20211116, , hebing

communication/communication_message.h

@@ -33,29 +33,31 @@ public:
 		eLocate_sift_request_msg = 0x14,            //预测算法请求消息
 		eLocate_sift_response_msg = 0x15,           //预测算法反馈消息
 
-		eDispatch_status_msg=0x21,                //调度模块硬件状态消息
-		eDispatch_request_msg=0x22,              //请求调度消息
-		eDispatch_response_msg=0x23,             //调度结果反馈消息
-
-		eParkspace_allocation_status_msg=0x31,  //车位分配模块状态消息，包括车位信息
-		eParkspace_allocation_request_msg=0x32, //请求分配车位消息
-		eParkspace_allocation_response_msg=0x33,//分配车位结果反馈消息
-		eParkspace_search_request_msg = 0x34,		//查询车位请求消息
-		eParkspace_search_response_msg = 0x35,		//查询车位反馈消息
-		eParkspace_release_request_msg = 0x36,		//释放车位请求消息
-		eParkspace_release_response_msg = 0x37,		//释放车位反馈消息
-		eParkspace_force_update_request_msg = 0x38,	//手动修改车位消息
-		eParkspace_force_update_response_msg = 0x39,//手动修改车位反馈消息
-		eParkspace_confirm_alloc_request_msg = 0x3A,//确认分配车位请求消息
-		eParkspace_confirm_alloc_response_msg = 0x3B,//确认分配车位反馈消息
-        eParkspace_refresh_request_msg=0x3C,        //请求更新车位数据
-        eParkspace_allocation_data_response_msg=0x3D,
-
-		eStore_command_request_msg=0x41,        //终端停车请求消息
-		eStore_command_response_msg=0x42,       //停车请求反馈消息
-		ePickup_command_request_msg=0x43,       //取车请求消息
-		ePickup_command_response_msg=0x44,       //取车请求反馈消息
-
+		eDispatch_status_msg=0x21,                	//调度模块硬件状态消息
+		eDispatch_request_msg=0x22,              	//请求调度消息
+		eDispatch_response_msg=0x23,             	//调度结果反馈消息
+
+		eParkspace_allocation_status_msg=0x31,  		//车位分配模块状态消息，包括车位信息
+		eParkspace_allocation_request_msg=0x32, 		//请求分配车位消息
+		eParkspace_allocation_response_msg=0x33,		//分配车位结果反馈消息
+		eParkspace_search_request_msg = 0x34,			//查询车位请求消息
+		eParkspace_search_response_msg = 0x35,			//查询车位反馈消息
+		eParkspace_release_request_msg = 0x36,			//释放车位请求消息
+		eParkspace_release_response_msg = 0x37,			//释放车位反馈消息
+		eParkspace_force_update_request_msg = 0x38,		//手动修改车位消息
+		eParkspace_force_update_response_msg = 0x39,	//手动修改车位反馈消息
+		eParkspace_confirm_alloc_request_msg = 0x3A,	//确认分配车位请求消息
+		eParkspace_confirm_alloc_response_msg = 0x3B,	//确认分配车位反馈消息
+        eParkspace_refresh_request_msg=0x3C,        	//请求更新车位数据
+        eParkspace_allocation_data_response_msg=0x3D,	//车位数据反馈消息
+		eParkspace_manual_search_request_msg = 0x3E,	//手动查询车位请求消息
+		eParkspace_manual_search_response_msg = 0x3F,	//手动查询车位反馈消息
+
+		eStore_command_request_msg=0x41,        	//终端停车请求消息
+		eStore_command_response_msg=0x42,       	//停车请求反馈消息
+		ePickup_command_request_msg=0x43,       	//取车请求消息
+		ePickup_command_response_msg=0x44,       	//取车请求反馈消息
+		eTerminal_status_msg = 0x50,	 			//终端状态消息
 
 
 		eStoring_process_statu_msg=0x90,        //停车指令进度条消息
@@ -64,10 +66,14 @@ public:
 
 		eCentral_controller_statu_msg=0xa0,     //中控系统状态消息
 
-
 		eEntrance_manual_operation_msg=0xb0,            //针对出入口状态操作的手动消息
 		eProcess_manual_operation_msg=0xb1,             //针对流程的手动消息
 
+		eNotify_request_msg=0xc0,               //取车等候区通知请求
+		eNotify_response_msg=0xc1,              //等候区反馈
+		eNotify_status_msg=0xc2,                //等候区通知节点状态
+		eUnNormalized_module_statu_msg = 0xd0, //非标节点状态
+
 		eDispatch_plan_request_msg          = 0xe0,     //调度总规划的请求(用于启动整个调度算法)(调度管理->调度算法)
 		eDispatch_plan_response_msg         = 0xe1,     //调度总规划的答复(调度算法->调度管理)
 		eDispatch_control_request_msg       = 0xe2,     //调度控制的任务请求(调度算法->调度管理)
@@ -101,7 +107,8 @@ public:
 		eDispatch_mamager=0x0400,
 		//调度机构
 		eDispatch_control=0x0401,
-		//...
+		//取车等候区通知节点
+		eNotify=0x0501,
 
