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puai_dispatch
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dispatch
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dispatch_communication.cpp

dispatch_communication.cpp 26 KB
文件歷史 原始文件

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  1. //
    2. 

  2. // Created by huli on 2020/9/25.
    3. 

  3. //
    4. 

  4. 

  5. #include "dispatch_communication.h"
    6. 

  6. 

  7. 

  8. Dispatch_communication::Dispatch_communication()
    9. 

  9. {
    10. 

  10. 

  11. }
    12. 

  12. 

  13. 

  14. Dispatch_communication::~Dispatch_communication()
    15. 

  15. {
    16. 

  16. 

  17. }
    18. 

  18. 

  19. 

  20. //初始化 通信 模块。如下三选一
    21. 

  21. Error_manager Dispatch_communication::communication_init()
    22. 

  22. {
    23. 

  23. 	int t_index = 0;
    24. 

  24. 	std::vector<Snap7_buf::Variable_information>		t_variable_information_vector;
    25. 

  25. 

  26. 	//往map通信缓存里面添加所需要的buf
    27. 

  27. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    28. 

  28. 	std::unique_lock<std::mutex> t_lock2(m_send_buf_lock);
    29. 

  29. 	Snap7_buf t_snap7_buf;
    30. 

  30. 

  31. 	t_index = 0;
    32. 

  32. 	t_variable_information_vector.clear();
    33. 

  33. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    34. 

  34. 	t_index += sizeof(unsigned char)*1;
    35. 

  35. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_69", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 19 });
    36. 

  36. 	t_index += sizeof(unsigned char)*19;
    37. 

  37. 

  38. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_x", typeid(float).name(), t_index,sizeof(float), 1 });
    39. 

  39. 	t_index += sizeof(float)*1;
    40. 

  40. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_y", typeid(float).name(), t_index,sizeof(float), 1 });
    41. 

  41. 	t_index += sizeof(float)*1;
    42. 

  42. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_b", typeid(float).name(), t_index,sizeof(float), 1 });
    43. 

  43. 	t_index += sizeof(float)*1;
    44. 

  44. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_z", typeid(float).name(), t_index,sizeof(float), 1 });
    45. 

  45. 	t_index += sizeof(float)*1;
    46. 

  46. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    47. 

  47. 	t_index += sizeof(unsigned char)*1;
    48. 

  48. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved87_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    49. 

  49. 	t_index += sizeof(unsigned char)*3;
    50. 

  50. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
    51. 

  51. 	t_index += sizeof(float)*1;
    52. 

  52. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_d1", typeid(float).name(), t_index,sizeof(float), 1 });
    53. 

  53. 	t_index += sizeof(float)*1;
    54. 

  54. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_d2", typeid(float).name(), t_index,sizeof(float), 1 });
    55. 

  55. 	t_index += sizeof(float)*1;
    56. 

  56. 

  57. 	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);
    58. 

  58. 	m_send_buf_map[0] = t_snap7_buf;
    59. 

  59. 	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);
    60. 

  60. 	m_send_buf_map[1] = t_snap7_buf;
    61. 

  61. 

  62. 

  63. 

  64. 	t_index = 0;
    65. 

  65. 	t_variable_information_vector.clear();
    66. 

  66. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    67. 

  67. 	t_index += sizeof(unsigned char)*50;
    68. 

  68. 

  69. 	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);
    70. 

  70. 	m_send_buf_map[2] = t_snap7_buf;
    71. 

  71. 	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);
    72. 

  72. 	m_send_buf_map[3] = t_snap7_buf;
    73. 

  73. 

  74. 

  75. 

  76. 	t_index = 0;
    77. 

  77. 	t_variable_information_vector.clear();
    78. 

  78. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    79. 

  79. 	t_index += sizeof(unsigned char)*50;
    80. 

  80. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    81. 

  81. 	t_index += sizeof(unsigned char)*1;
    82. 

  82. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_69", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 19 });
    83. 

  83. 	t_index += sizeof(unsigned char)*19;
    84. 

