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:
	//发送db快的标记位, 保证先发数据再发唯一码
	enum Send_database_flag
	{
		E_SEND_UNKNOW					= 0,
		E_SEND_DATA_START              	= 1,    //开始发送数据
		E_SEND_DATA_END              	= 2,    //结束发送数据
		E_SEND_KEY_START				= 3,	//开始发送唯一码
		E_SEND_KEY_END					= 4,	//结束发送唯一码
	};


#pragma pack(push, 1)	//struct按照1个byte对齐

	//抓车模块给plc发送请求消息的DB编号
#define CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1		110
#define CATCHER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2		120
	//抓车模块给plc发送请求消息的指令结构体
	struct Catcher_request_from_dispatch_to_plc_for_data
	{
		//指令信息
		unsigned char			m_reserved50 = 0;					//预留
		unsigned char			m_reserved51_69[19] = {0};	//预留
		// 请求的目标坐标和动作
		float 					m_request_x = 0;				//机器人坐标x轴,
		float 					m_request_y = 0;				//机器人坐标y轴,
		float 					m_request_b = 0;				//机器人坐标b轴, 旋转范围80~280
		float 					m_request_z = 0;				//机器人坐标z轴,
		unsigned char			m_request_clamp_motion = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_reserved87_89[3] = {0};			//预留
		float 					m_request_wheelbase = 0;		//机器人抓车杆前后轮距.
		float 					m_request_d1 = 0;				//机器人坐标d1轴, 机器人抓车杆纵向移动(前轮抓杆)
		float 					m_request_d2 = 0;				//机器人坐标d2轴, 机器人抓车杆纵向移动(后轮抓杆)
	};

	//抓车模块给plc发送请求消息的指令结构体
	struct Catcher_request_from_dispatch_to_plc_for_key
	{
		//指令信息
		unsigned char			m_request_key[50] = {0};		//指令key(任务唯一码), 作为通信标志位
	};

	//plc给抓车模块发送答复消息的DB编号
#define CATCHER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_1		111
#define CATCHER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_2		121
	//plc给抓车模块发送答复消息的指令结构体
	struct Catcher_response_from_plc_to_dispatch
	{
		//指令信息
		unsigned char			m_respons_key[50] = {0};		//指令key(任务唯一码), 作为通信标志位
		unsigned char			m_respons_status = 0;			//指令完成状态, 机器人答复指令, 返回任务完成的情况
		unsigned char			m_reserved51_69[19] = {0};	//预留
		//请求的目标坐标和动作
		float 					m_respons_x = 0;				//机器人坐标x轴,
		float 					m_respons_y = 0;				//机器人坐标y轴,
		float 					m_respons_b = 0;				//机器人坐标b轴, 旋转范围80~280
		float 					m_respons_z = 0;				//机器人坐标z轴,
		unsigned char			m_respons_clamp_motion = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_reserved87_89[3] = {0};			//预留
		float 					m_respons_wheelbase = 0;		//机器人抓车杆前后轮距.
		float 					m_respons_d1 = 0;				//机器人坐标d1轴, 机器人抓车杆纵向移动(前轮抓杆)
		float 					m_respons_d2 = 0;				//机器人坐标d2轴, 机器人抓车杆纵向移动(后轮抓杆)
	};

	//plc给抓车模块发送状态消息的DB编号
#define CATCHER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_1		113
#define CATCHER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2		123
	//plc给抓车模块发送状态消息的指令结构体
	struct Catcher_status_from_plc_to_dispatch
	{
		unsigned char			m_heartbeat = 0;				//心跳位, 0-255循环

		unsigned char			m_safe_status = 0;				//设备的安全状态
		unsigned char			m_work_status = 0;				//机器人的硬件设备状态
		unsigned char			m_actual_load_status = 0;		//机器人的负载状态, 机器人上面是否有车.
		unsigned char			m_reserved4_37[34] = {0};		//预留

