parkspace_manager.cpp 79 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537538539540541542543544545546547548549550551552553554555556557558559560561562563564565566567568569570571572573574575576577578579580581582583584585586587588589590591592593594595596597598599600601602603604605606607608609610611612613614615616617618619620621622623624625626627628629630631632633634635636637638639640641642643644645646647648649650651652653654655656657658659660661662663664665666667668669670671672673674675676677678679680681682683684685686687688689690691692693694695696697698699700701702703704705706707708709710711712713714715716717718719720721722723724725726727728729730731732733734735736737738739740741742743744745746747748749750751752753754755756757758759760761762763764765766767768769770771772773774775776777778779780781782783784785786787788789790791792793794795796797798799800801802803804805806807808809810811812813814815816817818819820821822823824825826827828829830831832833834835836837838839840841842843844845846847848849850851852853854855856857858859860861862863864865866867868869870871872873874875876877878879880881882883884885886887888889890891892893894895896897898899900901902903904905906907908909910911912913914915916917918919920921922923924925926927928929930931932933934935936937938939940941942943944945946947948949950951952953954955956957958959960961962963964965966967968969970971972973974975976977978979980981982983984985986987988989990991992993994995996997998999100010011002100310041005100610071008100910101011101210131014101510161017101810191020102110221023102410251026102710281029103010311032103310341035103610371038103910401041104210431044104510461047104810491050105110521053105410551056105710581059106010611062106310641065106610671068106910701071107210731074107510761077107810791080108110821083108410851086108710881089109010911092109310941095109610971098109911001101110211031104110511061107110811091110111111121113111411151116111711181119112011211122112311241125112611271128112911301131113211331134113511361137113811391140114111421143114411451146114711481149115011511152115311541155115611571158115911601161116211631164116511661167116811691170117111721173117411751176117711781179118011811182118311841185118611871188118911901191119211931194119511961197119811991200120112021203120412051206120712081209121012111212121312141215121612171218121912201221122212231224122512261227122812291230123112321233123412351236123712381239124012411242124312441245124612471248124912501251125212531254125512561257125812591260126112621263126412651266126712681269127012711272127312741275127612771278127912801281128212831284128512861287128812891290129112921293129412951296129712981299130013011302130313041305130613071308130913101311131213131314131513161317131813191320132113221323132413251326132713281329133013311332133313341335133613371338133913401341134213431344134513461347134813491350135113521353135413551356135713581359136013611362136313641365136613671368136913701371137213731374137513761377137813791380138113821383138413851386138713881389139013911392139313941395139613971398139914001401140214031404140514061407140814091410141114121413141414151416141714181419142014211422142314241425142614271428142914301431143214331434143514361437143814391440144114421443144414451446144714481449145014511452145314541455145614571458145914601461146214631464146514661467146814691470147114721473147414751476147714781479148014811482148314841485148614871488148914901491149214931494149514961497149814991500150115021503150415051506150715081509151015111512151315141515151615171518151915201521152215231524152515261527152815291530153115321533153415351536153715381539154015411542154315441545154615471548154915501551155215531554155515561557155815591560156115621563156415651566156715681569157015711572157315741575157615771578157915801581158215831584158515861587158815891590159115921593159415951596159715981599160016011602160316041605160616071608160916101611161216131614161516161617161816191620162116221623162416251626162716281629163016311632163316341635163616371638163916401641164216431644164516461647164816491650165116521653165416551656165716581659166016611662166316641665166616671668166916701671167216731674167516761677167816791680168116821683168416851686168716881689169016911692169316941695169616971698169917001701170217031704170517061707170817091710171117121713171417151716171717181719172017211722172317241725172617271728172917301731173217331734173517361737173817391740174117421743174417451746174717481749175017511752175317541755175617571758175917601761176217631764176517661767176817691770177117721773177417751776177717781779178017811782178317841785178617871788178917901791179217931794179517961797179817991800180118021803180418051806180718081809181018111812181318141815181618171818181918201821182218231824182518261827182818291830183118321833183418351836183718381839184018411842184318441845184618471848184918501851185218531854185518561857185818591860186118621863186418651866186718681869187018711872187318741875187618771878187918801881188218831884188518861887188818891890189118921893189418951896189718981899190019011902190319041905190619071908190919101911191219131914191519161917191819191920192119221923192419251926192719281929193019311932193319341935193619371938193919401941194219431944194519461947194819491950195119521953195419551956195719581959196019611962196319641965196619671968
  1. /*
  2. * @Description: 车位分配算法模块,使用单例模式,接收外部请求并通过调用通信块接口发送反馈
  3. * @Author: yct
  4. * @Date: 2020-07-10 11:02:40
  5. * @LastEditTime: 2020-08-06 10:32:28
  6. * @LastEditors: yct
  7. */
  8. #include "parkspace_manager.h"
  9. #include "parkspace_communicator.h"
  10. Parkspace_manager::Parkspace_manager()
  11. {
  12. }
  13. Parkspace_manager::~Parkspace_manager()
  14. {
  15. parkspace_manager_uninit();
  16. }
  17. //初始化
  18. Error_manager Parkspace_manager::parkspace_manager_init(int threads_size)
  19. {
  20. // 初始化任务处理线程池
  21. m_thread_pool.thread_pool_init(threads_size);
  22. m_parkspace_manager_satus = eParkspace_manager_normal;
  23. return Error_code::SUCCESS;
  24. }
  25. //反初始化
  26. Error_manager Parkspace_manager::parkspace_manager_uninit()
  27. {
  28. m_thread_pool.thread_pool_uninit();
  29. m_parkspace_manager_satus = eParkspace_manager_unknown;
  30. return Error_code::SUCCESS;
  31. }
  32. //检查执行者的状态, 判断能否处理这条消息,
  33. Error_manager Parkspace_manager::check_status()
  34. {
  35. if(get_parkspace_manage_status() != eParkspace_manager_normal)
  36. {
  37. return Error_manager(Error_code::DB_MANAGER_STATUS_ERROR, Error_level::MAJOR_ERROR,
  38. " Parkspace_manager::check_executer error ");
  39. }
  40. return SUCCESS;
  41. }
  42. //处理消息的执行函数
  43. Error_manager Parkspace_manager::execute_msg(Communication_message* p_msg)
  44. {
  45. if ( p_msg == nullptr )
  46. {
  47. return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
  48. " POINTER IS NULL ");
  49. }
  50. switch ( p_msg->get_message_type() )
  51. {
  52. ///车位分配请求消息
  53. case Communication_message::eParkspace_allocation_request_msg:
  54. {
  55. message::Parkspace_allocation_request_msg request;
  56. bool result = request.ParseFromString(p_msg->get_message_buf());
  57. LOG(INFO)<<"allocation request, car license: "<<request.car_info().license();
  58. if(!result)
  59. {
  60. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_PARSE_ERROR, Error_level::MINOR_ERROR,
  61. " message::Parkspace_allocation_request_msg ParseFromString error ");
  62. }
  63. // std::cout<<"分配:"<<request.DebugString()<<std::endl;
  64. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  65. m_thread_pool.enqueue(&Parkspace_manager::execute_for_allocate, this,
  66. request.car_info(), request.terminal_id(), request.command_key());
  67. return SUCCESS;
  68. }
  69. // 车位查询请求消息
  70. case Communication_message::eParkspace_search_request_msg:
  71. {
  72. message::Parkspace_search_request_msg request;
  73. bool result = request.ParseFromString(p_msg->get_message_buf());
  74. LOG(INFO)<<"search request, car license: "<<request.car_info().license();
  75. if(!result)
  76. {
  77. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_PARSE_ERROR, Error_level::MINOR_ERROR,
  78. " message::Parkspace_search_request_msg ParseFromString error ");
  79. }
  80. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  81. // std::cout<<"查询:"<<request.DebugString()<<std::endl;
  82. m_thread_pool.enqueue(&Parkspace_manager::execute_for_search, this, request.car_info(), request.command_key());
  83. return SUCCESS;
  84. }
  85. // 车位释放请求消息
  86. case Communication_message::eParkspace_release_request_msg:
  87. {
  88. message::Parkspace_release_request_msg request;
  89. bool result = request.ParseFromString(p_msg->get_message_buf());
  90. LOG(INFO)<<"release request ";
  91. if(!result)
  92. {
  93. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_PARSE_ERROR, Error_level::MINOR_ERROR,
  94. " message::Parkspace_release_request_msg ParseFromString error ");
  95. }
  96. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  97. // std::cout<<"释放:"<<request.DebugString()<<std::endl;
  98. m_thread_pool.enqueue(&Parkspace_manager::execute_for_release, this, request.release_parkspace_info(), request.command_key());
  99. return SUCCESS;
  100. }
  101. // 车位手动更新请求消息
  102. case Communication_message::eParkspace_force_update_request_msg:
  103. {
  104. message::Parkspace_force_update_request_msg request;
  105. bool result = request.ParseFromString(p_msg->get_message_buf());
  106. LOG(INFO)<<"force update request, parkspace id: "<<request.manual_parkspace_info().parkingspace_index_id();
  107. if(!result)
  108. {
  109. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_PARSE_ERROR, Error_level::MINOR_ERROR,
  110. " message::Parkspace_force_update_request_msg ParseFromString error ");
  111. }
  112. //往线程池添加执行任务, 之后会唤醒一个线程去执行他.
