step/StationReadyState.cs

@@ -62,7 +62,8 @@ public class StationReadyState : IState
         {
             return SwappingStateMachine.ReturnWithInvokeErr(entranceRadar, ExceptionReason.None);
         }
-
+        //语音播报车辆识别
+        SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.BeginReadRfid);
 
         //开始读rifd
         var beginRfid = BeginRead(machine);

Service/Execute/Step/SwapDoneState.cs

@@ -63,6 +63,7 @@ public class SwapDoneState : IState
             machine.BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.SwapDoneWithVel;
             //   CloudApi.SendStateLog(machine.SwapOrder, machine.BusinessSwappingForCloudState);
         }
+        //TODO::缺少车辆自检
 
         //云平台没有匹配的失败状态
         //车辆上锁 ,提示请驶离
@@ -73,6 +74,21 @@ public class SwapDoneState : IState
             return SwappingStateMachine.ReturnWithInvokeErr(lockCar, ExceptionReason.None);
         }
 
+
+        //TBOX收到车辆上电OK信号
+        InvokeStatus tBoxEnergyUp = TBoxEnergyUp(machine);
+        if (tBoxEnergyUp != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(tBoxEnergyUp, ExceptionReason.None);
+        }
+
+        //TBOX收到货箱放下
+        InvokeStatus tBoxDown = TBoxDown(machine);
+        if (tBoxDown != InvokeStatus.Done)
+        {
+            return SwappingStateMachine.ReturnWithInvokeErr(tBoxDown, ExceptionReason.None);
+        }
+
         //出口雷达监测
         InvokeStatus existRadar = ExistRadar(machine);
         if (existRadar != InvokeStatus.Done)
@@ -107,26 +123,9 @@ public class SwapDoneState : IState
                     {
                         machine.ManualConfirmCarLockFlag = false;
                         machine.BoxCarInfoModel = carInfo.Result;
-                        //设置出口的是绿灯
-                        if (PlcApi.WriteExistLamp(1000))
-                        {
-                            /*machine.LedTool?.WriteProgramContent(
-                                machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
-                                    ? InfoEnum.SwapInfo.InfoCarLeave.GetLed()
-                                    : InfoEnum.SwapInfo.ErrInfoCarLeave.GetLed());*/
-                            SoundApi.PlayOneSound(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
-                                ? (int)InfoEnum.SwapInfo.InfoCarLeave
-                                : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
-                            machine.VelLockFlag = true;
-                            //断连Tbox
-                            if (StaticStationInfo.TboxStateDisConnect)
-                            {
-                                TBoxApi.DisConnect(machine.BoxCarInfoModel.CarNo);
-                            }
-
-                            _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
-                                machine);
-                        }
+                        machine.VelLockFlag = true;
+                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelLockFlag,
+                            machine);
                     }
                 }
             }, () =>
@@ -178,4 +177,75 @@ public class SwapDoneState : IState
                     : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
             }, false, () => { }, 10, InvokeStatus.None);
     }
+
+    /// <summary>
+    ///收到货箱放下
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus TBoxDown(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("TBoxDown", 500, 5, machine.IsCanceled,
+            () => machine.TboxDownFlag, () =>
+            {
+                Task<byte> result = TBoxApi.StartSwap(machine.RfidReadModel.VelVin);
+
+                byte res = result.Result;
+                //换电就绪
+                if (res == 7)
+                {
+                    //设置出口的是绿灯
+                    if (PlcApi.WriteExistLamp(1000))
+                    {
+                        machine.TboxDownFlag = true;
+                        /*machine.LedTool?.WriteProgramContent(
+                            machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
+                                ? InfoEnum.SwapInfo.InfoCarLeave.GetLed()
+                                : InfoEnum.SwapInfo.ErrInfoCarLeave.GetLed());*/
+                        SoundApi.PlayOneSound(machine.SwapStatus == (int)InfoEnum.SwapOrderResult.Success
+                            ? (int)InfoEnum.SwapInfo.InfoCarLeave
+                            : (int)InfoEnum.SwapInfo.ErrInfoCarLeave);
+
+                        //断连Tbox
+                        if (StaticStationInfo.TboxStateDisConnect)
+                        {
+                            TBoxApi.DisConnect(machine.BoxCarInfoModel.CarNo);
+                        }
+                    }
+                }
+            }, () =>
+            {
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxDown);
+            }, false, () => { }
+            , 10, InvokeStatus.None);
+    }
+
+
+    /// <summary>
+    ///收到上电成功
+    /// </summary>
+    /// <returns></returns>
+    public InvokeStatus TBoxEnergyUp(SwappingStateMachine machine)
+    {
+        return Invoker.Invoke("TBoxEnergyUp", 500, 5, machine.IsCanceled,
+            () => machine.TboxEnergyUpFlag, () =>
+            {
+                Task<byte> result = TBoxApi.StartSwap(machine.RfidReadModel.VelVin);
+
+                byte res = result.Result;
+                //换电就绪
+                if (res == 6)
+                {
+                    //查询车辆锁止状态
+                    machine.TboxEnergyUpFlag = true;
+                    //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
+                    //      machine);
+                }
+            }, () =>
+            {
+                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
+                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyUp);
+            }, false, () => { }
+            , 10, InvokeStatus.None);
+    }
 }

Service/Execute/SwapException/ExceptionReason.cs

@@ -21,5 +21,6 @@ namespace Service.Execute.SwapException;
         LockCarError,
         LvPwrOffError,
         SelfCheckError,
-        TimeOutError
+        TimeOutError,
+        StartSwapToTBoxError
     }

Service/Execute/SwappingStateMachine.cs

@@ -106,6 +106,15 @@ public class SwappingStateMachine : IDisposable
     //车辆解锁
     public bool VelUnlockFlag = false;
 
+    //TODO::新加
+    //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;
+
     //开始换电
     public bool StartSwappingFlag = false;
 
@@ -280,7 +289,7 @@ public class SwappingStateMachine : IDisposable
         Log.Info($"ManualSwapSuccFlag machine ok");
         return true;
     }
-    
+
     public bool ManualConfirmLockCar()
     {
         ManualConfirmCarLockFlag = true;
@@ -288,7 +297,7 @@ public class SwappingStateMachine : IDisposable
         Log.Info($"ManualConfirmLockCar  ok");
         return true;
     }
-    
+
     public bool ManualConfirmUnLockCar()
     {
         ManualConfirmCarUnlockFlag = true;
@@ -298,7 +307,6 @@ public class SwappingStateMachine : IDisposable
     }
 
 
-
     private void ResetData()
     {
         BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.Idle;
@@ -401,6 +409,12 @@ public class SwappingStateMachine : IDisposable
 
 
         RadarOutFlag = false;
+
+        StartSwapToTBoxFlag = false;
+        TboxHandUpFlag = false;
+        TboxEnergyDownFlag = false;
+        TboxDownFlag = false;
+        TboxEnergyUpFlag = false;
     }
 
     //关于仓库锁定相关重置