main.cpp 32 KB

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  1. //
  2. //
  3. // 20210425, hl_dispatch 和 hl_dispatch_B的版本进行同步, 此时调度管理的功能全部完成.后续可能还需要日志记录.
  4. //
  5. #include <iostream>
  6. #include "./error_code/error_code.h"
  7. //#include "LogFiles.h"
  8. #include <glog/logging.h>
  9. #include "./communication/communication_socket_base.h"
  10. #include "./tool/thread_pool.h"
  11. #include "./system/system_communication.h"
  12. #include "./system/system_executor.h"
  13. #include "./dispatch/dispatch_manager.h"
  14. #include "./dispatch/dispatch_communication.h"
  15. #include "./dispatch/dispatch_coordinates.h"
  16. #include "./tool/common_data.h"
  17. #include <algorithm> // std::for_each
  18. #define LIVOX_NUMBER 2
  19. GOOGLE_GLOG_DLL_DECL void shut_down_logging(const char* data, int size)
  20. {
  21. time_t tt;
  22. time( &tt );
  23. tt = tt + 8*3600; // transform the time zone
  24. tm* t= gmtime( &tt );
  25. char buf[255]={0};
  26. sprintf(buf,"./%d%02d%02d-%02d%02d%02d-dump.txt",
  27. t->tm_year + 1900,
  28. t->tm_mon + 1,
  29. t->tm_mday,
  30. t->tm_hour,
  31. t->tm_min,
  32. t->tm_sec);
  33. FILE* tp_file=fopen(buf,"w");
  34. fprintf(tp_file,data,strlen(data));
  35. fclose(tp_file);
  36. }
  37. #include <chrono>
  38. using namespace std;
  39. class AAA
  40. {
  41. public:
  42. int a;
  43. };
  44. class BBB:public AAA
  45. {
  46. public:
  47. int b;
  48. };
  49. int main(int argc,char* argv[])
  50. {
  51. // int t_terminal = 6;
  52. // int t_temp = (t_terminal-1)%2;
  53. // int t_column = 4 + ((t_terminal-1)/2)*3 + t_temp*2 ;
  54. //std::cout << " huli test :::: " << " t_column = " << t_column << std::endl;
  55. //
  56. // return 0;
  57. Error_manager t_error;
  58. const char* logPath = "./";
  59. google::InitGoogleLogging("LidarMeasurement");
  60. google::SetStderrLogging(google::INFO);
  61. google::SetLogDestination(0, logPath);
  62. google::SetLogFilenameExtension("zxlog");
  63. google::InstallFailureSignalHandler();
  64. google::InstallFailureWriter(&shut_down_logging);
  65. FLAGS_colorlogtostderr = true; // Set log color
  66. FLAGS_logbufsecs = 0; // Set log output speed(s)
  67. FLAGS_max_log_size = 1024; // Set max log file size(GB)
  68. FLAGS_stop_logging_if_full_disk = true;
  69. //#define MAIN_TEST 1
  70. #ifdef MAIN_TEST
  71. t_error = Dispatch_coordinates::get_instance_references().dispatch_coordinates_init();
  72. std::cout << " huli test :::: " << " Dispatch_coordinates::get_instance_references().dispatch_coordinates_init() = " << t_error.to_string() << std::endl;
  73. t_error = Dispatch_communication::get_instance_references().communication_init();
  74. std::cout << " huli test :::: " << " Dispatch_communication::get_instance_references().communication_init() = " << t_error.to_string() << std::endl;
  75. std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;
  76. t_error = Dispatch_manager::get_instance_references().dispatch_manager_init(0);
  77. std::cout << " huli test :::: " << " Dispatch_manager::get_instance_references().dispatch_manager_init(0) = " << t_error.to_string() << std::endl;
  78. std::cout << "Dispatch_manager = " << Dispatch_manager::get_instance_references().get_dispatch_manager_status() << std::endl;
  79. System_executor::get_instance_references().system_executor_init(10);
  80. std::cout << "System_executor = " << System_executor::get_instance_references().get_system_executor_status() << std::endl;
  81. System_communication::get_instance_references().communication_init();
  82. System_communication::get_instance_references().set_encapsulate_cycle_time(1000);
  83. while (1)
  84. {
  85. // Dispatch_manager::space_device** tpp = Dispatch_manager::get_instance_references().mpp_space_lock;
  86. // for (int i = 0; i < 11; ++i)
  87. // {
  88. // for (int j = 0; j < 15; ++j)
  89. // {
  90. // if ( tpp[i][j].m_catcher_id != -1 )
  91. // {
  92. // std::cout << " huli test :::: " << " tpp[i][j].m_catcher_id = " << tpp[i][j].m_catcher_id << std::endl;
  93. // std::cout << " huli test :::: " << " i = " << i << std::endl;
  94. // std::cout << " huli test :::: " << " j = " << j << std::endl;
  95. // }
  96. // if ( tpp[i][j].m_carrier_id != -1 )
  97. // {
  98. // std::cout << " huli test :::: " << " tpp[i][j].m_carrier_id = " << tpp[i][j].m_carrier_id << std::endl;
  99. // std::cout << " huli test :::: " << " i = " << i << std::endl;
  100. // std::cout << " huli test :::: " << " j = " << j << std::endl;
  101. // }
  102. // }
  103. // }
  104. std::this_thread::sleep_for(std::chrono::seconds(1));
  105. }
  106. return 0;
  107. #endif
  108. // Error_manager t_error;
  109. t_error = Dispatch_communication::get_instance_references().communication_init();
  110. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  111. std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;