  113. // std::cout<<"手动:"<<request.DebugString()<<std::endl;
  114. m_thread_pool.enqueue(&Parkspace_manager::execute_for_force_update, this, request.manual_parkspace_info(), request.command_key());
  115. return SUCCESS;
  116. }
  117. // 车位确认占用请求消息
  118. case Communication_message::eParkspace_confirm_alloc_request_msg:
  119. {
  120. message::Parkspace_confirm_alloc_request_msg request;
  121. bool result = request.ParseFromString(p_msg->get_message_buf());
  122. LOG(INFO)<<"confirm alloc request ";
  123. if(!result)
  124. {
  125. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_PARSE_ERROR, Error_level::MINOR_ERROR,
  126. " message::Parkspace_force_update_request_msg ParseFromString error ");
  127. }
  128. m_thread_pool.enqueue(&Parkspace_manager::execute_for_confirm_alloc, this, request);
  129. return SUCCESS;
  130. }
  131. //车位数据刷新请求
  132. case Communication_message::eParkspace_refresh_request_msg:
  133. {
  134. return send_parkspace_data();
  135. }
  136. }
  137. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_MSG_REQUEST_TYPE_ERROR, Error_level::MINOR_ERROR,
  138. " fun error ");
  139. }
  140. Error_manager Parkspace_manager::encapsulating_heartbeat_messages()
  141. {
  142. //封装心跳消息
  143. Database_controller::Database_controller_status t_database_controller_status;
  144. Parkspace_manager::Parkspace_manager_satus t_parkspace_manager_satus;
  145. t_database_controller_status = Database_controller::get_instance_pointer()->get_database_controller_status();
  146. t_parkspace_manager_satus = Parkspace_manager::get_instance_pointer()->get_parkspace_manage_status();
  147. //车位信息消息赋值
  148. message::Parkspace_allocation_status_msg t_parkspace_status_msg;
  149. message::Base_info t_base_info;
  150. message::Error_manager t_error;
  151. t_base_info.set_msg_type(message::Message_type::eParkspace_allocation_status_msg);
  152. t_base_info.set_timeout_ms(5000);
  153. t_base_info.set_sender(message::Communicator::eParkspace);
  154. t_base_info.set_receiver(message::Communicator::eMain);
  155. t_error.set_error_code(0);
  156. t_parkspace_status_msg.mutable_base_info()->CopyFrom(t_base_info);
  157. t_parkspace_status_msg.mutable_error_manager()->CopyFrom(t_error);
  158. t_parkspace_status_msg.set_database_controller_status((message::Database_controller_status)t_database_controller_status);
  159. t_parkspace_status_msg.set_parkspace_manager_satus((message::Parkspace_manager_satus)t_parkspace_manager_satus);
  160. message::Parkspace_allocation_data_msg parkspaceAllocationDataMsg;
  161. m_parkspace_operating_function.get_specify_the_type_parkspace_info(parkspaceAllocationDataMsg,message::Parkspace_type::MIN_PARKINGSPACE);
  162. t_parkspace_status_msg.set_small_parkspace_remaining_number(parkspaceAllocationDataMsg.parkspace_info_size());
  163. parkspaceAllocationDataMsg.clear_parkspace_info();
  164. m_parkspace_operating_function.get_specify_the_type_parkspace_info(parkspaceAllocationDataMsg,message::Parkspace_type::MID_PARKINGSPACE);
  165. t_parkspace_status_msg.set_small_parkspace_remaining_number(parkspaceAllocationDataMsg.parkspace_info_size());
  166. parkspaceAllocationDataMsg.clear_parkspace_info();
  167. m_parkspace_operating_function.get_specify_the_type_parkspace_info(parkspaceAllocationDataMsg,message::Parkspace_type::BIG_PARKINGSPACE);
  168. t_parkspace_status_msg.set_small_parkspace_remaining_number(parkspaceAllocationDataMsg.parkspace_info_size());
  169. parkspaceAllocationDataMsg.clear_parkspace_info();
  170. return Parkspace_communicator::get_instance_references().encapsulate_msg(t_parkspace_status_msg.SerializeAsString());
  171. }
  172. //判断是否为待机,如果已经准备好,则可以执行任务。
  173. bool Parkspace_manager::is_ready()
  174. {
  175. if ( m_parkspace_manager_satus == eParkspace_manager_normal && m_thread_pool.thread_is_full_load() == false )
  176. {
  177. return true;
  178. }
  179. else
  180. {
  181. return false;
  182. }
  183. }
  184. Parkspace_manager::Parkspace_manager_satus Parkspace_manager::get_parkspace_manage_status()
  185. {
  186. return m_parkspace_manager_satus;
  187. }
  188. // 检查车辆是否已存在,通常分配前调用
  189. bool Parkspace_manager::check_car_existence(std::string license)
  190. {
  191. message::Parkspace_info parkspaceInfo;
  192. //获取车辆状态
  193. Error_manager error=m_parkspace_operating_function.query_one_parkspace_with_license(license,parkspaceInfo);
  194. //如果车辆处于停车中或者已入库 则车辆已存在
  195. if(!parkspaceInfo.has_car_info())
  196. {
  197. return false;
  198. }
  199. return true;
  200. }
  201. Error_manager Parkspace_manager::send_parkspace_data()
  202. {
  203. message::Parkspace_allocation_data_msg all_parkspace_data;
  204. Error_manager t_error=m_parkspace_operating_function.get_all_parkspace_info(all_parkspace_data);
  205. if(t_error != SUCCESS)
  206. {
  207. return t_error;
  208. }
  209. message::Base_info t_base_info;
  210. message::Error_manager error;
  211. t_base_info.set_msg_type(message::Message_type::eParkspace_allocation_data_msg);
  212. t_base_info.set_timeout_ms(5000);
  213. t_base_info.set_sender(message::Communicator::eParkspace);
  214. t_base_info.set_receiver(message::Communicator::eMain);
  215. all_parkspace_data.mutable_base_info()->CopyFrom(t_base_info);
  216. error.set_error_code(0);
  217. all_parkspace_data.mutable_error_manager()->CopyFrom(error);
  218. return Parkspace_communicator::get_instance_references().encapsulate_msg(all_parkspace_data.SerializeAsString());
  219. }
  220. //找到一个最优车位---方案一
  221. Error_manager Parkspace_manager::query_the_optimal_parkspace_serverA(message::Parkspace_info &parkspace_info,message::Car_info car_info,int terminal_id)
  222. {
  223. //车辆高大于1550mm分在四楼以下,小于1550mm分在四楼以上
  224. /*
  225. * K=j%15
  226. * P=i%6
  227. * S=15*d-(j%15)*(2*d-1)+[6*d-(i%6)(2*d-1)]*W W>1
  228. */
  229. float time_min=0;
  230. int parkingspace_index_id=-1;
  231. //判断是否是左半库
  232. if ( terminal_id<=3 && terminal_id>=1 )
  233. {
  234. LOG(INFO) << " 左半库 车牌号:"<<car_info.license()<<" 车高:"<<car_info.car_height();
  235. //如果是小车 (低于1.55米属于小车)
  236. if ( car_info.car_height() <= MIN_CAR_HIGH )
  237. {
  238. //获取所有小型车位信息
  239. message::Parkspace_allocation_data_msg all_min_parkspace_data;
  240. Error_manager t_error = m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_min_parkspace_data, message::Parkspace_type::MIN_PARKINGSPACE);
  241. if (t_error != SUCCESS)
  242. {
  243. return t_error;
  244. }
  245. //遍历所有小型车位
  246. int i = 0;
  247. while (i < all_min_parkspace_data.parkspace_info_size())
  248. {
  249. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  250. //筛选出一号车库的小型车位(第一优先级)的空车位
  251. if (room_id %15 <= 7 && room_id %15 >= 1
  252. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  253. {
  254. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  255. float time = (terminal_id+2) * TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  256. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  257. (all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  258. if (time_min == 0)
  259. {
  260. time_min = time;
  261. parkingspace_index_id = i;
  262. }
  263. else
  264. {
  265. if ( time < time_min )
  266. {
  267. time_min = time;
  268. parkingspace_index_id = i;
  269. }
  270. }
  271. }
  272. ++i;
  273. }
  274. //判断小车车位(第一优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  275. if ( time_min!=0 && parkingspace_index_id!=-1 )
  276. {
  277. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  278. parkspace_info.set_path_estimate_time(time_min);
  279. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);
  280. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  281. return Error_code::SUCCESS;
  282. }
  283. else
  284. {
  285. LOG(INFO) << " 小车车位未找到合适车位 "<< this;
