20210602, 调度流程基本框架

dispatch/dispatch_manager.cpp

@@ -986,10 +986,6 @@ void Dispatch_manager::resource_allocation()
 										break;
 									}
 								}
-								else if (m_process_store_list.size() >= DISPATCH_MANAHER_STORE_LIST_SIZE_LIMIT && is_2nd_path)
-								{
-
-								}
 							}
 							else if ( t_carrier_left_is_ready )
 							{

dispatch/dispatch_process.h

@@ -59,10 +59,17 @@ public:
 		DISPATCH_PROCESS_STATUS_UNKNOW          = 0,    //未知
 		DISPATCH_PROCESS_CREATED				= 1, 	//流程创建,
 		DISPATCH_PROCESS_READY               	= 2,    //流程准备，待机
+
+		DISPATCH_PROCESS_WORKING_PICKUP					= 103,	//流程取车
+		DISPATCH_PROCESS_WORKING_STORE					= 104,	//流程存车
+
+
 		DISPATCH_PROCESS_CONNECT_DEVICE			= 3, 	//流程 连接设备
 		DISPATCH_PROCESS_WORKING				= 4, 	//流程工作正忙, 进行长流程
 		DISPATCH_PROCESS_RESPONSE				= 5, 	//流程 给调度控制答复
 		DISPATCH_PROCESS_DISCONNECT_DEVICE		= 6, 	//流程 解除设备
+
+
 		DISPATCH_PROCESS_OVER					= 7, 	//流程完成
 		DISPATCH_PROCESS_RELEASE				= 8, 	//流程释放
 
@@ -76,13 +83,69 @@ public:
 	//调度控制的状态, 控制步骤(对于一个设备的长流程的控制)
 	enum Dispatch_control_status
 	{
+//		DISPATCH_CONTROL_STATUS_UNKNOW          = 0,    //未知
+//		DISPATCH_CONTROL_CREATED				= 1, 	//流程创建,
+//		DISPATCH_CONTROL_READY               	= 2,    //流程准备，待机
+//		DISPATCH_CONTROL_CONNECT_DEVICE			= 3, 	//流程 连接设备
+		DISPATCH_CONTROL_WORKING				= 4, 	//流程工作正忙, 进行长流程
+		DISPATCH_CONTROL_TASK_WITHDRAW			= 5,	//流程 收回任务单
+		DISPATCH_CONTROL_RESPONSE				= 6, 	//流程 给调度控制答复
+//		DISPATCH_CONTROL_DISCONNECT_DEVICE		= 7, 	//流程 解除设备
+//		DISPATCH_CONTROL_OVER					= 8, 	//流程完成
+//		DISPATCH_CONTROL_RELEASE				= 9, 	//流程释放
+//
+//		DISPATCH_CONTROL_FAULT					= 10,	//故障
+//		DISPATCH_CONTROL_MOTION_FAILED			= 11,	//单个小动作执行失败
+
 		DISPATCH_CONTROL_STATUS_UNKNOW          = 0,    //未知
 		DISPATCH_CONTROL_CREATED				= 1, 	//流程创建,
 		DISPATCH_CONTROL_READY               	= 2,    //流程准备，待机
 		DISPATCH_CONTROL_CONNECT_DEVICE			= 3, 	//流程 连接设备
-		DISPATCH_CONTROL_WORKING				= 4, 	//流程工作正忙, 进行长流程
-		DISPATCH_CONTROL_TASK_WITHDRAW			= 5,	//流程 收回任务单
-		DISPATCH_CONTROL_RESPONSE				= 6, 	//流程 给调度控制答复
+
+		DISPATCH_CARRIER_PICKUP_START			= 200, 	//取车流程 开始
+		DISPATCH_CARRIER_PICKUP_1				= 201,
+		DISPATCH_CARRIER_PICKUP_2				= 202,
+		DISPATCH_CARRIER_PICKUP_3				= 203,
+		DISPATCH_CARRIER_PICKUP_4				= 204,
+		DISPATCH_CARRIER_PICKUP_5				= 205,
+		DISPATCH_CARRIER_PICKUP_6				= 206,
+		DISPATCH_CARRIER_PICKUP_7				= 207,
+		DISPATCH_CARRIER_PICKUP_8				= 208,
+		DISPATCH_CARRIER_PICKUP_9				= 209,
+
+		DISPATCH_CATCHER_PICKUP_START			= 300, 	//取车流程 开始
+		DISPATCH_CATCHER_PICKUP_1				= 301,
+		DISPATCH_CATCHER_PICKUP_2				= 302,
+		DISPATCH_CATCHER_PICKUP_3				= 303,
+		DISPATCH_CATCHER_PICKUP_4				= 304,
+		DISPATCH_CATCHER_PICKUP_5				= 305,
+		DISPATCH_CATCHER_PICKUP_6				= 306,
+		DISPATCH_CATCHER_PICKUP_7				= 307,
+		DISPATCH_CATCHER_PICKUP_8				= 308,
+		DISPATCH_CATCHER_PICKUP_9				= 309,
+
+		DISPATCH_CARRIER_STORE_START			= 400, 	//取车流程 开始
+		DISPATCH_CARRIER_STORE_1				= 401,
+		DISPATCH_CARRIER_STORE_2				= 402,
+		DISPATCH_CARRIER_STORE_3				= 403,
+		DISPATCH_CARRIER_STORE_4				= 404,
+		DISPATCH_CARRIER_STORE_5				= 405,
+		DISPATCH_CARRIER_STORE_6				= 406,
+		DISPATCH_CARRIER_STORE_7				= 407,
+		DISPATCH_CARRIER_STORE_8				= 408,
+		DISPATCH_CARRIER_STORE_9				= 409,
+
+		DISPATCH_CATCHER_STORE_START			= 500, 	//取车流程 开始
+		DISPATCH_CATCHER_STORE_1				= 501,
+		DISPATCH_CATCHER_STORE_2				= 502,
+		DISPATCH_CATCHER_STORE_3				= 503,
+		DISPATCH_CATCHER_STORE_4				= 504,
+		DISPATCH_CATCHER_STORE_5				= 505,
+		DISPATCH_CATCHER_STORE_6				= 506,
+		DISPATCH_CATCHER_STORE_7				= 507,
+		DISPATCH_CATCHER_STORE_8				= 508,
+		DISPATCH_CATCHER_STORE_9				= 509,
+
 		DISPATCH_CONTROL_DISCONNECT_DEVICE		= 7, 	//流程 解除设备
 		DISPATCH_CONTROL_OVER					= 8, 	//流程完成
 		DISPATCH_CONTROL_RELEASE				= 9, 	//流程释放
@@ -107,29 +170,39 @@ public:
 		std::chrono::system_clock::time_point	m_time_to_send_control_response;		//发送 控制的任务答复 的时间 注释
 	};
 
