passageway.cpp 14 KB

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  1. //
  2. // Created by huli on 2021/3/16.
  3. //
  4. #include "passageway.h"
  5. Passageway::Passageway()
  6. {
  7. m_request_inside_door_motion = DOOR_UNKNOWN;
  8. m_request_outside_door_motion = DOOR_UNKNOWN;
  9. m_request_turntable_direction = TURNTABLE_DIRECTION_UNKNOWN;
  10. m_respons_status = RESPONS_WORKING; //指令完成状态, 搬运器答复指令, 返回任务完成的情况
  11. m_respons_inside_door_motion = DOOR_UNKNOWN;
  12. m_respons_outside_door_motion = DOOR_UNKNOWN;
  13. m_respons_turntable_direction = TURNTABLE_DIRECTION_UNKNOWN;
  14. m_status_updata_time = std::chrono::system_clock::now();
  15. m_last_heartbeat = 0; //上一次的心跳
  16. m_actual_device_status = HARDWARE_DEVICE_UNKNOWN; //通道口的硬件设备状态
  17. m_actual_inside_load_status = LOAD_UNKNOWN; //通道口的内部负载状态, 门内地感是否有车.
  18. m_actual_outside_load_status = LOAD_UNKNOWN; //通道口的外部负载状态, 门外地感是否有车.
  19. m_actual_front_overstep_the_boundary = BOUNDARY_NORMAL; //通道口 汽车前边界
  20. m_actual_back_overstep_the_boundary = BOUNDARY_NORMAL; //通道口 汽车前边界
  21. m_actual_height_overstep_the_boundary = BOUNDARY_NORMAL; //通道口 车辆是否超高
  22. m_actual_outside_door_sensor = LOAD_UNKNOWN; //通道口 的外门处的传感器, 判断是否有车经过外门
  23. //通道口的真实状态, 可能是路径中间的坐标
  24. m_actual_inside_door_motion = DOOR_UNKNOWN; //通道口 内门动作
  25. m_actual_outside_door_motion = DOOR_UNKNOWN; //通道口 外门动作
  26. m_actual_turntable_load_status = LOAD_UNKNOWN; //通道口 转盘负载状态, 是否有车.
  27. m_actual_turntable_direction = TURNTABLE_DIRECTION_UNKNOWN; //通道口 转台方向
  28. memset(m_actual_error_code, 0, 50); //搬运器设备的报警信息位
  29. memset(m_actual_warning_code, 0, 50); //升降机设备的报警信息位
  30. }
  31. Passageway::~Passageway()
  32. {
  33. }
  34. //检查任务类型, 子类必须重载, 用来检查输入的任务是否为子类所需的.
  35. Error_manager Passageway::check_task_type(std::shared_ptr<Task_Base> p_task)
  36. {
  37. //检查任务类型,
  38. if (p_task->get_task_type() != Task_Base::Task_type::PASSAGEWAY_TASK)
  39. {
  40. return Error_manager(Error_code::PASSAGEWAY_TASK_TYPE_ERROR, Error_level::MINOR_ERROR,
  41. "Passageway::check_task_type get_task_type() != PASSAGEWAY_TASK ");
  42. }
  43. return Error_code::SUCCESS;
  44. }
  45. //获取硬件设备的状态, 必须子类继承
  46. Passageway::Hardware_device_status Passageway::get_actual_device_status()
  47. {
  48. return m_actual_device_status;
  49. }
  50. std::string Passageway::get_current_command_key()
  51. {
  52. return (m_request_key + " +++ " + m_respons_key);
  53. }
  54. //把任务单写入到内存中, 子类必须重载
  55. Error_manager Passageway::write_task_to_memory(std::shared_ptr<Task_Base> p_task)
  56. {
  57. //检查任务类型,
  58. if (p_task->get_task_type() != Task_Base::Task_type::PASSAGEWAY_TASK)
  59. {
  60. return Error_manager(Error_code::PASSAGEWAY_TASK_TYPE_ERROR, Error_level::MINOR_ERROR,
  61. "Passageway::check_task_type get_task_type() != PASSAGEWAY_TASK ");
  62. }
  63. else
  64. {
  65. Passageway_task* tp_passageway_task = (Passageway_task*)p_task.get();
  66. std::unique_lock<std::mutex> t_lock1(tp_passageway_task->m_lock);
  67. m_request_key = tp_passageway_task->m_request_key;