  286. }
  287. }
  288. if ( car_info.car_height() <= MID_CAR_HIGH )
  289. {
  290. //第二优先级(中型车位)
  291. //获取中型车位
  292. message::Parkspace_allocation_data_msg all_mid_parkspace_data;
  293. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_mid_parkspace_data,message::Parkspace_type::MID_PARKINGSPACE);
  294. if(t_error != SUCCESS)
  295. {
  296. return t_error;
  297. }
  298. int i=0;
  299. while(i<all_mid_parkspace_data.parkspace_info_size())
  300. {
  301. //三楼的中型车位有单独的中跑车停车 且机械臂可以直接抓车到三楼
  302. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  303. if ( room_id >= 19 && room_id <= 22)
  304. {
  305. //只需计算端口到车位的距离
  306. // 三楼中型用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  307. float t_min=abs( room_id%15*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()-(terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  308. if ( time_min == 0 )
  309. {
  310. time_min=t_min;
  311. parkingspace_index_id=i;
  312. }
  313. else
  314. {
  315. if ( t_min<time_min )
  316. {
  317. time_min=t_min;
  318. parkingspace_index_id=i;
  319. }
  320. }
  321. }
  322. //如果是六楼的中型车位
  323. if ( room_id <= 67 && room_id >=61
  324. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  325. {
  326. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  327. float time=(terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  328. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  329. all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  330. if ( time_min == 0 )
  331. {
  332. time_min=time;
  333. parkingspace_index_id=i;
  334. }
  335. else
  336. {
  337. if ( time<time_min )
  338. {
  339. time_min=time;
  340. parkingspace_index_id=i;
  341. }
  342. }
  343. }
  344. ++i;
  345. }
  346. //判断中型车位(第二优先级)是否有找到合适的空车位 如果找到了 直接返回
  347. if ( time_min!=0 && parkingspace_index_id!=-1 )
  348. {
  349. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  350. parkspace_info.set_path_estimate_time(time_min);
  351. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);
  352. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  353. return Error_code::SUCCESS;
  354. }
  355. else
  356. {
  357. LOG(INFO) << " 中车车位未找到合适车位 "<< this;
  358. }
  359. }
  360. if ( car_info.car_height() <= BIG_CAR_HIGH )
  361. {
  362. //第三优先级(大型车位)
  363. //获取大型车位
  364. message::Parkspace_allocation_data_msg all_big_parkspace_data;
  365. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_big_parkspace_data,message::Parkspace_type::BIG_PARKINGSPACE);
  366. if(t_error != SUCCESS)
  367. {
  368. return t_error;
  369. }
  370. int i=0;
  371. while(i<all_big_parkspace_data.parkspace_info_size())
  372. {
  373. int room_id=all_big_parkspace_data.parkspace_info(i).parkingspace_index_id();
  374. //筛选出一号车库的大型车位
  375. if ( room_id%15 <= 7 && room_id %15 >=1
  376. && all_big_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  377. {
  378. //如果是二楼车 则特殊处理
  379. if ( all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id() == 2 )
  380. {
  381. // 二楼用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  382. float t_min=abs( room_id%15*all_big_parkspace_data.parkspace_info(i).parkingspace_width() - (terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  383. if ( time_min == 0 )
  384. {
  385. time_min=t_min;
  386. parkingspace_index_id=i;
  387. }
  388. else
  389. {
  390. if ( t_min<time_min )
  391. {
  392. time_min=t_min;
  393. parkingspace_index_id=i;
  394. }
  395. }
  396. }
  397. else
  398. {
  399. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  400. float time=(terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  401. (all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_big_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  402. all_big_parkspace_data.parkspace_info(i).parkingspace_index_id()%15*all_big_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  403. if ( time_min == 0 )
  404. {
  405. time_min=time;
  406. parkingspace_index_id=i;
  407. }
  408. else
  409. {
  410. if ( time<time_min )
  411. {
  412. time_min=time;
  413. parkingspace_index_id=i;
  414. }
  415. }
  416. }
  417. }
  418. ++i;
  419. }
  420. //判断大型车位(第三优先级)是否有找到合适的空车位 如果找到了 直接返回
  421. if ( time_min!=0 && parkingspace_index_id!=-1 )
  422. {
  423. parkspace_info.CopyFrom(all_big_parkspace_data.parkspace_info(parkingspace_index_id));
  424. parkspace_info.set_path_estimate_time(time_min);
  425. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);
  426. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  427. return Error_code::SUCCESS;
  428. }
  429. else
  430. {
  431. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::MINOR_ERROR,
  432. " query_the_optimal_parkspace_serverA error ");
  433. }
  434. }
  435. }
  436. //判断是否是右半库
  437. else if(terminal_id<=6 && terminal_id>=4)
  438. {
  439. //如果是小车 (低于1.55米属于小车)
  440. if ( car_info.car_height() <= MIN_CAR_HIGH )
  441. {
  442. //获取所有小型车位信息
  443. message::Parkspace_allocation_data_msg all_min_parkspace_data;
  444. Error_manager t_error = m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_min_parkspace_data, message::Parkspace_type::MIN_PARKINGSPACE);
  445. if (t_error != SUCCESS)
  446. {
  447. return t_error;
  448. }
  449. //遍历所有小型车位
  450. int i = 0;
  451. while (i < all_min_parkspace_data.parkspace_info_size())
  452. {
  453. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  454. //筛选出一号车库的小型车位(第一优先级)的空车位
  455. if (room_id <= 165 && room_id >= 53
  456. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  457. {
  458. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  459. float time = (6-terminal_id+2)* TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  460. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  461. ( (15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15)==15?0:(15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) ) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  462. if (time_min == 0)
  463. {
  464. time_min = time;
  465. parkingspace_index_id = i;
  466. }
  467. else
  468. {
  469. if ( time < time_min )
  470. {
  471. time_min = time;
  472. parkingspace_index_id = i;
  473. }
  474. }
  475. }
  476. ++i;
  477. }
  478. //判断小车车位(第一优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  479. if ( time_min!=0 && parkingspace_index_id!=-1 )
  480. {
  481. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  482. parkspace_info.set_path_estimate_time(time_min);
  483. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);
  484. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  485. return Error_code::SUCCESS;
  486. }
  487. }
  488. if ( car_info.car_height() <= MID_CAR_HIGH )
  489. {
  490. //第二优先级(中型车位)
  491. //获取中型车位
  492. message::Parkspace_allocation_data_msg all_mid_parkspace_data;
  493. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_mid_parkspace_data,message::Parkspace_type::MID_PARKINGSPACE);
  494. if(t_error != SUCCESS)
  495. {
  496. return t_error;
  497. }
  498. int i=0;
  499. while(i<all_mid_parkspace_data.parkspace_info_size())
  500. {
  501. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  502. //三楼的中型车位有单独的中跑车停车 且机械臂可以直接抓车到三楼
  503. if ( room_id >= 23 && room_id <= 27 )
  504. {
  505. //只需计算端口到车位的距离
  506. // 三楼中型车位用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  507. float t_min=abs( ((15-room_id%15)==15?0:(15-room_id%15))*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()-(6-terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  508. if ( time_min == 0 )
  509. {
  510. time_min=t_min;
  511. parkingspace_index_id=i;
  512. }
  513. else
  514. {
  515. if ( t_min<time_min )
  516. {
  517. time_min=t_min;
  518. parkingspace_index_id=i;
  519. }
  520. }
  521. }
  522. if ( room_id <= 75 && room_id >= 68
