puai_dispatch/dispatch/passageway_task.h

//
// Created by huli on 2021/3/16.
//

#ifndef NNXX_TESTS_PASSAGEWAY_TASK_H
#define NNXX_TESTS_PASSAGEWAY_TASK_H

#include "../error_code/error_code.h"
#include "../task/task_command_manager.h"
#include "../task/task_base.h"
#include <mutex>

class Passageway_task:public Task_Base
{
public:
	//指令完成状态, 搬运器答复指令, 返回任务完成的情况
	enum Respons_status
	{
		RESPONS_WORKING             = 0,    //正常
		RESPONS_OVER               	= 1,    //任务完成
		RESPONS_MINOR_ERROR			= 100,	//一般故障, 可恢复
		RESPONS_CRITICAL_ERROR		= 101,	//致命故障,不可恢复
	};

	//7号出口 转台方向
	enum Turntable_direction
	{
		TURNTABLE_DIRECTION_UNKNOWN				= 0,	//方向未知,
		TURNTABLE_DIRECTION_INSIDE 				= 1,    //方向朝里,对接内门的小跑车
		TURNTABLE_DIRECTION_OUTSIDE  			= 2,    //没车朝外,对接外门的出口
	};

	//出入口 门的开关状态
	enum Door_motion
	{
		DOOR_UNKNOWN            = 0,    //门的开关状态 未知, 或者工作到一半,正在工作中.
		DOOR_OPEN               = 1,    //开门
		DOOR_CLOSE				= 2,	//关门
		DOOR_ERROR				= 3,	//
	};

	Passageway_task();
	Passageway_task(const Passageway_task& other)= default;
	Passageway_task& operator =(const Passageway_task& other)= default;
	~Passageway_task();
public://API functions

public://get or set member variable

protected://member functions

public://member variable

	std::mutex							m_lock;	//锁

	//调度下发到plc
	std::string							m_request_key;				//请求唯一码, 用作识别
	//请求的目标坐标和动作
	Door_motion							m_request_inside_door_motion;	//通道口 内门动作
	Door_motion							m_request_outside_door_motion;	//通道口 外门动作
	Turntable_direction					m_request_turntable_direction;	//通道口 转台方向


	//plc反馈给调度
	std::string							m_respons_key;				//应答的唯一码, 用作识别
	Respons_status						m_respons_status;			//指令完成状态, 搬运器答复指令, 返回任务完成的情况
	//答复的实际坐标和动作
	Door_motion							m_respons_inside_door_motion;	//通道口 内门动作
	Door_motion							m_respons_outside_door_motion;	//通道口 外门动作
	Turntable_direction					m_respons_turntable_direction;	//通道口 转台方向


private:

};


#endif //NNXX_TESTS_PASSAGEWAY_TASK_H