system_executor.cpp 24 KB

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  1. //
  2. // Created by huli on 2020/7/2.
  3. //
  4. #include "system_executor.h"
  5. System_executor::System_executor()
  6. {
  7. }
  8. System_executor::~System_executor()
  9. {
  10. system_executor_uninit();
  11. }
  12. //初始化
  13. Error_manager System_executor::system_executor_init(int threads_size)
  14. {
  15. m_thread_pool.thread_pool_init(threads_size);
  16. m_system_executor_status = SYSTEM_EXECUTOR_READY;
  17. return Error_code::SUCCESS;
  18. }
  19. //反初始化
  20. Error_manager System_executor::system_executor_uninit()
  21. {
  22. m_thread_pool.thread_pool_uninit();
  23. m_system_executor_status = SYSTEM_EXECUTOR_UNKNOW;
  24. return Error_code::SUCCESS;
  25. }
  26. //检查消息是否有效, 主要检查消息类型和接受者, 判断这条消息是不是给我的.
  27. Error_manager System_executor::check_msg(Communication_message* p_msg)
  28. {
  29. if ( p_msg == NULL )
  30. {
  31. return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
  32. " POINTER IS NULL ");
  33. }
  34. //检查接受人
  35. if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
  36. {
  37. //检查消息类型
  38. switch ( p_msg->get_message_type() )
  39. {
  40. case Communication_message::Message_type::eDispatch_request_msg:
  41. {
  42. return Error_code::SUCCESS;
  43. break;
  44. }
  45. case Communication_message::Message_type::eDispatch_plan_response_msg:
  46. {
  47. return Error_code::SUCCESS;
  48. break;
  49. }
  50. case Communication_message::Message_type::eDispatch_control_request_msg:
  51. {
  52. return Error_code::SUCCESS;
  53. break;
  54. }
  55. default :
  56. ;
  57. break;
  58. }
  59. }
  60. //无效的消息,
  61. return Error_manager(Error_code::INVALID_MESSAGE, Error_level::NEGLIGIBLE_ERROR,
  62. " INVALID_MESSAGE error ");
  63. }
  64. //检查执行者的状态, 判断能否处理这条消息,
  65. Error_manager System_executor::check_executer(Communication_message* p_msg)
  66. {
  67. if ( p_msg == NULL )
  68. {
  69. return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
  70. " POINTER IS NULL ");
  71. }
  72. //检查执行线程池
  73. Error_manager t_executor_result = System_executor::get_instance_references().check_status();
  74. if (t_executor_result.get_error_level() == NEGLIGIBLE_ERROR)//一级故障,轻微故障,
  75. {
  76. std::cout << "executer_is_busy , " << std::endl;
  77. //返回繁忙之后, 通信模块1秒后再次调用check
  78. return Error_code::COMMUNICATION_EXCUTER_IS_BUSY;
  79. }
  80. else if (t_executor_result.get_error_level() > NEGLIGIBLE_ERROR)
  81. {
  82. return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_ERROR, Error_level::MINOR_ERROR,
  83. "System_executor::get_instance_references().check_status(); fun error ");
  84. }
  85. //检查接受人
  86. if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
  87. {
  88. return Dispatch_manager::get_instance_references().check_execute_msg(p_msg);
  89. }
  90. return Error_code::SUCCESS;
  91. }
  92. //处理消息的执行函数
  93. Error_manager System_executor::execute_msg(Communication_message* p_msg)
  94. {
  95. if ( p_msg == NULL )
  96. {
  97. return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
  98. " POINTER IS NULL ");
  99. }
  100. //检查接受人
  101. if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
  102. {
  103. switch ( p_msg->get_message_type() )
  104. {
  105. case Communication_message::Message_type::eDispatch_request_msg:
  106. {
  107. message::Dispatch_request_msg t_dispatch_request_msg;
  108. //针对消息类型, 对消息进行二次解析
  109. if (t_dispatch_request_msg.ParseFromString(p_msg->get_message_buf()))
  110. {
  111. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  112. m_thread_pool.enqueue(&System_executor::execute_for_dispatch_request_msg, this,
  113. t_dispatch_request_msg );
  114. }
  115. else
  116. {
  117. return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
  118. " message::Dispatch_request_msg ParseFromString error ");
  119. }
  120. break;
  121. }
  122. case Communication_message::Message_type::eDispatch_plan_response_msg:
