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dispatch_communication.cpp

dispatch_communication.cpp 26 KB
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  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_request_status", 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_request_car_type", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    91. 

  91. 	t_index += sizeof(unsigned char)*1;
    92. 

  92. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved189_209", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 21 });
    93. 

  93. 	t_index += sizeof(unsigned char)*21;
    94. 

  94. 	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 });
    95. 

  95. 	t_index += sizeof(unsigned char)*1;
    96. 

  96. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved211_215", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    97. 

  97. 	t_index += sizeof(unsigned char)*5;
    98. 

  98. 	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 });
    99. 

  99. 	t_index += sizeof(float)*1;
    100. 

  100. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved217_231", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 25 });
    101. 

  101. 	t_index += sizeof(unsigned char)*25;
    102. 

  102. 

  103. 	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);
    104. 

  104. 	m_send_buf_map[0] = t_snap7_buf;
    105. 

  105. 

  106. 

  107. 

  108. 	t_index = 0;
    109. 

  109. 	t_variable_information_vector.clear();
    110. 

  110. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    111. 

  111. 	t_index += sizeof(unsigned char)*50;
    112. 

  112. 

  113. 	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);
    114. 

  114. 	m_send_buf_map[1] = t_snap7_buf;
    115. 

  115. 

  116. 

  117. 

  118. 	t_index = 0;
    119. 

  119. 	t_variable_information_vector.clear();
    120. 

  120. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    121. 

  121. 	t_index += sizeof(unsigned char)*50;
    122. 

  122. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    123. 

  123. 	t_index += sizeof(unsigned char)*1;
    124. 

  124. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_73", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 23 });
    125. 

  125. 	t_index += sizeof(unsigned char)*23;
    126. 

  126. 

  127. 	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 });
    128. 

  128. 	t_index += sizeof(unsigned char)*1;
    129. 

  129. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved75_79", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    130. 

  130. 	t_index += sizeof(unsigned char)*5;
    131. 

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

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

  133. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    134. 

  134. 	t_index += sizeof(unsigned char)*1;
    135. 

  135. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved85_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    136. 

  136. 	t_index += sizeof(unsigned char)*5;
    137. 

  137. 	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 });
    138. 

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

  139. 	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 });
    140. 

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

  141. 	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 });
    142. 

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

  143. 	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 });
    144. 

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

  145. 	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 });
    146. 

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

  147. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_direction", 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_reserved111", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    150. 

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

  151. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_x", 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_center_y", 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_angle", 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_front_theta", 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_length", 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_width", 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_height", 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_base", 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_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    168. 

  168. 	t_index += sizeof(float)*1;
    169. 

  169. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_license", 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_reserved168_187", 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_car_type", 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_reserved189_209", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 21 });
    176. 

  176. 	t_index += sizeof(unsigned char)*21;
    177. 

  177. 	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 });
    178. 

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

  179. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved211_215", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    180. 

  180. 	t_index += sizeof(unsigned char)*5;
    181. 

  181. 	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 });
    182. 

  182. 	t_index += sizeof(float)*1;
    183. 

  183. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved217_231", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 25 });
    184. 

  184. 	t_index += sizeof(unsigned char)*25;
    185. 

  185. 

  186. 	t_snap7_buf.init(DISPATCH_RESPONSE_FROM_PLC_TO_MANAGER_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Dispatch_response_from_plc_to_manager), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    187. 

  187. 	m_receive_buf_map[0] = t_snap7_buf;
    188. 

  188. 

  189. 

  190. 	//调度状态
    191. 

  191. 	t_index = 0;
    192. 

  192. 	t_variable_information_vector.clear();
    193. 

  193. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    194. 

  194. 	t_index += sizeof(unsigned char)*1;
    195. 

  195. 

  196. 	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);
    197. 

  197. 	m_send_buf_map[2] = t_snap7_buf;
    198. 

  198. 

  199. 	t_index = 0;
    200. 

  200. 	t_variable_information_vector.clear();
    201. 

  201. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    202. 

  202. 	t_index += sizeof(unsigned char)*1;
    203. 

  203. 

  204. 	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);
    205. 

  205. 	m_receive_buf_map[1] = t_snap7_buf;
    206. 

  206. 

  207. 

  208. 

  209. 	//地面雷达指令
    210. 

  210. 	t_index = 0;
    211. 

  211. 	t_variable_information_vector.clear();
    212. 

  212. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_x", 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_center_y", 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_angle", 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_front_theta", 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_length", 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_width", 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_height", 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_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    227. 

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

  228. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    229. 

  229. 	t_index += sizeof(float)*1;
    230. 

  230. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_locate_correct", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    231. 

  231. 	t_index += sizeof(unsigned char)*1;
    232. 

  232. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved37_40", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    233. 

  233. 	t_index += sizeof(unsigned char)*3;
    234. 

  234. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    235. 

  235. 	t_index += sizeof(unsigned char)*1;
    236. 

  236. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", 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_refresh_command", 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_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    241. 

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

  242. 	
    243. 

  243. 	
    244. 

  244. 

  245. 	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);
    246. 

  246. 	m_send_buf_map[3] = t_snap7_buf;
    247. 

  247. 	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);
    248. 

  248. 	m_send_buf_map[4] = t_snap7_buf;
    249. 

  249. 

  250. 

  251. 	t_index = 0;
    252. 

  252. 	t_variable_information_vector.clear();
    253. 

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

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

  255. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    256. 

  256. 	t_index += sizeof(unsigned char)*1;
    257. 

