//
// Created by huli on 2020/10/20.
//

#include "carrier_task.h"

Carrier_task::Carrier_task()
{
	//构造函数锁定任务类型为 LOCATE_MANGER_TASK，后续不允许更改
	m_task_type = CARRIER_TASK;
	m_task_statu = TASK_CREATED;
	m_task_statu_information.clear();
	m_task_error_manager.error_manager_clear_all();

	m_step = 0;

	m_request_x = 0;				//搬运器坐标x轴,
	m_request_y = 0;				//搬运器坐标y轴,
	m_request_z = 0;				//搬运器坐标z轴,
	m_request_y1 = 0;				//搬运器坐标y1轴, 搬运器抓车杆纵向移动(前轮抓杆)
	m_request_y2 = 0;				//搬运器坐标y2轴, 搬运器抓车杆纵向移动(后轮抓杆)
	m_request_clamp_motion = E_CLAMP_NO_ACTION;		//搬运器夹车杆. 0=无动作，1=夹紧，2=松开
	m_request_joint_motion_x = E_JOINT_NO_ACTION;	//电梯与X轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
	m_request_joint_motion_y = E_JOINT_NO_ACTION;	//小跑车与Y轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
	m_request_space_id = 0;			//搬运器空间位置的id.
	m_request_floor_id = 0;			//搬运器楼层位置的id.
	m_request_wheelbase = 0;		//搬运器抓车杆前后轮距.



	m_respons_status = RESPONS_WORKING;			//指令完成状态, 搬运器答复指令, 返回任务完成的情况
	m_respons_x = 0;				//搬运器坐标x轴,
	m_respons_y = 0;				//搬运器坐标y轴,
	m_respons_z = 0;				//搬运器坐标z轴,
	m_respons_y1 = 0;				//搬运器坐标y1轴, 搬运器抓车杆纵向移动(前轮抓杆)
	m_respons_y2 = 0;				//搬运器坐标y2轴, 搬运器抓车杆纵向移动(后轮抓杆)
	m_respons_clamp_motion = E_CLAMP_NO_ACTION;		//搬运器夹车杆. 0=无动作，1=夹紧，2=松开
	m_respons_joint_motion_x = E_JOINT_NO_ACTION;	//电梯与X轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
	m_respons_joint_motion_y = E_JOINT_NO_ACTION;	//小跑车与Y轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
	m_respons_space_id = 0;			//搬运器空间位置的id.
	m_respons_floor_id = 0;			//搬运器楼层位置的id.
	m_respons_wheelbase = 0;		//搬运器抓车杆前后轮距.


}

Carrier_task::~Carrier_task()
{

}