  123. {
  124. message::Dispatch_plan_response_msg t_dispatch_plan_response_msg;
  125. //针对消息类型, 对消息进行二次解析
  126. if (t_dispatch_plan_response_msg.ParseFromString(p_msg->get_message_buf()))
  127. {
  128. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  129. m_thread_pool.enqueue(&System_executor::execute_for_dispatch_plan_response_msg, this,
  130. t_dispatch_plan_response_msg );
  131. }
  132. else
  133. {
  134. return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
  135. " message::Dispatch_request_msg ParseFromString error ");
  136. }
  137. break;
  138. }
  139. case Communication_message::Message_type::eDispatch_control_request_msg:
  140. {
  141. message::Dispatch_control_request_msg t_dispatch_control_request_msg;
  142. //针对消息类型, 对消息进行二次解析
  143. if (t_dispatch_control_request_msg.ParseFromString(p_msg->get_message_buf()))
  144. {
  145. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  146. m_thread_pool.enqueue(&System_executor::execute_for_dispatch_control_request_msg, this,
  147. t_dispatch_control_request_msg );
  148. }
  149. else
  150. {
  151. return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
  152. " message::Dispatch_request_msg ParseFromString error ");
  153. }
  154. break;
  155. }
  156. default:
  157. break;
  158. }
  159. }
  160. //检查接受人
  161. if ( p_msg->get_receiver() == Communication_message::Communicator::eMeasurer )
  162. {
  163. switch ( p_msg->get_message_type() )
  164. {
  165. case Communication_message::Message_type::eLocate_request_msg:
  166. {
  167. message::Measure_request_msg t_measure_request_msg;
  168. //针对消息类型, 对消息进行二次解析
  169. if (t_measure_request_msg.ParseFromString(p_msg->get_message_buf()))
  170. {
  171. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  172. m_thread_pool.enqueue(&System_executor::execute_for_measure, this,
  173. t_measure_request_msg.command_key(), t_measure_request_msg.terminal_id());
  174. }
  175. else
  176. {
  177. return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
  178. " message::Measure_request_msg ParseFromString error ");
  179. }
  180. break;
  181. }
  182. default:
  183. break;
  184. }
  185. }
  186. return Error_code::SUCCESS;
  187. }
  188. //检查状态
  189. Error_manager System_executor::check_status()
  190. {
  191. if ( m_system_executor_status == SYSTEM_EXECUTOR_READY )
  192. {
  193. if ( m_thread_pool.thread_is_full_load() == false )
  194. {
  195. return Error_code::SUCCESS;
  196. }
  197. else
  198. {
  199. return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_BUSY, Error_level::NEGLIGIBLE_ERROR,
  200. " System_executor::check_status error ");
  201. }
  202. }
  203. else
  204. {
  205. return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_ERROR, Error_level::MINOR_ERROR,
  206. " System_executor::check_status error ");
  207. }
  208. }
  209. //定时发送状态信息
  210. Error_manager System_executor::encapsulate_send_status()
  211. {
  212. Error_manager t_error;
  213. int t_dispatch_id = Dispatch_manager::get_instance_references().get_dispatch_id();
  214. std::string t_msg;
  215. /*
  216. //创建一条 调度管理总管理的状态
  217. message::Dispatch_manager_status_msg t_dispatch_manager_status_msg;
  218. t_dispatch_manager_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_manager_status_msg);
  219. t_dispatch_manager_status_msg.mutable_base_info()->set_timeout_ms(5000);
  220. t_dispatch_manager_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch);
  221. t_dispatch_manager_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  222. t_dispatch_manager_status_msg.set_dispatch_id(t_dispatch_id);
  223. Dispatch_manager::Dispatch_manager_status t_dispatch_manager_status = Dispatch_manager::get_instance_references().get_dispatch_manager_status();
  224. t_dispatch_manager_status_msg.set_dispatch_manager_status((message::Dispatch_manager_status)t_dispatch_manager_status);
  225. t_msg = t_dispatch_manager_status_msg.SerializeAsString();
