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using Autofac;
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using Entity.Attr;
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using Entity.Constant;
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using HybirdFrameworkCore.Autofac;
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using log4net;
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using Service.Execute.Api;
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using Service.Execute.Model;
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using Service.Execute.Model.Tbox;
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using Service.Execute.StaticTools;
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using Service.Execute.SwapException;
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using Service.Execute.Utils;
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using Service.Init;
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using Service.MyTask;
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using Service.Station;
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namespace Service.Execute.Step;
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public class CarCtrlState : IState
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{
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private readonly ILog _log = LogManager.GetLogger(typeof(CarCtrlState));
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private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();
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public StateResult Handle(SwappingStateMachine machine)
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{
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//拍照定位
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//查看通道状态
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StateResult checkChannelStatus = CheckChannelStatus(machine);
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if (checkChannelStatus != null)
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{
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return checkChannelStatus;
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}
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//vcu反馈换电就绪
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InvokeStatus startSwapToTBox = StartSwapToTBox(machine);
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if (startSwapToTBox != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(startSwapToTBox, ExceptionReason.None);
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}
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxHandUp);
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////语言播报上高压，举货箱//这时已经发开始换电了
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//InvokeStatus liftingBox = LiftingBox(machine);
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//if (liftingBox != InvokeStatus.Done)
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//{
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// return SwappingStateMachine.ReturnWithInvokeErr(liftingBox, ExceptionReason.None);
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//}
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyDown);
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//解锁车辆
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InvokeStatus unLockCar = UnLockCar(machine);
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if (unLockCar != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(unLockCar, ExceptionReason.None);
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}
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//是否为拍按钮启动
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InvokeStatus startButton = StartButton(machine);
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if (startButton != InvokeStatus.Done)
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{
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return SwappingStateMachine.ReturnWithInvokeErr(startButton, ExceptionReason.None);
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}
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//Thread.Sleep(2000);
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return new StateResult()
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{
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SwappingState = SwappingState.DoSwapping
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};
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}
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///// <summary>
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///// 举货箱
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///// </summary>
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///// <returns></returns>
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//public InvokeStatus LiftingBox(SwappingStateMachine machine)
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//{
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// bool isRemote = false;
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// return Invoker.Invoke("LiftingBox", 1000, 5, machine.IsCanceled, () => isRemote,
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// () =>
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// {
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// Task<bool> result = TBoxApi.SetHeart(machine.RfidReadModel.VelVin, (byte)2 /*开始换电*/);//设置心跳状态
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// if (result.Result)
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// {
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// var BoxDown = TBoxApi.BoxDown(machine.RfidReadModel.VelVin);
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// BoxDown.Wait();
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// if (BoxDown.Result)
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// {
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// isRemote = true;
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// }
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// }
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// }, () =>
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// {
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// SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxHandUp);
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// }, false, () => { machine.ExceptionReason = ExceptionReason.LiftingBoxError; }
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// , 10, InvokeStatus.None);
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//}
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/// <summary>
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/// 车辆解锁
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/// </summary>
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/// <returns></returns>
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public InvokeStatus UnLockCar(SwappingStateMachine machine)
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{
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return Invoker.Invoke("UnLockCar", 1000, 3, machine.IsCanceled,
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() => machine.VelUnlockFlag, () =>
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{
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Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelVin);
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result.Wait();
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bool unLock = result.Result;
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//if (unLock)
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{
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//查询车辆锁止状态
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Task<TboxCarInfoModel> carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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var resultHeartBeatMsg = carInfo.Result.HeartBeatMsg;
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//if (resultHeartBeatMsg?.HighVoltage != 2)
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//{
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// //SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyDown);
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//}
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if (resultHeartBeatMsg?.LockStatus == 1 || machine.ManualConfirmCarUnlockFlag)
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{
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machine.ManualConfirmCarUnlockFlag = false;
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machine.BoxCarInfoModel = carInfo.Result;
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machine.VelUnlockFlag = true;
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelUnlockFlag,
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machine);
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{//开始下发电池包锁状态
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PlcRealTimeTask.LockStatusTask = true;
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}
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}
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}
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}, () =>
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{
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrUnLockCar);
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}, false, () => { machine.ExceptionReason = ExceptionReason.UnLockCarError; }
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, 10, InvokeStatus.None);
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}
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/// <summary>
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///换电就绪
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/// </summary>
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/// <returns></returns>
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public InvokeStatus StartSwapToTBox(SwappingStateMachine machine)
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{
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return Invoker.Invoke("StartSwapToTBox", 500, 10, machine.IsCanceled,
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() => machine.TboxHandUpFlag, () =>
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{
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var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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var tboxCarInfoModel = carInfo.Result;
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//设置回复心跳状态为换电
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Task<bool> result = TBoxApi.SetHeart(machine.RfidReadModel.VelVin, (byte)2 /*换电*/);
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//换电就绪
