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chutian_disp...
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dispatch
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dispatch_communication.cpp

dispatch_communication.cpp 40 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_191", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    93. 

  93. 	t_index += sizeof(unsigned char)*3;
    94. 

  94. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_uniformed_car_x", typeid(float).name(), t_index,sizeof(float), 1 });
    95. 

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

  96. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_uniformed_car_y", 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_reserved200_209", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 10 });
    99. 

  99. 	t_index += sizeof(unsigned char)*10;
    100. 

  100. 

  101. 	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 });
    102. 

  102. 	t_index += sizeof(unsigned char)*1;
    103. 

  103. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved211_215", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    104. 

  104. 	t_index += sizeof(unsigned char)*5;
    105. 

  105. 	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 });
    106. 

  106. 	t_index += sizeof(float)*1;
    107. 

  107. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved217_231", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 25 });
    108. 

  108. 	t_index += sizeof(unsigned char)*25;
    109. 

  109. 

  110. //	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);
    111. 

  111. 	t_snap7_buf.init(DISPATCH_REQUEST_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 50, sizeof(Dispatch_request_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    112. 

  112. 	m_send_buf_map[0] = 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_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    119. 

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

  120. 

  121. //	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);
    122. 

  122. 	t_snap7_buf.init(DISPATCH_REQUEST_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Dispatch_request_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    123. 

  123. 	m_send_buf_map[1] = t_snap7_buf;
    124. 

  124. 

  125. 

  126. 

  127. 	t_index = 0;
    128. 

  128. 	t_variable_information_vector.clear();
    129. 

  129. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    130. 

  130. 	t_index += sizeof(unsigned char)*50;
    131. 

  131. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", 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_reserved51_73", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 23 });
    134. 

  134. 	t_index += sizeof(unsigned char)*23;
    135. 

  135. 

  136. 	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 });
    137. 

  137. 	t_index += sizeof(unsigned char)*1;
    138. 

  138. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved75_79", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    139. 

  139. 	t_index += sizeof(unsigned char)*5;
    140. 

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

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

  142. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_passageway_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    143. 

  143. 	t_index += sizeof(unsigned char)*1;
    144. 

  144. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved85_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    145. 

  145. 	t_index += sizeof(unsigned char)*5;
    146. 

  146. 	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 });
    147. 

  147. 	t_index += sizeof(unsigned int)*1;
    148. 

  148. 	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 });
    149. 

  149. 	t_index += sizeof(unsigned int)*1;
    150. 

  150. 	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 });
    151. 

  151. 	t_index += sizeof(unsigned int)*1;
    152. 

  152. 	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 });
    153. 

  153. 	t_index += sizeof(unsigned int)*1;
    154. 

  154. 	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 });
    155. 

  155. 	t_index += sizeof(unsigned int)*1;
    156. 

  156. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_parkingspace_direction", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    157. 

  157. 	t_index += sizeof(unsigned char)*1;
    158. 

  158. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved111", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    159. 

  159. 	t_index += sizeof(unsigned char)*1;
    160. 

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

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

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

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

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

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

  166. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_front_theta", typeid(float).name(), t_index,sizeof(float), 1 });
    167. 

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

  168. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_length", typeid(float).name(), t_index,sizeof(float), 1 });
    169. 

  169. 	t_index += sizeof(float)*1;
    170. 

  170. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_width", typeid(float).name(), t_index,sizeof(float), 1 });
    171. 

  171. 	t_index += sizeof(float)*1;
    172. 

  172. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_height", typeid(float).name(), t_index,sizeof(float), 1 });
    173. 

  173. 	t_index += sizeof(float)*1;
    174. 

  174. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    175. 

  175. 	t_index += sizeof(float)*1;
    176. 

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

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

  178. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_license", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    179. 

  179. 	t_index += sizeof(unsigned char)*20;
    180. 

  180. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved168_187", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    181. 

  181. 	t_index += sizeof(unsigned char)*20;
    182. 

  182. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_type", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    183. 

  183. 	t_index += sizeof(unsigned char)*1;
    184. 

  184. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved189_191", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    185. 

  185. 	t_index += sizeof(unsigned char)*3;
    186. 

  186. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_uniformed_car_x", typeid(float).name(), t_index,sizeof(float), 1 });
    187. 

  187. 	t_index += sizeof(float)*1;
    188. 

  188. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_uniformed_car_y", typeid(float).name(), t_index,sizeof(float), 1 });
    189. 

