//
// Created by huli on 2020/7/20.
//

#ifndef NNXX_TESTS_DISPATCH_MANAGER_H
#define NNXX_TESTS_DISPATCH_MANAGER_H


#include "../error_code/error_code.h"
#include "../communication/communication_message.h"
#include "../system/system_communication.h"


#include "../tool/singleton.h"
#include "../tool/thread_condition.h"
#include "../tool/TaskQueue/TQFactory.h"
#include "../tool/TaskQueue/BaseTask.h"

//#include "../dispatch/carrier.h"
//#include "../dispatch/catcher.h"
//#include "../dispatch/passageway.h"
//#include "../dispatch/dispatch_process.h"

#include "../message/dispatch_control.pb.h"
#include "../message/dispatch_message.pb.h"
#include "../dispatch/dispatch_parameter.pb.h"
#include "../dispatch/dispatch_plc.h"
#include "../dispatch/dispatch_ground_lidar.h"
#include "../dispatch/dispatch_singlechip.h"
#include "../message/measure_message.pb.h"


#include <vector>
#include <glog/logging.h>
#include <atomic>


//lacate测量结果结构体, 整车的信息,
typedef struct Locate_information
{
	float locate_x;				//整车的中心点x值, 四轮的中心
	float locate_y;				//整车的中心点y值, 四轮的中心
	float locate_angle;			//整车的旋转角, 四轮的旋转角
	float locate_length;		//整车的长度, 用于规避碰撞
	float locate_width;			//整车的宽度, 用于规避碰撞
	float locate_height;		//整车的高度, 用于规避碰撞
	float locate_wheel_base;	//整车的轮距, 前后轮的距离, 用于机器人或agv的抓车
	float locate_wheel_width;	//整车的轮距, 左右轮的距离, 用于机器人或agv的抓车
	bool locate_correct;		//整车的校准标记位
	//注:理论上, 车宽和左右轮距应该是一样的, 但是实际上车宽比左右轮距略大,
}Locate_information;

//调度管理模块
class Dispatch_manager:public Singleton<Dispatch_manager>
{
// 子类必须把父类设定为友元函数，这样父类才能使用子类的私有构造函数。
	friend class Singleton<Dispatch_manager>;

public:
//调度设备参数
#define DISPATCH_DEVICE_PARAMETER_PATH "../setting/dispatch_device.prototxt"
//存车任务数量的限制, 大于等于限则, 则使用缓存位, 默认5个
#define DISPATCH_MANAHER_STORE_LIST_SIZE_LIMIT		5


	//调度管理 的状态
	enum Dispatch_manager_status
	{
		E_DISPATCH_MANAGER_UNKNOW               = 0,    //未知
		E_DISPATCH_MANAGER_READY                = 1,    //准备，待机
		E_DISPATCH_MANAGER_STORE                = 2,    //正在存车
		E_DISPATCH_MANAGER_PICKUP               = 3,    //正在取车

		E_DISPATCH_MANAGER_FAULT               = 10,  //故障
	};

	//调度方向, 停车取车
	enum Dispatch_motion_direction
	{
		E_STORE_CAR             =0,         //停车, 出入口 -> 停车位
		E_PICKUP_CAR            =1,         //取车, 停车位 -> 出入口
	};


private:
	// 父类的构造函数必须保护，子类的构造函数必须私有。
	Dispatch_manager();
public:
	//必须关闭拷贝构造和赋值构造，只能通过 get_instance 函数来进行操作唯一的实例。
	Dispatch_manager(const Dispatch_manager& other) = delete;
	Dispatch_manager& operator =(const Dispatch_manager& other) = delete;
	~Dispatch_manager();
public://API functions
	//调度管理 初始化
	Error_manager dispatch_manager_init(int dispatch_manager_id);
	Error_manager dispatch_manager_init();
	//初始化 调度管理 模块。从文件读取
	Error_manager dispatch_manager_init_from_protobuf(std::string prototxt_path);
	//初始化 调度管理 模块。从protobuf读取
	Error_manager dispatch_manager_init_from_protobuf(Dispatch_proto::Dispatch_device_parameter_all& dispatch_device_parameter_all);
	//调度管理 反初始化
	Error_manager dispatch_manager_uninit();

