// // Created by huli on 2021/3/3. // #ifndef NNXX_TESTS_DISPATCH_DEVICE_BASE_H #define NNXX_TESTS_DISPATCH_DEVICE_BASE_H #include "../error_code/error_code.h" #include #include #include #include "../tool/thread_condition.h" #include "../tool/common_data.h" #include "../tool/time_tool.h" #include "../task/task_base.h" #include "../dispatch/dispatch_communication.h" #include "../dispatch/dispatch_coordinates.h" //调度设备的基类. class Dispatch_device_base { public: //设备底层通信延时5000ms #define COMMUNICATION_OVER_TIME_MS 5000 //调度默认 差值 2mm (运动过程中进行比较, 对精度要求较高) #define DISPATCH_DEFAULT_DIFFERENCE 2 //调度设备类型 enum Dispatch_device_type { DISPATCH_DEVICE_UNKNOWN = 0, DISPATCH_DEVICE_ROBOT_1 = 101, DISPATCH_DEVICE_ROBOT_2 = 102, DISPATCH_DEVICE_CARRIER_1 = 200, DISPATCH_DEVICE_CARRIER_2 = 207, DISPATCH_DEVICE_CARRIER_3 = 203, DISPATCH_DEVICE_PASSAGEWAY_0 = 300, DISPATCH_DEVICE_PASSAGEWAY_1 = 301, DISPATCH_DEVICE_PASSAGEWAY_2 = 302, DISPATCH_DEVICE_PASSAGEWAY_3 = 303, DISPATCH_DEVICE_PASSAGEWAY_4 = 304, DISPATCH_DEVICE_PASSAGEWAY_5 = 305, DISPATCH_DEVICE_PASSAGEWAY_6 = 306, DISPATCH_DEVICE_PASSAGEWAY_7 = 307, }; //设备状态,这个类的总状态,这里指工作任务流程 enum Dispatch_device_status { DISPATCH_DEVICE_UNKNOW = 0, //未知 DISPATCH_DEVICE_READY = 1, //准备，待机 DISPATCH_DEVICE_BUSY = 2, //工作正忙 DISPATCH_DEVICE_ONE_LEVEL_OVER = 3, //一级工作完成, DISPATCH_DEVICE_ONE_LEVEL_WORK = 4, //一级工作状态, 就是普通的移动任务 DISPATCH_DEVICE_TWO_LEVEL_OVER = 5, //二级工作完成, DISPATCH_DEVICE_TWO_LEVEL_WORK = 6, //二级工作状态, 就是紧急避让, 插队任务(会在执行一级任务的过程中, 插队并优先执行二级任务) DISPATCH_DEVICE_THREE_LEVEL_OVER = 7, //三级工作完成, DISPATCH_DEVICE_THREE_LEVEL_WORK = 8, //三级工作任务, 就是锁定硬件资源, 不让插队, (除非急停或者取消任务) DISPATCH_DEVICE_FAULT = 100, //故障 DISPATCH_DEVICE_DISCONNECT = 101, //通信故障 }; //调度任务的等级 enum Dispatch_task_level { // DISPATCH_TASK_UNKNOW_LEVEL = 0, //无效任务 DISPATCH_TASK_ONE_LEVEL = 1, //一级任务 DISPATCH_TASK_TWO_LEVEL = 2, //二级任务 DISPATCH_TASK_THREE_LEVEL = 3, //三级任务 }; //抓车的夹杆 enum Clamp_motion { E_CLAMP_NO_ACTION = 0, //无动作. E_CLAMP_TIGHT = 1, //夹紧夹杆 E_CLAMP_LOOSE = 2, //松开夹杆 }; //中跑车和平层轨道的对接 enum Joint_motion { E_JOINT_NO_ACTION = 0, //无动作. E_JOINT_HOLD_OUT = 1, //伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动 E_JOINT_TAKE_BACK = 2, //收回对接，之后中跑车固定在电梯上不能X轴移动，电梯可以Z轴移动 }; //小跑车的位置,是否在中跑车上面 enum Small_sports_car_motion { E_SMALL_SPORTS_NO_ACTION = 0, //无动作. E_SMALL_SPORTS_CAR_GET_AWAY = 1, //小跑车离开中跑车 E_SMALL_SPORTS_CAR_GET_BACK = 2, //小跑车返回中跑车 }; //指令完成状态, 设备答复指令, 返回任务完成的情况 enum Respons_status { RESPONS_WORKING = 0, //任务进行中 RESPONS_OVER = 1, //任务完成 RESPONS_MINOR_ERROR = 100, //一般故障, 可恢复 RESPONS_CRITICAL_ERROR = 101, //致命故障,不可恢复 }; //设备的硬件设备状态 enum Hardware_device_status { HARDWARE_DEVICE_UNKNOWN = 0, //设备未知 HARDWARE_DEVICE_READY = 