  84. 

  85. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_x", typeid(float).name(), t_index,sizeof(float), 1 });
    86. 

  86. 	t_index += sizeof(float)*1;
    87. 

  87. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_y", typeid(float).name(), t_index,sizeof(float), 1 });
    88. 

  88. 	t_index += sizeof(float)*1;
    89. 

  89. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_b", typeid(float).name(), t_index,sizeof(float), 1 });
    90. 

  90. 	t_index += sizeof(float)*1;
    91. 

  91. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_z", typeid(float).name(), t_index,sizeof(float), 1 });
    92. 

  92. 	t_index += sizeof(float)*1;
    93. 

  93. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    94. 

  94. 	t_index += sizeof(unsigned char)*1;
    95. 

  95. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved87_89", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 3 });
    96. 

  96. 	t_index += sizeof(unsigned char)*3;
    97. 

  97. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
    98. 

  98. 	t_index += sizeof(float)*1;
    99. 

  99. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_d1", typeid(float).name(), t_index,sizeof(float), 1 });
    100. 

  100. 	t_index += sizeof(float)*1;
    101. 

  101. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_d2", typeid(float).name(), t_index,sizeof(float), 1 });
    102. 

  102. 	t_index += sizeof(float)*1;
    103. 

  103. 

  104. 	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);
    105. 

  105. 	m_receive_buf_map[0] = t_snap7_buf;
    106. 

  106. 	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);
    107. 

  107. 	m_receive_buf_map[1] = t_snap7_buf;
    108. 

  108. 

  109. 

  110. 	t_index = 0;
    111. 

  111. 	t_variable_information_vector.clear();
    112. 

  112. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    113. 

  113. 	t_index += sizeof(unsigned char)*1;
    114. 

  114. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_safe_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    115. 

  115. 	t_index += sizeof(unsigned char)*1;
    116. 

  116. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_work_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    117. 

  117. 	t_index += sizeof(unsigned char)*1;
    118. 

  118. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_load_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    119. 

  119. 	t_index += sizeof(unsigned char)*1;
    120. 

  120. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved4_37", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
    121. 

  121. 	t_index += sizeof(unsigned char)*34;
    122. 

  122. 

  123. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_x", typeid(float).name(), t_index,sizeof(float), 1 });
    124. 

  124. 	t_index += sizeof(float)*1;
    125. 

  125. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_y", typeid(float).name(), t_index,sizeof(float), 1 });
    126. 

  126. 	t_index += sizeof(float)*1;
    127. 

  127. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_b", typeid(float).name(), t_index,sizeof(float), 1 });
    128. 

  128. 	t_index += sizeof(float)*1;
    129. 

  129. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_z", typeid(float).name(), t_index,sizeof(float), 1 });
    130. 

  130. 	t_index += sizeof(float)*1;
    131. 

  131. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_d1", typeid(float).name(), t_index,sizeof(float), 1 });
    132. 

  132. 	t_index += sizeof(float)*1;
    133. 

  133. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_d2", typeid(float).name(), t_index,sizeof(float), 1 });
    134. 

  134. 	t_index += sizeof(float)*1;
    135. 

  135. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion1", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    136. 

  136. 	t_index += sizeof(unsigned char)*1;
    137. 

  137. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion2", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    138. 

  138. 	t_index += sizeof(unsigned char)*1;
    139. 

  139. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion3", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    140. 

  140. 	t_index += sizeof(unsigned char)*1;
    141. 

  141. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion4", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    142. 

  142. 	t_index += sizeof(unsigned char)*1;
    143. 

  143. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved66_99", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
    144. 

  144. 	t_index += sizeof(unsigned char)*34;
    145. 

  145. 

  146. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    147. 

  147. 	t_index += sizeof(unsigned char)*50;
    148. 

  148. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_warning_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    149. 

  149. 	t_index += sizeof(unsigned char)*50;
    150. 

  150. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_description", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 256 });
    151. 

