/* dispatch_source 和 dispatch_destination 的表示含义 1~165 2楼~12楼的停车位 1100 0号出口(在一楼)(目前没有) 1101~1106 1~6号出入口 (在一楼) 1107 7号出口(在一楼) 1201~1206 1~6号出入口上方2楼处 1301~1306 1~6号出入口上方3楼处 1401~1406 1~6号出入口上方4楼处 2101~2112 左侧电梯井(1楼~12楼)(一号搬运器的待机点) 2201~2212 右侧电梯井(1楼~12楼)(二号搬运器的待机点) */ #ifndef NNXX_TESTS_DISPATCH_PROCESS_H #define NNXX_TESTS_DISPATCH_PROCESS_H #include #include "../tool/thread_condition.h" #include "../tool/TaskQueue/BaseTask.h" #include "../tool/common_data.h" #include #include "../dispatch/carrier.h" #include "../dispatch/catcher.h" #include "../dispatch/passageway.h" #include "../dispatch/dispatch_coordinates.h" #include "../message/dispatch_message.pb.h" #include "../message/dispatch_control.pb.h" #include "../tool/point3D_tool.h" #include //调度流程 存车 class Dispatch_process : public tq::BaseTask { public: //调度指令超时时间 300000ms = 5min #define DISPATCH_PROCESS_TIMEOUT_MS 600000 //调度指令超时时间 衰减值 在原有的基础上减少10秒 #define DISPATCH_PROCESS_ATTENUATION_TIMEOUT_MS 10000 //调度默认 差值 2mm (比较结果, 对精度要求较高) #define DISPATCH_DEFAULT_DIFFERENCE 2 //调度默认 比值 1% (比较结果, 对精度要求较高) #define DISPATCH_DEFAULT_RATE 0.01 //调度流程的状态, 控制步骤(对于整个大的调度任务) enum Dispatch_process_status { DISPATCH_PROCESS_STATUS_UNKNOW = 0, //未知 DISPATCH_PROCESS_CREATED = 1, //流程创建, DISPATCH_PROCESS_READY = 2, //流程准备，待机 DISPATCH_PROCESS_WORKING_PICKUP = 103, //流程取车 DISPATCH_PROCESS_WORKING_STORE = 104, //流程存车 DISPATCH_PROCESS_CONNECT_DEVICE = 3, //流程 连接设备 DISPATCH_PROCESS_WORKING = 4, //流程工作正忙, 进行长流程 DISPATCH_PROCESS_RESPONSE = 5, //流程 给调度控制答复 DISPATCH_PROCESS_DISCONNECT_DEVICE = 6, //流程 解除设备 DISPATCH_PROCESS_OVER = 7, //流程完成 DISPATCH_PROCESS_RELEASE = 8, //流程释放 DISPATCH_PROCESS_FAULT = 10, //故障 DISPATCH_PROCESS_MOTION_FAILED = 11, //单个小动作执行失败 }; //调度控制的状态, 控制步骤(对于一个设备的长流程的控制) enum Dispatch_control_status { // DISPATCH_CONTROL_STATUS_UNKNOW = 0, //未知 // DISPATCH_CONTROL_CREATED = 1, //流程创建, // 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_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 DISPATCH_CONTROL_STATUS_UNKNOW = 0, //未知 DISPATCH_CONTROL_CREATED = 1, //流程创建, DISPATCH_CONTROL_READY = 2, //流程准备，待机 DISPATCH_CONTROL_CONNECT_DEVICE = 3, //流程 连接设备 DISPATCH_CARRIER_PICKUP_START = 200, //取车流程 开始 DISPATCH_CARRIER_PICKUP_1 = 201, DISPATCH_CARRIER_PICKUP_2 = 202, DISPATCH_CARRIER_PICKUP_3 = 203, DISPATCH_CARRIER_PICKUP_4 = 204, DISPATCH_CARRIER_PICKUP_5 = 205, DISPATCH_CARRIER_PICKUP_6 = 206, DISPATCH_CARRIER_PICKUP_7 = 207, DISPATCH_CARRIER_PICKUP_8 = 208, DISPATCH_CARRIER_PICKUP_9 = 209, DISPATCH_CARRIER_PICKUP_10 = 210, DISPATCH_CARRIER_PICKUP_11 = 211, DISPATCH_CARRIER_PICKUP_12 = 212, DISPATCH_CARRIER_PICKUP_13 = 213, DISPATCH_CARRIER_PICKUP_14 = 214, DISPATCH_CARRIER_PICKUP_15 = 215, DISPATCH_CARRIER_PICKUP_16 = 216, DISPATCH_CARRIER_PICKUP_17 = 217, DISPATCH_CARRIER_PICKUP_18 = 218, DISPATCH_CARRIER_PICKUP_19 = 219, DISPATCH_CARRIER_PICKUP_20 = 220, DISPATCH_CARRIER_PICKUP_21 = 221, DISPATCH_CARRIER_PICKUP_22 = 222, DISPATCH_CARRIER_PICKUP_23 = 223, DISPATCH_CARRIER_PICKUP_24 = 224, DISPATCH_CARRIER_PICKUP_25 = 225, DISPATCH_CARRIER_PICKUP_26 = 226, DISPATCH_CARRIER_PICKUP_27 = 227, DISPATCH_CARRIER_PICKUP_28 = 228, DISPATCH_CARRIER_PICKUP_29 = 229, DISPATCH_CARRIER_PICKUP_30 = 230, DISPATCH_CARRIER_PICKUP_31 = 231, DISPATCH_CARRIER_PICKUP_32 = 232, DISPATCH_CARRIER_PICKUP_33 = 233, DISPATCH_CARRIER_PICKUP_34 = 234, DISPATCH_CARRIER_PICKUP_35 = 235, DISPATCH_CARRIER_PICKUP_36 = 236, DISPATCH_CARRIER_PICKUP_37 = 237, DISPATCH_CARRIER_PICKUP_38 = 238, DISPATCH_CARRIER_PICKUP_39 = 239, DISPATCH_CARRIER_PICKUP_40 = 240, DISPATCH_CARRIER_PICKUP_41 = 241, DISPATCH_CARRIER_PICKUP_42 = 242, DISPATCH_CARRIER_PICKUP_43 = 243, DISPATCH_CARRIER_PICKUP_44 = 244, DISPATCH_CARRIER_PICKUP_45 = 245, DISPATCH_CARRIER_PICKUP_46 = 246, DISPATCH_CARRIER_PICKUP_47 = 247, DISPATCH_CARRIER_PICKUP_48 = 248, DISPATCH_CARRIER_PICKUP_49 = 249, DISPATCH_CARRIER_PICKUP_50 = 250, DISPATCH_CARRIER_PICKUP_51 = 251, DISPATCH_CARRIER_PICKUP_52 = 252, DISPATCH_CARRIER_PICKUP_53 = 253, DISPATCH_CARRIER_PICKUP_54 = 254, DISPATCH_CARRIER_PICKUP_55 = 255, DISPATCH_CARRIER_PICKUP_56 = 256, DISPATCH_CARRIER_PICKUP_57 = 257, DISPATCH_CARRIER_PICKUP_58 = 258, DISPATCH_CARRIER_PICKUP_59 = 259, DISPATCH_CARRIER_PICKUP_60 = 260, DISPATCH_CARRIER_PICKUP_61 = 261, DISPATCH_CARRIER_PICKUP_70 = 270, DISPATCH_CARRIER_PICKUP_71 = 271, DISPATCH_CARRIER_PICKUP_72 = 272, DISPATCH_CARRIER_PICKUP_73 = 273, DISPATCH_CARRIER_PICKUP_74 = 274, DISPATCH_CARRIER_PICKUP_75 = 275, DISPATCH_CARRIER_PICKUP_76 = 276, DISPATCH_CARRIER_PICKUP_77 = 277, DISPATCH_CARRIER_PICKUP_78 = 278, DISPATCH_CARRIER_PICKUP_79 = 279, DISPATCH_CARRIER_PICKUP_80 = 280, DISPATCH_CARRIER_PICKUP_81 = 281, DISPATCH_CARRIER_PICKUP_82 = 282, DISPATCH_CARRIER_PICKUP_83 = 283, DISPATCH_CARRIER_PICKUP_84 = 284, DISPATCH_CARRIER_PICKUP_85 = 285, DISPATCH_CARRIER_PICKUP_86 = 286, DISPATCH_CARRIER_PICKUP_87 = 287, DISPATCH_CARRIER_PICKUP_88 = 288, DISPATCH_CARRIER_PICKUP_89 = 289, DISPATCH_CARRIER_PICKUP_END = 299, DISPATCH_CATCHER_PICKUP_START = 300, //取车流程 开始 DISPATCH_CATCHER_PICKUP_1 = 301, DISPATCH_CATCHER_PICKUP_2 = 302, DISPATCH_CATCHER_PICKUP_3 = 303, DISPATCH_CATCHER_PICKUP_4 = 304, DISPATCH_CATCHER_PICKUP_5 = 305, DISPATCH_CATCHER_PICKUP_6 = 306, DISPATCH_CATCHER_PICKUP_7 = 307, DISPATCH_CATCHER_PICKUP_8 = 308, DISPATCH_CATCHER_PICKUP_9 = 309, DISPATCH_CATCHER_PICKUP_10 = 310, DISPATCH_CATCHER_PICKUP_11 = 311, DISPATCH_CATCHER_PICKUP_12 = 312, DISPATCH_CATCHER_PICKUP_13 = 313, DISPATCH_CATCHER_PICKUP_14 = 314, DISPATCH_CATCHER_PICKUP_15 = 315, DISPATCH_CATCHER_PICKUP_16 = 316, DISPATCH_CATCHER_PICKUP_17 = 317, DISPATCH_CATCHER_PICKUP_18 = 318, DISPATCH_CATCHER_PICKUP_19 = 319, DISPATCH_CATCHER_PICKUP_20 = 