// // Created by huli on 2020/9/25. // #ifndef NNXX_TESTS_DISPATCH_COMMUNICATION_H #define NNXX_TESTS_DISPATCH_COMMUNICATION_H #include "../tool/singleton.h" #include "../snap7_communication/snap7_communication_base.h" class Dispatch_communication:public Singleton, public Snap7_communication_base { public: #pragma pack(push, 1) //struct按照1个byte对齐 //调度模块给plc发送请求消息的DB编号 #define REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER 100 //调度模块给plc发送请求消息的指令结构体 struct Request_from_dispatch_to_plc { unsigned char m_reserved0 = 0; //预留 unsigned char m_command_flag = 0; //指令标志位, 0bit==1:流程开始, 1bit==1:校验无误 unsigned char m_task_status = 0; //流程状态, 0=正常，1=可恢复型故障，2=不可恢复故障 unsigned char m_reserved3_11[9] = {0}; //预留 //指令信息 unsigned short m_block_id = 0; //单位编号(区域编号), 1~3 unsigned short m_floor_id = 0; //楼层编号, 1~14 unsigned short m_parkspace_id = 0; //同层的车位索引, 一楼为1~4, 楼上为1~6 unsigned char m_command_key[256] = {0}; //指令key(任务唯一码), 作为通信标志位 unsigned char m_is_entrance_flag = 0; //是否为入口, 1=入口，0=非入口, (如果是入口, 中跑车需要按照汽车的旋转角进行偏移) unsigned char m_reserved275_289[15] = {0}; //预留 //汽车定位信息 float m_center_x = 0; //整车的中心点x值, 四轮的中心 float m_center_y = 0; //整车的中心点y值, 四轮的中心 float m_car_angle = 0; //整车的车身旋转角, float m_car_length = 0; //整车的长度, 用于规避碰撞 float m_car_width = 0; //整车的宽度, 用于规避碰撞 float m_car_height = 0; //整车的高度, 用于规避碰撞 float m_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车 float m_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车 unsigned char m_voucher_number[256] = {0}; //停取凭证号 unsigned char m_plate_number[512] = {0}; //车牌号 unsigned char m_phone_number[256] = {0}; //电话号码 unsigned char m_reserved1346_1377[32] = {0}; //预留 }; //plc给调度模块发送答复消息的DB编号 #define RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER 101 //plc给调度模块发送答复消息的指令结构体 struct Response_from_plc_to_dispatch { unsigned char m_reserved0 = 0; //预留 unsigned char m_command_flag = 0; //指令标志位, 0bit==1:流程结束 unsigned char m_task_status = 0; //流程状态, 0=正常，1=可恢复型故障，2=不可恢复故障 unsigned char m_reserved3_11[9] = {0}; //预留 //指令信息 unsigned short m_block_id = 0; //单位编号(区域编号), 1~3 unsigned short m_floor_id = 0; //楼层编号, 1~14 unsigned short m_parkspace_id = 0; //同层的车位索引, 一楼为1~4, 楼上为1~6 unsigned char m_command_key[256] = {0}; //指令key(任务唯一码), 作为通信标志位 unsigned char m_is_entrance_flag = 0; //是否为入口, 1=入口，0=非入口, (如果是入口, 中跑车需要按照汽车的旋转角进行偏移) unsigned char m_reserved275_289[15] = {0}; //预留 //汽车定位信息 float m_center_x = 0; //整车的中心点x值, 四轮的中心 float m_center_y = 0; //整车的中心点y值, 四轮的中心 float m_car_angle = 0; //整车的车身旋转角, float m_car_length = 0; //整车的长度, 用于规避碰撞 float m_car_width = 0; //整车的宽度, 用于规避碰撞 float m_car_height = 0; //整车的高度, 用于规避碰撞 float m_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车 float m_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车 unsigned char m_voucher_number[256] = {0}; //停取凭证号 unsigned char m_plate_number[512] = {0}; //车牌号 unsigned char m_phone_number[256] = {0}; //电话号码 unsigned char m_reserved1346_1377[32] = {0}; //预留 }; //调度模块给plc发送状态消息的DB编号 #define STATUS_FROM_DISPATCH_TO_PLC_DBNUMBER 110 //调度模块给plc发送状态消息的指令结构体 struct Status_from_dispatch_to_plc { unsigned char m_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_check_flag = 0; //校验标志位 unsigned char m_reserved2_9[8] = {0}; //预留 //时钟 unsigned short m_year = 0; //年 unsigned char m_month = 0; //月 unsigned char m_day = 0; //日 unsigned char m_weekday = 0; //周 unsigned char m_hour = 0; //时 unsigned char m_minute = 0; //分 unsigned char m_second = 0; //秒 unsigned int m_nanosecond = 0; //纳秒 unsigned char m_reserved22_29[8] = {0}; //预留 }; //plc给调度模块发送状态消息的DB编号 #define STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER 111 //plc给调度模块发送状态消息的指令结构体 struct Status_from_plc_to_dispatch { unsigned char m_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_check_flag = 0; //校验标志位 unsigned char m_reserved2_9[8] = {0}; //预留 //时钟 unsigned short m_year = 0; //年 unsigned char m_month = 0; //月 unsigned char m_day = 0; //日 unsigned char m_weekday = 0; //周 unsigned char m_hour = 0; //时 unsigned char m_minute = 0; //分 unsigned char m_second = 0; //秒 unsigned int m_nanosecond = 0; //纳秒 unsigned char m_reserved22_29[8] = {0}; //预留 //升降机状态, (楚天项目代指电梯) //升降机信息, 0bit==1:急停正常, 1bit==1:处于安全位置, 2bit==1:静止状态, 3bit==1:可执行新指令, 4bit==1:存在故障, unsigned char m_elevator_information = 0; //升降机信息, unsigned char m_reserved31 = 0; //预留 double m_elevator_coordinates = 0; //升降机坐标 unsigned char m_reserved40_73[34] = {0}; //预留 //搬运器状态, (楚天项目代指中跑车) //搬运器信息, 0bit==1:急停正常, 1bit==1:处于安全位置, 2bit==1:静止状态, 3bit==1:可执行新指令, 4bit==1:存在故障, unsigned char m_carrier_information = 0; //搬运器信息, unsigned char m_reserved75 = 0; //预留 double m_carrier_coordinates = 0; //搬运器坐标 double m_carrier_angle = 0; //搬运器角度 unsigned char m_reserved92_125[34] = {0}; //预留 //故障信息 unsigned char m_carrier_error_code[50] = {0}; //搬运器错误码 unsigned char m_carrier_error_string[512] = {0}; //搬运器错误描述 unsigned char m_elevator_error_code[50] = {0}; //升降机错误码 unsigned char m_elevator_error_string[512] = {0}; //升降机错误描述 }; #pragma pack(pop) //取消对齐 // 子类必须把父类设定为友元函数，这样父类才能使用子类的私有构造函数。 friend class Singleton; private: // 父类的构造函数必须保护，子类的构造函数必须私有。 Dispatch_communication(); public: //必须关闭拷贝构造和赋值构造，只能通过 get_instance 函数来进行操作唯一的实例。 Dispatch_communication(const Dispatch_communication& other) = delete; Dispatch_communication& operator =(const Dispatch_communication& other) = delete; ~Dispatch_communication(); public://API functions //初始化 通信 模块。如下三选一 virtual Error_manager communication_init(); //反初始化 通信 模块。 virtual Error_manager communication_uninit(); public://get or set member variable std::mutex * get_data_lock(); Request_from_dispatch_to_plc * get_request_from_dispatch_to_plc(); Response_from_plc_to_dispatch * get_response_from_plc_to_dispatch(); Status_from_dispatch_to_plc * get_status_from_dispatch_to_plc(); Status_from_plc_to_dispatch * get_status_from_plc_to_dispatch(); protected://member functions //更新数据 virtual Error_manager updata_receive_buf(); virtual Error_manager updata_send_buf(); protected://member variable std::mutex m_data_lock; //数据锁 Request_from_dispatch_to_plc m_request_from_dispatch_to_plc; //调度模块给plc发送请求消息的指令结构体 Response_from_plc_to_dispatch m_response_from_plc_to_dispatch; //plc给调度模块发送答复消息的指令结构体 Status_from_dispatch_to_plc m_status_from_dispatch_to_plc; //调度模块给plc发送状态消息的指令结构体 Status_from_plc_to_dispatch m_status_from_plc_to_dispatch; //plc给调度模块发送状态消息的指令结构体 private: }; #endif //NNXX_TESTS_DISPATCH_COMMUNICATION_H