  226. System_communication::get_instance_references().encapsulate_msg(t_msg);
  227. */
  228. //创建4条 调度模块终端出入口的状态
  229. message::Dispatch_terminal_status_msg t_dispatch_terminal_status_msg;
  230. t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
  231. t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
  232. t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  233. t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  234. t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_id*2+0);
  235. t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
  236. t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_INLET);
  237. t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
  238. System_communication::get_instance_references().encapsulate_msg(t_msg);
  239. t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
  240. t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
  241. t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  242. t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  243. t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_id*2+0);
  244. t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
  245. t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_OUTLET);
  246. t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
  247. System_communication::get_instance_references().encapsulate_msg(t_msg);
  248. t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
  249. t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
  250. t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  251. t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  252. t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_id*2+1);
  253. t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
  254. t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_INLET);
  255. t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
  256. System_communication::get_instance_references().encapsulate_msg(t_msg);
  257. t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
  258. t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
  259. t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  260. t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  261. t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_id*2+1);
  262. t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
  263. t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_OUTLET);
  264. t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
  265. System_communication::get_instance_references().encapsulate_msg(t_msg);
  266. return Error_code::SUCCESS;
  267. }
  268. //定时发送 调度管理的状态
  269. Error_manager System_executor::encapsulate_send_dispatch_manager_status()
  270. {
  271. Error_manager t_error;
  272. int t_dispatch_id = Dispatch_manager::get_instance_references().get_dispatch_id();
  273. std::string t_msg;
  274. //创建一条 调度管理总管理的状态
  275. message::Dispatch_manager_status_msg t_dispatch_manager_status_msg;
  276. t_dispatch_manager_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_manager_status_msg);
  277. t_dispatch_manager_status_msg.mutable_base_info()->set_timeout_ms(5000);
  278. t_dispatch_manager_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  279. t_dispatch_manager_status_msg.mutable_base_info()->set_receiver(message::Communicator::eEmpty);
  280. t_dispatch_manager_status_msg.set_dispatch_id(t_dispatch_id);
  281. Dispatch_manager::Dispatch_manager_status t_dispatch_manager_status = Dispatch_manager::get_instance_references().get_dispatch_manager_status();
  282. t_dispatch_manager_status_msg.set_dispatch_manager_status((message::Dispatch_manager_status)t_dispatch_manager_status);
  283. for (auto iter = Dispatch_manager::get_instance_references().m_catcher_map.begin(); iter != Dispatch_manager::get_instance_references().m_catcher_map.end(); ++iter)
  284. {
  285. Catcher* tp_catcher = (Catcher*)iter->second.get();
  286. message::Catcher_data * tp_catcher_data = t_dispatch_manager_status_msg.mutable_catcher_data_map()->Add();