320, DISPATCH_CATCHER_PICKUP_21 = 321, DISPATCH_CATCHER_PICKUP_22 = 322, DISPATCH_CATCHER_PICKUP_23 = 323, DISPATCH_CATCHER_PICKUP_24 = 324, DISPATCH_CATCHER_PICKUP_25 = 325, DISPATCH_CATCHER_PICKUP_26 = 326, DISPATCH_CATCHER_PICKUP_27 = 327, DISPATCH_CATCHER_PICKUP_28 = 328, DISPATCH_CATCHER_PICKUP_29 = 329, DISPATCH_CATCHER_PICKUP_30 = 330, DISPATCH_CATCHER_PICKUP_31 = 331, DISPATCH_CATCHER_PICKUP_32 = 332, DISPATCH_CATCHER_PICKUP_33 = 333, DISPATCH_CATCHER_PICKUP_34 = 334, DISPATCH_CATCHER_PICKUP_35 = 335, DISPATCH_CATCHER_PICKUP_36 = 336, DISPATCH_CATCHER_PICKUP_37 = 337, DISPATCH_CATCHER_PICKUP_38 = 338, DISPATCH_CATCHER_PICKUP_39 = 339, DISPATCH_CATCHER_PICKUP_40 = 340, DISPATCH_CATCHER_PICKUP_END = 399, DISPATCH_CARRIER_STORE_START = 400, //取车流程 开始 DISPATCH_CARRIER_STORE_1 = 401, DISPATCH_CARRIER_STORE_2 = 402, DISPATCH_CARRIER_STORE_3 = 403, DISPATCH_CARRIER_STORE_4 = 404, DISPATCH_CARRIER_STORE_5 = 405, DISPATCH_CARRIER_STORE_6 = 406, DISPATCH_CARRIER_STORE_7 = 407, DISPATCH_CARRIER_STORE_8 = 408, DISPATCH_CARRIER_STORE_9 = 409, DISPATCH_CARRIER_STORE_10 = 410, DISPATCH_CARRIER_STORE_11 = 411, DISPATCH_CARRIER_STORE_12 = 412, DISPATCH_CARRIER_STORE_13 = 413, DISPATCH_CARRIER_STORE_14 = 414, DISPATCH_CARRIER_STORE_15 = 415, DISPATCH_CARRIER_STORE_16 = 416, DISPATCH_CARRIER_STORE_17 = 417, DISPATCH_CARRIER_STORE_18 = 418, DISPATCH_CARRIER_STORE_19 = 419, DISPATCH_CARRIER_STORE_20 = 420, DISPATCH_CARRIER_STORE_21 = 421, DISPATCH_CARRIER_STORE_22 = 422, DISPATCH_CARRIER_STORE_23 = 423, DISPATCH_CARRIER_STORE_24 = 424, DISPATCH_CARRIER_STORE_25 = 425, DISPATCH_CARRIER_STORE_26 = 426, DISPATCH_CARRIER_STORE_27 = 427, DISPATCH_CARRIER_STORE_28 = 428, DISPATCH_CARRIER_STORE_29 = 429, DISPATCH_CARRIER_STORE_30 = 430, DISPATCH_CARRIER_STORE_31 = 431, DISPATCH_CARRIER_STORE_32 = 432, DISPATCH_CARRIER_STORE_33 = 433, DISPATCH_CARRIER_STORE_34 = 434, DISPATCH_CARRIER_STORE_35 = 435, DISPATCH_CARRIER_STORE_36 = 436, DISPATCH_CARRIER_STORE_37 = 437, DISPATCH_CARRIER_STORE_38 = 438, DISPATCH_CARRIER_STORE_39 = 439, DISPATCH_CARRIER_STORE_40 = 440, DISPATCH_CARRIER_STORE_41 = 441, DISPATCH_CARRIER_STORE_42 = 442, DISPATCH_CARRIER_STORE_43 = 443, DISPATCH_CARRIER_STORE_44 = 444, DISPATCH_CARRIER_STORE_45 = 445, DISPATCH_CARRIER_STORE_46 = 446, DISPATCH_CARRIER_STORE_47 = 447, DISPATCH_CARRIER_STORE_48 = 448, DISPATCH_CARRIER_STORE_49 = 449, DISPATCH_CARRIER_STORE_50 = 450, DISPATCH_CARRIER_STORE_51 = 451, DISPATCH_CARRIER_STORE_52 = 452, DISPATCH_CARRIER_STORE_53 = 453, DISPATCH_CARRIER_STORE_54 = 454, DISPATCH_CARRIER_STORE_55 = 455, DISPATCH_CARRIER_STORE_56 = 456, DISPATCH_CARRIER_STORE_57 = 457, DISPATCH_CARRIER_STORE_58 = 458, DISPATCH_CARRIER_STORE_59 = 459, DISPATCH_CARRIER_STORE_60 = 460, DISPATCH_CARRIER_STORE_61 = 461, DISPATCH_CARRIER_STORE_END = 499, DISPATCH_CATCHER_STORE_START = 500, //取车流程 开始 