20210611, 调度流程 取车流程 完整版

dispatch/dispatch_device_base.cpp

@@ -142,13 +142,13 @@ Error_manager Dispatch_device_base::check_task_level(Dispatch_task_level dispatc
 					else
 					{
 						return Error_manager(Error_code::DISPATCH_DEVICE_TASK_LEVEL_ERROR, Error_level::MINOR_ERROR,
-											 " Dispatch_device_base::check_task_level error ");
+											 " Dispatch_device_base::check_task_level 1 error ");
 					}
 				}
 				else
 				{
 					return Error_manager(Error_code::DISPATCH_DEVICE_TASK_REPEAT, Error_level::MINOR_ERROR,
-										 " Dispatch_device_base::check_task_level error ");
+										 " Dispatch_device_base::check_task_level 2 error ");
 				}
 				break;
 			}
@@ -162,7 +162,7 @@ Error_manager Dispatch_device_base::check_task_level(Dispatch_task_level dispatc
 						return Error_code::SUCCESS;
 					}
 					else if ( ( m_dispatch_device_status == DISPATCH_DEVICE_ONE_LEVEL_WORK ||
-								m_dispatch_device_status == DISPATCH_DEVICE_ONE_LEVEL_OVER ) && mp_device_one_level_task.get() == NULL)
+								m_dispatch_device_status == DISPATCH_DEVICE_ONE_LEVEL_OVER ) && mp_device_one_level_task.get() != NULL)
 					{
 						mp_device_one_level_task->set_task_statu(Task_Base::Task_statu::TASK_STOP);
 						return Error_code::SUCCESS;
@@ -170,24 +170,13 @@ Error_manager Dispatch_device_base::check_task_level(Dispatch_task_level dispatc
 					else
 					{
 						return Error_manager(Error_code::DISPATCH_DEVICE_TASK_LEVEL_ERROR, Error_level::MINOR_ERROR,
-											 " Dispatch_device_base::check_task_level error ");
+											 " Dispatch_device_base::check_task_level 3  error ");
 					}
 				}
 				else
 				{
 					return Error_manager(Error_code::DISPATCH_DEVICE_TASK_REPEAT, Error_level::MINOR_ERROR,
-										 " Dispatch_device_base::check_task_level error ");
-				}
-				break;
-
-
-
-
-				if ( ( m_dispatch_device_status == DISPATCH_DEVICE_READY ||
-					 m_dispatch_device_status == DISPATCH_DEVICE_ONE_LEVEL_WORK ||
-					 m_dispatch_device_status == DISPATCH_DEVICE_ONE_LEVEL_OVER ) && mp_device_two_level_task.get() == NULL)
-				{
-					return Error_code::SUCCESS;
+										 " Dispatch_device_base::check_task_level 4 error ");
 				}
 				break;
 			}
@@ -203,12 +192,12 @@ Error_manager Dispatch_device_base::check_task_level(Dispatch_task_level dispatc
 			default:
 			{
 				return Error_manager(Error_code::PARAMETER_ERROR, Error_level::MINOR_ERROR,
-									 "  Dispatch_device_base::check_task PARAMETER_ERROR ");
+									 "  Dispatch_device_base::check_task 5 PARAMETER_ERROR ");
 				break;
 			}
 		}
 		return Error_manager(Error_code::DISPATCH_DEVICE_STATUS_BUSY, Error_level::NEGLIGIBLE_ERROR,
-							 " Dispatch_device_base::check_task is busy ");
+							 " Dispatch_device_base::check_task is busy 6 ");
 	}
 	else
 	{
@@ -216,7 +205,7 @@ Error_manager Dispatch_device_base::check_task_level(Dispatch_task_level dispatc
 //		std::cout << " huli test :::: " << " m_dispatch_device_status = " << m_dispatch_device_status << std::endl;
 //		std::cout << " huli test :::: " << " id = " << m_device_id << std::endl;
 	    return Error_manager(Error_code::DISPATCH_DEVICE_STATUS_ERROR, Error_level::MINOR_ERROR,
-	    					" Dispatch_device_base::check_task error ");
+	    					" Dispatch_device_base::check_task 7 error ");
 	}
 	return Error_code::SUCCESS;
 }