 		//地面测量单元
 		eGround_measurer=0x0f00,

error_code/error_code.h

@@ -97,42 +97,6 @@ enum Error_code
 //        0用作错误码的基数，用来位运算，来判断错误码的范围。
 
 
-	//主控通信
-	LOCATER_MSG_TABLE_NOT_EXIST  				= 0xa0010000,
-    LOCATER_MSG_RESPONSE_TYPE_ERROR,                                //测量反馈消息类型错误(致命)
-    LOCATER_MSG_RESPONSE_INFO_ERROR,
-    LOCATER_MSG_REQUEST_CANCELED,
-    LOCATER_MSG_REQUEST_INVALID,
-    LOCATER_MSG_RESPONSE_HAS_NO_REQUEST,
-    LOCATER_MSG_REQUEST_REPEATED,
-
-   /*
-    * parkspace error code
-    */
-    PARKSPACE_REQUEST_MSG_TYPE_ERROR            = 0xa1010000,
-    PARKSPACE_ALLOCMSG_RESPONSE_HAS_NO_REQUEST,
-    PARKSPACE_SEARCHMSG_RESPONSE_HAS_NO_REQUEST,
-    PARKSPACE_RELEASEMSG_RESPONSE_HAS_NO_REQUEST,
-    PARKSPACE_ALLOC_REQUEST_INVALID,
-    PARKSPACE_SEARCH_REQUEST_INVALID,
-    PARKSPACE_RELEASE_REQUEST_INVALID,
-
-    PARKSPACE_ALLOC_REQUEST_REPEATED,
-    PARKSPACE_SEARCH_REQUEST_REPEATED,
-    PARKSPACE_RELEASE_REQUEST_REPEATED,
-
-    PARKSPACE_ALLOC_RESPONSE_TYPE_ERROR,
-    PARKSPACE_SEARCH_RESPONSE_TYPE_ERROR,
-    PARKSPACE_RELEASE_RESPONSE_TYPE_ERROR,
-
-    PARKSPACE_ALLOC_RESPONSE_INFO_ERROR,
-    PARKSPACE_SEARCH_RESPONSE_INFO_ERROR,
-    PARKSPACE_RELEASE_RESPONSE_INFO_ERROR,
-
-    PARKSPACE_ALLOC_REQUEST_CANCELED,
-    PARKSPACE_SEARCH_REQUEST_CANCELED,
-    PARKSPACE_RELEASE_REQUEST_CANCELED,
-
 
 
 
@@ -266,6 +230,15 @@ enum Error_code
     LOCATER_3DCNN_IIU_FAILED,							//定位3DCNN模块，IIU失败
     LOCATER_3DCNN_PCA_OUT_CLOUD_EMPTY,					//定位3DCNN模块，pca输出点云为空
 
+	//感测和主控通信
+	LOCATER_MSG_TABLE_NOT_EXIST  				= 0x03030100,
+    LOCATER_MSG_RESPONSE_TYPE_ERROR,                                //测量反馈消息类型错误(致命)
+    LOCATER_MSG_RESPONSE_INFO_ERROR,
+    LOCATER_MSG_REQUEST_CANCELED,
+    LOCATER_MSG_REQUEST_INVALID,
+    LOCATER_MSG_RESPONSE_HAS_NO_REQUEST,
+    LOCATER_MSG_REQUEST_REPEATED,
+
     //System_manager error from 0x04010000-0x0401FFFF
     SYSTEM_READ_PARAMETER_ERROR						=0x04010100,
     SYSTEM_PARAMETER_ERROR,
@@ -529,7 +502,7 @@ enum Error_code
 	SNAP7_ANALYSIS_TIME_OUT,									//解析超时,
 	SNAP7_EXCUTER_IS_BUSY,										//处理器正忙, 请稍等
 	
-	
+
 	
 	
     