+
 	//调度设备机器人节点
 	struct Dispatch_catcher_node
 	{
-		Dispatch_control_status					m_dispatch_control_status;			//调度控制的状态, 控制步骤(对于一个设备的长流程的控制)
-		//核心机器人, 2号
+		Dispatch_control_status					m_dispatch_control_status;			//调度控制的状态, 控制步骤
+		bool									m_dispatch_control_start_flag =false;		//调度设备机器人启动标志位
+		// 核心机器人, 2号
 		std::shared_ptr<Dispatch_device_base>	mp_main_catcher;						//调度设备指针, 内存由Dispatch_manager来管理
 		std::shared_ptr<Task_Base>				mp_main_catcher_task;					//调度任务指针, 内存由本模块管理
 		//跟随搬运器, 3号搬运器
+		bool									m_following_flag;						//3号搬运器是否跟随机器人
 		std::shared_ptr<Dispatch_device_base>	mp_following_carrier;					//调度设备指针, 内存由Dispatch_manager来管理
 		std::shared_ptr<Task_Base>				mp_following_carrier_task;				//调度任务指针, 内存由本模块管理
 		//目前没有让别人避让的功能
+
+		Error_manager							m_error;							//错误码
+
 	};
 
 	//调度设备搬运器节点
 	struct Dispatch_carrier_node
 	{
-		Dispatch_control_status					m_dispatch_control_status;			//调度控制的状态, 控制步骤(对于一个设备的长流程的控制)
-		//核心搬运器, 1号或者2号搬运器
+		Dispatch_control_status					m_dispatch_control_status;			//调度控制的状态, 控制步骤
+		bool									m_dispatch_control_start_flag =false;		//调度设备机器人启动标志位
+		//核心搬运器, 搬运汽车的搬运器
 		std::shared_ptr<Dispatch_device_base>	mp_main_carrier;					//调度设备指针, 内存由Dispatch_manager来管理
 		std::shared_ptr<Task_Base>				mp_main_carrier_task;				//调度任务指针, 内存由本模块管理
 		//给机器人发送避让指令, 2号机器人(可选)
 		std::shared_ptr<Dispatch_device_base>	mp_avoid_catcher;						//调度设备指针, 内存由Dispatch_manager来管理
 		std::shared_ptr<Task_Base>				mp_avoid_catcher_task;					//调度任务指针, 内存由本模块管理
+
+		Error_manager							m_error;							//错误码
+
 	};
 
