puai_dispatch/dispatch/dispatch_process.cpp

//
// Created by huli on 2021/3/22.
//

#include "dispatch_process.h"
#include "../system/system_communication.h"
#include "../dispatch/dispatch_manager.h"

Dispatch_process::Dispatch_process()
{
	m_dispatch_process_status = DISPATCH_PROCESS_STATUS_UNKNOW;
	m_dispatch_process_type = DISPATCH_PROCESS_TYPE_UNKNOW;
	m_dispatch_source = 0;
	m_dispatch_destination = 0;
}

Dispatch_process::~Dispatch_process()
{
	Dispatch_process_uninit();
}

//初始化, 就把主控发送的请求传入即可.
Error_manager Dispatch_process::Dispatch_process_init(message::Dispatch_request_msg dispatch_request_msg)
{
	if ( dispatch_request_msg.base_info().has_timeout_ms() )
	{
		m_timeout_ms = dispatch_request_msg.base_info().timeout_ms() - DISPATCH_PROCESS_ATTENUATION_TIMEOUT_MS;
	}
	else
	{
		m_timeout_ms = DISPATCH_PROCESS_TIMEOUT_MS - DISPATCH_PROCESS_ATTENUATION_TIMEOUT_MS;
	}
	m_command_key = dispatch_request_msg.command_key();
	m_start_time = std::chrono::system_clock::now();

	if ( dispatch_request_msg.dispatch_motion_direction() == message::E_STORE_CAR )
	{
		m_dispatch_process_type = DISPATCH_PROCESS_STORE;
		m_dispatch_source = dispatch_request_msg.terminal_id() + PASSAGEWAY_ID_BASE ;
		m_dispatch_destination = dispatch_request_msg.parkspace_info().parkspace_id() + PARKSPACE_ID_BASE;
		Common_data::copy_data(m_parkspace_information, dispatch_request_msg.parkspace_info());
		Common_data::copy_data(m_car_measure_information, dispatch_request_msg.locate_information());
	}
	else if( dispatch_request_msg.dispatch_motion_direction() == message::E_PICKUP_CAR )
	{
		m_dispatch_process_type = DISPATCH_PROCESS_PICKUP;
		m_dispatch_source = dispatch_request_msg.parkspace_info().parkspace_id() + PARKSPACE_ID_BASE;
		m_dispatch_destination = dispatch_request_msg.terminal_id() + PASSAGEWAY_ID_BASE ;
		Common_data::copy_data(m_parkspace_information, dispatch_request_msg.parkspace_info());
	}
	else
	{
		m_dispatch_process_type = DISPATCH_PROCESS_TYPE_UNKNOW;
		return Error_manager(Error_code::PARAMETER_ERROR, Error_level::MINOR_ERROR,
							"  Dispatch_process::Dispatch_process_init ERROR ");
	}

	m_dispatch_process_status = DISPATCH_PROCESS_CREATED;
	return Error_code::SUCCESS;
}

//反初始化
Error_manager Dispatch_process::Dispatch_process_uninit()
{
	return Error_code::SUCCESS;
}

void Dispatch_process::Main()
{
	Error_manager t_error;

	//主流程, 循环执行
	while ( std::chrono::system_clock::now() - m_start_time < std::chrono::milliseconds(m_timeout_ms) )
	{
		std::this_thread::sleep_for(std::chrono::microseconds(1));

	    switch ( m_dispatch_process_status )
	    {
	        case DISPATCH_PROCESS_CREATED:
	        {
				//检查调度请求
				m_result = check_dispatch_request_msg();
				if ( m_result !=Error_code::SUCCESS)
				{
					m_dispatch_process_status = DISPATCH_PROCESS_FAULT;
					break;
				}
				//发送调度总计划
				m_result = send_dispatch_plan_request_msg();
				if ( m_result !=Error_code::SUCCESS)
				{
					m_dispatch_process_status = DISPATCH_PROCESS_FAULT;
					break;
				}
				//流程正常, 就进入等待状态, 等待调度控制发送动作指令
				m_dispatch_process_status = DISPATCH_PROCESS_READY;
	            break;
	        }
	        case DISPATCH_PROCESS_READY:
	        {
				//等待控制指令
				m_result = wait_dispatch_control_request_msg();
				if ( m_result !=Error_code::SUCCESS)
				{
					//不成功, 就表示没有新的指令, 那么什么都不做, 原地待命
				}
				else
				{
					//流程正常, 就进入工作状态,
					m_dispatch_process_status = DISPATCH_PROCESS_WORKING;
					break;
				}