dispatch/dispatch_manager.cpp

@@ -613,12 +613,29 @@ Error_manager Dispatch_manager::release_dispatch_process(std::string command_key
 	{
 		m_key_to_dispatch_process_store_map.erase(iter1);
 	}
-
 	auto iter2 = m_key_to_dispatch_process_pickup_map.find(command_key);
 	if ( iter2 != m_key_to_dispatch_process_pickup_map.end())
 	{
 		m_key_to_dispatch_process_pickup_map.erase(iter2);
 	}
+
+	for (auto iter = m_process_store_list.begin(); iter != m_process_store_list.end(); ++iter)
+	{
+		if ( (*iter)->m_command_key == command_key )
+		{
+			m_process_store_list.erase(iter);
+			break;
+		}
+	}
+	for (auto iter = m_process_pickup_list.begin(); iter != m_process_pickup_list.end(); ++iter)
+	{
+		if ( (*iter)->m_command_key == command_key )
+		{
+			m_process_pickup_list.erase(iter);
+			break;
+		}
+	}
+
 	return Error_code::SUCCESS;
 }
 

dispatch/dispatch_process.cpp

@@ -273,7 +273,7 @@ void Dispatch_process::Main()
 	{
 		std::this_thread::sleep_for(std::chrono::microseconds(1));
 		std::this_thread::sleep_for(std::chrono::milliseconds(1));
-		std::this_thread::sleep_for(std::chrono::seconds(1));
+//		std::this_thread::sleep_for(std::chrono::seconds(1));
 //		std::cout << " huli test :::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: " << " m_dispatch_process_status = " << m_dispatch_process_status << std::endl;
 
 		switch ( (Dispatch_process_status)m_dispatch_process_status )
@@ -314,28 +314,30 @@ void Dispatch_process::Main()
 						m_dispatch_catcher_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_READY;
 						m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_READY;
 						m_dispatch_process_status = DISPATCH_PROCESS_WORKING_STORE;
+
+						//根据设备选择, 来设置终点
+						if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 2 )
+						{
+							m_parkspace_information_optimal = m_parkspace_information_temporary;
+						}
+						else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 0 && m_temporary_cache_flag == false )
+						{
+							m_parkspace_information_optimal = m_parkspace_information_left;
+						}
+						else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 0 && m_temporary_cache_flag == true)
+						{
+							m_parkspace_information_optimal = m_parkspace_information_temporary;
+						}
+						else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 1 && m_temporary_cache_flag == false )
+						{
+							m_parkspace_information_optimal = m_parkspace_information_right;
+						}
+						else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 1 && m_temporary_cache_flag == true)
+						{
+							m_parkspace_information_optimal = m_parkspace_information_temporary;
+						}
 					}
-					//根据设备选择, 来设置终点
-					if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 2 )
-					{
-						m_parkspace_information_optimal = m_parkspace_information_temporary;
-					}
-					else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 0 && m_temporary_cache_flag == false )
-					{
-						m_parkspace_information_optimal = m_parkspace_information_left;
-					}
-					else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 0 && m_temporary_cache_flag == true)
-					{
-						m_parkspace_information_optimal = m_parkspace_information_temporary;
-					}
-					else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 1 && m_temporary_cache_flag == false )
-					{
-						m_parkspace_information_optimal = m_parkspace_information_right;
-					}
-					else if ( m_dispatch_carrier_node.mp_main_carrier->get_device_id() == 1 && m_temporary_cache_flag == true)
-					{
-						m_parkspace_information_optimal = m_parkspace_information_temporary;
-					}
+
 				}
 				//else 一直等待资源分配
 				break;
@@ -518,6 +520,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 			{
 				//通知机器人提前开始
 				m_dispatch_catcher_node.m_dispatch_control_start_flag = true;
+				m_dispatch_catcher_node.m_following_flag = false;
 			}
 			//连接搬运器, 创建新的任务单 与设备建立连接, 只能成功, 失败就要进入故障处理
 			m_dispatch_carrier_node.m_error = m_dispatch_carrier_node.mp_main_carrier->check_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL);
@@ -621,6 +624,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		case DISPATCH_CARRIER_PICKUP_8://让中跑车回到电梯井, 进行x轴路径检查
 		{
 			float t_z = tp_dispatch_coordinates->m_carrier_coordinates_map[m_parkspace_information_optimal.parkingspace_index_id].z;
+
 			if ( Common_data::approximate_difference(tp_main_carrier->m_actual_z, t_z, DISPATCH_DEFAULT_DIFFERENCE) )
 			{
 				//直接到 20步 , 准备同层移动到车位
@@ -1402,6 +1406,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 				t_following_x = tp_dispatch_coordinates->m_carrier_coordinates_map[m_dispatch_destination+1].x;
 			}
 			carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, t_following_x);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
 			break;
 		}
 		case DISPATCH_CARRIER_PICKUP_71:
@@ -1502,6 +1507,29 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		}
 	}
 