  189. 	t_index += sizeof(float)*1;
    190. 

  190. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved200_209", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 10 });
    191. 

  191. 	t_index += sizeof(unsigned char)*10;
    192. 

  192. 	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 });
    193. 

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

  194. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved211_215", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 5 });
    195. 

  195. 	t_index += sizeof(unsigned char)*5;
    196. 

  196. 	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 });
    197. 

  197. 	t_index += sizeof(float)*1;
    198. 

  198. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved217_231", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 25 });
    199. 

  199. 	t_index += sizeof(unsigned char)*25;
    200. 

  200. 

  201. //	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);
    202. 

  202. 	t_snap7_buf.init(DISPATCH_RESPONSE_FROM_PLC_TO_MANAGER_DBNUMBER_0 , 0, sizeof(Dispatch_response_from_plc_to_manager), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    203. 

  203. 	m_receive_buf_map[0] = t_snap7_buf;
    204. 

  204. 

  205. 

  206. 	//调度状态
    207. 

  207. 	t_index = 0;
    208. 

  208. 	t_variable_information_vector.clear();
    209. 

  209. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    210. 

  210. 	t_index += sizeof(unsigned char)*1;
    211. 

  211. 

  212. //	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);
    213. 

  213. 	t_snap7_buf.init(DISPATCH_PLC_STATUS_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Dispatch_plc_status_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    214. 

  214. 	m_send_buf_map[2] = t_snap7_buf;
    215. 

  215. 

  216. 	t_index = 0;
    217. 

  217. 	t_variable_information_vector.clear();
    218. 

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

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

  220. 

  221. //	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);
    222. 

  222. 	t_snap7_buf.init(DISPATCH_PLC_STATUS_FROM_PLC_TO_MANAGER_DBNUMBER_0 , 0, sizeof(Dispatch_plc_status_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    223. 

  223. 	m_receive_buf_map[1] = t_snap7_buf;
    224. 

  224. 

  225. 

  226. 

  227. 	//地面雷达指令
    228. 

  228. 	t_index = 0;
    229. 

  229. 	t_variable_information_vector.clear();
    230. 

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

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

  232. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_center_y", typeid(float).name(), t_index,sizeof(float), 1 });
    233. 

  233. 	t_index += sizeof(float)*1;
    234. 

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

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

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

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

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

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

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

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

  242. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_height", typeid(float).name(), t_index,sizeof(float), 1 });
    243. 

  243. 	t_index += sizeof(float)*1;
    244. 

  244. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_base", typeid(float).name(), t_index,sizeof(float), 1 });
    245. 

  245. 	t_index += sizeof(float)*1;
    246. 

  246. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_car_wheel_width", typeid(float).name(), t_index,sizeof(float), 1 });
    247. 

  247. 	t_index += sizeof(float)*1;
    248. 

  248. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_uniformed_car_x", typeid(float).name(), t_index,sizeof(float), 1 });
    249. 

  249. 	t_index += sizeof(float)*1;
    250. 

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

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

  252. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_locate_correct", 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_reserved45_48", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    255. 

  255. 	t_index += sizeof(unsigned char)*3;
    256. 

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

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

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

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

  260. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    261. 

  261. 	t_index += sizeof(unsigned char)*1;
    262. 

  262. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    263. 

  263. 	t_index += sizeof(unsigned char)*1;
    264. 

  264. 

  265. 

  266. 

  267. //	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);
    268. 

  268. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    269. 

  269. 	m_send_buf_map[3] = t_snap7_buf;
    270. 

  270. //	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);
    271. 

  271. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 , 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    272. 

  272. 	m_send_buf_map[4] = t_snap7_buf;
    273. 

  273. 

  274. 

  275. 	t_index = 0;
    276. 

  276. 	t_variable_information_vector.clear();
    277. 

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

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

  281. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    282. 

  282. 	t_index += sizeof(unsigned char)*1;
    283. 

  283. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    284. 

  284. 	t_index += sizeof(unsigned char)*1;
    285. 

  285. 

  286. //	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);
    287. 

  287. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    288. 

  288. 	m_send_buf_map[5] = t_snap7_buf;
    289. 

  289. //	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);
    290. 

  290. 	t_snap7_buf.init(GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 , 0, sizeof(Ground_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    291. 

  291. 	m_send_buf_map[6] = t_snap7_buf;
    292. 

  292. 

  293. 	t_index = 0;
    294. 