  287. switch ( tp_catcher->get_device_id() )
  288. {
  289. case 0:
  290. {
  291. tp_catcher_data->set_dispatch_device_type(message::Dispatch_device_type::ROBOT_1);
  292. break;
  293. }
  294. case 1:
  295. {
  296. tp_catcher_data->set_dispatch_device_type(message::Dispatch_device_type::ROBOT_2);
  297. break;
  298. }
  299. default:
  300. {
  301. break;
  302. }
  303. }
  304. if ( tp_catcher->get_dispatch_device_status() >= Dispatch_device_base::Dispatch_device_status::E_BUSY &&
  305. tp_catcher->get_dispatch_device_status() <= Dispatch_device_base::Dispatch_device_status::E_THREE_LEVEL_WORK)
  306. {
  307. tp_catcher_data->set_dispatch_device_status(message::Dispatch_device_status::E_BUSY);
  308. }
  309. else
  310. {
  311. tp_catcher_data->set_dispatch_device_status((message::Dispatch_device_status)tp_catcher->get_dispatch_device_status());
  312. }
  313. tp_catcher_data->set_device_id(tp_catcher->get_device_id());
  314. tp_catcher_data->set_actual_device_status((message::Hardware_device_status)tp_catcher->m_actual_device_status);
  315. tp_catcher_data->set_actual_load_status((message::Load_status)tp_catcher->m_actual_load_status);
  316. tp_catcher_data->set_actual_coordinates_id(tp_catcher->m_actual_coordinates_id);
  317. tp_catcher_data->set_actual_x(tp_catcher->m_actual_x);
  318. tp_catcher_data->set_actual_y(tp_catcher->m_actual_y);
  319. tp_catcher_data->set_actual_b(tp_catcher->m_actual_b);
  320. tp_catcher_data->set_actual_z(tp_catcher->m_actual_z);
  321. tp_catcher_data->set_actual_d1(tp_catcher->m_actual_d1);
  322. tp_catcher_data->set_actual_d2(tp_catcher->m_actual_d2);
  323. tp_catcher_data->set_actual_clamp_motion1((message::Clamp_motion)tp_catcher->m_actual_clamp_motion1);
  324. tp_catcher_data->set_actual_clamp_motion2((message::Clamp_motion)tp_catcher->m_actual_clamp_motion2);
  325. tp_catcher_data->set_actual_clamp_motion3((message::Clamp_motion)tp_catcher->m_actual_clamp_motion3);
  326. tp_catcher_data->set_actual_clamp_motion4((message::Clamp_motion)tp_catcher->m_actual_clamp_motion4);
  327. std::string t_actual_error_code((char*)tp_catcher->m_actual_error_code, 50);
  328. tp_catcher_data->set_actual_error_code(t_actual_error_code);
  329. std::string t_actual_warning_code((char*)tp_catcher->m_actual_warning_code, 50);
  330. tp_catcher_data->set_actual_error_code(t_actual_warning_code);
  331. tp_catcher_data->set_actual_error_code(tp_catcher->m_actual_error_description);
  332. }
  333. for (auto iter = Dispatch_manager::get_instance_references().m_carrier_map.begin(); iter != Dispatch_manager::get_instance_references().m_carrier_map.end(); ++iter)
  334. {
  335. Carrier* tp_carrier = (Carrier*)iter->second.get();
  336. message::Carrier_data * tp_carrier_data = t_dispatch_manager_status_msg.mutable_carrier_data_map()->Add();
  337. switch ( tp_carrier->get_device_id() )
  338. {
  339. case 0:
  340. {
  341. tp_carrier_data->set_dispatch_device_type(message::Dispatch_device_type::CARRIER_1);
  342. break;
  343. }
  344. case 1:
  345. {
  346. tp_carrier_data->set_dispatch_device_type(message::Dispatch_device_type::CARRIER_2);
  347. break;
  348. }
  349. case 2:
  350. {
  351. tp_carrier_data->set_dispatch_device_type(message::Dispatch_device_type::CARRIER_3);
  352. break;
  353. }
  354. default:
  355. {
  356. break;
  357. }
  358. }
  359. if ( tp_carrier->get_dispatch_device_status() >= Dispatch_device_base::Dispatch_device_status::E_BUSY &&
  360. tp_carrier->get_dispatch_device_status() <= Dispatch_device_base::Dispatch_device_status::E_THREE_LEVEL_WORK)
  361. {
  362. tp_carrier_data->set_dispatch_device_status(message::Dispatch_device_status::E_BUSY);
  363. }
  364. else
  365. {
  366. tp_carrier_data->set_dispatch_device_status((message::Dispatch_device_status)tp_carrier->get_dispatch_device_status());
  367. }
  368. tp_carrier_data->set_device_id(tp_carrier->get_device_id());
