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using System.Collections.Concurrent;
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using Autofac;
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using DotNetty.Common.Utilities;
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using Entity.Constant;
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using Entity.DbModel.Station;
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using HybirdFrameworkCore.Autofac;
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using log4net;
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using Newtonsoft.Json;
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using Repository.Station;
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using Service.Cloud.Msg.Cloud.Req;
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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.Step;
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using Service.Execute.SwapException;
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using Service.Plc.Client;
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namespace Service.Execute;
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public class SwappingStateMachine : IDisposable
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{
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private static readonly ILog Log = LogManager.GetLogger(typeof(SwappingStateMachine));
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private static readonly SwappingStateMachine SwappingMachine = new SwappingStateMachine();
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private BinInfoRepository BinInfoRepository { get; set; }
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private SwapAmtOrderRepository AmtOrderRepository { get; set; }
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public bool CancelFlag { get; set; } = false;
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public bool StopFlag { get; set; } = false;
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public bool PlcSwapFlag { get; set; } = false;
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//手动确认换电成功
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public bool ManualSwapSuccFlag { get; set; } = false;
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//手动确认解锁/上锁成功
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public bool ManualConfirmCarUnlockFlag { get; set; }
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//手动确认解锁/上锁成功
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public bool ManualConfirmCarLockFlag { get; set; }
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//plc任务异常，流程结束
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public bool PLCAbnormalFlag { get; set; }
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public OperateModel OperateModel = null;
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public readonly LedTool? LedTool = null;
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private readonly Thread _executeThread;
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private readonly Dictionary<SwappingState, IState> _dictionary = new Dictionary<SwappingState, IState>();
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private StateResult _result = new StateResult() { SwappingState = SwappingState.Begin };
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//给云平台的实时状态
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public InfoEnum.BusinessSwappingForCloudState BusinessSwappingForCloudState =
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InfoEnum.BusinessSwappingForCloudState.UnKnown;
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public DateTime BusinessSwappingStateUpdateTime = DateTime.Now;
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public ExceptionReason ExceptionReason = ExceptionReason.None;
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//换电实时状态 0：开始 1：成功 2:失败
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public int? SwapStatus = null;
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public string SwapFailReason = "";
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public int StepSort = 0;
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public RfidReadModel? RfidReadModel = null;
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public TboxCarInfoModel? BoxCarInfoModel = null;
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public SwapOrder? SwapOrder = null;
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public SwapStart? swapStart = null;
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public SwapOrderBatteryInfo? SwapOrderBatteryInfo = null;
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public ConcurrentDictionary<string, StepModel> StepModel =
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new ConcurrentDictionary<string, StepModel>()
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{
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["0"] = new StepModel { StepNo = 0, Status = 0, StepName = "空闲" },
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["1"] = new StepModel { StepNo = 1, Status = 0, StepName = "车辆到站(入口雷达检测到车辆驶入)" },
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["2"] = new StepModel { StepNo = 2, Status = 0, StepName = "rfid扫描完成" },
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//["3"] = new StepModel { StepNo = 3, Status = 0, StepName = "云平台车辆认证" },
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["3"] = new StepModel { StepNo = 4, Status = 0, StepName = "车辆到位" },
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// ["5"] = new StepModel { StepNo = 5, Status = 0, StepName = "云平台下发换电指令" },
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["4"] = new StepModel { StepNo = 5, Status = 0, StepName = "车辆就绪和货箱举升到位" },
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["5"] = new StepModel { StepNo = 5, Status = 0, StepName = "下高压完成" },
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["6"] = new StepModel { StepNo = 5, Status = 0, StepName = "车辆解锁" },
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//["6"] = new StepModel { StepNo = 6, Status = 0, StepName = "下发plc选包" },
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["7"] = new StepModel { StepNo = 6, Status = 0, StepName = "开始换电" },
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["8"] = new StepModel { StepNo = 7, Status = 0, StepName = "拆旧电池完成" },
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["9"] = new StepModel { StepNo = 8, Status = 0, StepName = "入库旧电池完成" },
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["10"] = new StepModel { StepNo = 9, Status = 0, StepName = "搬运新电池完成" },
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["11"] = new StepModel { StepNo = 10, Status = 0, StepName = "安装新电池完成" },
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["12"] = new StepModel { StepNo = 11, Status = 0, StepName = "安装完成" },
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["13"] = new StepModel { StepNo = 12, Status = 0, StepName = "车辆上锁" },
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["14"] = new StepModel { StepNo = 13, Status = 0, StepName = "换电完成(车辆驶离)" },
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["15"] = new StepModel { StepNo = 14, Status = 0, StepName = "换电失败(车辆驶离)" },
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};
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#region 小步状态
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//雷达检测/车辆进入
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public bool RadarInFlag = false;
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//开始读rf
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public bool BeginRfidReadFlag = false;
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//读rfid
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public bool RfidReadFlag = false;
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//云平台车辆
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public bool CloudVelCheckFlag = false;
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//Tbox连接
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public bool BoxConnectFlag = false;
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//车辆lock
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public bool BoxLocalCheckFlag = false;
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//车辆数据上传
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public bool CloudTBoxFlag = false;
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//选包
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public bool SelectPackFlag = false;
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//车辆到位
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public bool VehiclesInPlaceFlag = false;
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//下发选包
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public bool DistributeSelectPackFlag = false;
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//云平台下发
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public bool CloudCarCanStartFlag = false;
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//车辆解锁
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public bool VelUnlockFlag = false;
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//给Tbox下发开始换电
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public bool StartSwapToTBoxFlag = false;
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public bool TboxHandUpFlag = false;
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public bool TboxEnergyDownFlag = false;
