puai_dispatch/dispatch/dispatch_communication.h

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

#ifndef NNXX_TESTS_DISPATCH_COMMUNICATION_H
#define NNXX_TESTS_DISPATCH_COMMUNICATION_H

#include "../tool/singleton.h"
#include "../snap7_communication/snap7_communication_base.h"

class Dispatch_communication:public Singleton<Dispatch_communication>, public Snap7_communication_base
{
public:
#pragma pack(push, 1)	//struct按照1个byte对齐
	//调度模块给plc发送请求消息的DB编号
	#define REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER		100
	//调度模块给plc发送请求消息的指令结构体
	struct Request_from_dispatch_to_plc
	{
	    unsigned char 			m_reserved0 = 0;				//预留
	    unsigned char			m_command_flag = 0;				//指令标志位, 0bit==1:流程开始, 1bit==1:校验无误
		unsigned char			m_task_status = 0;				//流程状态, 0=正常，1=可恢复型故障，2=不可恢复故障
		unsigned char			m_reserved3_11[9] = {0};		//预留

	    //指令信息
		unsigned short 			m_block_id = 0;					//单位编号(区域编号), 1~3
		unsigned short 			m_floor_id = 0;					//楼层编号, 1~14
		unsigned short 			m_parkspace_id = 0;				//同层的车位索引, 一楼为1~4, 楼上为1~6
		unsigned char			m_command_key[256] = {0};		//指令key(任务唯一码), 作为通信标志位
		unsigned char			m_is_entrance_flag = 0;			//是否为入口, 1=入口，0=非入口, (如果是入口, 中跑车需要按照汽车的旋转角进行偏移)
		unsigned char			m_reserved275_289[15] = {0};	//预留

		//汽车定位信息
		float  					m_center_x = 0;					//整车的中心点x值, 四轮的中心
		float  					m_center_y = 0;					//整车的中心点y值, 四轮的中心
		float  					m_car_angle = 0;				//整车的车身旋转角,
		float  					m_car_length = 0;				//整车的长度, 用于规避碰撞
		float  					m_car_width = 0;				//整车的宽度, 用于规避碰撞
		float  					m_car_height = 0;				//整车的高度, 用于规避碰撞
		float  					m_wheel_base = 0;				//整车的轮距, 前后轮的距离, 用于机器人或agv的抓车
		float  					m_wheel_width = 0;				//整车的轮距, 左右轮的距离, 用于机器人或agv的抓车
		unsigned char			m_voucher_number[256] = {0};	//停取凭证号
		unsigned char			m_plate_number[512] = {0};		//车牌号
		unsigned char			m_phone_number[256] = {0};		//电话号码
		unsigned char			m_reserved1346_1377[32] = {0};	//预留
	};

	//plc给调度模块发送答复消息的DB编号
	#define RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER		101
	//plc给调度模块发送答复消息的指令结构体
	struct Response_from_plc_to_dispatch
	{
		unsigned char			m_reserved0 = 0;				//预留
		unsigned char			m_command_flag = 0;				//指令标志位, 0bit==1:流程结束
		unsigned char			m_task_status = 0;				//流程状态, 0=正常，1=可恢复型故障，2=不可恢复故障
		unsigned char			m_reserved3_11[9] = {0};		//预留

		//指令信息
		unsigned short 			m_block_id = 0;					//单位编号(区域编号), 1~3
		unsigned short 			m_floor_id = 0;					//楼层编号, 1~14
		unsigned short 			m_parkspace_id = 0;				//同层的车位索引, 一楼为1~4, 楼上为1~6
		unsigned char			m_command_key[256] = {0};		//指令key(任务唯一码), 作为通信标志位
		unsigned char			m_is_entrance_flag = 0;			//是否为入口, 1=入口，0=非入口, (如果是入口, 中跑车需要按照汽车的旋转角进行偏移)
		unsigned char			m_reserved275_289[15] = {0};	//预留

		//汽车定位信息
		float  					m_center_x = 0;					//整车的中心点x值, 四轮的中心
		float  					m_center_y = 0;					//整车的中心点y值, 四轮的中心
		float  					m_car_angle = 0;				//整车的车身旋转角,
		float  					m_car_length = 0;				//整车的长度, 用于规避碰撞
		float  					m_car_width = 0;				//整车的宽度, 用于规避碰撞
		float  					m_car_height = 0;				//整车的高度, 用于规避碰撞
		float  					m_wheel_base = 0;				//整车的轮距, 前后轮的距离, 用于机器人或agv的抓车
		float  					m_wheel_width = 0;				//整车的轮距, 左右轮的距离, 用于机器人或agv的抓车
		unsigned char			m_voucher_number[256] = {0};	//停取凭证号
		unsigned char			m_plate_number[512] = {0};		//车牌号
		unsigned char			m_phone_number[256] = {0};		//电话号码
		unsigned char			m_reserved1346_1377[32] = {0};	//预留
	};

