Strona główna Odkrywaj Pomoc
Zaloguj się
huli
/
chutian_dispatch
1
0
Forkuj 0
Pliki Problemy 0 Oczekujące zmiany 0 Wiki
Drzewo: 0f39926100
Gałęzie Tagi
chutian_disp...
/
dispatch
/
dispatch_communication.cpp

dispatch_communication.cpp 24 KB
Historia Czysty

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351 
  1. //
    2. 

  2. // Created by huli on 2020/9/25.
    3. 

  3. //
    4. 

  4. 

  5. #include "dispatch_communication.h"
    6. 

  6. 

  7. 

  8. Dispatch_communication::Dispatch_communication()
    9. 

  9. {
    10. 

  10. 

  11. }
    12. 

  12. 

  13. 

  14. Dispatch_communication::~Dispatch_communication()
    15. 

  15. {
    16. 

  16. 

  17. }
    18. 

  18. 

  19. 

  20. //初始化 通信 模块。如下三选一
    21. 

  21. Error_manager Dispatch_communication::communication_init(int plc_id)
    22. 

  22. {
    23. 

  23. 	m_plc_id = plc_id;
    24. 

  24. 

  25. 

  26. 	int t_index = 0;
    27. 

  27. 	std::vector<Snap7_buf::Variable_information>		t_variable_information_vector;
    28. 

  28. 

  29. 	//往map通信缓存里面添加所需要的buf
    30. 

  30. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    31. 

  31. 	std::unique_lock<std::mutex> t_lock2(m_send_buf_lock);
    32. 

  32. 	Snap7_buf t_snap7_buf;
    33. 

  33. 

  34. 

  35. 

  36. //调度指令
    37. 

  37. 	t_index = 0;
    38. 

  38. 	t_variable_information_vector.clear();
    39. 

  39. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    40. 

  40. 	t_index += sizeof(unsigned char)*1;
    41. 

  41. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_73", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 23 });
    42. 

  42. 	t_index += sizeof(unsigned char)*23;
    43. 

  43. 

  44. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_dispatch_motion_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    45. 

  45. 	t_index += sizeof(unsigned char)*1;
    46. 

  46. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved75_79", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    47. 

  47. 	t_index += sizeof(unsigned char)*5;
    48. 

  48. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    49. 

  49. 	t_index += sizeof(unsigned int)*1;
    50. 

  50. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    51. 

  51. 	t_index += sizeof(unsigned char)*1;
    52. 

  52. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved85_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    53. 

  53. 	t_index += sizeof(unsigned char)*5;
    54. 

  54. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_index_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    55. 

  55. 	t_index += sizeof(unsigned int)*1;
    56. 

  56. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_unit_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    57. 

  57. 	t_index += sizeof(unsigned int)*1;
    58. 

  58. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_label_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    59. 

  59. 	t_index += sizeof(unsigned int)*1;
    60. 

  60. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_floor_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    61. 

  61. 	t_index += sizeof(unsigned int)*1;
    62. 

  62. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_room_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    63. 

  63. 	t_index += sizeof(unsigned int)*1;
    64. 

  64. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    65. 

  65. 	t_index += sizeof(unsigned char)*1;
    66. 

  66. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved111", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    67. 

  67. 	t_index += sizeof(unsigned char)*1;
    68. 

  68. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_x", typeid(float).name(), t_index,sizeof(float), 1 });
    69. 

  69. 	t_index += sizeof(float)*1;
    70. 

  70. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_y", typeid(float).name(), t_index,sizeof(float), 1 });
    71. 

  71. 	t_index += sizeof(float)*1;
    72. 

  72. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_angle", typeid(float).name(), t_index,sizeof(float), 1 });
    73. 

  73. 	t_index += sizeof(float)*1;
    74. 

  74. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_front_theta", typeid(float).name(), t_index,sizeof(float), 1 });
    75. 

  75. 	t_index += sizeof(float)*1;
    76. 

  76. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_length", typeid(float).name(), t_index,sizeof(float), 1 });
    77. 