+	std::cout << " huli test :::: " << " ======================================================================================== = " << 1 << std::endl;
+	std::cout << " huli test :::: " << " m_dispatch_carrier_node.m_dispatch_control_status = " << m_dispatch_carrier_node.m_dispatch_control_status << std::endl;
+	if ( tp_main_carrier != NULL )
+	{
+		std::cout << " huli test :::: " << " tp_main_carrier->get_device_id() = " << tp_main_carrier->get_device_id() << std::endl;
+	}
+	else
+	{
+		std::cout << " huli test :::: " << " tp_main_carrier->get_device_id() = " << -8888 << std::endl;
+	}
+	if ( tp_avoid_catcher != NULL )
+	{
+		std::cout << " huli test :::: " << " tp_avoid_catcher->get_device_id() = " << tp_avoid_catcher->get_device_id() << std::endl;
+	}
+	else
+	{
+		std::cout << " huli test :::: " << " tp_avoid_catcher->get_device_id() = " << -8888 << std::endl;
+	}
+//	char cr;
+//	std::cin >> cr ;
+
+
+
 	Error_manager t_catcher_error;
 	Catcher * tp_main_catcher = NULL;
 	Catcher_task * tp_main_catcher_task = NULL;
@@ -1637,9 +1665,11 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 					m_dispatch_catcher_node.mp_following_carrier = Dispatch_manager::get_instance_references().m_carrier_map[2];
 				}
 				m_dispatch_catcher_node.m_error = m_dispatch_catcher_node.mp_following_carrier->check_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+				std::cout << " huli test :::: " << " m_dispatch_catcher_node.m_error = " << m_dispatch_catcher_node.m_error.to_string() << std::endl;
 				if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
 				{
 					m_dispatch_catcher_node.m_error = connect_dispatch_carrier(m_dispatch_catcher_node.mp_following_carrier, m_dispatch_catcher_node.mp_following_carrier_task, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+					std::cout << " huli test :::: " << " m_dispatch_catcher_node.m_error = " << m_dispatch_catcher_node.m_error.to_string() << std::endl;
 					if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
 					{
 						m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
@@ -1660,7 +1690,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 			int temp = (t_terminal-1)%2;
 			int t_column = 4 + ((t_terminal-1)/2)*3 + temp*2 -1;
 
