puai_dispatch/main.cpp

//
//
// 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.
//

#include <iostream>
#include "./error_code/error_code.h"
//#include "LogFiles.h"
#include <glog/logging.h>

#include "./communication/communication_socket_base.h"

#include "./tool/thread_pool.h"
#include "./system/system_communication.h"
#include "./system/system_executor.h"

#include "./dispatch/dispatch_manager.h"
#include "./dispatch/dispatch_communication.h"
#include "./dispatch/dispatch_coordinates.h"


#include "./tool/common_data.h"



#include <algorithm>    // std::for_each


#define LIVOX_NUMBER	     2


GOOGLE_GLOG_DLL_DECL void shut_down_logging(const char* data, int size)
{
	time_t tt;
	time( &tt );
	tt = tt + 8*3600;  // transform the time zone
	tm* t= gmtime( &tt );
	char buf[255]={0};
	sprintf(buf,"./%d%02d%02d-%02d%02d%02d-dump.txt",
			t->tm_year + 1900,
			t->tm_mon + 1,
			t->tm_mday,
			t->tm_hour,
			t->tm_min,
			t->tm_sec);

	FILE* tp_file=fopen(buf,"w");
	fprintf(tp_file,data,strlen(data));
	fclose(tp_file);

}

#include <chrono>
using namespace std;


std::string sendMsg(int terminal_id,int parkingspace_index_id, float x, std::string key, message::Dispatch_motion_direction direction)
{

	message::Locate_information locateInformation;
	message::Dispatch_request_msg dispatchRequestMsg;
	message::Base_info t_base_info;
	message::Car_info car_info;
	message::Parkspace_info parkspace_info;
	t_base_info.set_msg_type(message::eDispatch_request_msg);
	t_base_info.set_sender(message::eMain);
	t_base_info.set_receiver(message::eDispatch_manager);
	t_base_info.set_timeout_ms(100000000);

	car_info.set_car_height(1.6);
	car_info.set_car_width(1.8);
	car_info.set_license("鄂Awk123");
	car_info.set_car_wheel_width(1.8);
	car_info.set_car_wheel_base(2.8);

	locateInformation.set_locate_x(x);
	locateInformation.set_locate_y(3);
	locateInformation.set_locate_angle(90);
	locateInformation.set_locate_length(3.2);
	locateInformation.set_locate_height(1.6);
	locateInformation.set_locate_width(1.8);
	locateInformation.set_locate_correct(true);
	locateInformation.set_locate_wheel_width(1.8);
	locateInformation.set_locate_wheel_base(2.8);

	parkspace_info.set_parkingspace_index_id(parkingspace_index_id);
	parkspace_info.set_parkingspace_room_id(1);
	parkspace_info.set_parkingspace_direction(message::Direction::eForward);
	parkspace_info.set_parkingspace_floor_id(3);
	parkspace_info.set_parkingspace_height(1.5);
	parkspace_info.set_parkingspace_width(1.5);
	parkspace_info.set_parkingspace_status(message::Parkspace_status::eParkspace_empty);
	parkspace_info.mutable_car_info()->CopyFrom(car_info);

	dispatchRequestMsg.mutable_base_info()->CopyFrom(t_base_info);
	dispatchRequestMsg.mutable_locate_information()->CopyFrom(locateInformation);
	dispatchRequestMsg.set_command_key(key);
	dispatchRequestMsg.set_dispatch_motion_direction(direction);
	dispatchRequestMsg.set_terminal_id(terminal_id);
	dispatchRequestMsg.mutable_parkspace_info()->CopyFrom(parkspace_info);

	LOG(INFO) << dispatchRequestMsg.DebugString();
	return dispatchRequestMsg.SerializeAsString();
}
int main(int argc,char* argv[])
{
	Error_manager t_error;

	const char* logPath = "./";
	google::InitGoogleLogging("LidarMeasurement");
	google::SetStderrLogging(google::INFO);
	google::SetLogDestination(0, logPath);
	google::SetLogFilenameExtension("zxlog");
	google::InstallFailureSignalHandler();
	google::InstallFailureWriter(&shut_down_logging);
	FLAGS_colorlogtostderr = true;        // Set log color
	FLAGS_logbufsecs = 0;                // Set log output speed(s)
	FLAGS_max_log_size = 1024;            // Set max log file size(GB)
	FLAGS_stop_logging_if_full_disk = true;