  112. std::this_thread::sleep_for(std::chrono::seconds(2));
  113. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  114. std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;
  115. std::cout << " ---------------------------------------------------" << std::endl;
  116. std::cout << " ---------------------------------------------------" << std::endl;
  117. Catcher t_catcher;
  118. t_error = t_catcher.dispatch_device_base_init(1, 102);
  119. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  120. std::this_thread::sleep_for(std::chrono::seconds(2));
  121. std::shared_ptr<Task_Base> tp_task_Base1(new Catcher_task);
  122. Catcher_task * tp_catcher_task1 = (Catcher_task *)tp_task_Base1.get();
  123. tp_catcher_task1->task_init(NULL,std::chrono::milliseconds(15000));
  124. tp_catcher_task1->m_request_key = "x23456789012345678901234567890r1";
  125. tp_catcher_task1->m_request_x = 17955;
  126. tp_catcher_task1->m_request_y = 3000;
  127. tp_catcher_task1->m_request_b = 90;
  128. tp_catcher_task1->m_request_z = 5410;
  129. tp_catcher_task1->m_request_d1 = 355;
  130. tp_catcher_task1->m_request_d2 = 455;
  131. tp_catcher_task1->m_request_wheelbase = 2800;
  132. tp_catcher_task1->m_request_clamp_motion = Catcher_task::E_CLAMP_LOOSE;
  133. t_error = t_catcher.execute_task(tp_task_Base1, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
  134. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  135. std::cout << " ---------------------------------------------------" << std::endl;
  136. /*
  137. char zxczxcxzc1 ;
  138. std::cin >> zxczxcxzc1 ;
  139. while ( 1 )
  140. {
  141. std::cout << " huli test :::: " << " ===================================== " << std::endl;
  142. std::cout << " huli test :::: " << " tp_catcher_task->get_task_statu = " << tp_catcher_task->get_task_statu() << std::endl;
  143. std::cout << " huli test :::: " << " tp_catcher_task->m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;
  144. std::cout << " huli test :::: " << " m_respons_key = " << tp_catcher_task->m_respons_key << std::endl;
  145. std::cout << " huli test :::: " << " m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;
  146. std::cout << " huli test :::: " << " m_respons_x = " << tp_catcher_task->m_respons_x << std::endl;
  147. std::cout << " huli test :::: " << " m_respons_y = " << tp_catcher_task->m_respons_y << std::endl;
  148. std::cout << " huli test :::: " << " m_respons_b = " << tp_catcher_task->m_respons_b << std::endl;
  149. std::cout << " huli test :::: " << " m_respons_z = " << tp_catcher_task->m_respons_z << std::endl;
  150. std::cout << " huli test :::: " << " m_respons_d1 = " << tp_catcher_task->m_respons_d1 << std::endl;
  151. std::cout << " huli test :::: " << " m_respons_d2 = " << tp_catcher_task->m_respons_d2 << std::endl;
  152. std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_catcher_task->m_respons_wheelbase << std::endl;
  153. std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_catcher_task->m_respons_clamp_motion << std::endl;
  154. std::cout << " ---------------------------------------------------" << std::endl;
  155. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  156. std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_catcher.get_dispatch_device_status() << std::endl;
  157. int heat = t_catcher.m_last_heartbeat;
  158. std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
  159. std::cout << " huli test :::: " << " m_actual_device_status = " << t_catcher.m_actual_device_status << std::endl;
  160. std::cout << " huli test :::: " << " m_actual_load_status = " << t_catcher.m_actual_load_status << std::endl;
  161. std::cout << " huli test :::: " << " m_actual_x = " << t_catcher.m_actual_x << std::endl;
  162. std::cout << " huli test :::: " << " m_actual_y = " << t_catcher.m_actual_y << std::endl;
  163. std::cout << " huli test :::: " << " m_actual_b = " << t_catcher.m_actual_b << std::endl;
  164. std::cout << " huli test :::: " << " m_actual_z = " << t_catcher.m_actual_z << std::endl;
  165. std::cout << " huli test :::: " << " m_actual_d1 = " << t_catcher.m_actual_d1 << std::endl;
  166. std::cout << " huli test :::: " << " m_actual_d2 = " << t_catcher.m_actual_d2 << std::endl;
  167. std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_catcher.m_actual_clamp_motion1 << std::endl;
  168. std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_catcher.m_actual_clamp_motion2 << std::endl;
  169. std::cout << " huli test :::: " << " m_actual_clamp_motion3 = " << t_catcher.m_actual_clamp_motion3 << std::endl;
  170. std::cout << " huli test :::: " << " m_actual_clamp_motion4 = " << t_catcher.m_actual_clamp_motion4 << std::endl;
  171. std::cout << " huli test :::: " << " m_actual_error_code = " << std::endl;
  172. for (int i = 0; i < 50; ++i)
  173. {
  174. printf("0x%x ", t_catcher.m_actual_error_code[i]);
  175. }
  176. std::cout << std::endl;