  151. 	t_index += sizeof(unsigned char)*256;
    152. 

  152. 

  153. 	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);
    154. 

  154. 	m_receive_buf_map[2] = t_snap7_buf;
    155. 

  155. 	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);
    156. 

  156. 	m_receive_buf_map[3] = t_snap7_buf;
    157. 

  157. 

  158. 

  159. 

  160. 

  161. 

  162. 

  163. 

  164. 

  165. 	t_index = 0;
    166. 

  166. 	t_variable_information_vector.clear();
    167. 

  167. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved50", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    168. 

  168. 	t_index += sizeof(unsigned char)*1;
    169. 

  169. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_71", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 21 });
    170. 

  170. 	t_index += sizeof(unsigned char)*21;
    171. 

  171. 

  172. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_x", typeid(float).name(), t_index,sizeof(float), 1 });
    173. 

  173. 	t_index += sizeof(float)*1;
    174. 

  174. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_y", typeid(float).name(), t_index,sizeof(float), 1 });
    175. 

  175. 	t_index += sizeof(float)*1;
    176. 

  176. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_z", typeid(float).name(), t_index,sizeof(float), 1 });
    177. 

  177. 	t_index += sizeof(float)*1;
    178. 

  178. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_y1", typeid(float).name(), t_index,sizeof(float), 1 });
    179. 

  179. 	t_index += sizeof(float)*1;
    180. 

  180. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_y2", typeid(float).name(), t_index,sizeof(float), 1 });
    181. 

  181. 	t_index += sizeof(float)*1;
    182. 

  182. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    183. 

  183. 	t_index += sizeof(unsigned char)*1;
    184. 

  184. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_joint_motion_x", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    185. 

  185. 	t_index += sizeof(unsigned char)*1;
    186. 

  186. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_joint_motion_y", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    187. 

  187. 	t_index += sizeof(unsigned char)*1;
    188. 

  188. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved95", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    189. 

  189. 	t_index += sizeof(unsigned char)*1;
    190. 

  190. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_space_id", typeid(float).name(), t_index,sizeof(float), 1 });
    191. 

  191. 	t_index += sizeof(int)*1;
    192. 

  192. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_floor_id", typeid(float).name(), t_index,sizeof(float), 1 });
    193. 

  193. 	t_index += sizeof(int)*1;
    194. 

  194. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
    195. 

  195. 	t_index += sizeof(float)*1;
    196. 

  196. 

  197. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1, 50, sizeof(Carrier_request_from_dispatch_to_plc_for_data), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    198. 

  198. 	m_send_buf_map[4] = t_snap7_buf;
    199. 

  199. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2, 50, sizeof(Carrier_request_from_dispatch_to_plc_for_data), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    200. 

  200. 	m_send_buf_map[5] = t_snap7_buf;
    201. 

  201. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_3, 50, sizeof(Carrier_request_from_dispatch_to_plc_for_data), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    202. 

  202. 	m_send_buf_map[6] = t_snap7_buf;
    203. 

  203. 

  204. 

  205. 

  206. 	t_index = 0;
    207. 

  207. 	t_variable_information_vector.clear();
    208. 

  208. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_request_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    209. 

  209. 	t_index += sizeof(unsigned char)*50;
    210. 

  210. 

  211. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1, 0, sizeof(Carrier_request_from_dispatch_to_plc_for_key), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    212. 

  212. 	m_send_buf_map[7] = t_snap7_buf;
    213. 

  213. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2, 0, sizeof(Carrier_request_from_dispatch_to_plc_for_key), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    214. 

  214. 	m_send_buf_map[8] = t_snap7_buf;
    215. 

  215. 	t_snap7_buf.init(CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_3, 0, sizeof(Carrier_request_from_dispatch_to_plc_for_key), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    216. 

  216. 	m_send_buf_map[9] = t_snap7_buf;
    217. 

  217. 

  218. 

  219. 

  220. 	t_index = 0;
    221. 

  221. 	t_variable_information_vector.clear();
    222. 