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public bool TboxDownFlag = false;
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public bool TboxEnergyUpFlag = false;
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//实体按钮
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public bool PhysicalButtonState = false;
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//开始换电
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public bool StartSwappingFlag = false;
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//上使能
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public bool PlcHoldFlag = false;
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//拍照状态
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public bool ChannelStatusOkFlag = false;
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//二次检测车
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public bool VehiclesInPlace2Flag = false;
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//拆旧电池
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public bool UnOldBatteryFlag = false;
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//入库旧电池
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public bool StorageOldBatteryFlag = false;
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//搬运新电池
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public bool OutNewBatteryFlag = false;
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//安装新电池
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public bool InstallNewBatteryFlag = false;
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//安装完成
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public bool FinishNewBatteryFlag = false;
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//航车回归安全位置
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public bool ToSafePositionFlag = false;
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//车辆上锁
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public bool VelLockFlag = false;
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//车辆离开
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public bool RadarOutFlag = false;
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#endregion
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private SwappingStateMachine()
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{
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_executeThread = new Thread(Work);
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_executeThread.Name = "Swapping main";
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_dictionary[SwappingState.Begin] = new BeginState();
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_dictionary[SwappingState.StationReady] = new StationReadyState();
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_dictionary[SwappingState.CarPrepare] = new CarPrepareState();
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_dictionary[SwappingState.SwapCanStart] = new SwapCanStartState();
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_dictionary[SwappingState.CarCtrl] = new CarCtrlState();
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_dictionary[SwappingState.DoSwapping] = new DoSwappingState();
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_dictionary[SwappingState.SwapDone] = new SwapDoneState();
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_dictionary[SwappingState.Exception] = new ExceptionState();
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_dictionary[SwappingState.Canceled] = new CancelState();
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_dictionary[SwappingState.ManualSucc] = new ManualSuccState();
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LedTool = new LedTool();
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BinInfoRepository = AppInfo.Container.Resolve<BinInfoRepository>();
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AmtOrderRepository = AppInfo.Container.Resolve<SwapAmtOrderRepository>();
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}
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public static SwappingStateMachine GetInstance()
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{
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return SwappingMachine;
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}
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public static StateResult ReturnWithInvokeErr(InvokeStatus status, ExceptionReason exceptionReason)
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{
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if (status == InvokeStatus.Cancel)
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{
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return new StateResult() { SwappingState = SwappingState.Canceled };
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}
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else if (status == InvokeStatus.TimeOut)
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{
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return null;
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}
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else if (status == InvokeStatus.ManualSucc)
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{
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return new StateResult() { SwappingState = SwappingState.ManualSucc };
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}
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else if(status == InvokeStatus.Exception)
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{
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return new StateResult() { SwappingState = SwappingState.SwapDone };
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}
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else
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{
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return StateResult.Exception(exceptionReason, null);
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}
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}
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private void Work()
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{
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Log.Info("State machine begin work");
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while (!StopFlag)
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{
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Log.Info($"handle = {_result.SwappingState} begin");
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try
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{
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StateResult? result = _dictionary[_result.SwappingState].Handle(this);
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if (result != null)
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{
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_result = result;
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}
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}
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catch (Exception e)
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{
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Log.Error($"handle {_result.SwappingState} error", e);
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}
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Log.Info($"handle = {_result.SwappingState} end");
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Thread.Sleep(500);
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}
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Log.Info("State machine canceled");
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}
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public void Stop()
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{
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StopFlag = true;
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CancelFlag = true;
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Thread.Sleep(2000);
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}
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public bool IsCanceled()
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{
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return CancelFlag;
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}
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public bool IsManualSwapSucc()
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{
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return ManualSwapSuccFlag;
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}
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public bool Start()
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{
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Reset();
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_executeThread.Start();
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Log.Info($"start machine ok");
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return true;
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}
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public void Reset()
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{
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Log.Info("reset data");
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if (PlcMgr.PlcClient?.ReadTaskNo() == 1)
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{
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PlcMgr.PlcClient?.ExChangeTaskNo(0);