		float 					m_actual_x = 0;					//机器人坐标x轴,
		float 					m_actual_y = 0;					//机器人坐标y轴,
		float 					m_actual_b = 0;					//机器人坐标b轴, 旋转范围80~280
		float 					m_actual_z = 0;					//机器人坐标z轴,
		float 					m_actual_d1 = 0;				//机器人坐标d1轴, 机器人抓车杆纵向移动(前轮抓杆)
		float 					m_actual_d2 = 0;				//机器人坐标d2轴, 机器人抓车杆纵向移动(后轮抓杆)
		unsigned char			m_actual_clamp_motion1 = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_actual_clamp_motion2 = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_actual_clamp_motion3 = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_actual_clamp_motion4 = 0;		//机器人夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_reserved66_99[34] = {0};		//预留

		//故障信息
		unsigned char			m_actual_error_code[50] = {0};		//搬运器错误码
		unsigned char			m_actual_warning_code[50] = {0};	//升降机错误码
		unsigned char			m_actual_error_description[256] = {0};	//升降机错误描述
	};





	//搬运器给plc发送请求消息的DB编号
#define CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1		200
#define CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2		270
#define CARRIER_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_3		230
	//搬运器给plc发送请求消息的指令结构体
	struct Carrier_request_from_dispatch_to_plc_for_data
	{
		//指令信息
		unsigned char						m_reserved50 = 0;			//预留
		unsigned char						m_reserved51_71[21] = {0};	//预留
		//请求的目标坐标和动作
		float 								m_request_x;				//搬运器坐标x轴, 中跑车控制横向移动
		float 								m_request_y;				//搬运器坐标y轴, 小跑车控制纵向移动
		float 								m_request_z;				//搬运器坐标z轴, 电梯控制上下移动
		float 								m_request_y1;				//搬运器坐标y1轴, 小跑车控制纵向移动(前轮抓杆)
		float 								m_request_y2;				//搬运器坐标y2轴, 小跑车控制纵向移动(后轮抓杆)
		unsigned char						m_request_clamp_motion;		//小跑车夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char						m_request_joint_motion_x;	//电梯与X轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
		unsigned char						m_request_joint_motion_y;	//小跑车与Y轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
		unsigned char						m_reserved95 = 0;					//预留
		int 								m_request_space_id;			//搬运器空间位置的id.
		int 								m_request_floor_id;			//搬运器楼层位置的id.
		float 								m_request_wheelbase;		//搬运器小跑车的抓车杆前后轮距.
	};

	//搬运器给plc发送请求消息的指令结构体
	struct Carrier_request_from_dispatch_to_plc_for_key
	{
		//指令信息
		unsigned char						m_request_key[50] = {0};		//指令key(任务唯一码), 作为通信标志位
	};

	//plc给搬运器发送答复消息的DB编号
#define CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_1		201
#define CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_2		271
#define CARRIER_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_3		231
	//plc给搬运器发送答复消息的指令结构体
	struct Carrier_response_from_plc_to_dispatch
	{
		//指令信息
		unsigned char						m_respons_key[50] = {0};	//指令key(任务唯一码), 作为通信标志位
		unsigned char						m_respons_status = 0;		//指令完成状态, 机器人答复指令, 返回任务完成的情况
		unsigned char						m_reserved51_71[21] = {0};	//预留
		//请求的目标坐标和动作
		float 								m_respons_x;				//搬运器坐标x轴, 中跑车控制横向移动
		float 								m_respons_y;				//搬运器坐标y轴, 小跑车控制纵向移动
		float 								m_respons_z;				//搬运器坐标z轴, 电梯控制上下移动
		float 								m_respons_y1;				//搬运器坐标y1轴, 小跑车控制纵向移动(前轮抓杆)
		float 								m_respons_y2;				//搬运器坐标y2轴, 小跑车控制纵向移动(后轮抓杆)
		unsigned char						m_respons_clamp_motion;		//小跑车夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char						m_respons_joint_motion_x;	//电梯与X轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
		unsigned char						m_respons_joint_motion_y;	//小跑车与Y轴的横向轨道对接,0=无动作，1=进行对接, 2=松开对接
		unsigned char						m_reserved95 = 0;					//预留
		int 								m_respons_space_id;			//搬运器空间位置的id.
		int 								m_respons_floor_id;			//搬运器楼层位置的id.
		float 								m_respons_wheelbase;		//搬运器小跑车的抓车杆前后轮距.
	};