  257. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    258. 

  258. 	t_index += sizeof(unsigned char)*1;
    259. 

  259. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    260. 

  260. 	t_index += sizeof(unsigned char)*1;
    261. 

  261. 

  262. 	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::NO_COMMUNICATION);
    263. 

  263. 	m_send_buf_map[5] = t_snap7_buf;
    264. 

  264. 	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::NO_COMMUNICATION);
    265. 

  265. 	m_send_buf_map[6] = t_snap7_buf;
    266. 

  266. 

  267. 	t_index = 0;
    268. 

  268. 	t_variable_information_vector.clear();
    269. 

  269. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    270. 

  270. 	t_index += sizeof(unsigned char)*1;
    271. 

  271. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    272. 

  272. 	t_index += sizeof(unsigned char)*1;
    273. 

  273. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    274. 

  274. 	t_index += sizeof(unsigned char)*1;
    275. 

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

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

  277. 

  278. 	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);
    279. 

  279. 	m_receive_buf_map[2] = t_snap7_buf;
    280. 

  280. 	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);
    281. 

  281. 	m_receive_buf_map[3] = t_snap7_buf;
    282. 

  282. 

  283. 

  284. 

  285. //防撞雷达
    286. 

  286. 	t_index = 0;
    287. 

  287. 	t_variable_information_vector.clear();
    288. 

  288. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_anticollision_lidar_flag", 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_reserved5_7", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    291. 

  291. 	t_index += sizeof(unsigned char)*3;
    292. 

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

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

  294. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_offset_angle", typeid(float).name(), t_index,sizeof(float), 1 });
    295. 

  295. 	t_index += sizeof(float)*1;
    296. 

  296. 

  297. 	t_snap7_buf.init(ANTICOLLISION_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 4, sizeof(Anticollision_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    298. 

  298. 	m_send_buf_map[7] = t_snap7_buf;
    299. 

  299. 

  300. 	t_index = 0;
    301. 

  301. 	t_variable_information_vector.clear();
    302. 

  302. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    303. 

  303. 	t_index += sizeof(unsigned char)*1;
    304. 

  304. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    305. 

  305. 	t_index += sizeof(unsigned char)*1;
    306. 

  306. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    307. 

  307. 	t_index += sizeof(unsigned char)*1;
    308. 

  308. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    309. 

  309. 	t_index += sizeof(unsigned char)*1;
    310. 

  310. 

  311. 	t_snap7_buf.init(ANTICOLLISION_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);
    312. 

  312. 	m_send_buf_map[8] = t_snap7_buf;
    313. 

  313. 

  314. 

  315. 	t_index = 0;
    316. 

  316. 	t_variable_information_vector.clear();
    317. 

  317. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    318. 

  318. 	t_index += sizeof(unsigned char)*1;
    319. 

  319. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    320. 

  320. 	t_index += sizeof(unsigned char)*1;
    321. 

  321. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    322. 

  322. 	t_index += sizeof(unsigned char)*1;
    323. 

  323. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    324. 

  324. 	t_index += sizeof(unsigned char)*1;
    325. 

  325. 

  326. 	t_snap7_buf.init(ANTICOLLISION_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);
    327. 

  327. 	m_receive_buf_map[4] = t_snap7_buf;
    328. 

  328. 

  329. 	return Snap7_communication_base::communication_init();
    330. 

  330. }
    331. 

  331. 

  332. //反初始化 通信 模块。
    333. 

  333. Error_manager Dispatch_communication::communication_uninit()
    334. 

  334. {
    335. 

  335. 	return Snap7_communication_base::communication_uninit();
    336. 

  336. }
    337. 

  337. 

  338. 

  339. //更新数据
    340. 

  340. Error_manager Dispatch_communication::updata_receive_buf()
    341. 

  341. {
    342. 

  342. //	return Error_code::SUCCESS;
    343. 

  343. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    344. 

  344. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    345. 

  345. 

  346. 	memcpy(&m_dispatch_response_from_plc_to_manager, m_receive_buf_map[0].mp_buf_obverse, m_receive_buf_map[0].m_size);
    347. 

  347. 

  348. 	memcpy(&m_dispatch_plc_status_from_plc_to_manager, m_receive_buf_map[1].mp_buf_obverse, m_receive_buf_map[1].m_size);
    349. 

  349. 

  350. 	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);
    351. 

  351. 	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);
    352. 

  352. 

  353. 	memcpy(&m_anticollision_lidar_request_from_plc_to_manager, m_receive_buf_map[4].mp_buf_obverse, m_receive_buf_map[4].m_size);
    354. 

  354. 

  355. 

  356. 	return Error_code::SUCCESS;
    357. 

  357. }
    358. 

  358. Error_manager Dispatch_communication::updata_send_buf()
    359. 

  359. {
    360. 

  360. 	std::unique_lock<std::mutex> t_lock1(m_send_buf_lock);
    361. 

  361. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    362. 

  362. 

  363. 	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);
    364. 

  364. 	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);
    365. 

  365. 	memcpy(m_send_buf_map[2].mp_buf_obverse, &m_dispatch_plc_status_from_manager_to_plc, m_send_buf_map[2].m_size);
    366. 

  366. 

  367. 	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);
    368. 

  368. 	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);
    369. 

  369. 	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);
    370. 

  370. 	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);
    371. 

  371. 

  372. 	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);
    373. 

  373. 	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);
    374. 

  374. 

  375. 	return Error_code::SUCCESS;
    376. 

  376. }
    377. 

  377. 

  378. 

  379. 

  380.