	//调度模块给plc发送状态消息的DB编号
	#define STATUS_FROM_DISPATCH_TO_PLC_DBNUMBER		110
	//调度模块给plc发送状态消息的指令结构体
	struct Status_from_dispatch_to_plc
	{
		unsigned char			m_heartbeat = 0;				//心跳位, 0-255循环
		unsigned char			m_check_flag = 0;				//校验标志位
		unsigned char			m_reserved2_9[8] = {0};			//预留

		//时钟
		unsigned short			m_year = 0;						//年
		unsigned char			m_month = 0;					//月
		unsigned char			m_day = 0;						//日
		unsigned char			m_weekday = 0;					//周
		unsigned char			m_hour = 0;						//时
		unsigned char			m_minute = 0;					//分
		unsigned char			m_second = 0;					//秒
		unsigned int			m_nanosecond = 0;				//纳秒
		unsigned char			m_reserved22_29[8] = {0};		//预留

	};

	//plc给调度模块发送状态消息的DB编号
	#define STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER		111
	//plc给调度模块发送状态消息的指令结构体
	struct Status_from_plc_to_dispatch
	{
		unsigned char			m_heartbeat = 0;				//心跳位, 0-255循环
		unsigned char			m_check_flag = 0;				//校验标志位
		unsigned char			m_reserved2_9[8] = {0};			//预留

		//时钟
		unsigned short			m_year = 0;						//年
		unsigned char			m_month = 0;					//月
		unsigned char			m_day = 0;						//日
		unsigned char			m_weekday = 0;					//周
		unsigned char			m_hour = 0;						//时
		unsigned char			m_minute = 0;					//分
		unsigned char			m_second = 0;					//秒
		unsigned int			m_nanosecond = 0;				//纳秒
		unsigned char			m_reserved22_29[8] = {0};		//预留

		//升降机状态, (楚天项目代指电梯)
		//升降机信息, 0bit==1:急停正常, 1bit==1:处于安全位置, 2bit==1:静止状态, 3bit==1:可执行新指令, 4bit==1:存在故障,
		unsigned char			m_elevator_information = 0;		//升降机信息,
		unsigned char			m_reserved31 = 0;				//预留
		double 					m_elevator_coordinates = 0;		//升降机坐标
		unsigned char			m_reserved40_73[34] = {0};		//预留

		//搬运器状态, (楚天项目代指中跑车)
		//搬运器信息, 0bit==1:急停正常, 1bit==1:处于安全位置, 2bit==1:静止状态, 3bit==1:可执行新指令, 4bit==1:存在故障,
		unsigned char			m_carrier_information = 0;		//搬运器信息,
		unsigned char			m_reserved75 = 0;				//预留
		double 					m_carrier_coordinates = 0;		//搬运器坐标
		double 					m_carrier_angle = 0;			//搬运器角度
		unsigned char			m_reserved92_125[34] = {0};		//预留

		//故障信息
		unsigned char			m_carrier_error_code[50] = {0};		//搬运器错误码
		unsigned char			m_carrier_error_string[512] = {0};	//搬运器错误描述
		unsigned char			m_elevator_error_code[50] = {0};	//升降机错误码
		unsigned char			m_elevator_error_string[512] = {0};	//升降机错误描述
	};
#pragma pack(pop)		//取消对齐

// 子类必须把父类设定为友元函数，这样父类才能使用子类的私有构造函数。
   friend class Singleton<Dispatch_communication>;
private:
 // 父类的构造函数必须保护，子类的构造函数必须私有。
   Dispatch_communication();
public:
    //必须关闭拷贝构造和赋值构造，只能通过 get_instance 函数来进行操作唯一的实例。
    Dispatch_communication(const Dispatch_communication& other) = delete;
    Dispatch_communication& operator =(const Dispatch_communication& other) = delete;
    ~Dispatch_communication();
public://API functions
	//初始化 通信 模块。如下三选一
	virtual Error_manager communication_init();
	//反初始化 通信 模块。
	virtual Error_manager communication_uninit();
public://get or set member variable
	std::mutex * get_data_lock();
	Request_from_dispatch_to_plc * get_request_from_dispatch_to_plc();
	Response_from_plc_to_dispatch * get_response_from_plc_to_dispatch();
	Status_from_dispatch_to_plc * get_status_from_dispatch_to_plc();
	Status_from_plc_to_dispatch * get_status_from_plc_to_dispatch();
protected://member functions
	//更新数据
	virtual Error_manager updata_receive_buf();
	virtual Error_manager updata_send_buf();

protected://member variable

	std::mutex									m_data_lock;						//数据锁
	Request_from_dispatch_to_plc				m_request_from_dispatch_to_plc;		//调度模块给plc发送请求消息的指令结构体
	Response_from_plc_to_dispatch				m_response_from_plc_to_dispatch;	//plc给调度模块发送答复消息的指令结构体
	Status_from_dispatch_to_plc					m_status_from_dispatch_to_plc;		//调度模块给plc发送状态消息的指令结构体
	Status_from_plc_to_dispatch					m_status_from_plc_to_dispatch;		//plc给调度模块发送状态消息的指令结构体

private:

};


#endif //NNXX_TESTS_DISPATCH_COMMUNICATION_H