  177. std::cout << " huli test :::: " << " m_actual_warning_code = " << std::endl;
  178. for (int i = 0; i < 50; ++i)
  179. {
  180. printf("0x%x ", t_catcher.m_actual_warning_code[i]);
  181. }
  182. std::cout << std::endl;
  183. std::cout << " huli test :::: " << " m_actual_error_description = " << t_catcher.m_actual_error_description << std::endl;
  184. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  185. std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  186. }
  187. */
  188. Carrier t_carrier20;
  189. t_error = t_carrier20.dispatch_device_base_init(0, 200);
  190. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  191. std::this_thread::sleep_for(std::chrono::seconds(2));
  192. std::shared_ptr<Task_Base> tp_task_Base20(new Carrier_task);
  193. Carrier_task * tp_carrier_task20 = (Carrier_task *)tp_task_Base20.get();
  194. tp_carrier_task20->task_init(NULL,std::chrono::milliseconds(15000));
  195. tp_carrier_task20->m_request_key = "x23456789012345678901234567890c0";
  196. tp_carrier_task20->m_request_x = 1;
  197. // tp_carrier_task20->m_request_x = 32600;
  198. tp_carrier_task20->m_request_y = 3000;
  199. tp_carrier_task20->m_request_z = 2525;
  200. tp_carrier_task20->m_request_y1 = 4500;
  201. tp_carrier_task20->m_request_y2 = 1700;
  202. tp_carrier_task20->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
  203. tp_carrier_task20->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
  204. tp_carrier_task20->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
  205. tp_carrier_task20->m_request_space_id = 555;
  206. tp_carrier_task20->m_request_floor_id = 555;
  207. tp_carrier_task20->m_request_wheelbase = 555;
  208. t_error = t_carrier20.execute_task(tp_task_Base20, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
  209. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  210. std::cout << " ---------------------------------------------------" << std::endl;
  211. /*
  212. char zxczxcxzc20 ;
  213. std::cin >> zxczxcxzc20 ;
  214. while ( 1 )
  215. {
  216. std::cout << " huli test :::: " << " ===================================== " << std::endl;
  217. std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
  218. std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  219. std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
  220. std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  221. std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
  222. std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
  223. std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
  224. std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
  225. std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
  226. std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
  227. std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
  228. std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
  229. std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
  230. std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
  231. std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
  232. std::cout << " ---------------------------------------------------" << std::endl;
  233. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  234. std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
  235. int heat = t_carrier.m_last_heartbeat;
  236. std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
  237. std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
  238. std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
  239. std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
  240. std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
  241. std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
  242. std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
  243. std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
  244. std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
  245. std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
  246. std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
  247. std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
  248. std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
  249. std::cout << " huli test :::: " << " m_actual_error_code = " << std::endl;
  250. for (int i = 0; i < 50; ++i)
  251. {
  252. printf("0x%x ", t_carrier.m_actual_error_code[i]);
  253. }
  254. std::cout << std::endl;
  255. std::cout << " huli test :::: " << " m_actual_warning_code = " << std::endl;
  256. for (int i = 0; i < 50; ++i)
  257. {
  258. printf("0x%x ", t_carrier.m_actual_warning_code[i]);
  259. }
  260. std::cout << std::endl;
  261. std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;
  262. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  263. std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  264. }
  265. */
  266. Carrier t_carrier21;
  267. t_error = t_carrier21.dispatch_device_base_init(1, 207);
