puai_dispatch/system/system_executor.cpp

//
// Created by huli on 2020/7/2.
//

#include "system_executor.h"


System_executor::System_executor()
{

}

System_executor::~System_executor()
{
	system_executor_uninit();
}

//初始化
Error_manager System_executor::system_executor_init(int threads_size)
{
	m_thread_pool.thread_pool_init(threads_size);
	m_system_executor_status = SYSTEM_EXECUTOR_READY;
	return Error_code::SUCCESS;
}

//反初始化
Error_manager System_executor::system_executor_uninit()
{
	m_thread_pool.thread_pool_uninit();
	m_system_executor_status = SYSTEM_EXECUTOR_UNKNOW;
	return Error_code::SUCCESS;
}

//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.
Error_manager System_executor::check_msg(Communication_message* p_msg)
{
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}


	//检查接受人
	if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
	{
		//检查消息类型
		switch ( p_msg->get_message_type() )
		{
			case Communication_message::Message_type::eDispatch_request_msg:
			{
				return Error_code::SUCCESS;
				break;
			}
			case Communication_message::Message_type::eDispatch_plan_response_msg:
			{
				return Error_code::SUCCESS;
				break;
			}
			case Communication_message::Message_type::eDispatch_control_request_msg:
			{
				return Error_code::SUCCESS;
				break;
			}
			default :
				;
				break;
		}
	}

	//无效的消息,
	return Error_manager(Error_code::INVALID_MESSAGE, Error_level::NEGLIGIBLE_ERROR,
						 " INVALID_MESSAGE error ");
}
//检查执行者的状态, 判断能否处理这条消息,
Error_manager System_executor::check_executer(Communication_message* p_msg)
{
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}

	//检查执行线程池
	Error_manager t_executor_result = System_executor::get_instance_references().check_status();
	if (t_executor_result.get_error_level() == NEGLIGIBLE_ERROR)//一级故障,轻微故障,
	{
		std::cout << "executer_is_busy , " << std::endl;
		//返回繁忙之后, 通信模块1秒后再次调用check
		return Error_code::COMMUNICATION_EXCUTER_IS_BUSY;
	}
	else if (t_executor_result.get_error_level() > NEGLIGIBLE_ERROR)
	{
		return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_ERROR, Error_level::MINOR_ERROR,
							"System_executor::get_instance_references().check_status(); fun error ");
	}

	//检查接受人
	if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
	{
		return Dispatch_manager::get_instance_references().check_execute_msg(p_msg);
	}

	return Error_code::SUCCESS;
}


//处理消息的执行函数
Error_manager System_executor::execute_msg(Communication_message* p_msg)
{
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}

	//检查接受人
	if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch_mamager )
	{
		switch ( p_msg->get_message_type() )
		{
			case Communication_message::Message_type::eDispatch_request_msg:
			{
				message::Dispatch_request_msg t_dispatch_request_msg;
				//针对消息类型, 对消息进行二次解析
				if (t_dispatch_request_msg.ParseFromString(p_msg->get_message_buf()))
				{
					//往线程池添加执行任务, 之后会唤醒一个线程去执行他.
					m_thread_pool.enqueue(&System_executor::execute_for_dispatch_request_msg, this,
										  t_dispatch_request_msg	);
				}
				else
				{
					return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
										 " message::Dispatch_request_msg  ParseFromString error ");
				}
				break;
			}
			case Communication_message::Message_type::eDispatch_plan_response_msg:
			{
				message::Dispatch_plan_response_msg t_dispatch_plan_response_msg;
				//针对消息类型, 对消息进行二次解析
				if (t_dispatch_plan_response_msg.ParseFromString(p_msg->get_message_buf()))
				{
					//往线程池添加执行任务, 之后会唤醒一个线程去执行他.
					m_thread_pool.enqueue(&System_executor::execute_for_dispatch_plan_response_msg, this,
										  t_dispatch_plan_response_msg	);
				}
				else
				{
					return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
										 " message::Dispatch_request_msg  ParseFromString error ");
				}
				break;
			}
			case Communication_message::Message_type::eDispatch_control_request_msg:
			{
				message::Dispatch_control_request_msg t_dispatch_control_request_msg;
				//针对消息类型, 对消息进行二次解析
				if (t_dispatch_control_request_msg.ParseFromString(p_msg->get_message_buf()))
				{
					//往线程池添加执行任务, 之后会唤醒一个线程去执行他.
					m_thread_pool.enqueue(&System_executor::execute_for_dispatch_control_request_msg, this,
										  t_dispatch_control_request_msg	);
				}
				else
				{
					return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
										 " message::Dispatch_request_msg  ParseFromString error ");
				}
				break;
			}
			default:
				break;
		}
	}