  222. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_key", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    223. 

  223. 	t_index += sizeof(unsigned char)*50;
    224. 

  224. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    225. 

  225. 	t_index += sizeof(unsigned char)*1;
    226. 

  226. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved51_71", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 19 });
    227. 

  227. 	t_index += sizeof(unsigned char)*19;
    228. 

  228. 

  229. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_x", typeid(float).name(), t_index,sizeof(float), 1 });
    230. 

  230. 	t_index += sizeof(float)*1;
    231. 

  231. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_y", typeid(float).name(), t_index,sizeof(float), 1 });
    232. 

  232. 	t_index += sizeof(float)*1;
    233. 

  233. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_z", typeid(float).name(), t_index,sizeof(float), 1 });
    234. 

  234. 	t_index += sizeof(float)*1;
    235. 

  235. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_y1", typeid(float).name(), t_index,sizeof(float), 1 });
    236. 

  236. 	t_index += sizeof(float)*1;
    237. 

  237. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_y2", typeid(float).name(), t_index,sizeof(float), 1 });
    238. 

  238. 	t_index += sizeof(float)*1;
    239. 

  239. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_clamp_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    240. 

  240. 	t_index += sizeof(unsigned char)*1;
    241. 

  241. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_joint_motion_x", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    242. 

  242. 	t_index += sizeof(unsigned char)*1;
    243. 

  243. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_joint_motion_y", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    244. 

  244. 	t_index += sizeof(unsigned char)*1;
    245. 

  245. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved95", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    246. 

  246. 	t_index += sizeof(unsigned char)*1;
    247. 

  247. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_space_id", typeid(float).name(), t_index,sizeof(float), 1 });
    248. 

  248. 	t_index += sizeof(int)*1;
    249. 

  249. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_floor_id", typeid(float).name(), t_index,sizeof(float), 1 });
    250. 

  250. 	t_index += sizeof(int)*1;
    251. 

  251. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_respons_wheelbase", typeid(float).name(), t_index,sizeof(float), 1 });
    252. 

  252. 	t_index += sizeof(float)*1;
    253. 

  253. 

  254. 

  255. 	t_snap7_buf.init(CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_1, 0, sizeof(Carrier_response_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    256. 

  256. 	m_receive_buf_map[4] = t_snap7_buf;
    257. 

  257. 	t_snap7_buf.init(CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_2, 0, sizeof(Carrier_response_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    258. 

  258. 	m_receive_buf_map[5] = t_snap7_buf;
    259. 

  259. 	t_snap7_buf.init(CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_3, 0, sizeof(Carrier_response_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    260. 

  260. 	m_receive_buf_map[6] = t_snap7_buf;
    261. 

  261. 

  262. 

  263. 	t_index = 0;
    264. 

  264. 	t_variable_information_vector.clear();
    265. 

  265. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_heartbeat", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    266. 

  266. 	t_index += sizeof(unsigned char)*1;
    267. 

  267. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_safe_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    268. 

  268. 	t_index += sizeof(unsigned char)*1;
    269. 

  269. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_work_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    270. 

  270. 	t_index += sizeof(unsigned char)*1;
    271. 

  271. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_load_status", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    272. 

  272. 	t_index += sizeof(unsigned char)*1;
    273. 

  273. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved4_37", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
    274. 

  274. 	t_index += sizeof(unsigned char)*34;
    275. 

  275. 

  276. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_x", typeid(float).name(), t_index,sizeof(float), 1 });
    277. 

  277. 	t_index += sizeof(float)*1;
    278. 

  278. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_y", typeid(float).name(), t_index,sizeof(float), 1 });
    279. 

  279. 	t_index += sizeof(float)*1;
    280. 

  280. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_z", typeid(float).name(), t_index,sizeof(float), 1 });
    281. 

  281. 	t_index += sizeof(float)*1;
    282. 

  282. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_y1", typeid(float).name(), t_index,sizeof(float), 1 });
    283. 