  369. tp_carrier_data->set_actual_device_status((message::Hardware_device_status)tp_carrier->m_actual_device_status);
  370. tp_carrier_data->set_actual_load_status((message::Load_status)tp_carrier->m_actual_load_status);
  371. tp_carrier_data->set_actual_coordinates_id(tp_carrier->m_actual_coordinates_id);
  372. tp_carrier_data->set_actual_x(tp_carrier->m_actual_x);
  373. tp_carrier_data->set_actual_y(tp_carrier->m_actual_y);
  374. tp_carrier_data->set_actual_z(tp_carrier->m_actual_z);
  375. tp_carrier_data->set_actual_y1(tp_carrier->m_actual_y1);
  376. tp_carrier_data->set_actual_y2(tp_carrier->m_actual_y2);
  377. tp_carrier_data->set_actual_clamp_motion1((message::Clamp_motion)tp_carrier->m_actual_clamp_motion1);
  378. tp_carrier_data->set_actual_clamp_motion2((message::Clamp_motion)tp_carrier->m_actual_clamp_motion2);
  379. tp_carrier_data->set_actual_small_sports_car_motion((message::Small_sports_car_motion)tp_carrier->m_actual_small_sports_car_motion);
  380. tp_carrier_data->set_actual_joint_motion_x1((message::Joint_motion)tp_carrier->m_actual_joint_motion_x1);
  381. tp_carrier_data->set_actual_joint_motion_x2((message::Joint_motion)tp_carrier->m_actual_joint_motion_x2);
  382. std::string t_actual_error_code((char*)tp_carrier->m_actual_error_code, 50);
  383. tp_carrier_data->set_actual_error_code(t_actual_error_code);
  384. std::string t_actual_warning_code((char*)tp_carrier->m_actual_warning_code, 50);
  385. tp_carrier_data->set_actual_error_code(t_actual_warning_code);
  386. tp_carrier_data->set_actual_error_code(tp_carrier->m_actual_error_description);
  387. }
  388. t_msg = t_dispatch_manager_status_msg.SerializeAsString();
  389. System_communication::get_instance_references().encapsulate_msg(t_msg);
  390. // std::cout << " huli test :::: " << " 12312312312312 = " << t_dispatch_manager_status_msg.DebugString() << std::endl;
  391. // std::cout << " huli test :::: " << " 123123ggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg12312312 = " << 123 << std::endl;
  392. return Error_code::SUCCESS;
  393. }
  394. //判断是否为待机,如果已经准备好,则可以执行任务。
  395. bool System_executor::is_ready()
  396. {
  397. if ( m_system_executor_status == SYSTEM_EXECUTOR_READY && m_thread_pool.thread_is_full_load() == false )
  398. {
  399. return true;
  400. }
  401. else
  402. {
  403. return false;
  404. }
  405. }
  406. System_executor::System_executor_status System_executor::get_system_executor_status()
  407. {
  408. return m_system_executor_status;
  409. }
  410. //雷达感测定位 的处理函数
  411. //input::command_id, 消息指令id, 由主控制系统生成的唯一码
  412. //input::command_id, 终端id, 对应具体的某个车位
  413. //return::void, 没有返回, 执行结果直接生成一条答复消息, 然后通过通信返回
  414. void System_executor::execute_for_measure(std::string command_key, int terminal_id)
  415. {
  416. Error_manager t_error;
  417. LOG(INFO) << " System_executor::execute_for_measure run "<< this;
  418. //这里要处理.......以后再写
  419. //创建一条答复消息
  420. message::Measure_response_msg t_measure_response_msg;
  421. t_measure_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eLocate_response_msg);
  422. t_measure_response_msg.mutable_base_info()->set_timeout_ms(5000);
  423. t_measure_response_msg.mutable_base_info()->set_sender(message::Communicator::eMeasurer);
  424. t_measure_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  425. t_measure_response_msg.set_command_key(command_key);
  426. t_measure_response_msg.set_terminal_id(terminal_id);
  427. t_measure_response_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
  428. t_measure_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
  429. t_measure_response_msg.mutable_error_manager()->set_error_description(t_error.get_error_description(), t_error.get_description_length());
  430. t_measure_response_msg.mutable_locate_information()->set_locate_x(0);
  431. t_measure_response_msg.mutable_locate_information()->set_locate_y(0);
  432. t_measure_response_msg.mutable_locate_information()->set_locate_angle(0);