	//	Dispatch_communication_test dispatchCommunicationTest;
//	dispatchCommunicationTest.communication_init();
//	std::this_thread::sleep_for(std::chrono::seconds(1));


	nnxx::socket socket{nnxx::SP, nnxx::BUS};
//

	socket.bind("tcp://192.168.2.168:30000");
	std::this_thread::sleep_for(std::chrono::seconds(1));
//

//	socket.send(sendMsg(1, 79, 7.755, "12345678901234567890123456_s1_wU", message::Dispatch_motion_direction::E_STORE_CAR));
//	socket.send(sendMsg(2, 78, 11.055, "12345678901234567890123456_s2_wU", message::Dispatch_motion_direction::E_STORE_CAR));
//	socket.send(sendMsg(3, 79, 14.655, "12345678901234567890123456_s3_wU", message::Dispatch_motion_direction::E_STORE_CAR));


//	socket.send(sendMsg(4, 39, 17.955, "12345678901234567890123456_s4_wU", message::Dispatch_motion_direction::E_STORE_CAR));
//	socket.send(sendMsg(5, 40, 21.555, "12345678901234567890123456_s5_wU", message::Dispatch_motion_direction::E_STORE_CAR));
//	socket.send(sendMsg(6, 27, 24.855, "12345678901234567890123456_s6_wU", message::Dispatch_motion_direction::E_STORE_CAR));

//	socket.send(sendMsg(1, 79, 7.755, "12345678901234567890123456_p1_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));
	socket.send(sendMsg(2, 37, 11.055, "12345678901234567890123456_p2_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));
	socket.send(sendMsg(3, 36, 14.655, "12345678901234567890123456_p3_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));
	socket.send(sendMsg(4, 19, 17.955, "12345678901234567890123456_p4_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));

	socket.send(sendMsg(5, 39, 21.555, "12345678901234567890123456_p5_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));
	socket.send(sendMsg(6, 40, 24.855, "12345678901234567890123456_p6_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));
//	socket.send(sendMsg(7, 39, 24.855, "12345678901234567890123456_p7_wU", message::Dispatch_motion_direction::E_PICKUP_CAR));

//	std::this_thread::sleep_for(std::chrono::seconds(5));
////
//
//	message::Dispatch_control_request_msg control_reqeust;
//	control_reqeust.mutable_base_info()->set_msg_type(message::eDispatch_control_request_msg);
//	control_reqeust.mutable_base_info()->set_sender(message::eDispatch_control);
//	control_reqeust.mutable_base_info()->set_receiver(message::eDispatch_manager);
//	control_reqeust.mutable_base_info()->set_timeout_ms(100000000);
//	control_reqeust.set_command_key("12345678901234567890123456_p5_wU+120");
//	control_reqeust.set_dispatch_task_type(message::ROBOT_MOVE);
//	control_reqeust.set_dispatch_device_type(message::ROBOT_2);
//	control_reqeust.set_dispatch_source(0);
//	control_reqeust.set_dispatch_destination(1403);
//	LOG(INFO) << control_reqeust.DebugString();
//	socket.send(control_reqeust.SerializeAsString());

	while (1)
	{
		std::this_thread::sleep_for(std::chrono::milliseconds(1));
		std::string str;
		message::Base_msg base_info;

		str=socket.recv<std::string>(1);