  523. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  524. {
  525. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  526. float time=(6-terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  527. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  528. ( ((15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15) ==15?0:(15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15)) )*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  529. if ( time_min == 0 )
  530. {
  531. time_min=time;
  532. parkingspace_index_id=i;
  533. }
  534. else
  535. {
  536. if ( time<time_min )
  537. {
  538. time_min=time;
  539. parkingspace_index_id=i;
  540. }
  541. }
  542. }
  543. ++i;
  544. }
  545. //判断中型车位(第二优先级)是否有找到合适的空车位 如果找到了 直接返回
  546. if ( time_min!=0 && parkingspace_index_id!=-1 )
  547. {
  548. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  549. parkspace_info.set_path_estimate_time(time_min);
  550. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);
  551. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  552. return Error_code::SUCCESS;
  553. }
  554. }
  555. if ( car_info.car_height() <= BIG_CAR_HIGH )
  556. {
  557. //第三优先级(大型车位)
  558. //获取大型车位
  559. message::Parkspace_allocation_data_msg all_big_parkspace_data;
  560. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_big_parkspace_data,message::Parkspace_type::BIG_PARKINGSPACE);
  561. if(t_error != SUCCESS)
  562. {
  563. return t_error;
  564. }
  565. int i=0;
  566. while(i<all_big_parkspace_data.parkspace_info_size())
  567. {
  568. int room_id=all_big_parkspace_data.parkspace_info(i).parkingspace_index_id();
  569. //筛选出二号车库的大型车位的空车位
  570. if ( room_id %15 >=8 && room_id %15 <=14 || room_id %15 == 0
  571. && all_big_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  572. {
  573. //如果是二楼车 则特殊处理
  574. if ( all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id() == 2 )
  575. {
  576. // 二楼用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  577. float t_min=abs( ((15-room_id%15)==15?0:(15-room_id%15))*all_big_parkspace_data.parkspace_info(i).parkingspace_width()-(6-terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  578. if ( time_min == 0 )
  579. {
  580. time_min=t_min;
  581. parkingspace_index_id=i;
  582. }
  583. else
  584. {
  585. if ( t_min<time_min )
  586. {
  587. time_min=t_min;
  588. parkingspace_index_id=i;
  589. }
  590. }
  591. }
  592. else
  593. {
  594. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  595. float time=(6-terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  596. (all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_big_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  597. ( ((15-all_big_parkspace_data.parkspace_info(i).parkingspace_index_id()%15) ==15?0:(15-all_big_parkspace_data.parkspace_info(i).parkingspace_index_id()%15)) )*all_big_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  598. if ( time_min == 0 )
  599. {
  600. time_min=time;
  601. parkingspace_index_id=i;
  602. }
  603. else
  604. {
  605. if ( time<time_min )
  606. {
  607. time_min=time;
  608. parkingspace_index_id=i;
  609. }
  610. }
  611. }
  612. }
  613. ++i;
  614. }
  615. //判断大型车位(第三优先级)是否有找到合适的空车位 如果找到了 直接返回
  616. if ( time_min!=0 && parkingspace_index_id!=-1 )
  617. {
  618. parkspace_info.CopyFrom(all_big_parkspace_data.parkspace_info(parkingspace_index_id));
  619. parkspace_info.set_path_estimate_time(time_min);
  620. parkspace_info.set_parkspace_path(message::OPTIMAL_PATH);\
  621. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  622. return Error_code::SUCCESS;
  623. }
  624. else
  625. {
  626. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::MINOR_ERROR,
  627. " query_the_optimal_parkspace_serverA error ");
  628. }
  629. }
  630. }
  631. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::MINOR_ERROR,
  632. "query_the_optimal_parkspace_serverA error ");
  633. }
  634. //找到一个最优车位---方案二
  635. //找左侧车位
  636. Error_manager Parkspace_manager::query_the_optimal_parkspace_serverB1(message::Parkspace_info &parkspace_info,message::Car_info car_info,int terminal_id)
  637. {
  638. //车辆高大于1550mm分在四楼以下,小于1550mm分在四楼以上
  639. /*
  640. * K=j%15
  641. * P=i%6
  642. * S=15*d-(j%15)*(2*d-1)+[6*d-(i%6)(2*d-1)]*W W>1
  643. */
  644. float time_min=0;
  645. int parkingspace_index_id=-1;
  646. //找左侧车位
  647. //如果是小车 (低于1.55米属于小车)
  648. if ( car_info.car_height() <= MIN_CAR_HIGH )
  649. {
  650. //获取所有小型车位信息
  651. message::Parkspace_allocation_data_msg all_min_parkspace_data;
  652. Error_manager t_error = m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_min_parkspace_data, message::Parkspace_type::MIN_PARKINGSPACE);
  653. if (t_error != SUCCESS)
  654. {
  655. return t_error;
  656. }
  657. //遍历所有小型车位
  658. int i = 0;
  659. while (i < all_min_parkspace_data.parkspace_info_size())
  660. {
  661. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  662. //筛选出小型车位的中间部分(第一优先级)的空车位
  663. if (room_id % 15 <= 7 && room_id % 15 >= 4
  664. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  665. {
  666. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  667. float time = (terminal_id+2) * TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  668. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  669. (all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  670. if (time_min == 0)
  671. {
  672. time_min = time;
  673. parkingspace_index_id = i;
  674. }
  675. else
  676. {
  677. if ( time<time_min )
  678. {
  679. time_min=time;
  680. parkingspace_index_id=i;
  681. }
  682. }
  683. }
  684. ++i;
  685. }
  686. //判断小车车位中间部分(第一优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  687. if ( time_min!=0 && parkingspace_index_id!=-1 )
  688. {
  689. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  690. parkspace_info.set_path_estimate_time(time_min);
  691. parkspace_info.set_parkspace_path(message::LEFT_PATH);
  692. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  693. return Error_code::SUCCESS;
  694. }
  695. else
  696. {
  697. //如果没找到则找小车车位第二优先级 (侧边)
  698. int i = 0;
  699. while (i < all_min_parkspace_data.parkspace_info_size())
  700. {
  701. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  702. if (room_id % 15 <= 3 && room_id % 15 >= 1
  703. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  704. {
  705. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  706. float time = (terminal_id+2) * TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  707. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  708. (all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  709. if (time_min == 0)
  710. {
  711. time_min = time;
  712. parkingspace_index_id = i;
  713. }
  714. else
  715. {
  716. if ( time < time_min )
  717. {
  718. time_min = time;
  719. parkingspace_index_id = i;
  720. }
  721. }
  722. }
  723. ++i;
  724. }
  725. //判断小车车位侧边部分(第二优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  726. if ( time_min!=0 && parkingspace_index_id!=-1 )
  727. {
  728. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  729. parkspace_info.set_path_estimate_time(time_min);
  730. parkspace_info.set_parkspace_path(message::LEFT_PATH);
  731. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  732. return Error_code::SUCCESS;
  733. }
  734. }
  735. }
  736. if ( car_info.car_height() <= MID_CAR_HIGH )
  737. {
  738. //找中型车位
  739. //获取中型车位
  740. message::Parkspace_allocation_data_msg all_mid_parkspace_data;
  741. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_mid_parkspace_data,message::Parkspace_type::MID_PARKINGSPACE);
  742. if(t_error != SUCCESS)
  743. {
  744. return t_error;
  745. }
  746. int i=0;
  747. while(i<all_mid_parkspace_data.parkspace_info_size())