	//调度管理 设备复位
	Error_manager dispatch_manager_device_reset();

	//对外的接口函数，负责接受并处理任务单，
	Error_manager execute_task(Dispatch_manager::Dispatch_motion_direction dispatch_motion_direction);

	//检查能否执行消息指令
	Error_manager check_execute_msg(Communication_message* p_msg);
	//检查状态
	Error_manager check_status();

	//调度模块 //执行搬运请求(主控->调度管理)
	Error_manager execute_for_dispatch_request_msg(message::Dispatch_request_msg &dispatch_request_msg);
	//调度模块 答复数据异常
	Error_manager send_dispatch_response_msg_with_error(message::Dispatch_request_msg &dispatch_request_msg, Error_manager error);

	//调度模块 //调度总规划的答复(调度算法->调度管理)
	Error_manager execute_for_dispatch_plan_response_msg(message::Dispatch_plan_response_msg &dispatch_plan_response_msg);
	//调度模块 //调度控制的任务请求(调度算法->调度管理)
	Error_manager execute_for_dispatch_control_request_msg(message::Dispatch_control_request_msg &dispatch_control_request_msg);
	//定时发送 调度管理的状态
	Error_manager encapsulate_send_dispatch_manager_status();

	//在流程的map 里面释放指定的流程
	Error_manager release_dispatch_process(std::string command_key);

	//调度模块 ///地面雷达的状态消息(地面雷达->null)
	Error_manager execute_for_ground_status_msg(message::Ground_status_msg ground_status_msg);
	//调度模块 ///单片机的状态消息
	Error_manager execute_for_singlechip_data_msg(message::Singlechip_data singlechip_data_msg, bool validity);



public://get or set member variable
	Dispatch_manager_status get_dispatch_manager_status();
	int get_dispatch_manager_id();
	void set_dispatch_manager_id(int dispatch_id);

protected:
	//资源分配
	void resource_allocation();


public://member variable

	Dispatch_manager_status						m_dispatch_manager_status;			//调度管理 的状态
	int 										m_dispatch_manager_id;						//调度模块的id, (楚天项目就是单元号, 0~2)

	//流程控制
	std::mutex                              	m_lock;        						//线程池的锁, 增删流程时要加锁.


	//调度plc
	Dispatch_plc								m_dispatch_plc;						//调度plc
	Dispatch_ground_lidar						m_dispatch_ground_lidar[2];			//调度地面雷达
	Dispatch_singlechip							m_dispatch_singlechip[4];			//调度单片机


	//请求指令的list, 按照创建顺序排序, 先来后到, 停车和停车不能插队, 但是停车和取车可以插队.
	std::list<message::Dispatch_request_msg>				m_dispatch_request_store_list;					//存车请求指令的list, 内存由线程池管理
	std::list<message::Dispatch_request_msg>				m_dispatch_request_pickup_list;					//取车请求指令的list, 内存由线程池管理
	Common_data::Dispatch_motion_direction					m_dispatch_motion_direction_next;				//下一次的调度方向, 保证存车取车交替进行


	std::map<std::chrono::system_clock::time_point , message::Dispatch_response_msg>
															m_dispatch_response_store_map;					//存车dafu de map, 内存由线程池管理, time_point
	std::map<int , message::Dispatch_response_msg>			m_dispatch_response_pickup_map;					//取车dafu de map, 内存由线程池管理, int:outlet_id
	std::chrono::system_clock::time_point					m_store_updata_time;									//
	std::chrono::system_clock::time_point					m_pickup_updata_time;									//

	//调度总管理的线程, 负责资源分配
	std::thread*                        		m_dispatch_manager_thread;        	//调度总管理的线程, 总控全局, 控制每个流程的先后顺序, 并合理的分配资源.
	Thread_condition				    		m_dispatch_manager_condition;		//调度总管理的条件变量, 总控全局, 控制每个流程的先后顺序, 并合理的分配资源.

private:

};


#endif //NNXX_TESTS_DISPATCH_MANAGER_H