		if ( str.size() > 0 )
		{
			base_info.ParseFromString(str);
			if ( base_info.base_info().msg_type() == message::eDispatch_manager_status_msg )
			{
//				std::cout << " Time_tool::get_instance_references().get_current_time_millisecond() = " << Time_tool::get_instance_references().get_current_time_millisecond() << std::endl;
//				std::cout <<base_info.DebugString()<< std::endl;
			}
			else if ( base_info.base_info().msg_type() == message::eDispatch_control_response_msg )
			{
				message::Dispatch_control_response_msg t_dispatch_control_response_msg;
				t_dispatch_control_response_msg.ParseFromString(str);
				if ( t_dispatch_control_response_msg.dispatch_device_task_status() == message::Dispatch_device_task_status::E_TASK_OVER)
				{
					std::cout << " Time_tool::get_instance_references().get_current_time_millisecond() = " << Time_tool::get_instance_references().get_current_time_millisecond() << std::endl;
					std::cout <<t_dispatch_control_response_msg.DebugString()<< std::endl;
				}
				else
				{
					std::cout << " Time_tool::get_instance_references().get_current_time_millisecond() = " << Time_tool::get_instance_references().get_current_time_millisecond() << std::endl;
					std::cout <<t_dispatch_control_response_msg.DebugString()<< std::endl;
				}
			}
			else if ( base_info.base_info().msg_type() == message::eDispatch_control_request_msg )
			{
				message::Dispatch_control_request_msg t_dispatch_control_request_msg;
				t_dispatch_control_request_msg.ParseFromString(str);
				std::cout << " Time_tool::get_instance_references().get_current_time_millisecond() = " << Time_tool::get_instance_references().get_current_time_millisecond() << std::endl;

				std::cout <<t_dispatch_control_request_msg.DebugString()<< std::endl;
			}
			else
			{	std::cout << " Time_tool::get_instance_references().get_current_time_millisecond() = " << Time_tool::get_instance_references().get_current_time_millisecond() << std::endl;

				std::cout <<base_info.DebugString()<< std::endl;
			}
		}
	}

#define MAIN_TEST 1
#ifdef MAIN_TEST
	t_error = Dispatch_coordinates::get_instance_references().dispatch_coordinates_init();
	std::cout << " huli test :::: " << " Dispatch_coordinates::get_instance_references().dispatch_coordinates_init() = " << t_error.to_string() << std::endl;

	t_error = Dispatch_communication::get_instance_references().communication_init();
	std::cout << " huli test :::: " << " Dispatch_communication::get_instance_references().communication_init() = " << t_error.to_string() << std::endl;
	std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;

	t_error = Dispatch_manager::get_instance_references().dispatch_manager_init(0);
	std::cout << " huli test :::: " << " Dispatch_manager::get_instance_references().dispatch_manager_init(0) = " << t_error.to_string() << std::endl;
	std::cout << "Dispatch_manager = " << Dispatch_manager::get_instance_references().get_dispatch_manager_status() << std::endl;

	System_executor::get_instance_references().system_executor_init(10);
	std::cout << "System_executor = " << System_executor::get_instance_references().get_system_executor_status() << std::endl;
	System_communication::get_instance_references().communication_init();
	System_communication::get_instance_references().set_encapsulate_cycle_time(1000);

	while (1)
	{

	}
	return 0;
#endif















//	Error_manager t_error;
	t_error = Dispatch_communication::get_instance_references().communication_init();


	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;

	std::cout << " ---------------------------------------------------" << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;







	Catcher t_catcher;
	t_error = t_catcher.dispatch_device_base_init(1);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base1(new Catcher_task);
	Catcher_task * tp_catcher_task1 = (Catcher_task *)tp_task_Base1.get();
	tp_catcher_task1->task_init(NULL,std::chrono::milliseconds(15000));
	tp_catcher_task1->m_request_key = "x23456789012345678901234567890r1";
	tp_catcher_task1->m_request_x = 11055;
	tp_catcher_task1->m_request_y = 3000;
	tp_catcher_task1->m_request_b = 90;
	tp_catcher_task1->m_request_z = 5410;
	tp_catcher_task1->m_request_d1 = 355;
	tp_catcher_task1->m_request_d2 = 455;
	tp_catcher_task1->m_request_wheelbase = 2800;
	tp_catcher_task1->m_request_clamp_motion = Catcher_task::E_CLAMP_LOOSE;
	t_error = t_catcher.execute_task(tp_task_Base1, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	/*
	char zxczxcxzc1 ;
	std::cin >> zxczxcxzc1 ;
	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_catcher_task->get_task_statu = " << tp_catcher_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_catcher_task->m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;