	return Error_code::SUCCESS;
}

//检查状态
Error_manager System_executor::check_status()
{
	if ( m_system_executor_status == SYSTEM_EXECUTOR_READY )
	{
		if ( m_thread_pool.thread_is_full_load() == false )
		{
		    return Error_code::SUCCESS;
		}
		else
		{
		    return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_BUSY, Error_level::NEGLIGIBLE_ERROR,
		    					" System_executor::check_status error ");
		}
	}
	else
	{
		return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_ERROR, Error_level::MINOR_ERROR,
							" System_executor::check_status error ");
	}
}

//定时发送状态信息
Error_manager System_executor::encapsulate_send_status()
{
	Error_manager t_error;

	int t_dispatch_manager_id = Dispatch_manager::get_instance_references().get_dispatch_manager_id();
	std::string t_msg;
/*
	//创建一条 调度管理总管理的状态
	message::Dispatch_manager_status_msg t_dispatch_manager_status_msg;
	t_dispatch_manager_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_manager_status_msg);
	t_dispatch_manager_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_manager_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch);
	t_dispatch_manager_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

	t_dispatch_manager_status_msg.set_dispatch_id(t_dispatch_id);

	Dispatch_manager::Dispatch_manager_status t_dispatch_manager_status = Dispatch_manager::get_instance_references().get_dispatch_manager_status();
	t_dispatch_manager_status_msg.set_dispatch_manager_status((message::Dispatch_manager_status)t_dispatch_manager_status);

	t_msg = t_dispatch_manager_status_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);
*/


	//创建4条 调度模块终端出入口的状态
	message::Dispatch_terminal_status_msg t_dispatch_terminal_status_msg;
	t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_manager_id*2+0);
	t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
	t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_INLET);
	t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);

	t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_manager_id*2+0);
	t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
	t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_OUTLET);
	t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);

	t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_manager_id*2+1);
	t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
	t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_INLET);
	t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);

	t_dispatch_terminal_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_status_msg);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_manager_id*2+1);
	t_dispatch_terminal_status_msg.set_terminal_status(message::Terminal_status::E_TERMINAL_READY);
	t_dispatch_terminal_status_msg.set_passageway_direction(message::Passageway_direction::E_OUTLET);
	t_msg = t_dispatch_terminal_status_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);
	return Error_code::SUCCESS;
}

//定时发送 调度管理的状态
Error_manager System_executor::encapsulate_send_dispatch_manager_status()
{
	return Dispatch_manager::get_instance_references().encapsulate_send_dispatch_manager_status();
}


//判断是否为待机，如果已经准备好，则可以执行任务。
bool System_executor::is_ready()
{
	if ( m_system_executor_status == SYSTEM_EXECUTOR_READY && m_thread_pool.thread_is_full_load() == false )
	{
	    return true;
	}
	else
	{
		return false;
	}
}

System_executor::System_executor_status System_executor::get_system_executor_status()
{
	return m_system_executor_status;
}




//雷达感测定位 的处理函数
//input::command_id, 消息指令id, 由主控制系统生成的唯一码
//input::command_id, 终端id, 对应具体的某个车位
//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
void System_executor::execute_for_measure(std::string command_key, int terminal_id)
{
	Error_manager t_error;

	LOG(INFO) << " System_executor::execute_for_measure run "<< this;
	//这里要处理.......以后再写