  283. 	t_index += sizeof(float)*1;
    284. 

  284. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_y2", typeid(float).name(), t_index,sizeof(float), 1 });
    285. 

  285. 	t_index += sizeof(float)*1;
    286. 

  286. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion1", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    287. 

  287. 	t_index += sizeof(unsigned char)*1;
    288. 

  288. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_clamp_motion2", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    289. 

  289. 	t_index += sizeof(unsigned char)*1;
    290. 

  290. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_small_sports_car_motion", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    291. 

  291. 	t_index += sizeof(unsigned char)*1;
    292. 

  292. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_joint_motion_x1", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    293. 

  293. 	t_index += sizeof(unsigned char)*1;
    294. 

  294. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_joint_motion_x2", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 1 });
    295. 

  295. 	t_index += sizeof(unsigned char)*1;
    296. 

  296. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_reserved63_99", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 34 });
    297. 

  297. 	t_index += sizeof(unsigned char)*37;
    298. 

  298. 

  299. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    300. 

  300. 	t_index += sizeof(unsigned char)*50;
    301. 

  301. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_warning_code", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 50 });
    302. 

  302. 	t_index += sizeof(unsigned char)*50;
    303. 

  303. 	t_variable_information_vector.push_back(Snap7_buf::Variable_information{"m_actual_error_description", typeid(unsigned char).name(), t_index,sizeof(unsigned char), 256 });
    304. 

  304. 	t_index += sizeof(unsigned char)*256;
    305. 

  305. 

  306. 	t_snap7_buf.init(CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_1, 0, sizeof(Carrier_status_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::LOOP_COMMUNICATION);
    307. 

  307. 	m_receive_buf_map[7] = t_snap7_buf;
    308. 

  308. 	t_snap7_buf.init(CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2, 0, sizeof(Carrier_status_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    309. 

  309. 	m_receive_buf_map[8] = t_snap7_buf;
    310. 

  310. 	t_snap7_buf.init(CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2, 0, sizeof(Carrier_status_from_plc_to_dispatch), t_variable_information_vector, Snap7_buf::NO_COMMUNICATION);
    311. 

  311. 	m_receive_buf_map[9] = t_snap7_buf;
    312. 

  312. 

  313. 

  314. 	return Snap7_communication_base::communication_init();
    315. 

  315. }
    316. 

  316. 

  317. //反初始化 通信 模块。
    318. 

  318. Error_manager Dispatch_communication::communication_uninit()
    319. 

  319. {
    320. 

  320. 	return Snap7_communication_base::communication_uninit();
    321. 

  321. }
    322. 

  322. 

  323. 

  324. //更新数据
    325. 

  325. Error_manager Dispatch_communication::updata_receive_buf()
    326. 

  326. {
    327. 

  327. //	return Error_code::SUCCESS;
    328. 

  328. 	std::unique_lock<std::mutex> t_lock1(m_receive_buf_lock);
    329. 

  329. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    330. 

  330. 

  331. 	memcpy(&m_catcher_response_from_plc_to_dispatch[0], m_receive_buf_map[0].mp_buf_obverse, m_receive_buf_map[0].m_size);
    332. 

  332. 	memcpy(&m_catcher_response_from_plc_to_dispatch[1], m_receive_buf_map[1].mp_buf_obverse, m_receive_buf_map[1].m_size);
    333. 

  333. 	memcpy(&m_catcher_status_from_plc_to_dispatch[0], m_receive_buf_map[2].mp_buf_obverse, m_receive_buf_map[2].m_size);
    334. 

  334. 	memcpy(&m_catcher_status_from_plc_to_dispatch[1], m_receive_buf_map[3].mp_buf_obverse, m_receive_buf_map[3].m_size);
    335. 

  335. 

  336. 	memcpy(&m_carrier_response_from_plc_to_dispatch[0], m_receive_buf_map[4].mp_buf_obverse, m_receive_buf_map[4].m_size);
    337. 