		std::cout << " huli test :::: " << " m_respons_key = " << tp_catcher_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_x = " << tp_catcher_task->m_respons_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_y = " << tp_catcher_task->m_respons_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_b = " << tp_catcher_task->m_respons_b << std::endl;
		std::cout << " huli test :::: " << " m_respons_z = " << tp_catcher_task->m_respons_z << std::endl;
		std::cout << " huli test :::: " << " m_respons_d1 = " << tp_catcher_task->m_respons_d1 << std::endl;
		std::cout << " huli test :::: " << " m_respons_d2 = " << tp_catcher_task->m_respons_d2 << std::endl;
		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_catcher_task->m_respons_wheelbase << std::endl;
		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_catcher_task->m_respons_clamp_motion << std::endl;
		std::cout << " ---------------------------------------------------" << std::endl;




		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_catcher.get_dispatch_device_status() << std::endl;
		int heat = t_catcher.m_last_heartbeat;
		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
		std::cout << " huli test :::: " << " m_actual_device_status = " << t_catcher.m_actual_device_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_load_status = " << t_catcher.m_actual_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_x = " << t_catcher.m_actual_x << std::endl;
		std::cout << " huli test :::: " << " m_actual_y = " << t_catcher.m_actual_y << std::endl;
		std::cout << " huli test :::: " << " m_actual_b = " << t_catcher.m_actual_b << std::endl;
		std::cout << " huli test :::: " << " m_actual_z = " << t_catcher.m_actual_z << std::endl;
		std::cout << " huli test :::: " << " m_actual_d1 = " << t_catcher.m_actual_d1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_d2 = " << t_catcher.m_actual_d2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_catcher.m_actual_clamp_motion1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_catcher.m_actual_clamp_motion2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion3 = " << t_catcher.m_actual_clamp_motion3 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion4 = " << t_catcher.m_actual_clamp_motion4 << std::endl;
		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_catcher.m_actual_error_code[i]);
		}
		std::cout <<  std::endl;

		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_catcher.m_actual_warning_code[i]);
		}
		std::cout <<  std::endl;
		std::cout << " huli test :::: " << " m_actual_error_description = " << t_catcher.m_actual_error_description << std::endl;

		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;




		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}
*/





	Carrier t_carrier20;
	t_error = t_carrier20.dispatch_device_base_init(0);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base20(new Carrier_task);
	Carrier_task * tp_carrier_task20 = (Carrier_task *)tp_task_Base20.get();
	tp_carrier_task20->task_init(NULL,std::chrono::milliseconds(15000));
	tp_carrier_task20->m_request_key = "x23456789012345678901234567890c0";
	tp_carrier_task20->m_request_x = 1;
//	tp_carrier_task20->m_request_x = 32600;
	tp_carrier_task20->m_request_y = 3000;
	tp_carrier_task20->m_request_z = 2525;
	tp_carrier_task20->m_request_y1 = 4500;
	tp_carrier_task20->m_request_y2 = 1700;
	tp_carrier_task20->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
	tp_carrier_task20->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task20->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task20->m_request_space_id = 555;
	tp_carrier_task20->m_request_floor_id = 555;
	tp_carrier_task20->m_request_wheelbase = 555;

	t_error = t_carrier20.execute_task(tp_task_Base20, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	/*
	char zxczxcxzc20 ;
	std::cin >> zxczxcxzc20 ;
	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;


		std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
		std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
		std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
		std::cout << " ---------------------------------------------------" << std::endl;





		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
		int heat = t_carrier.m_last_heartbeat;
		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
		std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
		std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
		std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
		std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_error_code[i]);
		}
		std::cout <<  std::endl;

		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_warning_code[i]);
		}
		std::cout <<  std::endl;
		std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;

		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;