@@ -567,7 +540,35 @@ enum Error_code
     DB_QUERY_NOT_DATA,								//数据库未查询到数据
 	DB_QUERY_DATA_FAILED,							//数据库查询数据错误
 	DB_NOT_QUERY_EMPTY_PARKSPACE,					//数据库未查询到空车位
-	DB_PROTOBUF_ERROR								//数据库配置参数读取错误
+	DB_PROTOBUF_ERROR,								//数据库配置参数读取错误
+
+
+
+
+    //parkspace error code
+    PARKSPACE_REQUEST_MSG_TYPE_ERROR            	= 0x20030000,
+    PARKSPACE_ALLOCMSG_RESPONSE_HAS_NO_REQUEST,
+    PARKSPACE_SEARCHMSG_RESPONSE_HAS_NO_REQUEST,
+    PARKSPACE_RELEASEMSG_RESPONSE_HAS_NO_REQUEST,
+    PARKSPACE_ALLOC_REQUEST_INVALID,
+    PARKSPACE_SEARCH_REQUEST_INVALID,
+    PARKSPACE_RELEASE_REQUEST_INVALID,
+
+    PARKSPACE_ALLOC_REQUEST_REPEATED,
+    PARKSPACE_SEARCH_REQUEST_REPEATED,
+    PARKSPACE_RELEASE_REQUEST_REPEATED,
+
+    PARKSPACE_ALLOC_RESPONSE_TYPE_ERROR,
+    PARKSPACE_SEARCH_RESPONSE_TYPE_ERROR,
+    PARKSPACE_RELEASE_RESPONSE_TYPE_ERROR,
+
+    PARKSPACE_ALLOC_RESPONSE_INFO_ERROR,
+    PARKSPACE_SEARCH_RESPONSE_INFO_ERROR,
+    PARKSPACE_RELEASE_RESPONSE_INFO_ERROR,
+
+    PARKSPACE_ALLOC_REQUEST_CANCELED,
+    PARKSPACE_SEARCH_REQUEST_CANCELED,
+    PARKSPACE_RELEASE_REQUEST_CANCELED,
 
 
 };

message/message_base.proto

@@ -32,13 +32,15 @@ enum Message_type
     eParkspace_confirm_alloc_response_msg = 0x3B;//确认分配车位反馈消息
     eParkspace_allocation_data_msg = 0x3C;     //车位分配模块车位数据消息
     eParkspace_allocation_data_response_msg =0x3D;//车位数据反馈消息
+    eParkspace_manual_search_request_msg = 0x3E;	//手动查询车位请求消息
+    eParkspace_manual_search_response_msg = 0x3F;//手动查询车位反馈消息
 
     eStore_command_request_msg=0x41;        //终端停车请求消息
     eStore_command_response_msg=0x42;       //停车请求反馈消息
     ePickup_command_request_msg=0x43;       //取车请求消息
     ePickup_command_response_msg=0x44;       //取车请求反馈消息
 
-
+    eTerminal_status_msg = 0x50;	 //终端状态消息
 
     eStoring_process_statu_msg=0x90;        //停车指令进度条消息
     ePicking_process_statu_msg=0x91;        //取车指令进度消息
@@ -50,6 +52,12 @@ enum Message_type
     eEntrance_manual_operation_msg=0xb0;            //针对出入口状态操作的手动消息
     eProcess_manual_operation_msg=0xb1;             //针对流程的手动消息
 
+    eNotify_request_msg=0xc0;               //取车等候区通知请求
+    eNotify_response_msg=0xc1;              //等候区反馈
+    eNotify_status_msg=0xc2;                //等候区通知节点状态
+
+    eUnNormalized_module_statu_msg = 0xd0; //非标节点状态
+
     eDispatch_plan_request_msg          = 0xe0;     //调度总规划的请求(用于启动整个调度算法)(调度管理->调度算法)
     eDispatch_plan_response_msg         = 0xe1;     //调度总规划的答复(调度算法->调度管理)
     eDispatch_control_request_msg       = 0xe2;     //调度控制的任务请求(调度算法->调度管理)
@@ -82,7 +90,8 @@ enum Communicator
     //调度机构
     eDispatch_control=0x0401;
     //...
-
+  //取车等候区通知节点
+    eNotify=0x0501;
 
     //地面测量单元
 	eGround_measurer=0x0f00;
@@ -156,9 +165,10 @@ message Car_info
     optional float                      car_length=1[default = 0];           //车长
     optional float                      car_width=2[default = 0];            //车宽
     optional float                      car_height=3[default = 0];           //车高
-    optional string                     license=4[default = ""];              //车辆凭证号
-    optional float                      car_wheel_base = 5[default = 0];	    //整车的轮距; 前后轮的距离; 用于机器人或agv的抓车
-    optional float                      car_wheel_width = 6[default = 0];	//整车的轮距; 左右轮的距离; 用于机器人或agv的抓车
+    optional string                     license=4[default = ""];             //车辆凭证号（车牌号+唯一码）
+    optional string                     car_numberPlate = 5[default = ""];   //车牌号
+    optional float                      car_wheel_base = 6[default = 0];	 //整车的轮距; 前后轮的距离; 用于机器人或agv的抓车
+    optional float                      car_wheel_width = 7[default = 0];	 //整车的轮距; 左右轮的距离; 用于机器人或agv的抓车
 }
 
 //车位状态枚举