Measure/Modules/MeasureNode/velodyne_lidar/velodyne_manager_task.cpp

#include "velodyne_manager_task.h"


Velodyne_manager_task::Velodyne_manager_task() {
    m_task_type = Task_type::VELODYNE_MANAGER_TASK;
    m_task_statu = TASK_CREATED;
    m_task_statu_information.clear();
    m_task_error_manager.error_manager_clear_all();

    m_terminal_id = 0;
}

Velodyne_manager_task::~Velodyne_manager_task() {
}

//初始化函数
Error_manager Velodyne_manager_task::task_init(int terminal_id, std::chrono::system_clock::time_point command_time) {
    m_task_statu = TASK_CREATED;
    m_task_statu_information.clear();
    m_task_error_manager.error_manager_clear_all();

    m_terminal_id = terminal_id;
    m_command_time = command_time;

    return Error_code::SUCCESS;
}

Error_manager Velodyne_manager_task::task_init(Task_statu task_statu,
                                               std::string task_statu_information,
                                               void *p_tast_receiver,
                                               std::chrono::milliseconds task_over_time,
                                               int terminal_id,
                                               std::chrono::system_clock::time_point command_time
) {
    m_task_statu = task_statu;
    m_task_statu_information = task_statu_information;
    mp_tast_receiver = p_tast_receiver;
    m_task_over_time = task_over_time;
    m_task_error_manager.error_manager_clear_all();

    m_terminal_id = terminal_id;
    m_command_time = command_time;

    return Error_code::SUCCESS;
}

int Velodyne_manager_task::get_terminal_id() {
    return m_terminal_id;
}

std::chrono::system_clock::time_point Velodyne_manager_task::get_command_time() {
    return m_command_time;
}

Common_data::Car_wheel_information Velodyne_manager_task::get_car_wheel_information() {
    return m_car_wheel_information;
}

void Velodyne_manager_task::set_car_wheel_information(Common_data::Car_wheel_information car_wheel_information) {
    m_car_wheel_information = car_wheel_information;
}