-			if ( tp_avoid_catcher->m_actual_coordinates_columns < t_column )
+			if ( tp_main_catcher->m_actual_coordinates_columns < t_column )
 			{
 				m_dispatch_catcher_node.m_error = tp_dispatch_coordinates->catcher_try_space_lock(2, tp_main_catcher->m_actual_coordinates_columns,
 																								  2, t_column+2,
@@ -1682,7 +1712,17 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		}
 		case DISPATCH_CATCHER_PICKUP_10://机器手调整到 对接搬运器的姿态
 		{
-			float t_x = tp_dispatch_coordinates->m_carrier_coordinates_map[m_dispatch_destination].x;
+			float t_x = 0;
+			// 2楼交接, 在出口终点x交接      3楼交接, 在取车车位起点x交接,
+			if ( m_dispatch_catcher_node.m_following_flag )
+			{
+				t_x = tp_dispatch_coordinates->m_carrier_coordinates_map[m_dispatch_destination].x;
+			}
+			else
+			{
+				t_x = tp_dispatch_coordinates->m_carrier_coordinates_map[m_parkspace_information_optimal.parkingspace_index_id].x;
+			}
+
 			float t_y = tp_dispatch_coordinates->m_carrier_default_y1_back - (m_wheel_base /2);
 			if ( Common_data::approximate_difference(tp_main_catcher->m_actual_x, t_x, DISPATCH_DEFAULT_DIFFERENCE) &&
 				 Common_data::approximate_difference(tp_main_catcher->m_actual_y, t_y, DISPATCH_DEFAULT_DIFFERENCE))
@@ -1736,9 +1776,28 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		}
 		case DISPATCH_CATCHER_PICKUP_12://机器手 准备下降抓车之前, 等待搬运器就位, 然后把一级任务升到三级
 		{
-			//等待搬运器就位, 把一级任务升到三级
-			if ( m_dispatch_carrier_node.m_dispatch_control_status >= Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_52 )
+			//2楼交接时, 机器人先等待, 再升级,   3楼交接时, 机器人先升级, 再等待,
+			if ( m_dispatch_catcher_node.m_following_flag )
+			{
+				// 2楼交接, 等待搬运器准备好, 机器人再升级
+				//等待搬运器就位, 把一级任务升到三级
+				if ( m_dispatch_carrier_node.m_dispatch_control_status >= Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_52 )
+				{
+					m_dispatch_catcher_node.m_error = m_dispatch_catcher_node.mp_main_catcher->change_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_THREE_LEVEL);
+					if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+					{
+						m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
+					}
+					else
+					{
+						m_dispatch_catcher_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+					}
+				}
+				//else 无限等待
+			}
+			else
 			{
+			    //3楼交接, 机器人直接升级, 需要锁定位置, 不能为其他流程避让
 				m_dispatch_catcher_node.m_error = m_dispatch_catcher_node.mp_main_catcher->change_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_THREE_LEVEL);
 				if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
 				{
@@ -1749,22 +1808,44 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 					m_dispatch_catcher_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
 				}
 			}
-			//else 无限等待
+
 			break;
 		}
 		case DISPATCH_CATCHER_PICKUP_13://机器手 z轴下降, 空间加锁
 		{
-			//2楼交接的空间已经由搬运器加锁, 机器人下降时就不判断了, 强制加锁即可.
-			if ( m_dispatch_catcher_node.m_following_flag )//去3楼取车不用加锁
+			//2楼交接时, 机器人先等待, 再升级,   3楼交接时, 机器人先升级, 再等待,
+			if ( m_dispatch_catcher_node.m_following_flag )
 			{
-				int t_terminal = m_dispatch_destination - 1100;
-				int temp = (t_terminal-1)%2;
-				int t_column = 4 + ((t_terminal-1)/2)*3 + temp*2 -1;
-				m_dispatch_catcher_node.m_error = tp_dispatch_coordinates->catcher_force_space_lock(0, t_column-1,
-																									2, t_column+1,
-																									tp_main_catcher->get_device_id());
+				//2楼交接的空间已经由搬运器加锁, 机器人下降时就不判断了, 强制加锁即可.
+				if ( m_dispatch_catcher_node.m_following_flag )//去3楼取车不用加锁
+				{
+					int t_terminal = m_dispatch_destination - 1100;
+					int temp = (t_terminal-1)%2;
+					int t_column = 4 + ((t_terminal-1)/2)*3 + temp*2 -1;
+					m_dispatch_catcher_node.m_error = tp_dispatch_coordinates->catcher_force_space_lock(0, t_column-1,
+																										2, t_column+1,
+																										tp_main_catcher->get_device_id());
+				}
+				m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				if ( m_dispatch_carrier_node.m_dispatch_control_status >= Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_52 )
+				{
+					//2楼交接的空间已经由搬运器加锁, 机器人下降时就不判断了, 强制加锁即可.
+					if ( m_dispatch_catcher_node.m_following_flag )//去3楼取车不用加锁
+					{
+						int t_terminal = m_dispatch_destination - 1100;
+						int temp = (t_terminal-1)%2;
+						int t_column = 4 + ((t_terminal-1)/2)*3 + temp*2 -1;
+						m_dispatch_catcher_node.m_error = tp_dispatch_coordinates->catcher_force_space_lock(0, t_column-1,
+																											2, t_column+1,
+																											tp_main_catcher->get_device_id());
+					}
+					m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
+				}
+				//else 无限等待
 			}
-			m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
 			break;
 		}
 		case DISPATCH_CATCHER_PICKUP_14://机器手 z轴下降
@@ -1977,7 +2058,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 			check_task_status(m_dispatch_catcher_node.mp_main_catcher_task, m_dispatch_catcher_node.m_dispatch_control_status);
 			break;
 		}		
-		case DISPATCH_CATCHER_PICKUP_36://主搬运器 断连
+		case DISPATCH_CATCHER_PICKUP_36://主机器人 断连
 		{
 			disconnect_dispatch_device(m_dispatch_catcher_node.mp_main_catcher, m_dispatch_catcher_node.mp_main_catcher_task);
 			if ( m_dispatch_catcher_node.m_following_flag )
@@ -1999,25 +2080,9 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		}
 	}
 