  748. {
  749. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  750. //如果是六楼的中型车位的中间部分(第一优先级)
  751. if ( room_id >=64 && room_id <= 67
  752. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  753. {
  754. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  755. float time=(terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  756. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  757. (all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15)*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  758. if ( time_min == 0 )
  759. {
  760. time_min=time;
  761. parkingspace_index_id=i;
  762. }
  763. else
  764. {
  765. if ( time<time_min )
  766. {
  767. time_min=time;
  768. parkingspace_index_id=i;
  769. }
  770. }
  771. }
  772. ++i;
  773. }
  774. //判断中型车位的中间部分(第一优先级)是否有找到合适的空车位 如果找到了 直接返回
  775. if ( time_min!=0 && parkingspace_index_id!=-1 )
  776. {
  777. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  778. parkspace_info.set_path_estimate_time(time_min);
  779. parkspace_info.set_parkspace_path(message::LEFT_PATH);
  780. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  781. return Error_code::SUCCESS;
  782. }
  783. else
  784. {
  785. //如果没找到则找侧边中型车位(第二优先级)
  786. int i=0;
  787. while(i<all_mid_parkspace_data.parkspace_info_size())
  788. {
  789. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  790. //如果是六楼的中型车位的侧边(第二优先级)
  791. if ( room_id >=61 && room_id <= 63
  792. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  793. {
  794. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  795. float time=(terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  796. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  797. all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  798. if ( time_min == 0 )
  799. {
  800. time_min=time;
  801. parkingspace_index_id=i;
  802. }
  803. else
  804. {
  805. if ( time<time_min )
  806. {
  807. time_min=time;
  808. parkingspace_index_id=i;
  809. }
  810. }
  811. }
  812. ++i;
  813. }
  814. //判断中型车位侧边(第二优先级)是否有找到合适的空车位 如果找到了 直接返回
  815. if ( time_min!=0 && parkingspace_index_id!=-1 )
  816. {
  817. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  818. parkspace_info.set_path_estimate_time(time_min);
  819. parkspace_info.set_parkspace_path(message::LEFT_PATH);
  820. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  821. return Error_code::SUCCESS;
  822. }
  823. }
  824. }
  825. if ( car_info.car_height() <= BIG_CAR_HIGH )
  826. {
  827. //找大型车位
  828. //获取大型车位
  829. message::Parkspace_allocation_data_msg all_big_parkspace_data;
  830. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_big_parkspace_data,message::Parkspace_type::BIG_PARKINGSPACE);
  831. if(t_error != SUCCESS)
  832. {
  833. return t_error;
  834. }
  835. int i=0;
  836. while(i<all_big_parkspace_data.parkspace_info_size())
  837. {
  838. int room_id=all_big_parkspace_data.parkspace_info(i).parkingspace_index_id();
  839. //筛选出一号车库的小型车位的靠近电梯的左侧三排(第二优先级)的空车位
  840. if ( room_id %15 == 1 || room_id %15 == 2 || room_id %15 == 3 || room_id>=34 && room_id<=37
  841. && all_big_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  842. {
  843. //如果是二楼车 则特殊处理
  844. if ( all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id() == 2 )
  845. {
  846. // 二楼用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  847. float t_min=abs( room_id%15*all_big_parkspace_data.parkspace_info(i).parkingspace_width()-(terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  848. if ( time_min == 0 )
  849. {
  850. time_min=t_min;
  851. parkingspace_index_id=i;
  852. }
  853. else
  854. {
  855. if ( t_min<time_min )
  856. {
  857. time_min=t_min;
  858. parkingspace_index_id=i;
  859. }
  860. }
  861. }
  862. else
  863. {
  864. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  865. float time=(terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  866. (all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_big_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  867. all_big_parkspace_data.parkspace_info(i).parkingspace_index_id()%15*all_big_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  868. if ( time_min == 0 )
  869. {
  870. time_min=time;
  871. parkingspace_index_id=i;
  872. }
  873. else
  874. {
  875. if ( time<time_min )
  876. {
  877. time_min=time;
  878. parkingspace_index_id=i;
  879. }
  880. }
  881. }
  882. }
  883. ++i;
  884. }
  885. //判断大型车位是否有找到合适的空车位 如果找到了 直接返回
  886. if ( time_min!=0 && parkingspace_index_id!=-1 )
  887. {
  888. parkspace_info.CopyFrom(all_big_parkspace_data.parkspace_info(parkingspace_index_id));
  889. parkspace_info.set_path_estimate_time(time_min);
  890. parkspace_info.set_parkspace_path(message::LEFT_PATH);
  891. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  892. return Error_code::SUCCESS;
  893. }
  894. else
  895. {
  896. //如果没找到则代表左侧没找到合适车位
  897. parkspace_info.set_parkingspace_index_id(-1);
  898. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  899. "无合适车位分配! query_the_optimal_parkspace_serverB1 error ");
  900. }
  901. }
  902. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  903. "无合适车位分配! query_the_optimal_parkspace_serverB1 error ");
  904. }
  905. //找右侧车位
  906. Error_manager Parkspace_manager::query_the_optimal_parkspace_serverB2(message::Parkspace_info &parkspace_info,message::Car_info car_info,int terminal_id)
  907. {
  908. //车辆高大于1550mm分在四楼以下,小于1550mm分在四楼以上
  909. /*
  910. * K=j%15
  911. * P=i%6
  912. * S=15*d-(j%15)*(2*d-1)+[6*d-(i%6)(2*d-1)]*W W>1
  913. */
  914. float time_min=0;
  915. int parkingspace_index_id=-1;
  916. //找右侧车位
  917. //如果是小车 (低于1.55米属于小车)
  918. if ( car_info.car_height() <= MIN_CAR_HIGH )
  919. {
  920. //获取所有小型车位信息
  921. message::Parkspace_allocation_data_msg all_min_parkspace_data;
  922. Error_manager t_error = m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_min_parkspace_data, message::Parkspace_type::MIN_PARKINGSPACE);
  923. if (t_error != SUCCESS)
  924. {
  925. return t_error;
  926. }
  927. //遍历所有小型车位
  928. int i = 0;
  929. while (i < all_min_parkspace_data.parkspace_info_size())
  930. {
  931. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  932. //筛选出小型车位的中间部分(第一优先级)的空车位
  933. if (room_id % 15 >= 8 && room_id % 15 <= 12
  934. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  935. {
  936. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  937. float time = (6-terminal_id+2) * TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  938. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  939. ( (15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15)==15?0:(15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) ) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  940. if (time_min == 0)
  941. {
  942. time_min = time;
  943. parkingspace_index_id = i;
  944. }
  945. else
  946. {
  947. if ( time<time_min )
  948. {
  949. time_min=time;
  950. parkingspace_index_id=i;
  951. }
  952. }
  953. }
  954. ++i;
  955. }
  956. //判断小车车位中间部分(第一优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  957. if ( time_min!=0 && parkingspace_index_id!=-1 )
  958. {
  959. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  960. parkspace_info.set_path_estimate_time(time_min);
  961. parkspace_info.set_parkspace_path(message::RIGHT_PATH);
  962. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  963. return Error_code::SUCCESS;
  964. }
  965. else
  966. {
  967. //如果没找到则找小车车位第二优先级 (侧边)
  968. int i = 0;
  969. while (i < all_min_parkspace_data.parkspace_info_size())
  970. {
  971. int room_id=all_min_parkspace_data.parkspace_info(i).parkingspace_index_id();
  972. //筛选出一号车库的小型车位的中间部分(第一优先级)的空车位
  973. if (room_id % 15 == 13 || room_id % 15 == 14 || room_id % 15 == 0