		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}
*/


	Carrier t_carrier21;
	t_error = t_carrier21.dispatch_device_base_init(1);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base21(new Carrier_task);
	Carrier_task * tp_carrier_task21 = (Carrier_task *)tp_task_Base21.get();
	tp_carrier_task21->task_init(NULL,std::chrono::milliseconds(15000));
	tp_carrier_task21->m_request_key = "x23456789012345678901234567890c1";
//	tp_carrier_task21->m_request_x = 1;
	tp_carrier_task21->m_request_x = 32600;
	tp_carrier_task21->m_request_y = 3000;
	tp_carrier_task21->m_request_z = 2525;
	tp_carrier_task21->m_request_y1 = 4500;
	tp_carrier_task21->m_request_y2 = 1700;
	tp_carrier_task21->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
	tp_carrier_task21->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task21->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task21->m_request_space_id = 555;
	tp_carrier_task21->m_request_floor_id = 555;
	tp_carrier_task21->m_request_wheelbase = 555;

	t_error = t_carrier21.execute_task(tp_task_Base21, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	/*
	char zxczxcxzc21 ;
	std::cin >> zxczxcxzc21 ;
	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;


		std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
		std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
		std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
		std::cout << " ---------------------------------------------------" << std::endl;





		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
		int heat = t_carrier.m_last_heartbeat;
		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
		std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
		std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
		std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
		std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_error_code[i]);
		}
		std::cout <<  std::endl;

		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_warning_code[i]);
		}
		std::cout <<  std::endl;
		std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;

		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;



		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}
*/


	Carrier t_carrier22;
	t_error = t_carrier22.dispatch_device_base_init(2);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base22(new Carrier_task);
	Carrier_task * tp_carrier_task22 = (Carrier_task *)tp_task_Base22.get();
	tp_carrier_task22->task_init(NULL,std::chrono::milliseconds(15000));
	tp_carrier_task22->m_request_key = "x23456789012345678901234567890c2";
	tp_carrier_task22->m_request_x = 24855;
//	tp_carrier_task22->m_request_x = 4700;
	tp_carrier_task22->m_request_y = 3000;
	tp_carrier_task22->m_request_z = 5125;
	tp_carrier_task22->m_request_y1 = 4500;
	tp_carrier_task22->m_request_y2 = 1700;
	tp_carrier_task22->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
	tp_carrier_task22->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task22->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
	tp_carrier_task22->m_request_space_id = 555;
	tp_carrier_task22->m_request_floor_id = 555;
	tp_carrier_task22->m_request_wheelbase = 555;

	t_error = t_carrier22.execute_task(tp_task_Base22, Dispatch_device_base::DISPATCH_TASK_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	/*
	char zxczxcxzc22 ;
	std::cin >> zxczxcxzc22 ;
	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;


		std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
		std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
		std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
		std::cout << " ---------------------------------------------------" << std::endl;





		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
		int heat = t_carrier.m_last_heartbeat;
		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
		std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
		std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
		std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
		std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
		std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_error_code[i]);
		}
		std::cout <<  std::endl;

		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_carrier.m_actual_warning_code[i]);
		}
		std::cout <<  std::endl;
		std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;

		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;



		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}
*/


/*

	Passageway t_passageway;
	t_error = t_passageway.dispatch_device_base_init(1);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base3(new Passageway_task);
	Passageway_task * tp_passageway_task = (Passageway_task *)tp_task_Base3.get();
	tp_passageway_task->task_init(NULL,std::chrono::milliseconds(15000));
	tp_passageway_task->m_request_key = "ABCDEF";
	tp_passageway_task->m_request_inside_door_motion = Passageway_task::DOOR_OPEN;
	tp_passageway_task->m_request_outside_door_motion = Passageway_task::DOOR_CLOSE;
	tp_passageway_task->m_request_turntable_direction = Passageway_task::TURNTABLE_DIRECTION_OUTSIDE;

	t_error = t_passageway.execute_task(tp_task_Base3, Dispatch_device_base::E_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	char zxczxcxzc3 ;
	std::cin >> zxczxcxzc3 ;