  337. 	memcpy(&m_carrier_response_from_plc_to_dispatch[1], m_receive_buf_map[5].mp_buf_obverse, m_receive_buf_map[5].m_size);
    338. 

  338. 	memcpy(&m_carrier_response_from_plc_to_dispatch[2], m_receive_buf_map[6].mp_buf_obverse, m_receive_buf_map[6].m_size);
    339. 

  339. 	memcpy(&m_carrier_status_from_plc_to_dispatch[0], m_receive_buf_map[7].mp_buf_obverse, m_receive_buf_map[7].m_size);
    340. 

  340. 	memcpy(&m_carrier_status_from_plc_to_dispatch[1], m_receive_buf_map[8].mp_buf_obverse, m_receive_buf_map[8].m_size);
    341. 

  341. 	memcpy(&m_carrier_status_from_plc_to_dispatch[2], m_receive_buf_map[9].mp_buf_obverse, m_receive_buf_map[9].m_size);
    342. 

  342. 

  343. 	return Error_code::SUCCESS;
    344. 

  344. }
    345. 

  345. Error_manager Dispatch_communication::updata_send_buf()
    346. 

  346. {
    347. 

  347. 	std::unique_lock<std::mutex> t_lock1(m_send_buf_lock);
    348. 

  348. 	std::unique_lock<std::mutex> t_lock2(m_data_lock);
    349. 

  349. 

  350. 	m_catcher_request_from_dispatch_to_plc_for_data[0].m_reserved50 = 1;
    351. 

  351. 	m_catcher_request_from_dispatch_to_plc_for_data[1].m_reserved50 = 1;
    352. 

  352. 

  353. 	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);
    354. 

  354. 	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);
    355. 

  355. 	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);
    356. 

  356. 	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);
    357. 

  357. 

  358. 

  359. 

  360. 	m_carrier_request_from_dispatch_to_plc_for_data[0].m_reserved50 = 1;
    361. 

  361. 	m_carrier_request_from_dispatch_to_plc_for_data[1].m_reserved50 = 1;
    362. 

  362. 	m_carrier_request_from_dispatch_to_plc_for_data[2].m_reserved50 = 1;
    363. 

  363. 

  364. 	memcpy(m_send_buf_map[4].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_data[0], m_send_buf_map[4].m_size);
    365. 

  365. 	memcpy(m_send_buf_map[5].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_data[1], m_send_buf_map[5].m_size);
    366. 

  366. 	memcpy(m_send_buf_map[6].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_data[2], m_send_buf_map[6].m_size);
    367. 

  367. 	memcpy(m_send_buf_map[7].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_key[0], m_send_buf_map[7].m_size);
    368. 

  368. 	memcpy(m_send_buf_map[8].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_key[1], m_send_buf_map[8].m_size);
    369. 

  369. 	memcpy(m_send_buf_map[9].mp_buf_obverse, &m_carrier_request_from_dispatch_to_plc_for_key[2], m_send_buf_map[9].m_size);
    370. 

  370. 

  371. 

  372. //	Dispatch_communication::Catcher_request_from_dispatch_to_plc_for_key * tp_catcher_request_from_dispatch_to_plc_for_key =
    373. 

  373. //	& Dispatch_communication::get_instance_references().m_catcher_request_from_dispatch_to_plc_for_key[1];
    374. 

  374. //	int k1 = tp_catcher_request_from_dispatch_to_plc_for_key->m_request_key[0];
    375. 

  375. //	std::cout << " huli test :::: " << " k1 = " << k1 << std::endl;
    376. 

  376. //	int k2 = tp_catcher_request_from_dispatch_to_plc_for_key->m_request_key[1];
    377. 

  377. //	std::cout << " huli test :::: " << " k2 = " << k2 << std::endl;
    378. 

  378. //	std::cout << " huli test :::: " << " ***************************** = " << std::endl;
    379. 

  379. 

  380. 

  381. 

  382. 

  383. 	return Error_code::SUCCESS;
    384. 

  384. }
    385. 

  385. 

  386. 

  387. 

  388.