  974. && all_min_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty)
  975. {
  976. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  977. float time = (6-terminal_id+2) * TERMINAL_SPACING / MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  978. (all_min_parkspace_data.parkspace_info(i).parkingspace_floor_id() - 2) *all_min_parkspace_data.parkspace_info(i).parkingspace_height() /THE_ELEVATOR_SPEED +ELEVATOR_MOVEMENT_TIME +
  979. ( (15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15)==15?0:(15-all_min_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) ) *all_min_parkspace_data.parkspace_info(i).parkingspace_width() / MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  980. if (time_min == 0)
  981. {
  982. time_min = time;
  983. parkingspace_index_id = i;
  984. }
  985. else
  986. {
  987. if ( time < time_min )
  988. {
  989. time_min = time;
  990. parkingspace_index_id = i;
  991. }
  992. }
  993. }
  994. ++i;
  995. }
  996. //判断小车车位侧边部分(第二优先级)是否有找到合适的空车位 如果找到了 则不需要继续比较 直接返回
  997. if ( time_min!=0 && parkingspace_index_id!=-1 )
  998. {
  999. parkspace_info.CopyFrom(all_min_parkspace_data.parkspace_info(parkingspace_index_id));
  1000. parkspace_info.set_path_estimate_time(time_min);
  1001. parkspace_info.set_parkspace_path(message::RIGHT_PATH);
  1002. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1003. return Error_code::SUCCESS;
  1004. }
  1005. }
  1006. }
  1007. if ( car_info.car_height() <= MID_CAR_HIGH )
  1008. {
  1009. //找中型车位
  1010. //获取中型车位
  1011. message::Parkspace_allocation_data_msg all_mid_parkspace_data;
  1012. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_mid_parkspace_data,message::Parkspace_type::MID_PARKINGSPACE);
  1013. if(t_error != SUCCESS)
  1014. {
  1015. return t_error;
  1016. }
  1017. int i=0;
  1018. while(i<all_mid_parkspace_data.parkspace_info_size())
  1019. {
  1020. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  1021. //如果是六楼的中型车位的中间部分(第一优先级)
  1022. if ( room_id >= 68 && room_id <= 72
  1023. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  1024. {
  1025. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  1026. float time=(6-terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  1027. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  1028. ( ((15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15) ==15?0:(15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15)) )*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  1029. if ( time_min == 0 )
  1030. {
  1031. time_min=time;
  1032. parkingspace_index_id=i;
  1033. }
  1034. else
  1035. {
  1036. if ( time<time_min )
  1037. {
  1038. time_min=time;
  1039. parkingspace_index_id=i;
  1040. }
  1041. }
  1042. }
  1043. ++i;
  1044. }
  1045. //判断中型车位的中间部分(第一优先级)是否有找到合适的空车位 如果找到了 直接返回
  1046. if ( time_min!=0 && parkingspace_index_id!=-1 )
  1047. {
  1048. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  1049. parkspace_info.set_path_estimate_time(time_min);
  1050. parkspace_info.set_parkspace_path(message::RIGHT_PATH);
  1051. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1052. return Error_code::SUCCESS;
  1053. }
  1054. else
  1055. {
  1056. //如果没找到则找侧边中型车位(第二优先级)
  1057. int i=0;
  1058. while(i<all_mid_parkspace_data.parkspace_info_size())
  1059. {
  1060. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  1061. //如果是六楼的中型车位的侧边(第二优先级)
  1062. if ( room_id >=73 && room_id <= 75
  1063. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  1064. {
  1065. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  1066. float time=(6-terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  1067. (all_mid_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_mid_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  1068. ( ((15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15) ==15?0:(15-all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id()%15)) )*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  1069. if ( time_min == 0 )
  1070. {
  1071. time_min=time;
  1072. parkingspace_index_id=i;
  1073. }
  1074. else
  1075. {
  1076. if ( time<time_min )
  1077. {
  1078. time_min=time;
  1079. parkingspace_index_id=i;
  1080. }
  1081. }
  1082. }
  1083. ++i;
  1084. }
  1085. //判断中型车位侧边(第二优先级)是否有找到合适的空车位 如果找到了 直接返回
  1086. if ( time_min!=0 && parkingspace_index_id!=-1 )
  1087. {
  1088. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  1089. parkspace_info.set_path_estimate_time(time_min);
  1090. parkspace_info.set_parkspace_path(message::RIGHT_PATH);
  1091. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1092. return Error_code::SUCCESS;
  1093. }
  1094. }
  1095. }
  1096. if ( car_info.car_height() <= BIG_CAR_HIGH )
  1097. {
  1098. //找大型车位
  1099. //获取大型车位
  1100. message::Parkspace_allocation_data_msg all_big_parkspace_data;
  1101. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_big_parkspace_data,message::Parkspace_type::BIG_PARKINGSPACE);
  1102. if(t_error != SUCCESS)
  1103. {
  1104. return t_error;
  1105. }
  1106. int i=0;
  1107. while(i<all_big_parkspace_data.parkspace_info_size())
  1108. {
  1109. int room_id=all_big_parkspace_data.parkspace_info(i).parkingspace_index_id();
  1110. //筛选出大型车位的靠近电梯的右侧三排(第二优先级)的空车位
  1111. if ( room_id %15 == 13 || room_id %15 == 14 || room_id %15 == 0|| room_id>=38 && room_id<=42
  1112. && all_big_parkspace_data.parkspace_info(i).parkingspace_status() == message::Parkspace_status::eParkspace_empty )
  1113. {
  1114. //如果是二楼车 则特殊处理
  1115. if ( all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id() == 2 )
  1116. {
  1117. // 二楼用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  1118. float t_min=abs( ((15-room_id%15)==15?0:(15-room_id%15))*all_big_parkspace_data.parkspace_info(i).parkingspace_width()-(6-terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  1119. if ( time_min == 0 )
  1120. {
  1121. time_min=t_min;
  1122. parkingspace_index_id=i;
  1123. }
  1124. else
  1125. {
  1126. if ( t_min<time_min )
  1127. {
  1128. time_min=t_min;
  1129. parkingspace_index_id=i;
  1130. }
  1131. }
  1132. }
  1133. else
  1134. {
  1135. //用时=目标终端到电梯口的距离/中跑车速度+(目标车位楼层-2)*楼层高度/电梯速度+电梯口到目标车位的距离/中跑车速度
  1136. float time=(6-terminal_id+2)*TERMINAL_SPACING/MEDIUM_CAR_SPEED + DOWNSTAIRS_SPORTS_TIME +
  1137. (all_big_parkspace_data.parkspace_info(i).parkingspace_floor_id()-2)*all_big_parkspace_data.parkspace_info(i).parkingspace_height()/THE_ELEVATOR_SPEED + ELEVATOR_MOVEMENT_TIME +
  1138. ( (15-all_big_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15)==15?0:(15-all_big_parkspace_data.parkspace_info(i).parkingspace_index_id() % 15) )*all_big_parkspace_data.parkspace_info(i).parkingspace_width()/MEDIUM_CAR_SPEED + UPSTAIRS_SPORTS_TIME;
  1139. if ( time_min == 0 )
  1140. {
  1141. time_min=time;
  1142. parkingspace_index_id=i;
  1143. }
  1144. else
  1145. {
  1146. if ( time<time_min )
  1147. {
  1148. time_min=time;
  1149. parkingspace_index_id=i;
  1150. }
  1151. }
  1152. }
  1153. }
  1154. ++i;
  1155. }
  1156. //判断大型车位是否有找到合适的空车位 如果找到了 直接返回
  1157. if ( time_min!=0 && parkingspace_index_id!=-1 )
  1158. {
  1159. parkspace_info.CopyFrom(all_big_parkspace_data.parkspace_info(parkingspace_index_id));
  1160. parkspace_info.set_path_estimate_time(time_min);
  1161. parkspace_info.set_parkspace_path(message::RIGHT_PATH);
  1162. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1163. return Error_code::SUCCESS;
  1164. }
  1165. else
  1166. {
  1167. //如果没找到则代表右侧没找到合适车位
  1168. parkspace_info.set_parkingspace_index_id(-1);
  1169. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  1170. "无合适车位分配! query_the_optimal_parkspace_serverB2 error ");
  1171. }
  1172. }