 
@@ -161,6 +234,8 @@ public://API functions
 	bool is_able_store_temporary_cache_path_3rd_floor();
 public://get or set member variable
 	void set_main_carrier(std::shared_ptr<Dispatch_device_base> p_carrier);
+	std::string get_dispatch_control_command_key(Dispatch_catcher_node & dispatch_catcher_node);
+	std::string get_dispatch_control_command_key(Dispatch_carrier_node & dispatch_carrier_node);
 protected://主流程
 
 	//主线程
@@ -168,13 +243,30 @@ protected://主流程
 
 	//检查调度请求
 	Error_manager check_dispatch_request_msg();
+	//等待资源分配
+	Error_manager wait_resource_allocation();
+	//调度控制取车
+	Error_manager dispatch_control_motion_pickup();
+	//调度控制存车
+	Error_manager dispatch_control_motion_store();
+
+	//检查核心搬运器
+	Error_manager check_main_carrier(Dispatch_carrier_node & dispatch_carrier_node);
+	//检查核心抓取器
+	Error_manager check_main_catcher(Dispatch_catcher_node & dispatch_catcher_node);
+	//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
+	Error_manager connect_dispatch_carrier(std::shared_ptr<Dispatch_device_base> & p_carrier, std::shared_ptr<Task_Base> & p_carrier_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level);
+	//连接抓取器, 创建新的任务单 与设备建立连接, 可以失败, 失败就重新执行
+	Error_manager connect_dispatch_catcher(std::shared_ptr<Dispatch_device_base> & p_catcher, std::shared_ptr<Task_Base> & p_catcher_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level);
+
+
+
+
 	//发送调度总计划
 	Error_manager send_dispatch_plan_request_msg();
-
 	//调度控制, 并根据完成情况给答复
 	Error_manager dispatch_control_motion();
 
-
 	//等待控制指令
 	Error_manager wait_dispatch_control_request_msg(int dispatch_device_type, Dispatch_control_node & dispatch_control_node);
 	//连接调度设备, 创建新的任务单 与设备建立连接
@@ -229,6 +321,8 @@ protected://长流程
 	Error_manager excute_passageway_motion(Dispatch_control_node & dispatch_control_node);
 
 protected://短流程
+	//检查 任务单 是否完成任务, 里面会调整短步骤
+	Error_manager check_task(std::shared_ptr<Task_Base> p_task, Dispatch_control_status & dispatch_control_status);
 	//检查 任务单 是否完成任务, 里面会调整短步骤
 	Error_manager check_task_ex(std::shared_ptr<Task_Base> p_task, int& step);
 
@@ -264,6 +358,39 @@ protected://短流程
 	//搬运器 修正轴距
 	Error_manager carrier_adjust_wheel_base(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates);
 
+
+	//机器手调整到 正常待机的姿态(调节夹杆和轴距)
+	Error_manager catcher_adjust_to_ready(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates);
+	//机器手 移动z
+	Error_manager catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	//机器手调整到 准备从地面抓车前的姿态
+	Error_manager catcher_adjust_from_ground(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates);
+	//机器手 修正轴距, 如果轴距大于3000mm, 那么就要修正轴距.
+	Error_manager catcher_adjust_wheel_base(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates);
+	//机器手 移动c轴 夹杆
+	Error_manager catcher_move_c(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, Catcher_task::Clamp_motion target);
+	//机器手调整到 对接搬运器的姿态
+	Error_manager catcher_adjust_to_carrier(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x, bool reverse_flag);
+	//机器手调整到 准备把车放到地面的姿态
+	Error_manager catcher_adjust_to_ground(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x, float target_y);
+	//机器手调整到 对接搬运器的姿态
+	Error_manager catcher_adjust_from_carrier(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x);
+
+	//搬运器调整到 正常待机的姿态(调节夹杆和轴距)
+	Error_manager carrier_adjust_to_ready(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates);
+	//搬运器 移动x
+	Error_manager carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	//搬运器 移动y
+	Error_manager carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	//搬运器 移动z
+	Error_manager carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	//搬运器 移动c轴 夹车杆
+	Error_manager carrier_move_c(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Clamp_motion target);
+	//搬运器调整 水平的交接
+	Error_manager carrier_joint_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Joint_motion target);
+	//搬运器 修正轴距
+	Error_manager carrier_adjust_wheel_base(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates);
+
 public://member variable
 	std::atomic<Dispatch_process_status>	m_dispatch_process_status;	//调度流程的状态, 控制步骤