nhet_cn_back_main/Service/Execute/Step/CarCtrlState.cs

using Autofac;
using Entity.Attr;
using Entity.Constant;
using HybirdFrameworkCore.Autofac;
using log4net;
using Service.Execute.Api;
using Service.Execute.Model;
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;

public class CarCtrlState : IState
{
    private readonly ILog _log = LogManager.GetLogger(typeof(CarCtrlState));
    private readonly CommonMgr _CommonMgr = AppInfo.Container.Resolve<CommonMgr>();

    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
        InvokeStatus unLockCar = UnLockCar(machine);
        if (unLockCar != InvokeStatus.Done)
        {
            return SwappingStateMachine.ReturnWithInvokeErr(unLockCar, ExceptionReason.None);
        }

        //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);
        }

        //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()
        {
            SwappingState = SwappingState.DoSwapping
        };
    }

    /// <summary>
    /// 车辆解锁
    /// </summary>
    /// <returns></returns>
    public InvokeStatus UnLockCar(SwappingStateMachine machine)
    {
        return Invoker.Invoke("UnLockCar", 500, 10, machine.IsCanceled,
            () => machine.VelUnlockFlag, () =>
            {
                Task<bool> result = TBoxApi.UnLockCarManyTimes(machine.RfidReadModel.VelVin);

                bool unLock = result.Result;
                if (unLock)
                {
                    //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;
                        machine.BoxCarInfoModel = carInfo.Result;
                        machine.VelUnlockFlag = true;
                        _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.VelUnlockFlag,
                            machine);
                        {//开始下发电池包锁状态
                            PlcRealTimeTask.LockStatusTask = true;

                        }
                    }
                }
            }, () =>
            {
                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.ErrUnLockCar);
            }, false, () => { machine.ExceptionReason = ExceptionReason.UnLockCarError; }
            , 10, InvokeStatus.None);
    }

    /// <summary>
    ///换电就绪
    /// </summary>
    /// <returns></returns>
    public InvokeStatus StartSwapToTBox(SwappingStateMachine machine)
    {
        return Invoker.Invoke("StartSwapToTBox", 500, 10, machine.IsCanceled,
            () => machine.TboxHandUpFlag, () =>
            {
                var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);
                var tboxCarInfoModel = carInfo.Result;

                //换电就绪
                if (tboxCarInfoModel.CarStatus?.SwapReadyStatus == 2)
                {
                    //查询车辆锁止状态
                    machine.TboxHandUpFlag = true;
                    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
                        machine);
                    machine.BoxCarInfoModel = tboxCarInfoModel;
                }
            }, () =>
            {
                //   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, () =>
            {
                var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);

                var tboxCarInfoModel = carInfo.Result;
                
                //货箱抬起
            
                if (tboxCarInfoModel.CarStatus?.CargoBoxStatus == 3)
                {
                    //查询车辆锁止状态
                    machine.TboxHandUpFlag = true;
                    //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
                    //      machine);
                    machine.BoxCarInfoModel = tboxCarInfoModel;
                }
            }, () =>
            {
                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxHandUp);
            }, false, () => { }
            , 5, 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, () =>
            {
                var carInfo = TBoxApi.GetCarInfo(machine.RfidReadModel.VelVin);

                var tboxCarInfoModel = carInfo.Result;
                //换电就绪
                if (tboxCarInfoModel?.CarStatus?.PowerStatus == 2)
                {
                    //查询车辆锁止状态
                    machine.TboxEnergyDownFlag = true;
                    //    _CommonMgr.InsertStep(InfoEnum.BusinessSwappingStep.TBoxSwapReadyFlag,
                    //      machine);
                    machine.BoxCarInfoModel = tboxCarInfoModel;
                }
            }, () =>
            {
                //   machine.LedTool?.WriteProgramContent(InfoEnum.SwapInfo.ErrUnLockCar.GetLed());
                SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoTboxEnergyDown);
            }, false, () => { }
            , 5, InvokeStatus.None);
    }


    /// <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();
            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);
            }

            count++;

            if (channelStatus[0] == 1000 && channelStatus[1] == 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;
    }



    /// <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;
                    }
                    //TODO::是否自动实现拍下按钮功能
                   
                    SoundApi.PlayOneSound((int)InfoEnum.SwapInfo.InfoManualStartSwap);
                }
                else
                {
                    machine.PhysicalButtonState = true;
                }
             
            }, () => { }, false, () => { }, 10,
            InvokeStatus.None);
    }
}