20210422, 调度流程debug

dispatch/dispatch_process.cpp

@@ -300,6 +300,14 @@ Error_manager Dispatch_process::dispatch_control_motion()
 				}
 				break;
 		    }
+			case DISPATCH_CONTROL_TASK_WITHDRAW://流程 收回任务单
+			{
+				//发送调度控制答复, 发给调度控制的
+				t_error = dispatch_control_withdraw_task(iter->first, iter->second);
+				//流程正常, 就进入等待状态, 等待调度控制发送动作指令
+				iter->second.m_dispatch_control_status = DISPATCH_CONTROL_RESPONSE;
+				break;
+			}
 			case DISPATCH_CONTROL_RESPONSE://流程 给调度控制答复
 			{
 				//发送调度控制答复, 发给调度控制的
@@ -312,9 +320,14 @@ Error_manager Dispatch_process::dispatch_control_motion()
 			{
 				//断开调度设备, 释放任务单 与设备解除连接
 				t_error = disconnect_dispatch_device(iter->first, iter->second);
-				//流程正常, 就回到 等待状态, 等待调度控制发送动作指令
-				iter->second.m_error.error_manager_clear_all();
-				iter->second.m_dispatch_control_status = DISPATCH_CONTROL_READY;
+				if ( t_error == Error_code::SUCCESS )
+				{
+					//流程正常, 就回到 等待状态, 等待调度控制发送动作指令
+					iter->second.m_error.error_manager_clear_all();
+					iter->second.m_dispatch_control_status = DISPATCH_CONTROL_READY;
+				}
+				//else 保持不变继续等待
+
 				break;
 			}
 		    default:
@@ -622,6 +635,15 @@ Error_manager Dispatch_process::excute_dispatch_control(int dispatch_device_type
 	dispatch_control_node.m_error = t_error;
 	return t_error;
 }
+//流程通知设备 收回任务单
+Error_manager Dispatch_process::dispatch_control_withdraw_task(int dispatch_device_type, Dispatch_control_node & dispatch_control_node)
+{
+	if ( dispatch_control_node.mp_dispatch_device.get() != NULL && dispatch_control_node.mp_dispatch_task.get() != NULL )
+	{
+		dispatch_control_node.mp_dispatch_task->set_task_statu(Task_Base::Task_statu::TASK_WITHDRAW);
+	}
+	return Error_code::SUCCESS;
+}
 //发送调度控制答复, 发给调度控制的
 Error_manager Dispatch_process::send_dispatch_control_response_msg(int dispatch_device_type, Dispatch_control_node & dispatch_control_node, message::Dispatch_device_task_status dispatch_device_task_status)
 {
@@ -657,9 +679,16 @@ Error_manager Dispatch_process::disconnect_dispatch_device(int dispatch_device_t
 {
 	if ( dispatch_control_node.mp_dispatch_device.get() != NULL && dispatch_control_node.mp_dispatch_task.get() != NULL )
 	{
-		dispatch_control_node.mp_dispatch_task->set_task_statu(Task_Base::Task_statu::TASK_WITHDRAW);
-		dispatch_control_node.mp_dispatch_task.reset();
-		dispatch_control_node.mp_dispatch_device.reset();
+		if ( dispatch_control_node.mp_dispatch_task->get_task_statu() == Task_Base::Task_statu::TASK_FREE )
+		{
+			dispatch_control_node.mp_dispatch_task.reset();
+			dispatch_control_node.mp_dispatch_device.reset();
+			return Error_code::SUCCESS;
+		}
+		else
+		{
+		    return Error_code::NODATA;
+		}
 	}
 	return Error_code::SUCCESS;
 }

dispatch/dispatch_process.h

@@ -86,10 +86,11 @@ public:
 		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_RESPONSE				= 5, 	//流程 给调度控制答复
-		DISPATCH_CONTROL_DISCONNECT_DEVICE		= 6, 	//流程 解除设备
-		DISPATCH_CONTROL_OVER					= 7, 	//流程完成
-		DISPATCH_CONTROL_RELEASE				= 8, 	//流程释放
+		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
@@ -147,6 +148,8 @@ protected://主流程
 	Error_manager connect_dispatch_device(int dispatch_device_type, Dispatch_control_node & dispatch_control_node);
 	//执行调度控制指令, 并根据完成情况给答复
 	Error_manager excute_dispatch_control(int dispatch_device_type, Dispatch_control_node & dispatch_control_node);
+	//流程通知设备 收回任务单
+	Error_manager dispatch_control_withdraw_task(int dispatch_device_type, Dispatch_control_node & dispatch_control_node);
 	//发送调度控制答复, 发给调度控制的
 	Error_manager send_dispatch_control_response_msg(int dispatch_device_type, Dispatch_control_node & dispatch_control_node, message::Dispatch_device_task_status dispatch_device_task_status);
 	//断开调度设备, 释放任务单 与设备解除连接