  268. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  269. std::this_thread::sleep_for(std::chrono::seconds(2));
  270. std::shared_ptr<Task_Base> tp_task_Base21(new Carrier_task);
  271. Carrier_task * tp_carrier_task21 = (Carrier_task *)tp_task_Base21.get();
  272. tp_carrier_task21->task_init(NULL,std::chrono::milliseconds(15000));
  273. tp_carrier_task21->m_request_key = "x23456789012345678901234567890c1";
  274. // tp_carrier_task21->m_request_x = 1;
  275. tp_carrier_task21->m_request_x = 32600;
  276. tp_carrier_task21->m_request_y = 3000;
  277. tp_carrier_task21->m_request_z = 2525;
  278. tp_carrier_task21->m_request_y1 = 4500;
  279. tp_carrier_task21->m_request_y2 = 1700;
  280. tp_carrier_task21->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
  281. tp_carrier_task21->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
  282. tp_carrier_task21->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
  283. tp_carrier_task21->m_request_space_id = 555;
  284. tp_carrier_task21->m_request_floor_id = 555;
  285. tp_carrier_task21->m_request_wheelbase = 555;
  286. t_error = t_carrier21.execute_task(tp_task_Base21, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
  287. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  288. std::cout << " ---------------------------------------------------" << std::endl;
  289. /*
  290. char zxczxcxzc21 ;
  291. std::cin >> zxczxcxzc21 ;
  292. while ( 1 )
  293. {
  294. std::cout << " huli test :::: " << " ===================================== " << std::endl;
  295. std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
  296. std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  297. std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
  298. std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  299. std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
  300. std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
  301. std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
  302. std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
  303. std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
  304. std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
  305. std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
  306. std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
  307. std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
  308. std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
  309. std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
  310. std::cout << " ---------------------------------------------------" << std::endl;
  311. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  312. std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
  313. int heat = t_carrier.m_last_heartbeat;
  314. std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
  315. std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
  316. std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
  317. std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
  318. std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
  319. std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
  320. std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
  321. std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
  322. std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
  323. std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
  324. std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
  325. std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
  326. std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
  327. std::cout << " huli test :::: " << " m_actual_error_code = " << std::endl;
  328. for (int i = 0; i < 50; ++i)
  329. {
  330. printf("0x%x ", t_carrier.m_actual_error_code[i]);
  331. }
  332. std::cout << std::endl;
  333. std::cout << " huli test :::: " << " m_actual_warning_code = " << std::endl;
  334. for (int i = 0; i < 50; ++i)
  335. {
  336. printf("0x%x ", t_carrier.m_actual_warning_code[i]);
  337. }
  338. std::cout << std::endl;
  339. std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;
  340. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  341. std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  342. }
  343. */
  344. Carrier t_carrier22;
  345. t_error = t_carrier22.dispatch_device_base_init(2, 203);
  346. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  347. std::this_thread::sleep_for(std::chrono::seconds(2));
  348. std::shared_ptr<Task_Base> tp_task_Base22(new Carrier_task);
  349. Carrier_task * tp_carrier_task22 = (Carrier_task *)tp_task_Base22.get();
  350. tp_carrier_task22->task_init(NULL,std::chrono::milliseconds(15000));
  351. tp_carrier_task22->m_request_key = "x23456789012345678901234567890c2";
  352. tp_carrier_task22->m_request_x = 17955;
  353. // tp_carrier_task22->m_request_x = 4700;
  354. tp_carrier_task22->m_request_y = 3000;