DISPATCH_CATCHER_STORE_1 = 501, DISPATCH_CATCHER_STORE_2 = 502, DISPATCH_CATCHER_STORE_3 = 503, DISPATCH_CATCHER_STORE_4 = 504, DISPATCH_CATCHER_STORE_5 = 505, DISPATCH_CATCHER_STORE_6 = 506, DISPATCH_CATCHER_STORE_7 = 507, DISPATCH_CATCHER_STORE_8 = 508, DISPATCH_CATCHER_STORE_9 = 509, DISPATCH_CATCHER_STORE_10 = 510, DISPATCH_CATCHER_STORE_11 = 511, DISPATCH_CATCHER_STORE_12 = 512, DISPATCH_CATCHER_STORE_13 = 513, DISPATCH_CATCHER_STORE_14 = 514, DISPATCH_CATCHER_STORE_15 = 515, DISPATCH_CATCHER_STORE_16 = 516, DISPATCH_CATCHER_STORE_17 = 517, DISPATCH_CATCHER_STORE_18 = 518, DISPATCH_CATCHER_STORE_19 = 519, DISPATCH_CATCHER_STORE_20 = 520, DISPATCH_CATCHER_STORE_21 = 521, DISPATCH_CATCHER_STORE_22 = 522, DISPATCH_CATCHER_STORE_23 = 523, DISPATCH_CATCHER_STORE_24 = 524, DISPATCH_CATCHER_STORE_25 = 525, DISPATCH_CATCHER_STORE_26 = 526, DISPATCH_CATCHER_STORE_27 = 527, DISPATCH_CATCHER_STORE_28 = 528, DISPATCH_CATCHER_STORE_29 = 529, DISPATCH_CATCHER_STORE_30 = 530, DISPATCH_CATCHER_STORE_31 = 531, DISPATCH_CATCHER_STORE_32 = 532, DISPATCH_CATCHER_STORE_33 = 533, DISPATCH_CATCHER_STORE_34 = 534, DISPATCH_CATCHER_STORE_35 = 535, DISPATCH_CATCHER_STORE_36 = 536, DISPATCH_CATCHER_STORE_37 = 537, DISPATCH_CATCHER_STORE_38 = 538, DISPATCH_CATCHER_STORE_39 = 539, DISPATCH_CATCHER_STORE_40 = 540, DISPATCH_CATCHER_STORE_END = 599, 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 }; //调度控制节点, 对应一个设备 struct Dispatch_control_node { Dispatch_control_status m_dispatch_control_status; //调度控制的状态, 控制步骤(对于一个设备的长流程的控制) std::shared_ptr mp_dispatch_device; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_dispatch_task; //调度任务指针, 内存由本模块管理 //注释 message::Dispatch_control_request_msg m_dispatch_control_request_msg; //3调度控制的任务请求(调度算法->调度管理) 注释 message::Dispatch_control_response_msg m_dispatch_control_response_msg; //4调度控制的任务答复(调度管理->调度算法) 注释 Point3D_tool::Point3D m_source_coordinates; //起点 的坐标 (Dispatch_control 长流程的起点) 注释 Point3D_tool::Point3D m_destination_coordinates; //终点 的坐标 (Dispatch_control 长流程的终点) 注释 Error_manager m_error; //错误码 std::chrono::system_clock::time_point m_time_to_send_control_response; //发送 控制的任务答复 的时间 注释 }; //调度设备机器人节点 struct Dispatch_catcher_node { Dispatch_control_status m_dispatch_control_status; //调度控制的状态, 控制步骤 bool m_dispatch_control_start_flag =false; //调度设备机器人启动标志位 // 核心机器人, 2号 std::shared_ptr mp_main_catcher; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_main_catcher_task; //调度任务指针, 内存由本模块管理 Dispatch_device_base::Dispatch_task_level m_main_catcher_task_level; //跟随搬运器, 3号搬运器 bool m_following_flag; //3号搬运器是否跟随机器人, 如果车位在3楼, 则为false std::shared_ptr mp_following_carrier; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_following_carrier_task; //调度任务指针, 内存由本模块管理 //目前没有让别人避让的功能 Error_manager m_error; //错误码 }; //调度设备搬运器节点 struct Dispatch_carrier_node { Dispatch_control_status