1, //设备空闲(可以接受新的指令任务) HARDWARE_DEVICE_WORKING = 2, //设备工作中 HARDWARE_DEVICE_EMERGENCY_STOP = 3, //设备急停 HARDWARE_DEVICE_UNSAFETY = 4, //设备不安全(暂时不考虑是否处于安全位置) HARDWARE_DEVICE_COLLISION = 5, //设备发生碰撞 HARDWARE_DEVICE_FAULT = 6, //设备故障 }; //设备的负载状态, 小跑车上面是否有车. enum Load_status { LOAD_UNKNOWN = 0, //负载未知 HAVE_CAR = 1, //有车 NO_CAR = 2, //没车 }; //7号出口 转台方向 enum Turntable_direction { TURNTABLE_DIRECTION_UNKNOWN = 0, //方向未知, TURNTABLE_DIRECTION_INSIDE = 1, //方向朝里,对接内门的小跑车 TURNTABLE_DIRECTION_OUTSIDE = 2, //没车朝外,对接外门的出口 }; //出入口 门的开关状态 enum Door_motion { DOOR_UNKNOWN = 0, //门的开关状态 未知, 或者工作到一半,正在工作中. DOOR_OPEN = 1, //开门 DOOR_CLOSE = 2, //关门 DOOR_ERROR = 3, // }; //边界判断,是否超界 enum Overstep_the_boundary { BOUNDARY_NORMAL = 0, //边界 正常 BOUNDARY_OVERSTEP = 1, //超界 }; //机器手朝向角度 #define CATCHER_DIRECTION_POSITIVE_MIN 70 #define CATCHER_DIRECTION_POSITIVE_CENTER 90 #define CATCHER_DIRECTION_POSITIVE_MAX 110 #define CATCHER_DIRECTION_NEGATIVE_MIN 250 #define CATCHER_DIRECTION_NEGATIVE_CENTER 270 #define CATCHER_DIRECTION_NEGATIVE_MAX 290 //机器手朝向 enum Catcher_direction { CATCHER_DIRECTION_UNKNOW = 0, // CATCHER_DIRECTION_POSITIVE = 1, //朝正, 70~110度 CATCHER_DIRECTION_NEGATIVE = 2, //朝反, 250~290度 }; public: Dispatch_device_base(); Dispatch_device_base(const Dispatch_device_base& other)= default; Dispatch_device_base& operator =(const Dispatch_device_base& other)= default; ~Dispatch_device_base(); public://API functions //设备 初始化 virtual Error_manager dispatch_device_base_init(int device_id, int device_key); //设备 反初始化 virtual Error_manager dispatch_device_base_uninit(); //执行任务//注意了, 调度任务允许同时接受多个任务 virtual Error_manager execute_task(std::shared_ptr p_task, Dispatch_task_level dispatch_task_level); //执行任务//注意了, 调度任务允许同时接受多个任务 virtual Error_manager execute_task(std::shared_ptr p_task, Dispatch_task_level dispatch_task_level, std::string command_key, Common_data::Dispatch_process_type process_type); //检查任务类型, 子类必须重载, 用来检查输入的任务是否为子类所需的. virtual Error_manager check_task_type(std::shared_ptr p_task); //判断能否执行任务 virtual Error_manager check_task_level(Dispatch_task_level dispatch_task_level); //签收任务 virtual Error_manager sign_for_task(std::shared_ptr p_task, Dispatch_task_level dispatch_task_level); //签收任务 覆盖预约 virtual Error_manager sign_for_task(std::shared_ptr p_task, Dispatch_task_level dispatch_task_level, std::string command_key, Common_data::Dispatch_process_type process_type); //检查状态,是否正常运行. (工作状态 和 是否能接受对应的任务无关) virtual Error_manager check_status(); //结束任务单，里面会根据任务的故障等级修正 任务单的状态 virtual Error_manager end_task(std::shared_ptr p_task); //取消任务单，由发送方提前取消任务单 virtual Error_manager cancel_task(std::shared_ptr p_task, Dispatch_task_level dispatch_task_level); //判断是否为待机，如果已经准备好，则可以执行任务。 