// // 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, public Snap7_communication_base { public: //snap7的通信参数路径 #define SNAP7_COMMUNICATION_PARAMETER_PATH_A "snap7_communication_a.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B "snap7_communication_b.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_C "snap7_communication_c.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_A1 "snap7_communication_a1.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_A2 "snap7_communication_a2.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_A3 "snap7_communication_a3.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_A4 "snap7_communication_a4.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B1 "snap7_communication_b1.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B2 "snap7_communication_b2.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B3 "snap7_communication_b3.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B4 "snap7_communication_b4.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_B5 "snap7_communication_b5.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_C1 "snap7_communication_c1.prototxt" #define SNAP7_COMMUNICATION_PARAMETER_PATH_C2 "snap7_communication_c2.prototxt" //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 }; //调度管理给plc发送调度指令 的DB编号 #define DISPATCH_REQUEST_FROM_MANAGER_TO_PLC_DBNUMBER_0 9000 //调度管理给plc发送调度指令 的结构体 struct Dispatch_request_from_manager_to_plc_for_data_ab { //指令信息 unsigned short m_request_status = 0; //指令完成状态, 机器人答复指令, 返回任务完成的情况 float m_request_working_total_time; //搬运总时间(秒) float m_request_working_remaining_time; //剩余时间(秒) unsigned char m_reserved60_73[14] = {0}; //预留 // 调度指令的起点,终点,方向 unsigned short m_request_dispatch_motion_direction = 0; //调度方向 0=未知，1=存车，2=取车 unsigned char m_reserved75_79[4] = {0}; //预留 unsigned int m_request_passageway_id = 0; //出入口id 6个入口和6个出口 unsigned char m_request_passageway_direction = 0; //出入口方向 0=未知，1=入口，2=出口 unsigned char m_reserved85 = 0; //预留 unsigned short m_request_car_height_level = 0; //车高 0=无车 1=1480 2=1500 3=2050 4=超高车 unsigned char m_reserved88_89[2] = {0}; //预留 unsigned int m_request_parkingspace_index_id = 0; //楼上车位索引id 1~180(3*6*13) unsigned int m_request_parkingspace_unit_id = 0; //楼上车位单元号 1~3 unsigned int m_request_parkingspace_label_id = 0; //楼上车位标签号 1~78 unsigned int m_request_parkingspace_floor_id = 0; //楼上车位楼层号 2~11 unsigned int m_request_parkingspace_room_id = 0; //楼上车位房间号 1~6 unsigned char m_request_parkingspace_direction = 0; //楼上车位方向 0=未知，1=朝南，2=朝北 unsigned char m_reserved111 = 0; //预留 //汽车的定位信息(地面雷达) float m_request_car_center_x = 0; //整车的中心点x值, 四轮的中心, 单位:米 m float m_request_car_center_y = 0; //整车的中心点y值, 四轮的中心, 单位:米 m float m_request_car_angle = 0; //整车的车身旋转角, 单位:度 (-90~90) float m_request_car_front_theta = 0; //整车的前轮的旋转角, 单位:度 (-90~90) float m_request_car_length = 0; //整车的长度, 用于规避碰撞, 单位:米 m float m_request_car_width = 0; //整车的宽度, 用于规避碰撞, 单位:米 m float m_request_car_height = 0; //整车的高度, 用于规避碰撞, 单位:米 m float m_request_car_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_request_car_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车, 单位:米 m unsigned char m_request_car_license[20] = {0}; //车牌号(汽车唯一标示) 例如: 鄂A12345 //168字节后面的，AB单元删除了，C单元特有的雷达数据 /* unsigned char m_reserved168_187[20] = {0}; //预留 unsigned char m_request_car_type = 0; //0=未知，1=小车，2=中车,3=大车 ..188 unsigned char m_reserved189_191[3] = {0}; //预留 float m_request_uniformed_car_x = 0; //转角复位后,车辆中心点x float m_request_uniformed_car_y = 0; //转角复位后,车辆中心点y unsigned char m_reserved200_209[10] = {0}; //预留 //防撞雷达 ..210 unsigned char m_request_anticollision_lidar_flag = 0; //汽车是否停到正确的位置, 防撞雷达 预留, 楚天暂时不用,0=未知，1=位置正常，2=位置异常 unsigned char m_reserved211_215[5] = {0}; //预留 //轮距雷达 ..216 float m_request_car_wheel_base_exact_value = 0; //汽车前后轮距,轮距雷达的精确值 预留, 楚天暂时不用,单位:米 m unsigned char m_reserved220_231[12] = {0}; //预留 */ }; //调度管理给plc发送调度指令 的结构体， C单元完整版 struct Dispatch_request_from_manager_to_plc_for_data { //指令信息 unsigned short m_request_status = 0; //指令完成状态, 机器人答复指令, 返回任务完成的情况 float m_request_working_total_time; //搬运总时间(秒) float m_request_working_remaining_time; //剩余时间(秒) unsigned char m_reserved60_73[14] = {0}; //预留 // 调度指令的起点,终点,方向 unsigned char m_request_dispatch_motion_direction = 0; //调度方向 0=未知，1=存车，2=取车 unsigned char m_reserved75_79[5] = {0}; //预留 unsigned int m_request_passageway_id = 0; //出入口id 6个入口和6个出口 unsigned char m_request_passageway_direction = 0; //出入口方向 0=未知，1=入口，2=出口 unsigned char m_reserved85 = 0; //预留 unsigned short m_request_car_height_level = 0; //车高 0=无车 1=1480 2=1500 3=2050 4=超高车 unsigned char m_reserved88_89[2] = {0}; //预留 unsigned int m_request_parkingspace_index_id = 0; //楼上车位索引id 1~180(3*6*13) unsigned int m_request_parkingspace_unit_id = 0; //楼上车位单元号 1~3 unsigned int m_request_parkingspace_label_id = 0; //楼上车位标签号 1~78 unsigned int m_request_parkingspace_floor_id = 0; //楼上车位楼层号 2~11 unsigned int m_request_parkingspace_room_id = 0; //楼上车位房间号 1~6 unsigned char m_request_parkingspace_direction = 0; //楼上车位方向 0=未知，1=朝南，2=朝北 unsigned char m_reserved111 = 0; //预留 //汽车的定位信息(地面雷达) float m_request_car_center_x = 0; //整车的中心点x值, 四轮的中心, 单位:米 m float m_request_car_center_y = 0; //整车的中心点y值, 四轮的中心, 单位:米 m float m_request_car_angle = 0; //整车的车身旋转角, 单位:度 (-90~90) float m_request_car_front_theta = 0; //整车的前轮的旋转角, 单位:度 (-90~90) float m_request_car_length = 0; //整车的长度, 用于规避碰撞, 单位:米 m float m_request_car_width = 0; //整车的宽度, 用于规避碰撞, 单位:米 m float m_request_car_height = 0; //整车的高度, 用于规避碰撞, 单位:米 m float m_request_car_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_request_car_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车, 单位:米 m unsigned char m_request_car_license[20] = {0}; //车牌号(汽车唯一标示) 例如: 鄂A12345 //168字节后面的，AB单元删除了，C单元特有的雷达数据 unsigned char m_reserved168_187[20] = {0}; //预留 unsigned char m_request_car_type = 0; //0=未知，1=小车，2=中车,3=大车 ..188 unsigned char m_reserved189_191[3] = {0}; //预留 float m_request_uniformed_car_x = 0; //转角复位后,车辆中心点x float m_request_uniformed_car_y = 0; //转角复位后,车辆中心点y unsigned char m_reserved200_209[10] = {0}; //预留 //防撞雷达 ..210 unsigned char m_request_anticollision_lidar_flag = 0; //汽车是否停到正确的位置, 防撞雷达 预留, 楚天暂时不用,0=未知，1=位置正常，2=位置异常 unsigned char m_reserved211_215[5] = {0}; //预留 //轮距雷达 ..216 float m_request_car_wheel_base_exact_value = 0; //汽车前后轮距,轮距雷达的精确值 预留, 楚天暂时不用,单位:米 m unsigned char m_reserved220_231[12] = {0}; //预留 }; //调度管理给plc发送调度指令 的结构体 struct Dispatch_request_from_manager_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给调度管理发送调度答复 的DB编号 #define DISPATCH_RESPONSE_FROM_PLC_TO_MANAGER_DBNUMBER_0 9001 //plc给调度管理发送调度答复 的结构体, AB单元的阉割版 struct Dispatch_response_from_plc_to_manager_ab { unsigned char m_response_key[50] = {0}; //指令key(任务唯一码), 作为通信标志位 //指令信息 unsigned short m_response_status = 0; //指令完成状态, 机器人答复指令, 返回任务完成的情况 float m_response_working_total_time; //搬运总时间(秒) float m_response_working_remaining_time; //剩余时间(秒) unsigned char m_reserved60_73[14] = {0}; //预留 // 调度指令的起点,终点,方向 unsigned short m_response_dispatch_motion_direction = 0; //调度方向 0=未知，1=存车，2=取车 unsigned char m_reserved75_79[4] = {0}; //预留 unsigned int m_response_passageway_id = 0; //出入口id 6个入口和6个出口 unsigned char m_response_passageway_direction = 0; //出入口方向 0=未知，1=入口，2=出口 unsigned char m_reserved85 = 0; //预留 unsigned short m_response_car_height_level = 0; //车高 0=无车 1=1480 2=1500 3=2050 4=超高车 unsigned char m_reserved88_89[2] = {0}; //预留 unsigned int m_response_parkingspace_index_id = 0; //楼上车位索引id 1~180(3*6*13) unsigned int m_response_parkingspace_unit_id = 0; //楼上车位单元号 1~3 unsigned int m_response_parkingspace_label_id = 0; //楼上车位标签号 1~78 unsigned int m_response_parkingspace_floor_id = 0; //楼上车位楼层号 2~11 unsigned int m_response_parkingspace_room_id = 0; //楼上车位房间号 1~6 unsigned char m_response_parkingspace_direction = 0; //楼上车位方向 0=未知，1=朝南，2=朝北 unsigned char m_reserved111 = 0; //预留 //汽车的定位信息(地面雷达) float m_response_car_center_x = 0; //整车的中心点x值, 四轮的中心, 单位:米 m float m_response_car_center_y = 0; //整车的中心点y值, 四轮的中心, 单位:米 m float m_response_car_angle = 0; //整车的车身旋转角, 单位:度 (-90~90) float m_response_car_front_theta = 0; //整车的前轮的旋转角, 单位:度 (-90~90) float m_response_car_length = 0; //整车的长度, 用于规避碰撞, 单位:米 m float m_response_car_width = 0; //整车的宽度, 用于规避碰撞, 单位:米 m float m_response_car_height = 0; //整车的高度, 用于规避碰撞, 单位:米 m float m_response_car_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_response_car_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车, 单位:米 m unsigned char m_response_car_license[20] = {0}; //车牌号(汽车唯一标示) 例如: 鄂A12345 //168字节后面的，AB单元删除了，C单元特有的雷达数据 /* unsigned char m_reserved168_187[20] = {0}; //预留 unsigned char m_response_car_type = 0; //0=未知，1=小车，2=中车,3=大车 ..188 unsigned char m_reserved189_191[3] = {0}; //预留 float m_response_uniformed_car_x = 0; //转角复位后,车辆中心点x float m_response_uniformed_car_y = 0; //转角复位后,车辆中心点y unsigned char m_reserved200_209[10] = {0}; //预留 //防撞雷达 ..210 unsigned char m_response_anticollision_lidar_flag = 0; //汽车是否停到正确的位置, 防撞雷达 预留, 楚天暂时不用,0=未知，1=位置正常，2=位置异常 unsigned char m_reserved211_215[5] = {0}; //预留 //轮距雷达 ..216 float m_response_car_wheel_base_exact_value = 0; //汽车前后轮距,轮距雷达的精确值 预留, 楚天暂时不用,单位:米 m unsigned char m_reserved220_231[12] = {0}; //预留 */ }; //plc给调度管理发送调度答复 的结构体, C单元的完整版 struct Dispatch_response_from_plc_to_manager { unsigned char m_response_key[50] = {0}; //指令key(任务唯一码), 作为通信标志位 //指令信息 unsigned short m_response_status = 0; //指令完成状态, 机器人答复指令, 返回任务完成的情况 float m_response_working_total_time; //搬运总时间(秒) float m_response_working_remaining_time; //剩余时间(秒) unsigned char m_reserved60_73[14] = {0}; //预留 // 调度指令的起点,终点,方向 unsigned short m_response_dispatch_motion_direction = 0; //调度方向 0=未知，1=存车，2=取车 unsigned char m_reserved75_79[4] = {0}; //预留 unsigned int m_response_passageway_id = 0; //出入口id 6个入口和6个出口 unsigned char m_response_passageway_direction = 0; //出入口方向 0=未知，1=入口，2=出口 unsigned char m_reserved85 = 0; //预留 unsigned short m_response_car_height_level = 0; //车高 0=无车 1=1480 2=1500 3=2050 4=超高车 unsigned char m_reserved88_89[2] = {0}; //预留 unsigned int m_response_parkingspace_index_id = 0; //楼上车位索引id 1~180(3*6*13) unsigned int m_response_parkingspace_unit_id = 0; //楼上车位单元号 1~3 unsigned int m_response_parkingspace_label_id = 0; //楼上车位标签号 1~78 unsigned int m_response_parkingspace_floor_id = 0; //楼上车位楼层号 2~11 unsigned int m_response_parkingspace_room_id = 0; //楼上车位房间号 1~6 unsigned char m_response_parkingspace_direction = 0; //楼上车位方向 0=未知，1=朝南，2=朝北 unsigned char m_reserved111 = 0; //预留 //汽车的定位信息(地面雷达) float m_response_car_center_x = 0; //整车的中心点x值, 四轮的中心, 单位:米 m float m_response_car_center_y = 0; //整车的中心点y值, 四轮的中心, 单位:米 m float m_response_car_angle = 0; //整车的车身旋转角, 单位:度 (-90~90) float m_response_car_front_theta = 0; //整车的前轮的旋转角, 单位:度 (-90~90) float m_response_car_length = 0; //整车的长度, 用于规避碰撞, 单位:米 m float m_response_car_width = 0; //整车的宽度, 用于规避碰撞, 单位:米 m float m_response_car_height = 0; //整车的高度, 用于规避碰撞, 单位:米 m float m_response_car_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_response_car_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车, 单位:米 m unsigned char m_response_car_license[20] = {0}; //车牌号(汽车唯一标示) 例如: 鄂A12345 //168字节后面的，AB单元删除了，C单元特有的雷达数据 unsigned char m_reserved168_187[20] = {0}; //预留 unsigned char m_response_car_type = 0; //0=未知，1=小车，2=中车,3=大车 ..188 unsigned char m_reserved189_191[3] = {0}; //预留 float m_response_uniformed_car_x = 0; //转角复位后,车辆中心点x float m_response_uniformed_car_y = 0; //转角复位后,车辆中心点y unsigned char m_reserved200_209[10] = {0}; //预留 //防撞雷达 ..210 unsigned char m_response_anticollision_lidar_flag = 0; //汽车是否停到正确的位置, 防撞雷达 预留, 楚天暂时不用,0=未知，1=位置正常，2=位置异常 unsigned char m_reserved211_215[5] = {0}; //预留 //轮距雷达 ..216 float m_response_car_wheel_base_exact_value = 0; //汽车前后轮距,轮距雷达的精确值 预留, 楚天暂时不用,单位:米 m unsigned char m_reserved220_231[12] = {0}; //预留 }; #ifdef CHUTIAN_PROJECT_PROJECT //调度管理的的状态信息 的DB编号 #define DISPATCH_PLC_STATUS_FROM_MANAGER_TO_PLC_DBNUMBER_0 9002 //调度管理给plc发送状态消息的指令结构体 