m_dispatch_control_status; //调度控制的状态, 控制步骤 bool m_dispatch_control_start_flag =false; //调度设备机器人启动标志位 //核心搬运器, 搬运汽车的搬运器 std::shared_ptr mp_main_carrier; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_main_carrier_task; //调度任务指针, 内存由本模块管理 Dispatch_device_base::Dispatch_task_level m_main_carrier_task_level; //给机器人发送避让指令, 2号机器人(可选) std::shared_ptr mp_avoid_catcher; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_avoid_catcher_task; //调度任务指针, 内存由本模块管理 //给3楼搬运器发送避让指令, std::shared_ptr mp_avoid_carrier; //调度设备指针, 内存由Dispatch_manager来管理 std::shared_ptr mp_avoid_carrier_task; //调度任务指针, 内存由本模块管理 Error_manager m_error; //错误码 }; public: Dispatch_process(); Dispatch_process(const Dispatch_process& other)= default; Dispatch_process& operator =(const Dispatch_process& other)= default; ~Dispatch_process(); public://API functions //初始化, 就把主控发送的请求传入即可. Error_manager Dispatch_process_init(message::Dispatch_request_msg &dispatch_request_msg); //反初始化 Error_manager Dispatch_process_uninit(); //检查流程是否空闲待机 Error_manager check_process_ready(); //判断是否为待机， virtual bool is_ready(); //能否在左侧路径存车 bool is_able_store_left_path(); //能否在右侧路径存车 bool is_able_store_right_path(); //能否在临时缓存位存车 bool is_able_store_temporary_cache_path(); //能否在临时缓存位存车 bool is_able_store_temporary_cache_path_2nd_floor(); //能否在临时缓存位存车 bool is_able_store_temporary_cache_path_3rd_floor(); public://get or set member variable void set_main_carrier(std::shared_ptr p_carrier); std::string get_dispatch_control_command_key(Dispatch_catcher_node & dispatch_catcher_node); std::string get_dispatch_control_command_key(Dispatch_carrier_node & dispatch_carrier_node); protected://主流程 //主线程 virtual void Main(); //检查调度请求 Error_manager check_dispatch_request_msg(); //等待资源分配 Error_manager wait_resource_allocation(); //调度控制取车 Error_manager dispatch_control_motion_pickup(); //调度控制存车 Error_manager dispatch_control_motion_store(); //检查核心搬运器 Error_manager check_main_carrier(Dispatch_carrier_node & dispatch_carrier_node); //检查核心抓取器 Error_manager check_main_catcher(Dispatch_catcher_node & dispatch_catcher_node); //连接搬运器, 创建新的任务单 与设备建立连接, 只能成功, 失败就要进入故障处理 Error_manager connect_dispatch_carrier(std::shared_ptr & p_carrier, std::shared_ptr & p_carrier_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level); //连接抓取器, 创建新的任务单 与设备建立连接, 可以失败, 失败就重新执行 Error_manager connect_dispatch_catcher(std::shared_ptr & p_catcher, std::shared_ptr & p_catcher_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level); //断开调度设备, 收回任务单, 释放任务单 与设备解除连接 Error_manager disconnect_dispatch_device(std::shared_ptr & p_device, std::shared_ptr & p_device_task); //发送调度总计划 Error_manager send_dispatch_plan_request_msg(); //调度控制, 并根据完成情况给答复 Error_manager dispatch_control_motion(); //等待控制指令 Error_manager wait_dispatch_control_request_msg(int dispatch_device_type, Dispatch_control_node & dispatch_control_node); //连接调度设备, 创建新的任务单 与设备建立连接 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 Error_manager disconnect_dispatch_device(int dispatch_device_type, Dispatch_control_node & dispatch_control_node); //等待调度总计划答复 Error_manager wait_dispatch_plan_response_msg(); //发送调度答复, 发给主控的 Error_manager send_dispatch_response_msg(); //通知调度管理, 释放资源, Error_manager release_resource(); //异常处理 Error_manager Exception_handling(); protected://长流程 //机器手去入口抓车(例如:机器手移动到2号入口上方,然后下降到一楼抓车,最后上升到最上方) Error_manager excute_robot_catch_car_from_inlet(Dispatch_control_node & dispatch_control_node); //机器手把车放到中跑车上面(例如:机器手下降到中跑车上放车,最后上升到最上方)(通过目标点 指定放到哪一个中跑车上) Error_manager excute_robot_put_car_to_carrier(Dispatch_control_node & dispatch_control_node); //机器手去中跑车上抓车(例如:机器手移动到1号中跑车上方,然后下降到中跑车抓车,最后上升到最上方) Error_manager excute_robot_catch_car_from_carrier(Dispatch_control_node & dispatch_control_node); //机器手去出口放车(例如:机器手移动到3号出口上方,然后下降到一楼放车,最后上升到最上方) Error_manager excute_robot_put_car_to_outlet(Dispatch_control_node & dispatch_control_node); //机器手的自由移动(例如:机器手移动到6号出入口的上方4楼处,给其他设备避让)(不进行抓车和放车的操作) Error_manager excute_robot_move(Dispatch_control_node & dispatch_control_node); //搬运器从机器手上接车(例如:搬运器移动到2号入口的上方,然后等待机器手把车放到中跑车上,小跑车保持松夹杆状态) Error_manager excute_carrier_receive_car_from_robot(Dispatch_control_node & dispatch_control_node); //搬运器把车存到停车位上(例如:小跑车夹车后,搬运器移动到56号停车位,然后小跑车将车存入车位,之后搬运器退回至电梯井) Error_manager excute_carrier_store_car_to_parkingspace(Dispatch_control_node & dispatch_control_node); //搬运器把车存到停车位上(例如:小跑车夹车后,搬运器移动到56号停车位,然后小跑车将车存入车位,之后搬运器退回至56车位外面即可) Error_manager excute_carrier_store_car_to_parkingspace_ex(Dispatch_control_node & dispatch_control_node); //搬运器从停车位上取车(例如:搬运器移动到56号停车位,然后小跑车将车从车位取出,之后搬运器退回至电梯井) Error_manager excute_carrier_pickup_car_from_parkingspace(Dispatch_control_node & dispatch_control_node); //搬运器从停车位上取车(例如:搬运器移动到56号停车位,然后小跑车将车从车位取出,之后搬运器退回至56车位外面即可) Error_manager excute_carrier_pickup_car_from_parkingspace_ex(Dispatch_control_node & dispatch_control_node); //搬运器把车交付给机器手(例如:搬运器移动到3号入口的上方,小跑车松夹杆,然后等待机器手把车从中跑车上取走) Error_manager excute_carrier_deliver_car_to_robot(Dispatch_control_node & dispatch_control_node); //搬运器的自由移动(可以提前到2楼来准备接车,或者为了避让就退回至电梯井)(小跑车不进行取车和存车) Error_manager excute_carrier_move(Dispatch_control_node & dispatch_control_node); //执行通道口动作 Error_manager excute_passageway_motion(Dispatch_control_node & dispatch_control_node); protected://短流程 //检查 任务单 是否完成任务, 里面不会调整短步骤 Error_manager check_task_status(std::shared_ptr p_task); //检查 任务单 是否完成任务, 里面会调整短步骤 Error_manager check_task_status(std::shared_ptr p_task, Dispatch_control_status & dispatch_control_status); //检查 任务单 是否完成任务, 里面会调整短步骤 Error_manager check_task_ex(std::shared_ptr p_task, int& step); //机器手调整到 正常待机的姿态(调节夹杆和轴距) Error_manager catcher_adjust_to_ready(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 移动z Error_manager