  294. 	t_variable_information_vector.clear();
    295. 

  295. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    296. 

  296. 	t_index += sizeof(unsigned char)*1;
    297. 

  297. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    298. 

  298. 	t_index += sizeof(unsigned char)*1;
    299. 

  299. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    300. 

  300. 	t_index += sizeof(unsigned char)*1;
    301. 

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

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

  303. 

  304. //	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);
    305. 

  305. 	t_snap7_buf.init(GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 , 0, sizeof(Ground_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    306. 

  306. 	m_receive_buf_map[2] = t_snap7_buf;
    307. 

  307. //	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);
    308. 

  308. 	t_snap7_buf.init(GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 , 0, sizeof(Ground_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    309. 

  309. 	m_receive_buf_map[3] = t_snap7_buf;
    310. 

  310. 

  311. 

  312. 

  313. //防撞雷达
    314. 

  314. 	t_index = 0;
    315. 

  315. 	t_variable_information_vector.clear();
    316. 

  316. 	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 });
    317. 

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

  318. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved5_7", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    319. 

  319. 	t_index += sizeof(unsigned char)*3;
    320. 

  320. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_offset_x", typeid(float).name(), t_index,sizeof(float), 1 });
    321. 

  321. 	t_index += sizeof(float)*1;
    322. 

  322. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_response_offset_angle", typeid(float).name(), t_index,sizeof(float), 1 });
    323. 

  323. 	t_index += sizeof(float)*1;
    324. 

  324. 

  325. //	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);
    326. 

  326. 	t_snap7_buf.init(ANTICOLLISION_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 4, sizeof(Anticollision_lidar_response_from_manager_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    327. 

  327. 	m_send_buf_map[7] = t_snap7_buf;
    328. 

  328. 

  329. 	t_index = 0;
    330. 

  330. 	t_variable_information_vector.clear();
    331. 

  331. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    332. 

  332. 	t_index += sizeof(unsigned char)*1;
    333. 

  333. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    334. 

  334. 	t_index += sizeof(unsigned char)*1;
    335. 

  335. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    336. 

  336. 	t_index += sizeof(unsigned char)*1;
    337. 

  337. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    338. 

  338. 	t_index += sizeof(unsigned char)*1;
    339. 

  339. 

  340. //	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);
    341. 

  341. 	t_snap7_buf.init(ANTICOLLISION_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Anticollision_lidar_response_from_manager_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    342. 

  342. 	m_send_buf_map[8] = t_snap7_buf;
    343. 

  343. 

  344. 

  345. 	t_index = 0;
    346. 

  346. 	t_variable_information_vector.clear();
    347. 

  347. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    348. 

  348. 	t_index += sizeof(unsigned char)*1;
    349. 

  349. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    350. 

  350. 	t_index += sizeof(unsigned char)*1;
    351. 

  351. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    352. 

  352. 	t_index += sizeof(unsigned char)*1;
    353. 

  353. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    354. 

  354. 	t_index += sizeof(unsigned char)*1;
    355. 

  355. 

  356. //	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);
    357. 

  357. 	t_snap7_buf.init(ANTICOLLISION_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 , 0, sizeof(Anticollision_lidar_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    358. 

  358. 	m_receive_buf_map[4] = t_snap7_buf;
    359. 

  359. 

  360. 

  361. 

  362. 

  363. 	//单片机指令
    364. 

  364. 	t_index = 0;
    365. 

  365. 	t_variable_information_vector.clear();
    366. 

  366. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_process_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    367. 

  367. 	t_index += sizeof(unsigned char)*1;
    368. 

  368. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_process_control", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    369. 

  369. 	t_index += sizeof(unsigned char)*1;
    370. 

  370. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_over_border_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    371. 

  371. 	t_index += sizeof(unsigned char)*1;
    372. 

  372. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_car_height_status_current", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    373. 

  373. 	t_index += sizeof(unsigned char)*1;
    374. 

  374. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_car_height_status_passing", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    375. 

  375. 	t_index += sizeof(unsigned char)*1;
    376. 

  376. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_outside_door_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    377. 

  377. 	t_index += sizeof(unsigned char)*1;
    378. 

  378. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_outside_door_control", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    379. 

  379. 	t_index += sizeof(unsigned char)*1;
    380. 

  380. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_dispatch_finish_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    381. 

  381. 	t_index += sizeof(unsigned char)*1;
    382. 

  382. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_inside_existence_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    383. 