  433. t_measure_response_msg.mutable_locate_information()->set_locate_length(0);
  434. t_measure_response_msg.mutable_locate_information()->set_locate_width(0);
  435. t_measure_response_msg.mutable_locate_information()->set_locate_height(0);
  436. t_measure_response_msg.mutable_locate_information()->set_locate_wheel_base(0);
  437. t_measure_response_msg.mutable_locate_information()->set_locate_wheel_width(0);
  438. t_measure_response_msg.mutable_locate_information()->set_locate_correct(0);
  439. std::string t_msg = t_measure_response_msg.SerializeAsString();
  440. System_communication::get_instance_references().encapsulate_msg(t_msg);
  441. LOG(INFO) << " System_executor::execute_for_measure end "<< this;
  442. return ;
  443. }
  444. //调度模块的处理函数
  445. void System_executor::execute_for_dispatch(std::string command_key, Dispatch_manager::Dispatch_motion_direction dispatch_motion_direction,
  446. int terminal_id, int parkspace_id, Locate_information * p_locate_information)
  447. {
  448. Error_manager t_error;
  449. LOG(INFO) << " System_executor::execute_for_dispatch run "<< this;
  450. //这里要处理.......以后再写
  451. t_error = Dispatch_manager::get_instance_references().execute_task(dispatch_motion_direction);
  452. //创建一条答复消息
  453. message::Dispatch_response_msg t_dispatch_response_msg;
  454. t_dispatch_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_response_msg);
  455. t_dispatch_response_msg.mutable_base_info()->set_timeout_ms(5000);
  456. t_dispatch_response_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
  457. t_dispatch_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
  458. t_dispatch_response_msg.set_command_key(command_key);
  459. t_dispatch_response_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
  460. t_dispatch_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
  461. t_dispatch_response_msg.mutable_error_manager()->set_error_description(t_error.get_error_description(), t_error.get_description_length());
  462. std::string t_msg = t_dispatch_response_msg.SerializeAsString();
  463. System_communication::get_instance_references().encapsulate_msg(t_msg);
  464. std::cout << "huli test dispatch_motion_direction = " << dispatch_motion_direction << std::endl;
  465. std::cout << "huli test error = " << t_error << std::endl;
  466. LOG(INFO) << " System_executor::execute_for_dispatch end "<< this;
  467. return ;
  468. }
  469. //调度模块的处理函数
  470. void System_executor::execute_for_dispatch_request_msg(message::Dispatch_request_msg dispatch_request_msg)
  471. {
  472. Error_manager t_error;
  473. t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_request_msg(dispatch_request_msg);
  474. if ( t_error != Error_code::SUCCESS )
  475. {
  476. LOG(INFO) << " System_executor::execute_for_dispatch_request_msg "<< this;
  477. LOG(INFO) << t_error.to_string() << " "<< this;
  478. }
  479. return;
  480. }
  481. //调度模块 //调度总规划的答复(调度算法->调度管理)
  482. void System_executor::execute_for_dispatch_plan_response_msg(message::Dispatch_plan_response_msg dispatch_plan_response_msg)
  483. {
  484. Error_manager t_error;
  485. t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_plan_response_msg(dispatch_plan_response_msg);
  486. if ( t_error != Error_code::SUCCESS )
  487. {
  488. LOG(INFO) << " System_executor::execute_for_dispatch_request_msg "<< this;
  489. LOG(INFO) << t_error.to_string() << " "<< this;
  490. }
  491. return;
  492. }
  493. //调度模块 //调度控制的任务请求(调度算法->调度管理)
  494. void System_executor::execute_for_dispatch_control_request_msg(message::Dispatch_control_request_msg dispatch_control_request_msg)
  495. {
  496. Error_manager t_error;
  497. t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_control_request_msg(dispatch_control_request_msg);
  498. if ( t_error != Error_code::SUCCESS )
  499. {
  500. LOG(INFO) << " System_executor::execute_for_dispatch_request_msg "<< this;
  501. LOG(INFO) << t_error.to_string() << " "<< this;
  502. }
  503. return;
  504. }