struct Dispatch_plc_status_from_manager_to_plc { unsigned char m_dispatch_heartbeat = 0; //心跳位, 0-255循环 }; //plc的状态信息 的DB编号 #define DISPATCH_PLC_STATUS_FROM_PLC_TO_MANAGER_DBNUMBER_0 9003 //plc给通道口发送状态消息的指令结构体 struct Dispatch_plc_status_from_plc_to_manager { unsigned char m_plc_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_plc_status_info = 0; //plc状态的集合 //0 bit, 手动模式 //1 bit, 自动模式 //2 bit, 自动运行中 //3 bit, 复位 //4 bit, 1号口可以进车 //5 bit, 2号口可以进车 //6 bit, 预留 //7 bit, 预留 unsigned char m_reserved2_37[36] = {0}; //预留 36个 float m_turnplate_angle_min1 = 0; //1号口转盘最小值 float m_turnplate_angle_max1 = 0; //1号口转盘最大值 float m_turnplate_angle_min2 = 0; //2号口转盘最小值 float m_turnplate_angle_max2 = 0; //2号口转盘最大值 }; #endif // CHUTIAN_PROJECT_PROJECT #ifdef SHANGGUJIE_PROJECT_PROJECT //调度管理的的状态信息 的DB编号 #define DISPATCH_PLC_STATUS_FROM_MANAGER_TO_PLC_DBNUMBER_0 9002 //调度管理给plc发送状态消息 的结构体 struct Dispatch_plc_status_from_manager_to_plc { unsigned short m_dispatch_heartbeat = 0; //心跳位, 0-255循环 unsigned short m_inlet_door_control_1 = 0; //1#入口外门控制, 0：无效， 1：开门， 2：关门 unsigned short m_inlet_door_control_2 = 0; //2#入口外门控制, 0：无效， 1：开门， 2：关门 unsigned short m_outlet_door_control_3 = 0; //3#出口外门控制, 0：无效， 1：开门， 2：关门 unsigned short m_outlet_door_control_4 = 0; //4#出口外门控制, 0：无效， 1：开门， 2：关门 unsigned short m_ready_small_space_count = 0; //空闲小车位数量， 减去存车排队 unsigned short m_ready_middle_space_count = 0; //空闲中车位数量， 减去存车排队 unsigned short m_ready_big_space_count = 0; //空闲大车位数量， 减去存车排队 unsigned short m_ready_total_space_count = 0; //空闲总车位数量， 减去存车排队 unsigned short m_wait_small_park_count = 0; //排队小车存车的数量 unsigned short m_wait_middle_park_count = 0; //排队中车存车的数量 unsigned short m_wait_big_park_count = 0; //排队大车存车的数量 unsigned short m_wait_total_park_count = 0; //排队总车存车的数量 unsigned short m_wait_small_pick_count = 0; //排队小车取车的数量 unsigned short m_wait_middle_pick_count = 0; //排队中车取车的数量 unsigned short m_wait_big_pick_count = 0; //排队大车取车的数量 unsigned short m_wait_total_pick_count = 0; //排队总车取车的数量 }; //plc的状态信息 的DB编号 #define DISPATCH_PLC_STATUS_FROM_PLC_TO_MANAGER_DBNUMBER_0 9003 //plc出入口状态结构体 struct Dispatch_plc_passway_status { unsigned short m_car_height = 0; //车高 0=无车 1=1480 2=1500 3=2050 4=超高车 unsigned short m_outside_door_status = 0; //外门状态 0=无状态 1=开到位 2=关到位 unsigned short m_inside_door_status = 0; //内门状态 0=无状态 1=开到位 2=关到位 unsigned short m_comb_body_status = 0; //梳体状态 0=无状态 1=上到位 2=下到位, AB特有 float m_turnplate_angle_min = 0; //转盘角度最小值, C特有, 负值, 例如 -5度 float m_turnplate_angle_max = 0; //转盘角度最大值, C特有, 正值, 例如 +5度 unsigned char m_sensor_1 = 0; //传感器状态的集合1 //0 bit, 地感 0=无车 1=有车 //1 bit, 移动检测 0=运动 1=静止 //2 bit, 动态超限 0=遮挡 1=正常 //3 bit, 后超界 0=遮挡 1=正常 //4 bit, 前超界 0=遮挡 1=正常 //5 bit, 左超界 0=遮挡 1=正常 //6 bit, 右超界 0=遮挡 1=正常 //7 bit, 车高小车， 0=遮挡 1=正常，AB单元为1480， C单元为1780， unsigned char m_sensor_2 = 0; //传感器状态的集合2 //0 bit, 车高小车， 0=遮挡 1=正常，AB单元为1500， C单元为1800， //1 bit, 车高小车， 0=遮挡 1=正常，AB单元为2050， C单元为2050， //2 bit, 有车检测 0=无车 1=有车 //3 bit, 车轮1检测 0=无车 1=有车, AB特有 //4 bit, 车轮2检测 0=无车 1=有车, AB特有 //5 bit, 预留 //6 bit, 预留 //7 bit, 预留 unsigned char m_reserved28_29[2] = {0}; //预留 2个 }; //plc给调度管理发送状态消息 的结构体 struct Dispatch_plc_status_from_plc_to_manager { unsigned short m_plc_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_plc_mode_status = 0; //plc状态的集合 //0 bit, 手动模式, 维修模式 //1 bit, 自动模式 //2 bit, 自动运行中 //3 bit, 复位 //4 bit, 预留 //5 bit, 预留 //6 bit, 预留 //7 bit, 预留 unsigned char m_plc_passway_status = 0; //plc 出入口状态 //0 bit, 入口1 可进车 //1 bit, 入口1 维护 //2 bit, 入口2 可进车 //3 bit, 入口2 维护 //4 bit, 出口1 可出车 //5 bit, 出口1 维护 //6 bit, 出口2 可出车 //7 bit, 出口2 维护 unsigned short m_plc_carrier_status; //搬运器状态 0=故障 1=存车 2=取车 3=空闲 4=维护 unsigned char m_reserved6_9[4] = {0}; //预留 4个 //plc出入口状态结构体 数组下标0~1是入口, 数组下标2~3是出口 Dispatch_plc_passway_status m_passway_vector[4]; //plc出入口状态结构体 }; #endif // SHANGGUJIE_PROJECT_PROJECT //地面雷达给plc #define GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 9004 #define GROUND_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 9014 struct Ground_lidar_response_from_manager_to_plc_for_key { unsigned char m_response_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_response_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_response_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_response_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 }; struct Ground_lidar_response_from_manager_to_plc_for_data { //汽车的定位信息(地面雷达) float m_response_car_center_x = 0; //整车的中心点x值, 四轮的中心, 单位:米 m float m_response_car_center_y = 0; //整车的中心点y值, 四轮的中心, 单位:米 m float m_response_car_angle = 0; //整车的车身旋转角, 单位:度 (-90~90) float m_response_car_front_theta = 0; //整车的前轮的旋转角, 单位:度 (-90~90) float m_response_car_length = 0; //整车的长度, 用于规避碰撞, 单位:米 m float m_response_car_width = 0; //整车的宽度, 用于规避碰撞, 单位:米 m float m_response_car_height = 0; //整车的高度, 用于规避碰撞, 单位:米 m float m_response_car_wheel_base = 0; //整车的轮距, 前后轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_response_car_wheel_width = 0; //整车的轮距, 左右轮的距离, 用于机器人或agv的抓车, 单位:米 m float m_response_uniformed_car_x = 0; //转角复位后,车辆中心点x float m_response_uniformed_car_y = 0; //转角复位后,车辆中心点y unsigned char m_response_locate_correct = 0; //数据是否有效, 0=无效, 1=有效 unsigned char m_response_ground_status = 0; ////0 ok 1,nothing 2,noise 3,border unsigned char m_response_motion_status = 0; //运动状态，0=运动， 1=静止（只有三秒内都是静止才会写1，只要瞬间触发运动就会写0） unsigned char m_reserved47 = 0; //预留 unsigned char m_response_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_response_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_response_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_response_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 int m_response_border_status = 0; //超界状态描述, 按位运算 }; //plc给地面雷达 #define GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 9005 #define GROUND_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 9015 struct Ground_lidar_request_from_plc_to_manager { unsigned char