  68. m_request_inside_door_motion = (Dispatch_device_base::Door_motion)tp_passageway_task->m_request_inside_door_motion;
  69. m_request_outside_door_motion = (Dispatch_device_base::Door_motion)tp_passageway_task->m_request_outside_door_motion;
  70. m_request_turntable_direction = (Dispatch_device_base::Turntable_direction)tp_passageway_task->m_request_turntable_direction;
  71. return Error_code::SUCCESS;
  72. }
  73. return Error_code::SUCCESS;
  74. }
  75. //更新设备底层通信数据, 子类必须重载
  76. Error_manager Passageway::update_device_communication()
  77. {
  78. std::unique_lock<std::mutex> t_lock1(Dispatch_communication::get_instance_references().m_data_lock);
  79. //请求消息, 调度->plc
  80. Dispatch_communication::Passageway_request_from_dispatch_to_plc_for_data * tp_passageway_request_from_dispatch_to_plc_for_data =
  81. & Dispatch_communication::get_instance_references().m_passageway_request_from_dispatch_to_plc_for_data[m_device_id];
  82. Dispatch_communication::Passageway_request_from_dispatch_to_plc_for_key * tp_passageway_request_from_dispatch_to_plc_for_key =
  83. & Dispatch_communication::get_instance_references().m_passageway_request_from_dispatch_to_plc_for_key[m_device_id];
  84. memset(tp_passageway_request_from_dispatch_to_plc_for_key->m_request_key, 0, 50);
  85. int t_size = m_request_key.size()<=50 ? m_request_key.size() : 50 ;
  86. memcpy(tp_passageway_request_from_dispatch_to_plc_for_key->m_request_key, m_request_key.c_str(), t_size);
  87. tp_passageway_request_from_dispatch_to_plc_for_data->m_request_inside_door_motion = m_request_inside_door_motion;
  88. tp_passageway_request_from_dispatch_to_plc_for_data->m_request_outside_door_motion = m_request_outside_door_motion;
  89. tp_passageway_request_from_dispatch_to_plc_for_data->m_request_turntable_direction = m_request_turntable_direction;
  90. //答复消息, plc->调度
  91. Dispatch_communication::Passageway_response_from_plc_to_dispatch * tp_passageway_response_from_plc_to_dispatch =
  92. & Dispatch_communication::get_instance_references().m_passageway_response_from_plc_to_dispatch[m_device_id];
  93. m_respons_key = (char*) tp_passageway_response_from_plc_to_dispatch->m_respons_key;
  94. m_respons_status = (Dispatch_device_base::Respons_status)tp_passageway_response_from_plc_to_dispatch->m_respons_status;
  95. m_respons_inside_door_motion = (Dispatch_device_base::Door_motion)tp_passageway_response_from_plc_to_dispatch->m_respons_inside_door_motion;
  96. m_respons_outside_door_motion = (Dispatch_device_base::Door_motion)tp_passageway_response_from_plc_to_dispatch->m_respons_outside_door_motion;
  97. m_respons_turntable_direction = (Dispatch_device_base::Turntable_direction)tp_passageway_response_from_plc_to_dispatch->m_respons_turntable_direction;
  98. //状态消息, plc->调度
  99. Dispatch_communication::Passageway_status_from_plc_to_dispatch *tp_passageway_status_from_plc_to_dispatch =
  100. & Dispatch_communication::get_instance_references().m_passageway_status_from_plc_to_dispatch[m_device_id];
  101. //设备异常 //注注注注注注注注意了, ==的优先级比&要高.