	//plc给搬运器发送状态消息的DB编号
#define CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_1		203
#define CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2		273
#define CARRIER_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_3		233
	//plc给搬运器发送状态消息的指令结构体
	struct Carrier_status_from_plc_to_dispatch
	{
		unsigned char			m_heartbeat = 0;				//心跳位, 0-255循环

		unsigned char			m_safe_status = 0;				//设备的安全状态
		unsigned char			m_work_status = 0;				//搬运器的硬件设备状态
		unsigned char			m_actual_load_status = 0;		//搬运器的负载状态, 小跑车上面是否有车.
		unsigned char			m_reserved4_37[34] = {0};		//预留

		float 					m_actual_x = 0;					//搬运器坐标x轴,
		float 					m_actual_y = 0;					//搬运器坐标y轴,
		float 					m_actual_z = 0;					//搬运器坐标z轴,
		float 					m_actual_y1 = 0;				//搬运器坐标y1轴, 小跑车控制纵向移动(前轮抓杆)
		float 					m_actual_y2 = 0;				//搬运器坐标y2轴, 小跑车控制纵向移动(前轮抓杆)
		unsigned char			m_actual_clamp_motion1 = 0;		//小跑车夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_actual_clamp_motion2 = 0;		//小跑车夹车杆. 0=无动作，1=夹紧，2=松开
		unsigned char			m_actual_small_sports_car_motion = 0;		//小跑车的位置,是否在中跑车上面, 0=无动作，1=出发到位，2=返回到位
		unsigned char			m_actual_joint_motion_x1 = 0;		//电梯与X轴的横向轨道对接,0=无动作，1=伸出到位，2=收回到位
		unsigned char			m_actual_joint_motion_x2 = 0;		//电梯与X轴的横向轨道对接,0=无动作，1=伸出到位，2=收回到位
		unsigned char			m_reserved63_101[39] = {0};		//预留
		//故障信息
		unsigned char			m_actual_error_code[50] = {0};		//搬运器错误码
		unsigned char			m_actual_warning_code[50] = {0};	//升降机错误码
		unsigned char			m_actual_error_description[256] = {0};	//升降机错误描述
	};








	//通道口给plc发送请求消息的DB编号
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_0		300
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_1		310
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_2		320
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_3		330
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_4		340
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_5		350
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_6		360
#define PASSAGEWAY_REQUEST_FROM_DISPATCH_TO_PLC_DBNUMBER_7		370

	//通道口给plc发送请求消息的指令结构体
	struct Passageway_request_from_dispatch_to_plc_for_data
	{
		//指令信息
		unsigned char			m_reserved50 = 0;					//预留
		unsigned char			m_reserved51_69[19] = {0};	//预留
		// 请求的目标坐标和动作
		unsigned char			m_request_inside_door_motion = 0;		//通道口 内门动作
		unsigned char			m_request_outside_door_motion = 0;		//通道口 外门动作
		unsigned char			m_request_turntable_direction = 0;		//通道口 转台方向
	};

	//通道口给plc发送请求消息的指令结构体
	struct Passageway_request_from_dispatch_to_plc_for_key
	{
		//指令信息
		unsigned char						m_request_key[50] = {0};		//指令key(任务唯一码), 作为通信标志位
	};

	//plc给通道口发送答复消息的DB编号
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_0		301
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_1		311
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_2		321
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_3		331
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_4		341
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_5		351
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_6		361
#define PASSAGEWAY_RESPONSE_FROM_PLC_TO_DISPATCH_DBNUMBER_7		371