catcher_move_z(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target); //机器手调整到 准备从地面抓车前的姿态 Error_manager catcher_adjust_from_ground(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 修正轴距, 如果轴距大于3000mm, 那么就要修正轴距. Error_manager catcher_adjust_wheel_base(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 移动c轴 夹杆 Error_manager catcher_move_c(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, Catcher_task::Clamp_motion target); //机器手调整到 对接搬运器的姿态 Error_manager catcher_adjust_to_carrier(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, bool reverse_flag); //机器手调整到 准备把车放到地面的姿态 Error_manager catcher_adjust_to_ground(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手调整到 对接搬运器的姿态 Error_manager catcher_adjust_from_carrier(Dispatch_control_node & dispatch_control_node, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //搬运器调整到 正常待机的姿态(调节夹杆和轴距) Error_manager carrier_adjust_to_ready(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates); //搬运器 移动x Error_manager carrier_move_x(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target); //搬运器 移动y Error_manager carrier_move_y(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target); //搬运器 移动z Error_manager carrier_move_z(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target); //搬运器 移动c轴 夹车杆 Error_manager carrier_move_c(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Clamp_motion target); //搬运器调整 水平的交接 Error_manager carrier_joint_x(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Joint_motion target); //搬运器 修正轴距 Error_manager carrier_adjust_wheel_base(Dispatch_control_node & dispatch_control_node, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 准备开始, 需要同步任务单和设备真实数据. Error_manager catcher_ready_to_start(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手调整到 正常待机的姿态(调节夹杆和轴距) Error_manager catcher_adjust_to_ready(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 移动x Error_manager catcher_move_x(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x); //机器手 移动y Error_manager catcher_move_y(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y); //机器手 移动z Error_manager catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z); //机器手调整到 准备从地面抓车前的姿态 Error_manager catcher_adjust_from_ground(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 修正轴距, 如果轴距大于3000mm, 那么就要修正轴距. Error_manager catcher_adjust_wheel_base(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates); //机器手 移动c轴 夹杆 Error_manager catcher_move_c(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, Catcher_task::Clamp_motion target); //机器手调整到 对接搬运器的姿态 Error_manager catcher_adjust_to_carrier(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x, bool reverse_flag); //机器手调整到 准备把车放到地面的姿态 Error_manager catcher_adjust_to_ground(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x, float target_y); //机器手调整到 对接搬运器的姿态 Error_manager