  1173. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  1174. " 无合适车位分配! query_the_optimal_parkspace_serverB2 error ");
  1175. }
  1176. //找缓存区车位
  1177. Error_manager Parkspace_manager::query_the_optimal_parkspace_serverB3(message::Parkspace_info &parkspace_info,message::Car_info car_info,int terminal_id)
  1178. {
  1179. //车辆高大于1550mm分在四楼以下,小于1550mm分在四楼以上
  1180. /*
  1181. * K=j%15
  1182. * P=i%6
  1183. * S=15*d-(j%15)*(2*d-1)+[6*d-(i%6)(2*d-1)]*W W>1
  1184. */
  1185. float time_min=0;
  1186. int parkingspace_index_id=-1;
  1187. //找缓存区车位 缓冲区只有中型车位和大型车位
  1188. if ( car_info.car_height() <= MID_CAR_HIGH )
  1189. {
  1190. message::Parkspace_allocation_data_msg all_mid_parkspace_data;
  1191. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_mid_parkspace_data,message::Parkspace_type::MID_PARKINGSPACE);
  1192. if(t_error != SUCCESS)
  1193. {
  1194. return t_error;
  1195. }
  1196. int i=0;
  1197. while (i < all_mid_parkspace_data.parkspace_info_size())
  1198. {
  1199. //筛选中型车位缓冲区
  1200. int room_id=all_mid_parkspace_data.parkspace_info(i).parkingspace_index_id();
  1201. if ( room_id >= 19 && room_id <= 27
  1202. && all_mid_parkspace_data.parkspace_info(i).parkingspace_status() == message::eParkspace_empty)
  1203. {
  1204. //只需计算端口到车位的距离
  1205. // 三楼中型用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  1206. float t_min=abs( room_id%15*all_mid_parkspace_data.parkspace_info(i).parkingspace_width()-(terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  1207. if ( time_min == 0 )
  1208. {
  1209. time_min=t_min;
  1210. parkingspace_index_id=i;
  1211. }
  1212. else
  1213. {
  1214. if ( t_min<time_min )
  1215. {
  1216. time_min=t_min;
  1217. parkingspace_index_id=i;
  1218. }
  1219. }
  1220. }
  1221. ++i;
  1222. }
  1223. //判断缓冲区的中型车位是否有找到合适的空车位 如果找到了 直接返回
  1224. if ( time_min!=0 && parkingspace_index_id!=-1 )
  1225. {
  1226. parkspace_info.CopyFrom(all_mid_parkspace_data.parkspace_info(parkingspace_index_id));
  1227. parkspace_info.set_path_estimate_time(time_min);
  1228. parkspace_info.set_parkspace_path(message::TEMPORARY_CACHE_PATH);
  1229. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1230. return Error_code::SUCCESS;
  1231. }
  1232. }
  1233. if( car_info.car_height() <= BIG_CAR_HIGH )
  1234. {
  1235. message::Parkspace_allocation_data_msg all_big_parkspace_data;
  1236. Error_manager t_error=m_parkspace_operating_function.get_specify_the_type_parkspace_info(all_big_parkspace_data,message::Parkspace_type::BIG_PARKINGSPACE);
  1237. if(t_error != SUCCESS)
  1238. {
  1239. return t_error;
  1240. }
  1241. int i=0;
  1242. while (i < all_big_parkspace_data.parkspace_info_size())
  1243. {
  1244. //筛选中型车位缓冲区
  1245. int room_id=all_big_parkspace_data.parkspace_info(i).parkingspace_index_id();
  1246. if ( room_id >= 4 && room_id <= 12
  1247. && all_big_parkspace_data.parkspace_info(i).parkingspace_status() == message::eParkspace_empty)
  1248. {
  1249. //只需计算端口到车位的距离
  1250. // 二楼中型用时=| 目标车位到电梯的距离 - 终端到电梯的距离 | / 中跑车速度
  1251. float t_min=abs( room_id%15*all_big_parkspace_data.parkspace_info(i).parkingspace_width()-(terminal_id+2)*TERMINAL_SPACING )/MEDIUM_CAR_SPEED+DOWNSTAIRS_SPORTS_TIME;
  1252. if ( time_min == 0 )
  1253. {
  1254. time_min=t_min;
  1255. parkingspace_index_id=i;
  1256. }
  1257. else
  1258. {
  1259. if ( t_min<time_min )
  1260. {
  1261. time_min=t_min;
  1262. parkingspace_index_id=i;
  1263. }
  1264. }
  1265. }
  1266. ++i;
  1267. }
  1268. //判断缓冲区的中型车位是否有找到合适的空车位 如果找到了 直接返回
  1269. if ( time_min!=0 && parkingspace_index_id!=-1 )
  1270. {
  1271. parkspace_info.CopyFrom(all_big_parkspace_data.parkspace_info(parkingspace_index_id));
  1272. parkspace_info.set_path_estimate_time(time_min);
  1273. parkspace_info.set_parkspace_path(message::TEMPORARY_CACHE_PATH);
  1274. parkspace_info.set_parkspace_status_target(message::eParkspace_locked);
  1275. return Error_code::SUCCESS;
  1276. }
  1277. else
  1278. {
  1279. //如果没找到则代表缓冲区没找到合适车位
  1280. parkspace_info.set_parkingspace_index_id(-1);
  1281. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  1282. "无合适车位分配! query_the_optimal_parkspace_serverB3 error ");
  1283. }
  1284. }
  1285. return Error_manager(Error_code::PARKSPACE_ALLOCATOR_ALLOCATE_FAILED, Error_level::NEGLIGIBLE_ERROR,
  1286. " 无合适车位分配! query_the_optimal_parkspace_serverB3 error ");
  1287. }
  1288. //分配车位线程函数
  1289. void Parkspace_manager:: execute_for_allocate(message::Car_info car_info, int terminal_id, std::string command_key)
  1290. {
  1291. LOG(INFO) << "分配车位 " << "牌号:" << car_info.license() << " 车高:" << car_info.car_height()
  1292. << " command_key=" << command_key;
  1293. //根据请求的信息反馈分配的车位,并封装发送
  1294. message::Parkspace_allocation_response_msg response_msg;
  1295. message::Base_info t_response_header;
  1296. t_response_header.set_msg_type(message::Message_type::eParkspace_allocation_response_msg);
  1297. t_response_header.set_timeout_ms(1000);
  1298. t_response_header.set_sender(message::Communicator::eParkspace);
  1299. t_response_header.set_receiver(message::Communicator::eMain);
  1300. message::Error_manager t_error;
  1301. //方案A的车位
  1302. message::Parkspace_info t_allocated_space;
  1303. //方案B的车位
  1304. message::Parkspace_info t_allocated_space_left;
  1305. message::Parkspace_info t_allocated_space_rigth;
  1306. message::Parkspace_info t_allocated_space_temporary;
  1307. Error_manager error_A;
  1308. Error_manager error_B1;
  1309. Error_manager error_B2;
  1310. Error_manager error_B3;
  1311. message::Car_type t_cartype;
  1312. if ( car_info.car_height() <= message::Car_type::MIN_CAR )
  1313. {
  1314. t_cartype = message::Car_type::MIN_CAR;
  1315. }
  1316. else if ( car_info.car_height() <= message::Car_type::MID_CAR )
  1317. {
  1318. t_cartype = message::Car_type::MID_CAR;
  1319. }
  1320. else
  1321. {
  1322. t_cartype = message::Car_type::BIG_CAR;
  1323. }
  1324. //分配之前查询车辆是否已经存在
  1325. if (check_car_existence(car_info.license()))
  1326. {
  1327. t_error.set_error_code(PARKSPACE_ALLOCATOR_CAR_ALREADY_EXIST);
  1328. t_error.set_error_level(message::Error_level::MINOR_ERROR);
  1329. t_error.set_error_description("车辆已存在");
  1330. LOG(ERROR) << car_info.license() << " 车辆已存在";
  1331. }
  1332. else
  1333. {
  1334. m_parkspace_lock.lock();
  1335. if (!PLAN)
  1336. {
  1337. // 如果车辆不存在 则找到一个最优车位(方案A)----车库分为两个独立部分,左库和右库如果1~3号终端来车 则在左库分配车位,4~号终端来车 则在右库分配车位
  1338. LOG(INFO) << " 方案A---------分配车位中---------- " ;
  1339. error_A = query_the_optimal_parkspace_serverA(t_allocated_space, car_info, terminal_id);
  1340. if (error_A != Error_code::SUCCESS)
  1341. {
  1342. t_error.set_error_code(error_A.get_error_code());
  1343. t_error.set_error_level((message::Error_level) error_A.get_error_level());
  1344. t_error.set_error_description(error_A.get_error_description());
  1345. LOG(ERROR) << car_info.license() << " 获取空车位失败 " << error_A.to_string();
  1346. }
  1347. else
  1348. {
  1349. //修改车位状态为锁定
  1350. t_allocated_space.set_parkingspace_status(message::Parkspace_status::eParkspace_locked);
  1351. t_allocated_space.mutable_car_info()->CopyFrom(car_info);
  1352. // 分配车位后更新数据库中车位状态
  1353. error_A = m_parkspace_operating_function.update_parkspace_data(t_allocated_space);
  1354. if (error_A != SUCCESS)
  1355. {
  1356. //若更新车位数据失败会直接返回,不要进行回退操作
  1357. t_error.set_error_code(error_A.get_error_code());
  1358. t_error.set_error_level((message::Error_level) error_A.get_error_level());
  1359. t_error.set_error_description(error_A.get_error_description());
  1360. LOG(ERROR) << car_info.license() << " 更新车位数据失败 " << error_A.to_string();
  1361. }
  1362. else
  1363. {
  1364. t_error.set_error_code(SUCCESS);
  1365. t_error.set_error_level(message::Error_level::NORMAL);
  1366. LOG(INFO) << "方案A --- 分配车位成功 " << "车位ID:" << t_allocated_space.parkingspace_index_id()