  102. if ( (tp_passageway_status_from_plc_to_dispatch->m_safe_status & 0x02) == 0 )
  103. {
  104. m_actual_device_status = Dispatch_device_base::HARDWARE_DEVICE_EMERGENCY_STOP;
  105. m_dispatch_device_status = Dispatch_device_base::DISPATCH_DEVICE_FAULT;
  106. }
  107. else if ( (tp_passageway_status_from_plc_to_dispatch->m_safe_status & 0x01) == 0 )
  108. {
  109. m_actual_device_status = Dispatch_device_base::HARDWARE_DEVICE_FAULT;
  110. m_dispatch_device_status = Dispatch_device_base::DISPATCH_DEVICE_FAULT;
  111. }
  112. else//正常状态
  113. {
  114. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x20)== 1)
  115. {
  116. m_actual_device_status = Dispatch_device_base::HARDWARE_DEVICE_WORKING;
  117. }
  118. else if( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x20)== 0)
  119. {
  120. m_actual_device_status = Dispatch_device_base::HARDWARE_DEVICE_READY;
  121. }
  122. else
  123. {
  124. m_actual_device_status = Dispatch_device_base::HARDWARE_DEVICE_UNKNOWN;
  125. }
  126. //故障恢复之后 E_FAULT ->> E_THREE_LEVEL_WORK
  127. if ( m_dispatch_device_status == Dispatch_device_base::DISPATCH_DEVICE_FAULT )
  128. {
  129. m_dispatch_device_status = Dispatch_device_base::DISPATCH_DEVICE_THREE_LEVEL_WORK;
  130. }
  131. //else 流程状态维持不变
  132. }
  133. //数据解析
  134. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x01)== 1)
  135. {
  136. m_actual_inside_load_status = Dispatch_device_base::HAVE_CAR;
  137. }
  138. else
  139. {
  140. m_actual_inside_load_status = Dispatch_device_base::NO_CAR;
  141. }
  142. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x02)== 1)
  143. {
  144. m_actual_outside_load_status = Dispatch_device_base::HAVE_CAR;
  145. }
  146. else
  147. {
  148. m_actual_outside_load_status = Dispatch_device_base::NO_CAR;
  149. }
  150. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x04)== 1)
  151. {
  152. m_actual_front_overstep_the_boundary = Dispatch_device_base::BOUNDARY_OVERSTEP;
  153. }
  154. else
  155. {
  156. m_actual_front_overstep_the_boundary = Dispatch_device_base::BOUNDARY_NORMAL;
  157. }
  158. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x08)== 1)
  159. {
  160. m_actual_back_overstep_the_boundary = Dispatch_device_base::BOUNDARY_OVERSTEP;
  161. }
  162. else
  163. {
  164. m_actual_back_overstep_the_boundary = Dispatch_device_base::BOUNDARY_NORMAL;
  165. }
  166. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x10)== 1)
  167. {
  168. m_actual_height_overstep_the_boundary = Dispatch_device_base::BOUNDARY_OVERSTEP;
  169. }
  170. else
  171. {
  172. m_actual_height_overstep_the_boundary = Dispatch_device_base::BOUNDARY_NORMAL;
  173. }
  174. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x20)== 1)
  175. {
  176. m_actual_outside_door_sensor = Dispatch_device_base::HAVE_CAR;
  177. }
  178. else
  179. {
  180. m_actual_outside_door_sensor = Dispatch_device_base::NO_CAR;
  181. }
  182. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x40)== 1 &&
  183. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x80)== 0)
  184. {
  185. m_actual_inside_door_motion = Dispatch_device_base::DOOR_OPEN;
  186. }
  187. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x40)== 0 &&
  188. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x80)== 1)
  189. {
  190. m_actual_inside_door_motion = Dispatch_device_base::DOOR_CLOSE;
  191. }
  192. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x40)== 1 &&
  193. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x80)== 1)
  194. {
  195. m_actual_inside_door_motion = Dispatch_device_base::DOOR_ERROR;
  196. }
  197. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x40)== 0 &&
  198. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status1 & 0x80)== 0)
  199. {
  200. m_actual_inside_door_motion = Dispatch_device_base::DOOR_UNKNOWN;
  201. }
  202. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x01)== 1 &&
  203. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x02)== 0)
  204. {
  205. m_actual_outside_door_motion = Dispatch_device_base::DOOR_OPEN;
  206. }
  207. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x01)== 0 &&
  208. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x02)== 1)
