puai_dispatch/dispatch/dispatch_communication.cpp

//
// Created by huli on 2020/9/25.
//

#include "dispatch_communication.h"


Dispatch_communication::Dispatch_communication()
{

}


Dispatch_communication::~Dispatch_communication()
{

}


//初始化 通信 模块。如下三选一
Error_manager Dispatch_communication::communication_init()
{
	int t_index = 0;
	std::vector<Snap7_buf::Variable_information>		t_variable_information_vector;

	//往map通信缓存里面添加所需要的buf
	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
	std::unique_lock<std::mutex> t_lock2(m_send_buf_lock);
	Snap7_buf t_snap7_buf;

	t_index = 0;
	t_variable_information_vector.clear();
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved257_275", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 19 });
	t_index += sizeof(unsigned char)*19;

	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_x", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_y", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_b", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_z", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved293", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved294", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved295", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_d1", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_d2", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;

	t_snap7_buf.init(CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1, 50, sizeof(Catcher_request_from_dispatch_to_plc_for_data), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
	m_send_buf_map[0] = t_snap7_buf;
	t_snap7_buf.init(CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2, 50, sizeof(Catcher_request_from_dispatch_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
	m_send_buf_map[1] = t_snap7_buf;



	t_index = 0;
	t_variable_information_vector.clear();
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
	t_index += sizeof(unsigned char)*50;

	t_snap7_buf.init(CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1, 0, sizeof(Catcher_request_from_dispatch_to_plc_for_key), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
	m_send_buf_map[2] = t_snap7_buf;
	t_snap7_buf.init(CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2, 0, sizeof(Catcher_request_from_dispatch_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
	m_send_buf_map[3] = t_snap7_buf;



	t_index = 0;
	t_variable_information_vector.clear();
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
	t_index += sizeof(unsigned char)*50;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved257_275", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 19 });
	t_index += sizeof(unsigned char)*19;

	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_x", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_y", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_b", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_z", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved293", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved294", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved295", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_d1", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_d2", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;

	t_snap7_buf.init(CATCHER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_1, 0, sizeof(Catcher_response_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
	m_receive_buf_map[0] = t_snap7_buf;
	t_snap7_buf.init(CATCHER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_2, 0, sizeof(Catcher_response_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
	m_receive_buf_map[1] = t_snap7_buf;


	t_index = 0;
	t_variable_information_vector.clear();
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_safe_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_work_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_load_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved4_37", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
	t_index += sizeof(unsigned char)*34;

	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_x", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_y", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_b", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_z", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_d1", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_d2", typeid(float).name(), t_index,sizeof(float), 1 });
	t_index += sizeof(float)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion1", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion2", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion3", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion4", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
	t_index += sizeof(unsigned char)*1;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved66_99", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
	t_index += sizeof(unsigned char)*34;

	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
	t_index += sizeof(unsigned char)*50;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_warning_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
	t_index += sizeof(unsigned char)*50;
	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_description", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 256 });
	t_index += sizeof(unsigned char)*256;

	t_snap7_buf.init(CATCHER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_1, 0, sizeof(Catcher_status_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
	m_receive_buf_map[2] = t_snap7_buf;
	t_snap7_buf.init(CATCHER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2, 0, sizeof(Catcher_status_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
	m_receive_buf_map[3] = t_snap7_buf;


	return Snap7_communication_base::communication_init();
}

//反初始化 通信 模块。
Error_manager Dispatch_communication::communication_uninit()
{
	return Snap7_communication_base::communication_uninit();
}


//更新数据
Error_manager Dispatch_communication::updata_receive_buf()
{
//	return Error_code::SUCCESS;
	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
	std::unique_lock<std::mutex> t_lock2(m_data_lock);

	memcpy(&m_catcher_response_from_plc_to_dispatch[0], m_receive_buf_map[0].mp_buf_obverse, m_receive_buf_map[0].m_size);
	memcpy(&m_catcher_response_from_plc_to_dispatch[1], m_receive_buf_map[1].mp_buf_obverse, m_receive_buf_map[1].m_size);
	memcpy(&m_catcher_status_from_plc_to_dispatch[0], m_receive_buf_map[2].mp_buf_obverse, m_receive_buf_map[2].m_size);
	memcpy(&m_catcher_status_from_plc_to_dispatch[1], m_receive_buf_map[3].mp_buf_obverse, m_receive_buf_map[3].m_size);

//	int heat = m_catcher_status_from_plc_to_dispatch[1].m_heartbeat;
//	std::cout << " huli test :::: " << " 999999999 = " << heat << std::endl;

	return Error_code::SUCCESS;
}
Error_manager Dispatch_communication::updata_send_buf()
{
	std::unique_lock<std::mutex> t_lock1(m_send_buf_lock);
	std::unique_lock<std::mutex> t_lock2(m_data_lock);

	m_catcher_request_from_dispatch_to_plc_for_data[1].m_reserved = 1;

	memcpy(m_send_buf_map[0].mp_buf_obverse, &m_catcher_request_from_dispatch_to_plc_for_data[0], m_send_buf_map[0].m_size);
	memcpy(m_send_buf_map[1].mp_buf_obverse, &m_catcher_request_from_dispatch_to_plc_for_data[1], m_send_buf_map[1].m_size);
	memcpy(m_send_buf_map[2].mp_buf_obverse, &m_catcher_request_from_dispatch_to_plc_for_key[0], m_send_buf_map[2].m_size);
	memcpy(m_send_buf_map[3].mp_buf_obverse, &m_catcher_request_from_dispatch_to_plc_for_key[1], m_send_buf_map[3].m_size);


//	Dispatch_communication::Catcher_request_from_dispatch_to_plc_for_key * tp_catcher_request_from_dispatch_to_plc_for_key =
//	& Dispatch_communication::get_instance_references().m_catcher_request_from_dispatch_to_plc_for_key[1];
//	int k1 = tp_catcher_request_from_dispatch_to_plc_for_key->m_request_key[0];
//	std::cout << " huli test :::: " << " k1 = " << k1 << std::endl;
//	int k2 = tp_catcher_request_from_dispatch_to_plc_for_key->m_request_key[1];
//	std::cout << " huli test :::: " << " k2 = " << k2 << std::endl;
//	std::cout << " huli test :::: " << " ***************************** = " << std::endl;




	return Error_code::SUCCESS;
}