  355. tp_carrier_task22->m_request_z = 5125;
  356. tp_carrier_task22->m_request_y1 = 4500;
  357. tp_carrier_task22->m_request_y2 = 1700;
  358. tp_carrier_task22->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
  359. tp_carrier_task22->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
  360. tp_carrier_task22->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
  361. tp_carrier_task22->m_request_space_id = 555;
  362. tp_carrier_task22->m_request_floor_id = 555;
  363. tp_carrier_task22->m_request_wheelbase = 555;
  364. t_error = t_carrier22.execute_task(tp_task_Base22, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
  365. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  366. std::cout << " ---------------------------------------------------" << std::endl;
  367. /*
  368. char zxczxcxzc22 ;
  369. std::cin >> zxczxcxzc22 ;
  370. while ( 1 )
  371. {
  372. std::cout << " huli test :::: " << " ===================================== " << std::endl;
  373. std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
  374. std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  375. std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
  376. std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
  377. std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
  378. std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
  379. std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
  380. std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
  381. std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
  382. std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
  383. std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
  384. std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
  385. std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
  386. std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
  387. std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
  388. std::cout << " ---------------------------------------------------" << std::endl;
  389. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  390. std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
  391. int heat = t_carrier.m_last_heartbeat;
  392. std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
  393. std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
  394. std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
  395. std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
  396. std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
  397. std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
  398. std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
  399. std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
  400. std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
  401. std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
  402. std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
  403. std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
  404. std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
  405. std::cout << " huli test :::: " << " m_actual_error_code = " << std::endl;
  406. for (int i = 0; i < 50; ++i)
  407. {
  408. printf("0x%x ", t_carrier.m_actual_error_code[i]);
  409. }
  410. std::cout << std::endl;
  411. std::cout << " huli test :::: " << " m_actual_warning_code = " << std::endl;
  412. for (int i = 0; i < 50; ++i)
  413. {
  414. printf("0x%x ", t_carrier.m_actual_warning_code[i]);
  415. }
  416. std::cout << std::endl;
  417. std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;
  418. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  419. std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  420. }
  421. */
  422. /*
  423. Passageway t_passageway;
  424. t_error = t_passageway.dispatch_device_base_init(1);
  425. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  426. std::this_thread::sleep_for(std::chrono::seconds(2));
  427. std::shared_ptr<Task_Base> tp_task_Base3(new Passageway_task);
  428. Passageway_task * tp_passageway_task = (Passageway_task *)tp_task_Base3.get();
  429. tp_passageway_task->task_init(NULL,std::chrono::milliseconds(15000));
  430. tp_passageway_task->m_request_key = "ABCDEF";
  431. tp_passageway_task->m_request_inside_door_motion = Passageway_task::DOOR_OPEN;
  432. tp_passageway_task->m_request_outside_door_motion = Passageway_task::DOOR_CLOSE;
  433. tp_passageway_task->m_request_turntable_direction = Passageway_task::TURNTABLE_DIRECTION_OUTSIDE;
  434. t_error = t_passageway.execute_task(tp_task_Base3, Dispatch_device_base::E_ONE_LEVEL);
  435. std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
  436. std::cout << " ---------------------------------------------------" << std::endl;
  437. char zxczxcxzc3 ;
  438. std::cin >> zxczxcxzc3 ;
  439. while ( 1 )
  440. {
  441. std::cout << " huli test :::: " << " ===================================== " << std::endl;