-	std::cout << " huli test :::: " << " =========================================================== = " << 1 << std::endl;
-	std::cout << " huli test :::: " << " m_dispatch_carrier_node.m_dispatch_control_status = " << m_dispatch_carrier_node.m_dispatch_control_status << std::endl;
-	if ( tp_main_carrier != NULL )
-	{
-	    std::cout << " huli test :::: " << " tp_main_carrier->get_device_id() = " << tp_main_carrier->get_device_id() << std::endl;
-	}
-	else
-	{
-		std::cout << " huli test :::: " << " tp_main_carrier->get_device_id() = " << -1 << std::endl;
-	}
-	if ( tp_avoid_catcher != NULL )
-	{
-		std::cout << " huli test :::: " << " tp_avoid_catcher->get_device_id() = " << tp_avoid_catcher->get_device_id() << std::endl;
-	}
-	else
-	{
-		std::cout << " huli test :::: " << " tp_avoid_catcher->get_device_id() = " << -1 << std::endl;
-	}
-	std::cout << " huli test :::: " << " -------------------------- = " << 2 << std::endl;
+
+
+	std::cout << " huli test :::: " << " ----------------------------------------------------------------------------------------- = " << 2 << std::endl;
 	std::cout << " huli test :::: " << " m_dispatch_catcher_node.m_dispatch_control_status = " << m_dispatch_catcher_node.m_dispatch_control_status << std::endl;
 	if ( tp_main_catcher != NULL )
 	{
@@ -2025,7 +2090,7 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 	}
 	else
 	{
-		std::cout << " huli test :::: " << " tp_main_catcher->get_device_id() = " << -1 << std::endl;
+		std::cout << " huli test :::: " << " tp_main_catcher->get_device_id() = " << -8888 << std::endl;
 	}
 	if ( tp_following_carrier != NULL )
 	{
@@ -2033,11 +2098,15 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 	}
 	else
 	{
-		std::cout << " huli test :::: " << " tp_following_carrier->get_device_id() = " << -1 << std::endl;
+		std::cout << " huli test :::: " << " tp_following_carrier->get_device_id() = " << -8888 << std::endl;
 	}
 
-	char ch;
-	std::cin >> ch ;
+	std::cout << " huli test :::: " << " +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ = " << 3 << std::endl;
+	std::cout << " huli test :::: " << " m_parkspace_information_optimal.parkingspace_index_id = " << m_parkspace_information_optimal.parkingspace_index_id << std::endl;
+	std::cout << " huli test :::: " << " m_dispatch_destination = " << m_dispatch_destination << std::endl;
+	
+//	char ch;
+//	std::cin >> ch ;
 
 
 	//结果汇总
@@ -2143,11 +2212,11 @@ Error_manager Dispatch_process::check_main_catcher(Dispatch_catcher_node & dispa
 
 		if ( m_dispatch_process_type == Common_data::Dispatch_process_type::DISPATCH_PROCESS_PICKUP )
 		{
-			m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CATCHER_PICKUP_START;
+			dispatch_catcher_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CATCHER_PICKUP_START;
 		}
 		else if ( m_dispatch_process_type == Common_data::Dispatch_process_type::DISPATCH_PROCESS_STORE )
 		{
-			m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CATCHER_STORE_START;
+			dispatch_catcher_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CATCHER_STORE_START;
 		}
 		return Error_code::SUCCESS;
 	}