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

#ifndef NNXX_TESTS_CARRIER_TASK_H
#define NNXX_TESTS_CARRIER_TASK_H

#include "../error_code/error_code.h"
#include "../task/task_command_manager.h"
#include "../task/task_base.h"
#include <mutex>


class Carrier_task :public Task_Base
{
public:
	//指令完成状态, 搬运器答复指令, 返回任务完成的情况
	enum Respons_status
	{
		RESPONS_NORMAL             	= 0,    //正常
		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
	};
public:
	Carrier_task();
	Carrier_task(const Carrier_task& other)= default;
	Carrier_task& operator =(const Carrier_task& other)= default;
	~Carrier_task();
public://API functions

	//初始化任务单，必须初始化之后才可以使用，（可选参数）
	//    input:tast_receiver 接受对象
	//    input:task_over_time 超时时间
	Error_manager task_init(void* p_tast_receiver,
							std::chrono::milliseconds task_over_time,
							unsigned short parkspace_unit_id,
							unsigned shortparkspace_floor_id,
							unsigned shortparkspace_room_id,
							std::string command_key,
							unsigned char motion_direction = 0,
							float car_center_x = 0,
							float car_center_y = 0,
							float car_angle = 0
	);
public://get or set member variable

protected://member functions

public://member variable

	std::mutex							m_lock;	//锁

	//搬运器的目标车位
	unsigned short 						m_parkspace_unit_id;		//车位单元号(楚天项目为1~3)
	unsigned short 						m_parkspace_floor_id;		//车位楼层号(楚天项目为1~14)
	unsigned short 						m_parkspace_room_id;		//车位同层的房间号	(楚天项目一楼为1~4, 楼上为1~6)
	std::string							m_command_key;				//任务唯一码
	unsigned char						m_motion_direction;			//调度方向, 根据停车取车选择出入口, 	1=入口，0=非入口
	float 								m_car_center_x;				//汽车的中心坐标x
	float 								m_car_center_y;				//汽车的中心坐标y
	float 								m_car_angle;				//汽车的旋转角(角度-90~90)

	//任务执行结果
	Respons_status						m_respons_status;			//指令完成状态, 搬运器答复指令, 返回任务完成的情况

private:

};


#endif //NNXX_TESTS_CARRIER_TASK_H