	//创建一条答复消息
	message::Measure_response_msg t_measure_response_msg;
	t_measure_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eLocate_response_msg);
	t_measure_response_msg.mutable_base_info()->set_timeout_ms(5000);
	t_measure_response_msg.mutable_base_info()->set_sender(message::Communicator::eMeasurer);
	t_measure_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

	t_measure_response_msg.set_command_key(command_key);
	t_measure_response_msg.set_terminal_id(terminal_id);
	t_measure_response_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
	t_measure_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
	t_measure_response_msg.mutable_error_manager()->set_error_description(t_error.get_error_description());

	t_measure_response_msg.mutable_locate_information()->set_locate_x(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_y(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_angle(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_length(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_width(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_height(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_wheel_base(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_wheel_width(0);
	t_measure_response_msg.mutable_locate_information()->set_locate_correct(0);

	std::string t_msg = t_measure_response_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);
	LOG(INFO) << " System_executor::execute_for_measure end "<< this;

	return ;
}


//调度模块的处理函数
void System_executor::execute_for_dispatch(std::string command_key, Dispatch_manager::Dispatch_motion_direction dispatch_motion_direction,
										   int terminal_id, int parkspace_id, Locate_information * p_locate_information)
{
	Error_manager t_error;

	LOG(INFO) << " System_executor::execute_for_dispatch run "<< this;
	//这里要处理.......以后再写

	t_error = Dispatch_manager::get_instance_references().execute_task(dispatch_motion_direction);

	//创建一条答复消息
	message::Dispatch_response_msg t_dispatch_response_msg;
	t_dispatch_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eDispatch_response_msg);
	t_dispatch_response_msg.mutable_base_info()->set_timeout_ms(5000);
	t_dispatch_response_msg.mutable_base_info()->set_sender(message::Communicator::eDispatch_manager);
	t_dispatch_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

	t_dispatch_response_msg.set_command_key(command_key);
	t_dispatch_response_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
	t_dispatch_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
	t_dispatch_response_msg.mutable_error_manager()->set_error_description(t_error.get_error_description());

	std::string t_msg = t_dispatch_response_msg.SerializeAsString();
	System_communication::get_instance_references().encapsulate_msg(t_msg);

	std::cout << "huli test dispatch_motion_direction = " << dispatch_motion_direction << std::endl;
	std::cout << "huli test error = " << t_error << std::endl;


	LOG(INFO) << " System_executor::execute_for_dispatch end "<< this;
	return ;

}

//调度模块的处理函数
void System_executor::execute_for_dispatch_request_msg(message::Dispatch_request_msg dispatch_request_msg)
{
	Error_manager t_error;
	t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_request_msg(dispatch_request_msg);
	if ( t_error != Error_code::SUCCESS )
	{
		LOG(INFO) << " System_executor::execute_for_dispatch_request_msg fun error "<< this;
		LOG(INFO) << t_error.to_string() << "   "<< this;
	}
	return;
}
//调度模块 //调度总规划的答复(调度算法->调度管理)
void System_executor::execute_for_dispatch_plan_response_msg(message::Dispatch_plan_response_msg dispatch_plan_response_msg)
{
	Error_manager t_error;
	t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_plan_response_msg(dispatch_plan_response_msg);
	if ( t_error != Error_code::SUCCESS )
	{
		LOG(INFO) << " System_executor::execute_for_dispatch_request_msg fun error "<< this;
		LOG(INFO) << t_error.to_string() << "   "<< this;
	}
	return;
}
//调度模块 //调度控制的任务请求(调度算法->调度管理)
void System_executor::execute_for_dispatch_control_request_msg(message::Dispatch_control_request_msg dispatch_control_request_msg)
{
	Error_manager t_error;
	t_error = Dispatch_manager::get_instance_references().execute_for_dispatch_control_request_msg(dispatch_control_request_msg);
	if ( t_error != Error_code::SUCCESS )
	{
		LOG(INFO) << " System_executor::execute_for_dispatch_request_msg fun error "<< this;
		LOG(INFO) << t_error.to_string() << "   "<< this;
	}
	return;
}