  383. 	t_index += sizeof(unsigned char)*1;
    384. 

  384. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_outside_existence_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    385. 

  385. 	t_index += sizeof(unsigned char)*1;
    386. 

  386. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reset_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    387. 

  387. 	t_index += sizeof(unsigned char)*1;
    388. 

  388. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_stop_flag", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    389. 

  389. 	t_index += sizeof(unsigned char)*1;
    390. 

  390. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_error_code", typeid(unsigned int).name(), t_index,sizeof(unsigned int), 1 });
    391. 

  391. 	t_index += sizeof(unsigned int)*1;
    392. 

  392. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved16_35", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    393. 

  393. 	t_index += sizeof(unsigned char)*20;
    394. 

  394. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_gpio_input", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 16 });
    395. 

  395. 	t_index += sizeof(unsigned char)*16;
    396. 

  396. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_gpio_output", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 8 });
    397. 

  397. 	t_index += sizeof(unsigned char)*8;
    398. 

  398. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved60_79", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 20 });
    399. 

  399. 	t_index += sizeof(unsigned char)*20;
    400. 

  400. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    401. 

  401. 	t_index += sizeof(unsigned char)*1;
    402. 

  402. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    403. 

  403. 	t_index += sizeof(unsigned char)*1;
    404. 

  404. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    405. 

  405. 	t_index += sizeof(unsigned char)*1;
    406. 

  406. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    407. 

  407. 	t_index += sizeof(unsigned char)*1;
    408. 

  408. 

  409. //	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    410. 

  410. 	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 , 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    411. 

  411. 	m_send_buf_map[9] = t_snap7_buf;
    412. 

  412. //	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 +m_plc_id*100, 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    413. 

  413. 	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 , 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    414. 

  414. 	m_send_buf_map[10] = t_snap7_buf;
    415. 

  415. //	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_2 +m_plc_id*100, 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    416. 

  416. 	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_2 , 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    417. 

  417. 	m_send_buf_map[11] = t_snap7_buf;
    418. 

  418. //	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_3 +m_plc_id*100, 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    419. 

  419. 	t_snap7_buf.init(SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_3 , 0, sizeof(Singlechip_response_from_manager_to_plc), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    420. 

  420. 	m_send_buf_map[12] = t_snap7_buf;
    421. 

  421. 

  422. 

  423. 	t_index = 0;
    424. 

  424. 	t_variable_information_vector.clear();
    425. 

  425. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    426. 

  426. 	t_index += sizeof(unsigned char)*1;
    427. 

  427. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_communication_mode", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    428. 

  428. 	t_index += sizeof(unsigned char)*1;
    429. 

  429. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_refresh_command", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    430. 

  430. 	t_index += sizeof(unsigned char)*1;
    431. 

  431. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_data_validity", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    432. 

  432. 	t_index += sizeof(unsigned char)*1;
    433. 

  433. 

  434. //	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 +m_plc_id*100, 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    435. 

  435. 	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 , 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    436. 

  436. 	m_receive_buf_map[5] = t_snap7_buf;
    437. 

  437. //	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 +m_plc_id*100, 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    438. 

  438. 	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 , 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    439. 

  439. 	m_receive_buf_map[6] = t_snap7_buf;
    440. 

  440. //	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_2 +m_plc_id*100, 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    441. 

  441. 	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_2 , 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    442. 

  442. 	m_receive_buf_map[7] = t_snap7_buf;
    443. 

  443. //	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_3 +m_plc_id*100, 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    444. 

  444. 	t_snap7_buf.init(SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_3 , 0, sizeof(Singlechip_request_from_plc_to_manager), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    445. 

  445. 	m_receive_buf_map[8] = t_snap7_buf;
    446. 

  446. 

  447. 	switch ( m_plc_id )
    448. 

  448. 	{
    449. 

  449. 	    case 0:
    450. 

  450. 	    {
    451. 

  451. 			return Snap7_communication_base::communication_init_from_protobuf(SNAP7_COMMUNICATION_PARAMETER_PATH_A);
    452. 

  452. 	        break;
    453. 

  453. 	    }
    454. 

  454. 		case 1:
    455. 

  455. 	    {
    456. 

  456. 			return Snap7_communication_base::communication_init_from_protobuf(SNAP7_COMMUNICATION_PARAMETER_PATH_B);
    457. 

  457. 	        break;
    458. 

  458. 	    }
    459. 

  459. 		case 2:
    460. 