  77. 	t_index += sizeof(float)*1;
    78. 

  78. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_width", typeid(float).name(), t_index,sizeof(float), 1 });
    79. 

  79. 	t_index += sizeof(float)*1;
    80. 

  80. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_height", typeid(float).name(), t_index,sizeof(float), 1 });
    81. 

  81. 	t_index += sizeof(float)*1;
    82. 

  82. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    83. 

  83. 	t_index += sizeof(float)*1;
    84. 

  84. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    85. 

  85. 	t_index += sizeof(float)*1;
    86. 

  86. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_license", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    87. 

  87. 	t_index += sizeof(unsigned char)*20;
    88. 

  88. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved168_187", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    89. 

  89. 	t_index += sizeof(unsigned char)*20;
    90. 

  90. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved188_207", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    91. 

  91. 	t_index += sizeof(unsigned char)*20;
    92. 

  92. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_anticollision_lidar_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    93. 

  93. 	t_index += sizeof(unsigned char)*1;
    94. 

  94. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved209_213", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    95. 

  95. 	t_index += sizeof(unsigned char)*5;
    96. 

  96. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base_exact_value", typeid(float).name(), t_index,sizeof(float), 1 });
    97. 

  97. 	t_index += sizeof(float)*1;
    98. 

  98. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved218_229", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 12 });
    99. 

  99. 	t_index += sizeof(unsigned char)*12;
    100. 

  100. 

  101. 	t_snap7_buf.init(DISPATCH_REQUEST_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 50, sizeof(Dispatch_request_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    102. 

  102. 	m_send_buf_map[0] = t_snap7_buf;
    103. 

  103. 

  104. 

  105. 

  106. 	t_index = 0;
    107. 

  107. 	t_variable_information_vector.clear();
    108. 

  108. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    109. 

  109. 	t_index += sizeof(unsigned char)*50;
    110. 

  110. 

  111. 	t_snap7_buf.init(DISPATCH_REQUEST_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Dispatch_request_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    112. 

  112. 	m_send_buf_map[1] = t_snap7_buf;
    113. 

  113. 

  114. 

  115. 

  116. 	t_index = 0;
    117. 

  117. 	t_variable_information_vector.clear();
    118. 

  118. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    119. 

  119. 	t_index += sizeof(unsigned char)*50;
    120. 

  120. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    121. 

  121. 	t_index += sizeof(unsigned char)*1;
    122. 

  122. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_73", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 23 });
    123. 

  123. 	t_index += sizeof(unsigned char)*23;
    124. 

  124. 

  125. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_dispatch_motion_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    126. 

  126. 	t_index += sizeof(unsigned char)*1;
    127. 

  127. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved75_79", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    128. 

  128. 	t_index += sizeof(unsigned char)*5;
    129. 

  129. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    130. 

  130. 	t_index += sizeof(unsigned int)*1;
    131. 

  131. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    132. 

  132. 	t_index += sizeof(unsigned char)*1;
    133. 

  133. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved85_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    134. 

  134. 	t_index += sizeof(unsigned char)*5;
    135. 

  135. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_index_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    136. 

  136. 	t_index += sizeof(unsigned int)*1;
    137. 

  137. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_unit_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    138. 

  138. 	t_index += sizeof(unsigned int)*1;
    139. 

  139. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_label_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    140. 

  140. 	t_index += sizeof(unsigned int)*1;
    141. 

  141. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_floor_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    142. 

  142. 	t_index += sizeof(unsigned int)*1;
    143. 

  143. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_room_id", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    144. 

  144. 	t_index += sizeof(unsigned int)*1;
    145. 

  145. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    146. 

  146. 	t_index += sizeof(unsigned char)*1;
    147. 

  147. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved111", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    148. 

  148. 	t_index += sizeof(unsigned char)*1;
    149. 

  149. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_x", typeid(float).name(), t_index,sizeof(float), 1 });
    150. 

  150. 	t_index += sizeof(float)*1;
    151. 

  151. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_y", typeid(float).name(), t_index,sizeof(float), 1 });
    152. 