  209. {
  210. m_actual_outside_door_motion = Dispatch_device_base::DOOR_CLOSE;
  211. }
  212. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x01)== 1 &&
  213. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x02)== 1)
  214. {
  215. m_actual_outside_door_motion = Dispatch_device_base::DOOR_ERROR;
  216. }
  217. else if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x01)== 0 &&
  218. (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x02)== 0)
  219. {
  220. m_actual_outside_door_motion = Dispatch_device_base::DOOR_UNKNOWN;
  221. }
  222. if ( (tp_passageway_status_from_plc_to_dispatch->m_sensor_status2 & 0x03)== 1)
  223. {
  224. m_actual_turntable_load_status = Dispatch_device_base::HAVE_CAR;
  225. }
  226. else
  227. {
  228. m_actual_turntable_load_status = Dispatch_device_base::NO_CAR;
  229. }
  230. m_actual_turntable_direction = (Dispatch_device_base::Turntable_direction)tp_passageway_status_from_plc_to_dispatch->m_actual_turntable_direction;
  231. memcpy(m_actual_error_code, tp_passageway_status_from_plc_to_dispatch->m_actual_error_code, 50);
  232. memcpy(m_actual_warning_code, tp_passageway_status_from_plc_to_dispatch->m_actual_warning_code, 50);
  233. m_actual_error_description = (char*)(tp_passageway_status_from_plc_to_dispatch->m_actual_error_description-2);
  234. //通过心跳帧来判断通信是否正常
  235. if ( m_last_heartbeat != tp_passageway_status_from_plc_to_dispatch->m_heartbeat )
  236. {
  237. m_last_heartbeat = tp_passageway_status_from_plc_to_dispatch->m_heartbeat;
  238. m_status_updata_time = std::chrono::system_clock::now();
  239. //重连之后,搬运器状态 E_DISCONNECT ->> E_THREE_LEVEL_WORK
  240. if ( m_dispatch_device_status == Dispatch_device_base::DISPATCH_DEVICE_DISCONNECT )
  241. {
  242. m_dispatch_device_status = Dispatch_device_base::DISPATCH_DEVICE_THREE_LEVEL_WORK;
  243. }
  244. }
  245. else if(std::chrono::system_clock::now() - m_status_updata_time > std::chrono::milliseconds(COMMUNICATION_OVER_TIME_MS))
  246. {
  247. m_dispatch_device_status = Dispatch_device_base::DISPATCH_DEVICE_DISCONNECT;
  248. }
  249. //else 继续等待,直到消息刷新或者超时.
  250. return Error_code::SUCCESS;
  251. }
  252. //从内存中读数据到任务单, 子类必须重载
  253. Error_manager Passageway::check_and_read_memory_to_task(std::shared_ptr<Task_Base> p_task)
  254. {
  255. Dispatch_communication::get_instance_references().communication_start();
  256. //检查任务类型,
  257. if (p_task->get_task_type() != Task_Base::Task_type::PASSAGEWAY_TASK)
  258. {
  259. return Error_manager(Error_code::PASSAGEWAY_TASK_TYPE_ERROR, Error_level::MINOR_ERROR,
  260. "Passageway::check_task_type get_task_type() != PASSAGEWAY_TASK ");
  261. }
  262. else
  263. {
  264. if ( m_respons_key == m_request_key && m_respons_status != RESPONS_WORKING )
  265. {
  266. Passageway_task* tp_passageway_task = (Passageway_task*)p_task.get();
  267. std::unique_lock<std::mutex> t_lock1(tp_passageway_task->m_lock);
  268. tp_passageway_task->m_respons_key = m_respons_key;
  269. tp_passageway_task->m_respons_status = (Passageway_task::Respons_status)m_respons_status;
  270. tp_passageway_task->m_respons_inside_door_motion = (Passageway_task::Door_motion)m_respons_inside_door_motion;
  271. tp_passageway_task->m_respons_outside_door_motion = (Passageway_task::Door_motion)m_respons_outside_door_motion;
  272. tp_passageway_task->m_respons_turntable_direction = (Passageway_task::Turntable_direction)m_respons_turntable_direction;
  273. //如果故障,则添加错误码
  274. if ( m_respons_status == RESPONS_MINOR_ERROR || m_respons_status == RESPONS_CRITICAL_ERROR )
  275. {
  276. //添加错误码
  277. Error_manager t_error(PASSAGEWAY_RESPONS_ERROR, MINOR_ERROR, "m_respons_status is error");
  278. tp_passageway_task->set_task_error_manager(t_error);
  279. }
  280. return Error_code::SUCCESS;
  281. }
  282. //返回没有收到数据
  283. else
  284. {
  285. return Error_code::NODATA;
  286. }
  287. }
  288. return Error_code::SUCCESS;
  289. }
  290. //取消下发的指令
  291. Error_manager Passageway::cancel_command()
  292. {
  293. //以后再写 need programe
  294. //目前调度和plc的通信指令做的很简单,没有暂停和急停 复位等操作.
  295. //这里先空着,以后再写.
  296. //调度模块单方面销毁任务, 不管底层plc的执行情况, 也不去告知plc任务取消.
  297. return Error_code::SUCCESS;
  298. }