  460. 		{
    461. 

  461. 			return Snap7_communication_base::communication_init_from_protobuf(SNAP7_COMMUNICATION_PARAMETER_PATH_C);
    462. 

  462. 			break;
    463. 

  463. 		}
    464. 

  464. 	    default:
    465. 

  465. 	    {
    466. 

  466. 	        return Error_manager(Error_code::SNAP7_READ_PROTOBUF_ERROR, Error_level::MINOR_ERROR,
    467. 

  467. 	        					" Dispatch_communication::communication_init m_plc_id error ");
    468. 

  468. 	        break;
    469. 

  469. 	    }
    470. 

  470. 	}
    471. 

  471. 

  472. 

  473. }
    474. 

  474. 

  475. //反初始化 通信 模块。
    476. 

  476. Error_manager Dispatch_communication::communication_uninit()
    477. 

  477. {
    478. 

  478. 	return Snap7_communication_base::communication_uninit();
    479. 

  479. }
    480. 

  480. 

  481. 

  482. //更新数据
    483. 

  483. Error_manager Dispatch_communication::updata_receive_buf()
    484. 

  484. {
    485. 

  485. //	return Error_code::SUCCESS;
    486. 

  486. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    487. 

  487. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    488. 

  488. 

  489. 	memcpy(&m_dispatch_response_from_plc_to_manager, m_receive_buf_map[0].mp_buf_obverse, m_receive_buf_map[0].m_size);
    490. 

  490. 

  491. 	memcpy(&m_dispatch_plc_status_from_plc_to_manager, m_receive_buf_map[1].mp_buf_obverse, m_receive_buf_map[1].m_size);
    492. 

  492. 

  493. 	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);
    494. 

  494. 	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);
    495. 

  495. 

  496. 	memcpy(&m_anticollision_lidar_request_from_plc_to_manager, m_receive_buf_map[4].mp_buf_obverse, m_receive_buf_map[4].m_size);
    497. 

  497. 

  498. 	memcpy(&m_singlechip_request_from_plc_to_manager[0], m_receive_buf_map[5].mp_buf_obverse, m_receive_buf_map[5].m_size);
    499. 

  499. 	memcpy(&m_singlechip_request_from_plc_to_manager[1], m_receive_buf_map[6].mp_buf_obverse, m_receive_buf_map[6].m_size);
    500. 

  500. 	memcpy(&m_singlechip_request_from_plc_to_manager[3], m_receive_buf_map[7].mp_buf_obverse, m_receive_buf_map[7].m_size);
    501. 

  501. 	memcpy(&m_singlechip_request_from_plc_to_manager[4], m_receive_buf_map[8].mp_buf_obverse, m_receive_buf_map[8].m_size);
    502. 

  502. 

  503. 

  504. 	return Error_code::SUCCESS;
    505. 

  505. }
    506. 

  506. Error_manager Dispatch_communication::updata_send_buf()
    507. 

  507. {
    508. 

  508. 	std::unique_lock<std::mutex> t_lock1(m_send_buf_lock);
    509. 

  509. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    510. 

  510. 

  511. 	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);
    512. 

  512. 	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);
    513. 

  513. 	memcpy(m_send_buf_map[2].mp_buf_obverse, &m_dispatch_plc_status_from_manager_to_plc, m_send_buf_map[2].m_size);
    514. 

  514. 

  515. 	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);
    516. 

  516. 	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);
    517. 

  517. 	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);
    518. 

  518. 	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);
    519. 

  519. 

  520. 	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);
    521. 

  521. 	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);
    522. 

  522. 

  523. 	memcpy(m_send_buf_map[9].mp_buf_obverse, &m_singlechip_response_from_manager_to_plc[0], m_send_buf_map[9].m_size);
    524. 

  524. 	memcpy(m_send_buf_map[10].mp_buf_obverse, &m_singlechip_response_from_manager_to_plc[1], m_send_buf_map[10].m_size);
    525. 

  525. 	memcpy(m_send_buf_map[11].mp_buf_obverse, &m_singlechip_response_from_manager_to_plc[2], m_send_buf_map[11].m_size);
    526. 

  526. 	memcpy(m_send_buf_map[12].mp_buf_obverse, &m_singlechip_response_from_manager_to_plc[3], m_send_buf_map[12].m_size);
    527. 

  527. 

  528. 	return Error_code::SUCCESS;
    529. 

  529. }
    530. 

  530. 

  531. 

  532. 

  533.