catcher_adjust_from_carrier(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x); //搬运器 准备开始, 需要同步任务单和设备真实数据. Error_manager carrier_ready_to_start(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates); //搬运器调整到 正常待机的姿态(调节夹杆和轴距) Error_manager carrier_adjust_to_ready(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates); //搬运器 移动x Error_manager carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x); //搬运器 移动y Error_manager carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y); //搬运器 移动z Error_manager carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z); //搬运器 移动c轴 夹车杆 Error_manager carrier_move_c(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Clamp_motion target); //搬运器调整 水平的交接 Error_manager carrier_joint_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Joint_motion target); //搬运器 修正轴距 Error_manager carrier_adjust_wheel_base(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates); public://member variable std::atomic m_dispatch_process_status; //调度流程的状态, 控制步骤 //流程总规划数据, 外部指令 std::mutex m_lock; Common_data::Dispatch_process_type m_dispatch_process_type; //调度任务类型 int m_dispatch_source; //调度的起点,源头 (Dispatch_plan 总计划的起点) int m_dispatch_destination; //调度的终点,目的地(Dispatch_plan 总计划的终点) Common_data::Car_measure_information m_car_measure_information; //整车的测量信息 Common_data::Parkspace_information m_parkspace_information_optimal; //单个车位基本信息与状态信息,车位信息以及车位上的车辆信息 Common_data::Parkspace_information m_parkspace_information_left; //单个车位基本信息与状态信息,车位信息以及车位上的车辆信息 Common_data::Parkspace_information m_parkspace_information_right; //单个车位基本信息与状态信息,车位信息以及车位上的车辆信息 Common_data::Parkspace_information m_parkspace_information_temporary; //单个车位基本信息与状态信息,车位信息以及车位上的车辆信息 Common_data::Parkspace_type m_parkspace_type; //车位类型 Common_data::Car_type m_car_type; //车辆类型 bool m_temporary_cache_flag; //是否使用临时缓存的标记位 std::string m_command_key; //任务唯一码, 索引 int m_timeout_ms; //超时时间,单位ms std::chrono::system_clock::time_point m_start_time; //流程开始时间 Error_manager m_result; //流程的执行结果 float m_wheel_base; //轮距 //调度设备控制节点, 核心设备由调度管理进行资源分配, 本流程模块只负责使用 Dispatch_catcher_node m_dispatch_catcher_node; //调度设备机器人节点 Dispatch_carrier_node m_dispatch_carrier_node; //调度设备搬运器节点 //调度控制的长流程节点map std::map m_dispatch_control_node_map; //通信缓存 message::Dispatch_request_msg m_dispatch_request_msg; //1执行搬运请求(主控->调度管理) message::Dispatch_plan_request_msg m_dispatch_plan_request_msg; //2调度总规划的请求, 用于启动整个调度算法(调度管理->调度算法) message::Dispatch_plan_response_msg m_dispatch_plan_response_msg; //5调度总规划的答复(调度算法->调度管理) message::Dispatch_response_msg m_dispatch_response_msg; //6搬运动作执行完成后反馈结果(调度管理->主控) //流程通信顺序为 收1->发2 ->收3->发4->收3->发4->收3->发4..... ->收5->发6 // std::chrono::system_clock::time_point m_time_to_send_control_response; //发送 控制的任务答复 的时间 Dispatch_control_status mcarrier; Dispatch_control_status mcatcher; private: }; #endif //NNXX_TESTS_DISPATCH_PROCESS_H