				//等待调度总计划答复
				m_result = wait_dispatch_plan_response_msg();
				if ( m_result !=Error_code::SUCCESS)
				{
					//不成功, 就表示没有总计划答复, 那么什么都不做, 原地待命
				}
				else
				{
					//流程正常, 就进入完成状态,
					m_dispatch_process_status = DISPATCH_PROCESS_OVER;
					break;
				}
				break;
	        }
			case DISPATCH_PROCESS_WORKING:
			{
				break;
			}
			case DISPATCH_PROCESS_OVER:
			{
				//发送调度答复, 发给主控的
				m_result = send_dispatch_response_msg();
				if ( m_result !=Error_code::SUCCESS)
				{
					m_dispatch_process_status = DISPATCH_PROCESS_FAULT;
					break;
				}
				//流程正常, 就进入等待状态, 等待调度控制发送动作指令
				m_dispatch_process_status = DISPATCH_PROCESS_RELEASE;
				break;
			}
			case DISPATCH_PROCESS_RELEASE:
			{
				//通知调度管理, 释放资源,
				m_result = release_resource();
				if ( m_result !=Error_code::SUCCESS)
				{
					m_dispatch_process_status = DISPATCH_PROCESS_FAULT;
					break;
				}

				//在这里, 整个流程彻底结束, 之后线程池会自动回收 这个流程对象的资源
				return;
				break;
			}
			case DISPATCH_PROCESS_FAULT:
			{
				break;
			}
	        default:
	        {

	            break;
	        }
	    }
	}

	//任务超时

	return;
}


//检查调度请求
Error_manager Dispatch_process::check_dispatch_request_msg()
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	return Error_code::SUCCESS;
}

//发送调度总计划
Error_manager Dispatch_process::send_dispatch_plan_request_msg()
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	m_dispatch_plan_request_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_plan_request_msg);
	m_dispatch_plan_request_msg.mutable_base_info()->set_timeout_ms(m_timeout_ms);
	m_dispatch_plan_request_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_mamager);
	m_dispatch_plan_request_msg.mutable_base_info()->set_receiver(message::Communicator::eDispatch_control);
	m_dispatch_plan_request_msg.set_command_key(m_command_key);

	m_dispatch_plan_request_msg.set_dispatch_task_type((message::Dispatch_task_type)m_dispatch_process_type);
	m_dispatch_plan_request_msg.set_dispatch_source(m_dispatch_source);
	m_dispatch_plan_request_msg.set_dispatch_destination(m_dispatch_destination);
	//这里不写错误码

	std::string t_msg = m_dispatch_plan_request_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);
	return Error_code::SUCCESS;
}


//等待控制指令
Error_manager Dispatch_process::wait_dispatch_control_request_msg()
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//key不相等 就表示 收到了新的控制指令
	if ( m_dispatch_control_request_msg.command_key() == m_dispatch_control_response_msg.command_key() )
	{
		return Error_code::NODATA;
	}
	else
	{
	    return Error_code::SUCCESS;
	}
}

//执行调度控制指令, 并根据完成情况给答复
Error_manager Dispatch_process::excute_dispatch_control()
{
	std::unique_lock<std::mutex> t_lock(m_lock);

	return Error_code::SUCCESS;
}



//等待调度总计划答复
Error_manager Dispatch_process::wait_dispatch_plan_response_msg()
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//key 相等 就表示 收到了总计划答复
	if ( m_dispatch_plan_request_msg.command_key() == m_dispatch_plan_response_msg.command_key() )
	{
		return Error_code::SUCCESS;
	}
	else
	{
		return Error_code::NODATA;
	}
}

//发送调度答复, 发给主控的
Error_manager Dispatch_process::send_dispatch_response_msg()
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	m_dispatch_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_response_msg);
	m_dispatch_response_msg.mutable_base_info()->set_timeout_ms(m_timeout_ms);
	m_dispatch_response_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_mamager);
	m_dispatch_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	m_dispatch_response_msg.set_command_key(m_command_key);

	m_dispatch_response_msg.mutable_error_manager()->CopyFrom(m_dispatch_plan_response_msg.error_manager());

	std::string t_msg = m_dispatch_response_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);
	return Error_code::SUCCESS;
}

//通知调度管理, 释放资源,
Error_manager Dispatch_process::release_resource()
{
	return Dispatch_manager::get_instance_references().release_dispatch_process(m_command_key);
}