Measure/Modules/MeasureNode/velodyne_lidar/velodyne_manager_task.h

#ifndef VELODYNE_MANAGER_TASK_HH
#define VELODYNE_MANAGER_TASK_HH

#include <string.h>
#include <mutex>
#include <atomic>
#include <chrono>

#include "task/task_command_manager.h"
#include "error_code/error_code.hpp"
#include "tool/common_data.h"


//万集测量任务单
class Velodyne_manager_task : public Task_Base {
public:
    // 构造函数
    Velodyne_manager_task();

    // 析构
    ~Velodyne_manager_task();

    //初始化函数
    Error_manager task_init(int terminal_id, std::chrono::system_clock::time_point command_time);

    Error_manager 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
    );

public://get or set member variable
    int get_terminal_id();

    std::chrono::system_clock::time_point get_command_time();

    Common_data::Car_wheel_information get_car_wheel_information();

    void set_car_wheel_information(Common_data::Car_wheel_information car_wheel_information);

private:
    //终端id
    int m_terminal_id;
    //下发指令的时间点. 从command_time提前一个扫描周期, 然后取最新的点
    std::chrono::system_clock::time_point m_command_time;
    // 测量结果
    Common_data::Car_wheel_information m_car_wheel_information;

};

#endif // !VELODYNE_MANAGER_TASK_HH