virtual bool is_ready(); //判断是否可以执行存车任务。 virtual bool is_able_excute_store(); //判断是否可以执行取车任务。 virtual bool is_able_excute_pickup(); //判断是否已经预约了任务, return false没有预约任务, return true已经预约了任务 virtual bool is_has_appoint_task(Dispatch_task_level dispatch_task_level); //预约任务 virtual Error_manager appoint_task(std::string command_key, Common_data::Dispatch_process_type process_type, Dispatch_task_level dispatch_task_level); //修改任务等级 virtual Error_manager change_task_level(Dispatch_task_level dispatch_task_level_source, Dispatch_task_level dispatch_task_level_target); public://get or set member variable Dispatch_device_status get_dispatch_device_status(); //获取硬件设备的状态, 必须子类继承 virtual Hardware_device_status get_actual_device_status(); int get_device_id(); bool get_break_flag(); void set_break_flag(bool break_flag); virtual std::string get_current_command_key(); protected://member functions //执行外界任务的执行函数 void execute_thread_fun(); //执行线程工作函数, 正在执行任务单. virtual Error_manager execute_thread_working(std::shared_ptr p_task, Dispatch_device_status & carrier_status); //执行线程工作函数, 已经完成任务单. 等待新的指令 virtual Error_manager execute_thread_over(std::shared_ptr p_task, Dispatch_device_status & carrier_status); //把任务单写入到内存中, 子类必须重载 virtual Error_manager write_task_to_memory(std::shared_ptr p_task); //更新设备底层通信数据, 子类必须重载 virtual Error_manager update_device_communication(); //从内存中读数据到任务单, 子类必须重载 virtual Error_manager check_and_read_memory_to_task(std::shared_ptr p_task); //取消下发的指令, 子类必须重载, 用来向下发送命令取消任务. virtual Error_manager cancel_command(); protected://member variable public: std::atomic m_dispatch_device_status; //设备总状态, 控制任务流程(长流程) int m_device_id; //设备id, 索引 int m_device_key; //设备唯一码, 自定义 Dispatch_device_type m_dispatch_device_type; std::mutex m_lock; //锁 //任务执行线程 std::thread* mp_execute_thread; //执行的线程指针，内存由本类管理 Thread_condition m_execute_condition; //执行的条件变量 std::string m_device_one_level_command_key; //设备任务的唯一码, (用作任务预约) Common_data::Dispatch_process_type m_device_one_level_process_type; //调度任务类型 std::shared_ptr mp_device_one_level_task; //设备的普通任务, (一般移动和等待指令, 允许被打断) std::string m_device_two_level_command_key; //设备任务的唯一码, (用作任务预约) Common_data::Dispatch_process_type m_device_two_level_process_type; //调度任务类型 std::shared_ptr mp_device_two_level_task; //设备的优先任务, (紧急避让和插队指令, 允许打断普通任务) std::string m_device_three_level_command_key; //设备任务的唯一码, (用作任务预约) Common_data::Dispatch_process_type m_device_three_level_process_type; //调度任务类型 std::shared_ptr mp_device_three_level_task; //设备的核心任务, (锁定位置进行抓车和放车, 最高任务, 不允许打断和被打断) //task任务的流程由Dispatch_process来管理 std::atomic m_break_flag; //打断标记位, 当接受2级任务时, 标记位改为true private: }; #endif //NNXX_TESTS_DISPATCH_DEVICE_BASE_H