	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_passageway_task->get_task_statu = " << tp_passageway_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_passageway_task->m_respons_status = " << tp_passageway_task->m_respons_status << std::endl;


		std::cout << " huli test :::: " << " m_respons_key = " << tp_passageway_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_passageway_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_inside_door_motion = " << tp_passageway_task->m_respons_inside_door_motion << std::endl;
		std::cout << " huli test :::: " << " m_respons_outside_door_motion = " << tp_passageway_task->m_respons_outside_door_motion << std::endl;
		std::cout << " huli test :::: " << " m_respons_turntable_direction = " << tp_passageway_task->m_respons_turntable_direction << std::endl;
		std::cout << " ---------------------------------------------------" << std::endl;





		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
		std::cout << " huli test :::: " << " t_passageway_base.get_passageway_status() = " << t_passageway.get_dispatch_device_status() << std::endl;
		int heat = t_passageway.m_last_heartbeat;
		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
		std::cout << " huli test :::: " << " m_actual_device_status = " << t_passageway.m_actual_device_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_inside_load_status = " << t_passageway.m_actual_inside_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_outside_load_status = " << t_passageway.m_actual_outside_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_front_overstep_the_boundary = " << t_passageway.m_actual_front_overstep_the_boundary << std::endl;
		std::cout << " huli test :::: " << " m_actual_back_overstep_the_boundary = " << t_passageway.m_actual_back_overstep_the_boundary << std::endl;
		std::cout << " huli test :::: " << " m_actual_height_overstep_the_boundary = " << t_passageway.m_actual_height_overstep_the_boundary << std::endl;
		std::cout << " huli test :::: " << " m_actual_outside_door_sensor = " << t_passageway.m_actual_outside_door_sensor << std::endl;
		std::cout << " huli test :::: " << " m_actual_inside_door_motion = " << t_passageway.m_actual_inside_door_motion << std::endl;
		std::cout << " huli test :::: " << " m_actual_outside_door_motion = " << t_passageway.m_actual_outside_door_motion << std::endl;
		std::cout << " huli test :::: " << " m_actual_turntable_load_status = " << t_passageway.m_actual_turntable_load_status << std::endl;
		std::cout << " huli test :::: " << " m_actual_turntable_direction = " << t_passageway.m_actual_turntable_direction << std::endl;
		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_passageway.m_actual_error_code[i]);
		}
		std::cout <<  std::endl;

		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
		for (int i = 0; i < 50; ++i)
		{
			printf("0x%x ", t_passageway.m_actual_warning_code[i]);
		}
		std::cout <<  std::endl;
		std::cout << " huli test :::: " << " m_actual_error_description = " << t_passageway.m_actual_error_description << std::endl;

		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;



		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}
*/






















	while (1)
	{

	}

	char ch123 ;
	std::cin >> ch123 ;


	Dispatch_communication::get_instance_references().communication_uninit();
	return 0;














	int t_dispatch_id = 0;
//	std::cin >> t_dispatch_id ;
	if ( argc == 2 )
	{
		std::cout << " huli test :::: " << " argv[1] = " << argv[1] << std::endl;
		t_dispatch_id = atoi(argv[1]);
	}
	std::cout << " huli test :::: " << " t_dispatch_id = " << t_dispatch_id << std::endl;

	Dispatch_manager::get_instance_references().dispatch_manager_init(t_dispatch_id);
	std::cout << "Dispatch_manager = " << Dispatch_manager::get_instance_references().get_dispatch_manager_status() << std::endl;

	System_executor::get_instance_references().system_executor_init(8);
	std::cout << "System_executor = " << System_executor::get_instance_references().get_system_executor_status() << std::endl;
	System_communication::get_instance_references().communication_init();

	char ch ;
	std::cin >> ch ;

	System_communication::get_instance_references().communication_uninit();
	System_executor::get_instance_references().system_executor_uninit();
	Dispatch_manager::get_instance_references().dispatch_manager_uninit();


	return 0;
}