  152. 	t_index += sizeof(float)*1;
    153. 

  153. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_angle", typeid(float).name(), t_index,sizeof(float), 1 });
    154. 

  154. 	t_index += sizeof(float)*1;
    155. 

  155. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_front_theta", typeid(float).name(), t_index,sizeof(float), 1 });
    156. 

  156. 	t_index += sizeof(float)*1;
    157. 

  157. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_length", typeid(float).name(), t_index,sizeof(float), 1 });
    158. 

  158. 	t_index += sizeof(float)*1;
    159. 

  159. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_width", typeid(float).name(), t_index,sizeof(float), 1 });
    160. 

  160. 	t_index += sizeof(float)*1;
    161. 

  161. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_height", typeid(float).name(), t_index,sizeof(float), 1 });
    162. 

  162. 	t_index += sizeof(float)*1;
    163. 

  163. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    164. 

  164. 	t_index += sizeof(float)*1;
    165. 

  165. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    166. 

  166. 	t_index += sizeof(float)*1;
    167. 

  167. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_license", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    168. 

  168. 	t_index += sizeof(unsigned char)*20;
    169. 

  169. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved168_187", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    170. 

  170. 	t_index += sizeof(unsigned char)*20;
    171. 

  171. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved188_207", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    172. 

  172. 	t_index += sizeof(unsigned char)*20;
    173. 

  173. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_anticollision_lidar_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    174. 

  174. 	t_index += sizeof(unsigned char)*1;
    175. 

  175. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved209_213", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    176. 

  176. 	t_index += sizeof(unsigned char)*5;
    177. 

  177. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base_exact_value", typeid(float).name(), t_index,sizeof(float), 1 });
    178. 

  178. 	t_index += sizeof(float)*1;
    179. 

  179. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved218_229", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 12 });
    180. 

  180. 	t_index += sizeof(unsigned char)*12;
    181. 

  181. 

  182. 	t_snap7_buf.init(DISPATCH_PLC_STATUS_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Dispatch_response_from_plc_to_manager), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    183. 

  183. 	m_receive_buf_map[0] = t_snap7_buf;
    184. 

  184. 

  185. 

  186. 	//调度状态
    187. 

  187. 	t_index = 0;
    188. 

  188. 	t_variable_information_vector.clear();
    189. 

  189. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    190. 

  190. 	t_index += sizeof(unsigned char)*1;
    191. 

  191. 

  192. 	t_snap7_buf.init(DISPATCH_PLC_STATUS_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Dispatch_plc_status_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    193. 

  193. 	m_send_buf_map[2] = t_snap7_buf;
    194. 

  194. 

  195. 	t_index = 0;
    196. 

  196. 	t_variable_information_vector.clear();
    197. 

  197. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    198. 

  198. 	t_index += sizeof(unsigned char)*1;
    199. 

  199. 

  200. 	t_snap7_buf.init(DISPATCH_PLC_STATUS_FROM_PLC_TO_MANAGER_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Dispatch_plc_status_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    201. 

  201. 	m_receive_buf_map[1] = t_snap7_buf;
    202. 

  202. 

  203. 

  204. 

  205. 	//地面雷达指令
    206. 

  206. 	t_index = 0;
    207. 

  207. 	t_variable_information_vector.clear();
    208. 

  208. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_x", typeid(float).name(), t_index,sizeof(float), 1 });
    209. 

  209. 	t_index += sizeof(float)*1;
    210. 

  210. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_y", typeid(float).name(), t_index,sizeof(float), 1 });
    211. 

  211. 	t_index += sizeof(float)*1;
    212. 

  212. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_angle", typeid(float).name(), t_index,sizeof(float), 1 });
    213. 

  213. 	t_index += sizeof(float)*1;
    214. 

  214. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_front_theta", typeid(float).name(), t_index,sizeof(float), 1 });
    215. 

  215. 	t_index += sizeof(float)*1;
    216. 

  216. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_length", typeid(float).name(), t_index,sizeof(float), 1 });
    217. 

