puai_dispatch/system/system_executor.cpp

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

#include "system_executor.h"
#include "../message/measure_message.pb.h"
//#include "../laser/laser_manager.h"
//#include "../locate/locate_manager.h"
#include "../system/system_communication.h"
#include "../message/dispatch_message.pb.h"
#include "../dispatch/dispatch_manager.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 ");
	}

	//检查消息类型
	switch ( p_msg->get_message_type() )
	{
		case Communication_message::Message_type::eDispatch_request_msg:
		{
			//检查接受人
			if ( p_msg->get_receiver() == Communication_message::Communicator::eDispatch )
			{
				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()))
				{
					int t_dispatch_id = Dispatch_manager::get_instance_references().get_dispatch_id();
					//检查终端id
					if ( t_dispatch_request_msg.terminal_id() == t_dispatch_id*2+0 || t_dispatch_request_msg.terminal_id() == t_dispatch_id*2+1)
					{
						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 ");
	}

	Error_manager t_error;
	//通过 p_msg->get_message_type() 和 p_msg->get_receiver() 找到处理模块的实例对象, 查询执行人是否可以处理这条消息
	switch ( p_msg->get_message_type() )
	{

		case Communication_message::Message_type::eDispatch_request_msg:
		{
			Error_manager t_dispatch_result = Dispatch_manager::get_instance_references().check_status();
			Error_manager t_executor_result = System_executor::get_instance_references().check_status();
			if (t_dispatch_result == SUCCESS
				&& t_executor_result == SUCCESS)
			{
				return Error_code::SUCCESS;
			}
			else
			{
				//整合所有的错误码
				t_error.compare_and_cover_error(t_dispatch_result);
				t_error.compare_and_cover_error(t_executor_result);
				if (t_error.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//返回二级故障,可以封装一条答复信息, 返回错误码
				{
					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()))
					{
						//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);
						t_dispatch_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

						t_dispatch_response_msg.set_command_key(t_dispatch_request_msg.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);
						LOG(INFO) << " System_executor::check_executer executer status error "<< this;
						return t_error;
					}
					else
					{
						LOG(INFO) << " System_executor::check_executer Second analysis ERROR "<< this;
						return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
											 " message::Measure_request_msg  ParseFromString error ");
					}
				}
			}
			break;
		}
		default :
			;
			break;
	}


	return t_error;
}


//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 ");
	}
	switch ( p_msg->get_message_type() )
	{
		case Communication_message::Message_type::eLocate_request_msg:
		{
			message::Measure_request_msg t_measure_request_msg;
			//针对消息类型, 对消息进行二次解析
			if (t_measure_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_measure, this,
									  t_measure_request_msg.command_key(), t_measure_request_msg.terminal_id());
			}
			else
			{
				return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
									 " message::Measure_request_msg  ParseFromString error ");
			}
			break;
		}
		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()))
			{
				Locate_information t_locate_information;

				if ( t_dispatch_request_msg.dispatch_motion_direction() == message::Dispatch_motion_direction::E_STORE_CAR
				&& t_dispatch_request_msg.has_locate_information())
				{
					t_locate_information.locate_x = t_dispatch_request_msg.locate_information().locate_x();
					t_locate_information.locate_y = t_dispatch_request_msg.locate_information().locate_y();
					t_locate_information.locate_angle = t_dispatch_request_msg.locate_information().locate_angle();
					t_locate_information.locate_length = t_dispatch_request_msg.locate_information().locate_length();
					t_locate_information.locate_width = t_dispatch_request_msg.locate_information().locate_width();
					t_locate_information.locate_height = t_dispatch_request_msg.locate_information().locate_height();
					t_locate_information.locate_wheel_base = t_dispatch_request_msg.locate_information().locate_wheel_base();
					t_locate_information.locate_wheel_width = t_dispatch_request_msg.locate_information().locate_wheel_width();
					t_locate_information.locate_correct = t_dispatch_request_msg.locate_information().locate_correct();
				}
				//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, this,
									  t_dispatch_request_msg.command_key(),
									  (Dispatch_manager::Dispatch_motion_direction)t_dispatch_request_msg.dispatch_motion_direction(),
									  t_dispatch_request_msg.terminal_id(),
									  t_dispatch_request_msg.parkspace_info().parkspace_id(),
									  &t_locate_information		);
			}
			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_id = Dispatch_manager::get_instance_references().get_dispatch_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);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_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);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_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);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_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);
	t_dispatch_terminal_status_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);
	t_dispatch_terminal_status_msg.set_terminal_id(t_dispatch_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;
}

//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_error.get_description_length());

	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);
	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(), t_error.get_description_length());

	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 ;

}