m_request_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_request_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_request_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_request_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 }; //防撞雷达给plc #define ANTICOLLISION_LIDAR_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 9006 struct Anticollision_lidar_response_from_manager_to_plc_for_key { unsigned char m_response_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_response_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_response_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_response_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 }; struct Anticollision_lidar_response_from_manager_to_plc_for_data { unsigned char m_response_anticollision_lidar_flag = 0; //汽车是否停到正确的位置, 防撞雷达 预留, 楚天暂时不用,0=未知，1=位置正常，2=位置异常 unsigned char m_reserved5_7[3] = {0}; //预留 float m_response_offset_x = 0; //汽车x轴的偏移量, -1.0~+1.0, 单位米 float m_response_offset_angle = 0; //汽车角度的偏移量, -7~+7, 单位度 }; //plc给防撞雷达 #define ANTICOLLISION_LIDAR_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 9007 struct Anticollision_lidar_request_from_plc_to_manager { unsigned char m_request_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_request_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_request_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_request_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 }; //单片机给plc #define SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_0 9008 #define SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_1 9018 #define SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_2 9028 #define SINGLECHIP_RESPONSE_FROM_MANAGER_TO_PLC_DBNUMBER_3 9038 struct Singlechip_response_from_manager_to_plc { unsigned char m_process_status; //流程状态 unsigned char m_process_control; //流程控制 unsigned char m_over_border_status; //超界状态, 0:未知, 1:正常, 2:前超界, 3:后超界, 4:左超界, 5:右超界 unsigned char m_car_height_status_current; //车高状态，当前持续的状态, 0:未知, 1:小车, 2:中车, 3:大车, 4:巨大车, 5:故障车 unsigned char m_car_height_status_passing; //车高状态，经过外门口的状态, 0:未知, 1:小车, 2:中车, 3:大车, 4:巨大车, 5:故障车 unsigned char m_outside_door_status; //外门的状态, 0:未知, 1:外门开到位, 2:外门关到位, 3:外门运行中, 4:外门故障 unsigned char m_outside_door_control; //外门的控制, 0:未知, 1:外门开, 2:外门关, unsigned char m_dispatch_finish_flag; //调度完成标志位，true表示允许终端放下一辆车进入入口 unsigned char m_inside_existence_flag; //门内是否存在汽车的标志位, true表示有车 unsigned char m_outside_existence_flag; //门外是否存在汽车的标志位, 门外地感触发停车流程, true表示有车 unsigned char m_reset_flag; //重启标志, true：控制看门狗重启 unsigned char m_stop_flag; //急停标志，true：把控制口全部写0，并关闭流程。 