  217. 	t_index += sizeof(float)*1;
    218. 

  218. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_width", typeid(float).name(), t_index,sizeof(float), 1 });
    219. 

  219. 	t_index += sizeof(float)*1;
    220. 

  220. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_height", typeid(float).name(), t_index,sizeof(float), 1 });
    221. 

  221. 	t_index += sizeof(float)*1;
    222. 

  222. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    223. 

  223. 	t_index += sizeof(float)*1;
    224. 

  224. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    225. 

  225. 	t_index += sizeof(float)*1;
    226. 

  226. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_locate_correct", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    227. 

  227. 	t_index += sizeof(unsigned char)*1;
    228. 

  228. 

  229. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    230. 

  230. 	m_send_buf_map[3] = t_snap7_buf;
    231. 

  231. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 +m_plc_id*100, 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    232. 

  232. 	m_send_buf_map[4] = t_snap7_buf;
    233. 

  233. 

  234. 	t_index = 0;
    235. 

  235. 	t_variable_information_vector.clear();
    236. 

  236. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    237. 

  237. 	t_index += sizeof(unsigned char)*1;
    238. 

  238. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    239. 

  239. 	t_index += sizeof(unsigned char)*1;
    240. 

  240. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    241. 

  241. 	t_index += sizeof(unsigned char)*1;
    242. 

  242. 

  243. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    244. 

  244. 	m_send_buf_map[5] = t_snap7_buf;
    245. 

  245. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 +m_plc_id*100, 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    246. 

  246. 	m_send_buf_map[6] = t_snap7_buf;
    247. 

  247. 

  248. 	t_index = 0;
    249. 

  249. 	t_variable_information_vector.clear();
    250. 

  250. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    251. 

  251. 	t_index += sizeof(unsigned char)*1;
    252. 

  252. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    253. 

  253. 	t_index += sizeof(unsigned char)*1;
    254. 

  254. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    255. 

  255. 	t_index += sizeof(unsigned char)*1;
    256. 

  256. 

  257. 	t_snap7_buf.init(GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Ground_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    258. 

  258. 	m_receive_buf_map[2] = t_snap7_buf;
    259. 

  259. 	t_snap7_buf.init(GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 +m_plc_id*100, 0, sizeof(Ground_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    260. 

  260. 	m_receive_buf_map[3] = t_snap7_buf;
    261. 

  261. 

  262. 

  263. 

  264. //防撞雷达
    265. 

  265. 	t_index = 0;
    266. 

  266. 	t_variable_information_vector.clear();
    267. 

  267. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"Anticollision_lidar_response_from_manager_to_plc_for_data", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    268. 

  268. 	t_index += sizeof(unsigned char)*1;
    269. 

  269. 

  270. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Anticollision_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    271. 

  271. 	m_send_buf_map[7] = t_snap7_buf;
    272. 

  272. 

  273. 	t_index = 0;
    274. 

  274. 	t_variable_information_vector.clear();
    275. 

  275. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    276. 

  276. 	t_index += sizeof(unsigned char)*1;
    277. 

  277. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    278. 

  278. 	t_index += sizeof(unsigned char)*1;
    279. 

  279. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    280. 

  280. 	t_index += sizeof(unsigned char)*1;
    281. 

  281. 

  282. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Anticollision_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    283. 

  283. 	m_send_buf_map[8] = t_snap7_buf;
    284. 

  284. 

  285. 

  286. 	t_index = 0;
    287. 

  287. 	t_variable_information_vector.clear();
    288. 

  288. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    289. 

  289. 	t_index += sizeof(unsigned char)*1;
    290. 

  290. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    291. 

  291. 	t_index += sizeof(unsigned char)*1;
    292. 

  292. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    293. 

  293. 	t_index += sizeof(unsigned char)*1;
    294. 

  294. 

  295. 	t_snap7_buf.init(GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Anticollision_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    296. 

  296. 	m_receive_buf_map[4] = t_snap7_buf;
    297. 

  297. 

  298. 	return Snap7_communication_base::communication_init();
    299. 