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}
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ResetOrderAmtStatus();
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if (RfidReadModel != null)
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{
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//wifi数据重置
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TBoxApi.Reset(RfidReadModel.VelVin);
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TBoxApi.SetHeart("1", 1);
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}
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//重置所有小步状态
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ResetStep();
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ResetData();
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//重置云平台下发的指令
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// CloudApi.ClearCarCanStartInfo();
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}
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public bool Cancel()
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{
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CancelFlag = true;
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Thread.Sleep(5000);
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Log.Info($"Cancel machine ok");
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return true;
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}
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public bool Manual()
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{
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ManualSwapSuccFlag = true;
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Thread.Sleep(5000);
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Log.Info($"ManualSwapSuccFlag machine ok");
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return true;
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}
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public bool ManualConfirmLockCar()
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{
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ManualConfirmCarLockFlag = true;
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Thread.Sleep(2000);
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Log.Info($"ManualConfirmLockCar ok");
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return true;
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}
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public bool ManualConfirmUnLockCar()
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{
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ManualConfirmCarUnlockFlag = true;
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Thread.Sleep(2000);
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Log.Info($"ManualConfirmLockCar ok");
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return true;
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}
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private void ResetData()
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{
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BusinessSwappingForCloudState = InfoEnum.BusinessSwappingForCloudState.Idle;
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BusinessSwappingStateUpdateTime = DateTime.Now;
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ExceptionReason = ExceptionReason.None;
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OperateModel = null;
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//换电实时状态 0：开始 1：成功 2:失败
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SwapStatus = null;
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SwapFailReason = "";
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RfidReadModel = null;
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BoxCarInfoModel = null;
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SwapOrder = null;
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SwapOrderBatteryInfo = null;
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StepSort = 0;
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foreach (var key in StepModel.Keys.ToList())
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{
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StepModel[key].Status = 0;
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StepModel[key].StartTime = null;
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}
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PlcSwapFlag = false;
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ManualSwapSuccFlag = false;
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OperateModel = null;
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ManualConfirmCarUnlockFlag = false;
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ManualConfirmCarLockFlag = false;
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CancelFlag = false;
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StopFlag = false;
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PLCAbnormalFlag=false;
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}
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private void ResetStep()
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{
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RadarInFlag = false;
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BeginRfidReadFlag = false;
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RfidReadFlag = false;
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CloudVelCheckFlag = false;
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BoxConnectFlag = false;
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BoxLocalCheckFlag = false;
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CloudTBoxFlag = false;
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SelectPackFlag = false;
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VehiclesInPlaceFlag = false;
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DistributeSelectPackFlag = false;
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CloudCarCanStartFlag = false;
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VelUnlockFlag = false;
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StartSwappingFlag = false;
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PlcHoldFlag = false;
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ChannelStatusOkFlag = false;
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VehiclesInPlace2Flag = false;
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UnOldBatteryFlag = false;
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StorageOldBatteryFlag = false;
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OutNewBatteryFlag = false;
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InstallNewBatteryFlag = false;
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FinishNewBatteryFlag = false;
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ToSafePositionFlag = false;
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VelLockFlag = false;
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RadarOutFlag = false;
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StartSwapToTBoxFlag = false;
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TboxHandUpFlag = false;
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TboxEnergyDownFlag = false;
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TboxDownFlag = false;
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TboxEnergyUpFlag = false;
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}
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//关于仓库锁定相关重置
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private void ResetOrderAmtStatus()
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{
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//仓库解锁 解锁两个
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if (SwapOrderBatteryInfo != null)
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{
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if (SwapOrderBatteryInfo?.UpBinInfo != null) ;
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{
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BinInfoRepository.Update(i => i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
|
|
|
i => i.Id == SwapOrderBatteryInfo.UpBinInfo[0].Id);
|
|
|
BinInfoRepository.Update(i => i.AmtLock == (int)InfoEnum.AmtBatLockStatus.UnLock,
|
|
|
i => i.Id == SwapOrderBatteryInfo.UpBinInfo[1].Id);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
//预约单
|
|
|
List<SwapAmtOrder> amtOrderInfos = AmtOrderRepository.QueryListByClause(it =>
|
|
|
it.ExpireTime < DateTime.Now
|
|
|
&& it.Status == (byte)InfoEnum.AmtOrderStatus.Success).ToList();
|
|
|
if (amtOrderInfos.Count > 0)
|
|
|
{
|
|
|
List<string> binNos = amtOrderInfos.SelectMany(i => i.AmtBinNoList.Split(',').ToList()).Distinct().ToList();
|
|
|
List<BinInfo> listByClause = BinInfoRepository.QueryListByClause(i => binNos.Contains(i.No));
|
|
|
foreach (var binInfo in listByClause)
|
|
|
{
|
|
|
binInfo.AmtLock = (int)InfoEnum.AmtBatLockStatus.UnLock;
|
|
|
}
|
|
|
|
|
|
BinInfoRepository.Update(listByClause);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public void Dispose()
|
|
|
{
|
|
|
StopFlag = true;
|
|
|
CancelFlag = true;
|
|
|
Thread.Sleep(2000);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public enum SwappingState
|
|
|
{
|
|
|
Begin,
|
|
|
StationReady,
|
|
|
CarPrepare,
|
|
|
SwapCanStart,
|
|
|
CarCtrl,
|
|
|
DoSwapping,
|
|
|
SwapDone,
|
|
|
Exception,
|
|
|
Canceled,
|
|
|
ManualSucc,
|
|
|
} |