unsigned int m_error_code; //错误码 unsigned char m_reserved16_35[20] = {0}; //预留 unsigned char m_gpio_input[16] = {0}; //gpio输入口原始数据, unsigned char m_gpio_output[8] = {0}; //gpio输出口原始数据, unsigned char m_reserved60_79[20] = {0}; //预留 unsigned char m_response_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_response_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_response_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_response_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 }; //plc给单片机 #define SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_0 9009 #define SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_1 9019 #define SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_2 9029 #define SINGLECHIP_REQUEST_FROM_PLC_TO_MANAGER_DBNUMBER_3 9039 struct Singlechip_request_from_plc_to_manager { unsigned char m_request_heartbeat = 0; //心跳位, 0-255循环 unsigned char m_request_communication_mode = 0; //通信模式 0 = 未知, 1=自动循环模式,2=手动刷新模式 unsigned char m_request_refresh_command = 0; //刷新指令 0-255任意数字,与上一次不同即可 unsigned char m_request_data_validity = 0; //数据有效性, 0 = 未知, 1 = 有效, 2 = 无效 unsigned char m_request_insidedoor_status = 0; //内门状态, 0:未知, 1:外门开到位, 2:外门关到位, unsigned char m_request_outsidedoor_control = 0; //外门控制, 0:必须关门, 1:可以开门, (触发地感后可以开门) }; //plc数据储存 #define DATA_STORAGE_FROM_PLC_TO_MANAGER_DBNUMBER_0 9500 #define DATA_STORAGE_PLC_DATA_LENGTH 60 struct Data_storage_from_plc_to_manager { float m_plc_data[DATA_STORAGE_PLC_DATA_LENGTH]; float m_heartbeat; }; #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; 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(int plc_id); //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: int m_plc_id; //plc的id, 楚天车库的单元号 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 //调度指令 Dispatch_request_from_manager_to_plc_for_data m_dispatch_request_from_manager_to_plc_for_data; Dispatch_request_from_manager_to_plc_for_data_ab m_dispatch_request_from_manager_to_plc_for_data_ab; Dispatch_request_from_manager_to_plc_for_key m_dispatch_request_from_manager_to_plc_for_key; Dispatch_response_from_plc_to_manager m_dispatch_response_from_plc_to_manager; Dispatch_response_from_plc_to_manager_ab m_dispatch_response_from_plc_to_manager_ab; //调度状态 Dispatch_plc_status_from_manager_to_plc m_dispatch_plc_status_from_manager_to_plc; Dispatch_plc_status_from_plc_to_manager m_dispatch_plc_status_from_plc_to_manager; //地面雷达指令 Ground_lidar_response_from_manager_to_plc_for_data m_ground_lidar_response_from_manager_to_plc_for_data[2]; Ground_lidar_response_from_manager_to_plc_for_key m_ground_lidar_response_from_manager_to_plc_for_key[2]; Ground_lidar_request_from_plc_to_manager m_ground_lidar_request_from_plc_to_manager[2]; //防撞雷达指令 Anticollision_lidar_response_from_manager_to_plc_for_data m_anticollision_lidar_response_from_manager_to_plc_for_data; Anticollision_lidar_response_from_manager_to_plc_for_key m_anticollision_lidar_response_from_manager_to_plc_for_key; Anticollision_lidar_request_from_plc_to_manager m_anticollision_lidar_request_from_plc_to_manager; //单片机 Singlechip_response_from_manager_to_plc m_singlechip_response_from_manager_to_plc[4]; Singlechip_request_from_plc_to_manager m_singlechip_request_from_plc_to_manager[4]; //plc数据储存 Data_storage_from_plc_to_manager m_data_storage_from_plc_to_manager; private: }; #endif //NNXX_TESTS_DISPATCH_COMMUNICATION_H