  299. }
    300. 

  300. 

  301. //反初始化 通信 模块。
    302. 

  302. Error_manager Dispatch_communication::communication_uninit()
    303. 

  303. {
    304. 

  304. 	return Snap7_communication_base::communication_uninit();
    305. 

  305. }
    306. 

  306. 

  307. 

  308. //更新数据
    309. 

  309. Error_manager Dispatch_communication::updata_receive_buf()
    310. 

  310. {
    311. 

  311. //	return Error_code::SUCCESS;
    312. 

  312. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    313. 

  313. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    314. 

  314. 

  315. 	memcpy(&m_dispatch_response_from_plc_to_manager, m_receive_buf_map[0].mp_buf_obverse, m_receive_buf_map[0].m_size);
    316. 

  316. 

  317. 	memcpy(&m_dispatch_plc_status_from_plc_to_manager, m_receive_buf_map[1].mp_buf_obverse, m_receive_buf_map[1].m_size);
    318. 

  318. 

  319. 	memcpy(&m_ground_lidar_request_from_plc_to_manager[0], m_receive_buf_map[2].mp_buf_obverse, m_receive_buf_map[2].m_size);
    320. 

  320. 	memcpy(&m_ground_lidar_request_from_plc_to_manager[1], m_receive_buf_map[3].mp_buf_obverse, m_receive_buf_map[3].m_size);
    321. 

  321. 

  322. 	memcpy(&m_anticollision_lidar_request_from_plc_to_manager, m_receive_buf_map[4].mp_buf_obverse, m_receive_buf_map[4].m_size);
    323. 

  323. 

  324. 

  325. 	return Error_code::SUCCESS;
    326. 

  326. }
    327. 

  327. Error_manager Dispatch_communication::updata_send_buf()
    328. 

  328. {
    329. 

  329. 	std::unique_lock<std::mutex> t_lock1(m_send_buf_lock);
    330. 

  330. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    331. 

  331. 

  332. 	m_dispatch_request_from_manager_to_plc_for_data.m_reserved50 = 1;
    333. 

  333. 

  334. 	memcpy(m_send_buf_map[0].mp_buf_obverse, &m_dispatch_request_from_manager_to_plc_for_data, m_send_buf_map[0].m_size);
    335. 

  335. 	memcpy(m_send_buf_map[1].mp_buf_obverse, &m_dispatch_request_from_manager_to_plc_for_key, m_send_buf_map[1].m_size);
    336. 

  336. 	memcpy(m_send_buf_map[2].mp_buf_obverse, &m_dispatch_plc_status_from_manager_to_plc, m_send_buf_map[2].m_size);
    337. 

  337. 

  338. 	memcpy(m_send_buf_map[3].mp_buf_obverse, &m_ground_lidar_response_from_manager_to_plc_for_data[0], m_send_buf_map[3].m_size);
    339. 

  339. 	memcpy(m_send_buf_map[4].mp_buf_obverse, &m_ground_lidar_response_from_manager_to_plc_for_data[1], m_send_buf_map[4].m_size);
    340. 

  340. 	memcpy(m_send_buf_map[5].mp_buf_obverse, &m_ground_lidar_response_from_manager_to_plc_for_key[0], m_send_buf_map[5].m_size);
    341. 

  341. 	memcpy(m_send_buf_map[6].mp_buf_obverse, &m_ground_lidar_response_from_manager_to_plc_for_key[1], m_send_buf_map[6].m_size);
    342. 

  342. 

  343. 	memcpy(m_send_buf_map[7].mp_buf_obverse, &m_anticollision_lidar_response_from_manager_to_plc_for_data, m_send_buf_map[7].m_size);
    344. 

  344. 	memcpy(m_send_buf_map[8].mp_buf_obverse, &m_anticollision_lidar_response_from_manager_to_plc_for_key, m_send_buf_map[8].m_size);
    345. 

  345. 

  346. 	return Error_code::SUCCESS;
    347. 

  347. }
    348. 

  348. 

  349. 

  350. 

  351.