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if (tboxCarInfoModel.HeartBeatMsg?.LockStatus == 1)
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{
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//查询车辆锁止状态
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machine.TboxHandUpFlag = true;
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_CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
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machine);
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machine.BoxCarInfoModel = tboxCarInfoModel;
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}
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}, () =>
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{
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrStartSwapToTBox);
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}, false, () => { machine.ExceptionReason = ExceptionReason.StartSwapToTBoxError; }
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, 10, InvokeStatus.None);
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}
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///// <summary>
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/////收到抬起到位信号
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///// </summary>
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///// <returns></returns>
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//public InvokeStatus TBoxHandUp(SwappingStateMachine machine)
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//{
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// return Invoker.Invoke("TBoxHandUp", 500, 5, machine.IsCanceled,
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// () => machine.TboxHandUpFlag, () =>
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// {
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// var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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// var tboxCarInfoModel = carInfo.Result;
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// //货箱抬起
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// if (tboxCarInfoModel.HeartBeatMsg?.CrateBrimStatus == 3)
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// {
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// //查询车辆锁止状态
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// machine.TboxHandUpFlag = true;
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// // _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
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// // machine);
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// machine.BoxCarInfoModel = tboxCarInfoModel;
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// }
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// }, () =>
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// {
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// // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
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// SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxHandUp);
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// }, false, () => { }
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// , 5, InvokeStatus.None);
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//}
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///// <summary>
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/////收到下电成功
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///// </summary>
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///// <returns></returns>
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//public InvokeStatus TBoxEnergyDown(SwappingStateMachine machine)
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//{
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// return Invoker.Invoke("TBoxEnergyDown", 500, 5, machine.IsCanceled,
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// () => machine.TboxEnergyDownFlag, () =>
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// {
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// var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
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// var tboxCarInfoModel = carInfo.Result;
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// //换电就绪
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// if (tboxCarInfoModel?.HeartBeatMsg?.HighVoltage == 2)
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// {
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// //查询车辆锁止状态
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// machine.TboxEnergyDownFlag = true;
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// // _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
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// // machine);
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// machine.BoxCarInfoModel = tboxCarInfoModel;
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// }
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// }, () =>
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// {
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// // machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
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// SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyDown);
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// }, false, () => { }
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// , 5, InvokeStatus.None);
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//}
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/// <summary>
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/// 查看通道状态
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/// :0：无效值
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/// 1000;拍照OK
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///1010;拍照NG
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///1020;拍照超限，请移车
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/// </summary>
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/// <returns></returns>
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public StateResult CheckChannelStatus(SwappingStateMachine machine)
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{
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int count = 0;
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while (!machine.ChannelStatusOkFlag)
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{
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if (machine.CancelFlag)
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{
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_log.Info($" CheckChannelStatus canceled");
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return StateResult.Cancel;
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}
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_log.Info("begin plc CheckChannelStatus");
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Thread.Sleep(2000);
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var channelStatus = PlcApi.ChannelStatus();
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PlcRealTimeTask.CameraTask = true;//开始记录拍照偏移日志
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PlcRealTimeTask.VehicleParkingStatusTask = true;//开始下发车辆驻车状态
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if (count % 5 == 0)
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{
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoInfo);
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}
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count++;
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//1000;拍照OK 1010;拍照NG 1020;拍照超限，请移车
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if (channelStatus[0] == 1000 && channelStatus[1] == 1000)
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{
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machine.ChannelStatusOkFlag = true;
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return null;
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}
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else if(channelStatus.Contains((ushort)1020))
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{
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.CarTakePhotoErrRepeat);
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//故障 不能继续换电，提示驶离,上报云平台，修改换电订单
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machine.SwapStatus = (int)InfoEnum.SwapOrderResult.Fail;
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machine.SwapFailReason = "拍照故障 plc故障码1010";
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Thread.Sleep(5000);
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}
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}
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return null;
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}
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/// <summary>
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/// 收到实体按钮已拍
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/// </summary>
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/// <param name="machine"></param>
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/// <returns></returns>
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public InvokeStatus StartButton(SwappingStateMachine machine)
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{
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return Invoker.Invoke("plc StartButton", 500, 5, machine.IsCanceled,
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() => machine.PhysicalButtonState, () =>
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{
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if (StaticStationInfo.SwapInitiateMode == 2)
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{
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if (PlcApi.ReadPhysicalButtonState())
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{
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machine.PhysicalButtonState = true;
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}
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SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoManualStartSwap);
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}
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else
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{
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machine.PhysicalButtonState = true;
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}
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}, () => { }, false, () => { }, 10,
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InvokeStatus.None);
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}
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} |