  442. std::cout << " huli test :::: " << " tp_passageway_task->get_task_statu = " << tp_passageway_task->get_task_statu() << std::endl;
  443. std::cout << " huli test :::: " << " tp_passageway_task->m_respons_status = " << tp_passageway_task->m_respons_status << std::endl;
  444. std::cout << " huli test :::: " << " m_respons_key = " << tp_passageway_task->m_respons_key << std::endl;
  445. std::cout << " huli test :::: " << " m_respons_status = " << tp_passageway_task->m_respons_status << std::endl;
  446. std::cout << " huli test :::: " << " m_respons_inside_door_motion = " << tp_passageway_task->m_respons_inside_door_motion << std::endl;
  447. std::cout << " huli test :::: " << " m_respons_outside_door_motion = " << tp_passageway_task->m_respons_outside_door_motion << std::endl;
  448. std::cout << " huli test :::: " << " m_respons_turntable_direction = " << tp_passageway_task->m_respons_turntable_direction << std::endl;
  449. std::cout << " ---------------------------------------------------" << std::endl;
  450. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  451. std::cout << " huli test :::: " << " t_passageway_base.get_passageway_status() = " << t_passageway.get_dispatch_device_status() << std::endl;
  452. int heat = t_passageway.m_last_heartbeat;
  453. std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
  454. std::cout << " huli test :::: " << " m_actual_device_status = " << t_passageway.m_actual_device_status << std::endl;
  455. std::cout << " huli test :::: " << " m_actual_inside_load_status = " << t_passageway.m_actual_inside_load_status << std::endl;
  456. std::cout << " huli test :::: " << " m_actual_outside_load_status = " << t_passageway.m_actual_outside_load_status << std::endl;
  457. std::cout << " huli test :::: " << " m_actual_front_overstep_the_boundary = " << t_passageway.m_actual_front_overstep_the_boundary << std::endl;
  458. std::cout << " huli test :::: " << " m_actual_back_overstep_the_boundary = " << t_passageway.m_actual_back_overstep_the_boundary << std::endl;
  459. std::cout << " huli test :::: " << " m_actual_height_overstep_the_boundary = " << t_passageway.m_actual_height_overstep_the_boundary << std::endl;
  460. std::cout << " huli test :::: " << " m_actual_outside_door_sensor = " << t_passageway.m_actual_outside_door_sensor << std::endl;
  461. std::cout << " huli test :::: " << " m_actual_inside_door_motion = " << t_passageway.m_actual_inside_door_motion << std::endl;
  462. std::cout << " huli test :::: " << " m_actual_outside_door_motion = " << t_passageway.m_actual_outside_door_motion << std::endl;
  463. std::cout << " huli test :::: " << " m_actual_turntable_load_status = " << t_passageway.m_actual_turntable_load_status << std::endl;
  464. std::cout << " huli test :::: " << " m_actual_turntable_direction = " << t_passageway.m_actual_turntable_direction << std::endl;
  465. std::cout << " huli test :::: " << " m_actual_error_code = " << std::endl;
  466. for (int i = 0; i < 50; ++i)
  467. {
  468. printf("0x%x ", t_passageway.m_actual_error_code[i]);
  469. }
  470. std::cout << std::endl;
  471. std::cout << " huli test :::: " << " m_actual_warning_code = " << std::endl;
  472. for (int i = 0; i < 50; ++i)
  473. {
  474. printf("0x%x ", t_passageway.m_actual_warning_code[i]);
  475. }
  476. std::cout << std::endl;
  477. std::cout << " huli test :::: " << " m_actual_error_description = " << t_passageway.m_actual_error_description << std::endl;
  478. std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
  479. std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  480. }
  481. */
  482. while (1)
  483. {
  484. }
  485. char ch123 ;
  486. std::cin >> ch123 ;
  487. Dispatch_communication::get_instance_references().communication_uninit();
  488. return 0;
  489. int t_dispatch_id = 0;
  490. // std::cin >> t_dispatch_id ;
  491. if ( argc == 2 )
  492. {
  493. std::cout << " huli test :::: " << " argv[1] = " << argv[1] << std::endl;
  494. t_dispatch_id = atoi(argv[1]);
  495. }
  496. std::cout << " huli test :::: " << " t_dispatch_id = " << t_dispatch_id << std::endl;
  497. Dispatch_manager::get_instance_references().dispatch_manager_init(t_dispatch_id);
  498. std::cout << "Dispatch_manager = " << Dispatch_manager::get_instance_references().get_dispatch_manager_status() << std::endl;
  499. System_executor::get_instance_references().system_executor_init(8);
  500. std::cout << "System_executor = " << System_executor::get_instance_references().get_system_executor_status() << std::endl;
  501. System_communication::get_instance_references().communication_init();
  502. char ch ;
  503. std::cin >> ch ;
  504. System_communication::get_instance_references().communication_uninit();
  505. System_executor::get_instance_references().system_executor_uninit();
  506. Dispatch_manager::get_instance_references().dispatch_manager_uninit();
  507. return 0;
  508. }