	//plc给通道口发送答复消息的指令结构体
	struct Passageway_response_from_plc_to_dispatch
	{
		//指令信息
		unsigned char						m_respons_key[50] = {0};	//指令key(任务唯一码), 作为通信标志位
		unsigned char						m_respons_status = 0;		//指令完成状态, 机器人答复指令, 返回任务完成的情况
		unsigned char						m_reserved51_69[19] = {0};	//预留

		unsigned char			m_respons_inside_door_motion = 0;		//通道口 内门动作
		unsigned char			m_respons_outside_door_motion = 0;		//通道口 外门动作
		unsigned char			m_respons_turntable_direction = 0;		//通道口 转台方向
	};

	//plc给通道口发送状态消息的DB编号
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_0		303
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_1		313
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_2		323
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_3		333
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_4		343
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_5		353
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_6		363
#define PASSAGEWAY_STATUS_FROM_PLC_TO_DISPATCH_DBNUMBER_7		373

	//plc给通道口发送状态消息的指令结构体
	struct Passageway_status_from_plc_to_dispatch
	{
		unsigned char			m_heartbeat = 0;				//心跳位, 0-255循环

		unsigned char			m_safe_status = 0;				//设备的安全状态
		unsigned char			m_sensor_status1 = 0;			//设备的传感器状态1
		unsigned char			m_sensor_status2 = 0;			//设备的传感器状态2
		unsigned char			m_reserved4_35[32] = {0};		//预留
		unsigned char			m_actual_turntable_direction;	//通道口 转台方向
		unsigned char			m_reserved37 = 0;					//预留

		//故障信息
		unsigned char			m_actual_error_code[50] = {0};		//通道口错误码
		unsigned char			m_actual_warning_code[50] = {0};	//升降机错误码
		unsigned char			m_actual_error_description[256] = {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
public:
	std::mutex									m_data_lock;						//数据锁

	Catcher_request_from_dispatch_to_plc_for_data		m_catcher_request_from_dispatch_to_plc_for_data[2];	//抓车模块给plc发送请求消息的指令结构体
	Catcher_request_from_dispatch_to_plc_for_key		m_catcher_request_from_dispatch_to_plc_for_key[2];	//抓车模块给plc发送请求消息的指令结构体
	Catcher_response_from_plc_to_dispatch				m_catcher_response_from_plc_to_dispatch[2];	//plc给抓车模块发送答复消息的指令结构体
	Catcher_status_from_plc_to_dispatch					m_catcher_status_from_plc_to_dispatch[2];	//plc给抓车模块发送状态消息的指令结构体

	Carrier_request_from_dispatch_to_plc_for_data		m_carrier_request_from_dispatch_to_plc_for_data[3];	//搬运器给plc发送请求消息的指令结构体
	Carrier_request_from_dispatch_to_plc_for_key		m_carrier_request_from_dispatch_to_plc_for_key[3];	//搬运器给plc发送请求消息的指令结构体
	Carrier_response_from_plc_to_dispatch				m_carrier_response_from_plc_to_dispatch[3];	//plc给搬运器发送答复消息的指令结构体
	Carrier_status_from_plc_to_dispatch					m_carrier_status_from_plc_to_dispatch[3];	//plc给搬运器发送状态消息的指令结构体

	Passageway_request_from_dispatch_to_plc_for_data	m_passageway_request_from_dispatch_to_plc_for_data[8];	//通道口给plc发送请求消息的指令结构体
	Passageway_request_from_dispatch_to_plc_for_key		m_passageway_request_from_dispatch_to_plc_for_key[8];	//通道口给plc发送请求消息的指令结构体
	Passageway_response_from_plc_to_dispatch			m_passageway_response_from_plc_to_dispatch[8];	//plc给通道口发送答复消息的指令结构体
	Passageway_status_from_plc_to_dispatch				m_passageway_status_from_plc_to_dispatch[8];	//plc给通道口发送状态消息的指令结构体

private:

};


#endif //NNXX_TESTS_DISPATCH_COMMUNICATION_H