  1367. << " 车牌号:" << t_allocated_space.car_info().license();
  1368. response_msg.mutable_allocated_parkspace_info()->CopyFrom(t_allocated_space);
  1369. }
  1370. }
  1371. }
  1372. else
  1373. {
  1374. // 如果车辆不存在 则找到一个最优车位(方案B)----分配三个车位 左边分配一个 右边分配一个 缓冲区分配一个 最后使用那个由调度决定
  1375. LOG(INFO) << " 方案B---------分配车位中---------- " << this;
  1376. //获取左侧车位
  1377. error_B1 = query_the_optimal_parkspace_serverB1(t_allocated_space_left, car_info, terminal_id);
  1378. if (error_B1 != Error_code::SUCCESS)
  1379. {
  1380. LOG(ERROR) << car_info.license() << " 获取左侧车位失败 " << error_B1.to_string();
  1381. }
  1382. else
  1383. {
  1384. t_allocated_space_left.set_parkingspace_status(message::Parkspace_status::eParkspace_locked);
  1385. t_allocated_space_left.mutable_car_info()->CopyFrom(car_info);
  1386. // 分配车位后更新数据库中车位状态--左车位
  1387. error_B1 = m_parkspace_operating_function.update_parkspace_data(t_allocated_space_left);
  1388. if (error_B1 != SUCCESS)
  1389. {
  1390. LOG(ERROR) << car_info.license() << " 左车位更新数据失败 " << error_B1.to_string();
  1391. }
  1392. else
  1393. {
  1394. response_msg.add_allocated_parkspace_info_ex()->CopyFrom(t_allocated_space_left);
  1395. LOG(INFO) << " ----- 左 车 位ID: " << t_allocated_space_left.parkingspace_index_id() << "-----";
  1396. }
  1397. }
  1398. //获取右侧车位
  1399. error_B2 = query_the_optimal_parkspace_serverB2(t_allocated_space_rigth, car_info, terminal_id);
  1400. if (error_B2 != Error_code::SUCCESS)
  1401. {
  1402. LOG(ERROR) << car_info.license() << " 获取右侧车位失败 " << error_B2.to_string();
  1403. }
  1404. else
  1405. {
  1406. t_allocated_space_rigth.set_parkingspace_status(message::Parkspace_status::eParkspace_locked);
  1407. t_allocated_space_rigth.mutable_car_info()->CopyFrom(car_info);
  1408. // 分配车位后更新数据库中车位状态--右车位
  1409. error_B2 = m_parkspace_operating_function.update_parkspace_data(t_allocated_space_rigth);
  1410. if (error_B2 != SUCCESS)
  1411. {
  1412. LOG(ERROR) << car_info.license() << " 右车位更新数据失败 " << error_B2.to_string();
  1413. }
  1414. else
  1415. {
  1416. response_msg.add_allocated_parkspace_info_ex()->CopyFrom(t_allocated_space_rigth);
  1417. LOG(INFO) << " ----- 右 车 位ID: " << t_allocated_space_rigth.parkingspace_index_id() << "-----";
  1418. }
  1419. }
  1420. //获取缓冲区车位
  1421. error_B3 = query_the_optimal_parkspace_serverB3(t_allocated_space_temporary, car_info, terminal_id);
  1422. if (error_B3 != Error_code::SUCCESS)
  1423. {
  1424. LOG(ERROR) << car_info.license() << " 获取缓冲区车位失败 " << error_B3.to_string();
  1425. }
  1426. else
  1427. {
  1428. t_allocated_space_temporary.set_parkingspace_status(message::Parkspace_status::eParkspace_locked);
  1429. t_allocated_space_temporary.mutable_car_info()->CopyFrom(car_info);
  1430. // 分配车位后更新数据库中车位状态--缓冲车位
  1431. error_B3 = m_parkspace_operating_function.update_parkspace_data(t_allocated_space_temporary);
  1432. if (error_B3 != SUCCESS)
  1433. {
  1434. LOG(ERROR) << car_info.license() << " 缓冲车位更新数据失败 " << error_B3.to_string();
  1435. }
  1436. else
  1437. {
  1438. response_msg.add_allocated_parkspace_info_ex()->CopyFrom(t_allocated_space_temporary);
  1439. LOG(INFO) << " -----缓冲车位车位ID: " << t_allocated_space_temporary.parkingspace_index_id() << "-----";
  1440. }
  1441. }
  1442. Error_manager error_total;
  1443. error_total.compare_and_cover_error(error_B1);
  1444. error_total.compare_and_cover_error(error_B2);
  1445. error_total.compare_and_cover_error(error_B3);
  1446. if ( error_B1==SUCCESS || error_B2==SUCCESS || error_B3==SUCCESS )
  1447. {
  1448. t_error.set_error_code(SUCCESS);
  1449. t_error.set_error_level(message::Error_level::NORMAL);
  1450. LOG(INFO) << " 分配车位成功! ";
  1451. }
  1452. else
  1453. {
  1454. t_error.set_error_code(PARKSPACE_ALLOCATOR_ALLOCATE_FAILED);
  1455. t_error.set_error_level(message::Error_level::MINOR_ERROR);
  1456. t_error.set_error_description(error_total.get_error_description());
  1457. LOG(INFO) << " 分配车位失败,无车位! ";
  1458. }
  1459. }
  1460. m_parkspace_lock.unlock();
  1461. response_msg.mutable_base_info()->CopyFrom(t_response_header);
  1462. response_msg.set_command_key(command_key);
  1463. response_msg.mutable_error_manager()->CopyFrom(t_error);
  1464. response_msg.set_car_type(t_cartype);
  1465. Communication_message response = Communication_message();
  1466. response.reset(t_response_header, response_msg.SerializeAsString());
  1467. Parkspace_communicator::get_instance_references().send_response(&response);
  1468. send_parkspace_data();
  1469. std::cout << std::endl;
  1470. }
  1471. }
  1472. //确认分配车位线程函数
  1473. void Parkspace_manager::execute_for_confirm_alloc(message::Parkspace_confirm_alloc_request_msg request)
  1474. {
  1475. message::Parkspace_confirm_alloc_response_msg response_msg;
  1476. message::Base_info t_response_header;
  1477. t_response_header.set_msg_type(message::eParkspace_confirm_alloc_response_msg);
  1478. t_response_header.set_sender(message::eParkspace);
  1479. t_response_header.set_receiver(message::eMain);
  1480. t_response_header.set_timeout_ms(1000);
  1481. message::Error_manager t_error;
  1482. t_error.set_error_code(Error_code::SUCCESS);
  1483. t_error.set_error_level(message::Error_level::NORMAL);
  1484. //确认分配车位
  1485. message::Parkspace_info confirm_alloc_parkspace_info;
  1486. //释放车位
  1487. message::Parkspace_info release_alloc_space_info;
  1488. if ( !PLAN )
  1489. {
  1490. Error_manager error=m_parkspace_operating_function.query_one_parkspace_with_parkspace_id(request.confirm_parkspace_info().parkingspace_index_id(),confirm_alloc_parkspace_info);
  1491. if ( error != SUCCESS )
  1492. {
  1493. t_error.set_error_code(error.get_error_code());
  1494. t_error.set_error_level((message::Error_level)error.get_error_level());
  1495. t_error.set_error_description(error.get_error_description());
  1496. }
  1497. if ( confirm_alloc_parkspace_info.parkingspace_status() != message::eParkspace_locked )
  1498. {
  1499. t_error.set_error_code(PARKSPACE_ALLOCATOR_CONFIRM_ALLOC_ERROR);
  1500. t_error.set_error_level(message::Error_level::MINOR_ERROR);
  1501. t_error.set_error_description("该车位已被占用");
  1502. }
  1503. else
  1504. {
  1505. LOG(INFO) << "方案A---------确认分配 " << "牌号:" << request.confirm_parkspace_info().car_info().license() ;
  1506. error=confirm_alloc_function(request.confirm_parkspace_info(),confirm_alloc_parkspace_info);
  1507. if ( error != SUCCESS )
  1508. {
  1509. t_error.set_error_code(error.get_error_code());
  1510. t_error.set_error_level((message::Error_level)error.get_error_level());
  1511. t_error.set_error_description(error.get_error_description());
  1512. }
  1513. else
  1514. {
  1515. response_msg.mutable_confirm_alloc_parkspace_info()->CopyFrom(confirm_alloc_parkspace_info);
  1516. }
  1517. }
  1518. }
  1519. else
  1520. {
  1521. Error_manager error=m_parkspace_operating_function.query_one_parkspace_with_parkspace_id(request.confirm_parkspace_info().parkingspace_index_id(),confirm_alloc_parkspace_info);
  1522. if ( error != SUCCESS )
  1523. {
  1524. t_error.set_error_code(error.get_error_code());
  1525. t_error.set_error_level((message::Error_level)error.get_error_level());
  1526. t_error.set_error_description(error.get_error_description());
  1527. }
  1528. if ( confirm_alloc_parkspace_info.parkingspace_status() != message::eParkspace_empty )
  1529. {
  1530. t_error.set_error_code(PARKSPACE_ALLOCATOR_CONFIRM_ALLOC_ERROR);
  1531. t_error.set_error_level(message::Error_level::MINOR_ERROR);
  1532. t_error.set_error_description("该车位已被占用");
  1533. }
  1534. else
  1535. {
  1536. for (int i = 0; i < request.confirm_parkspace_info_ex().size(); ++i)
  1537. {
  1538. if ( request.confirm_parkspace_info_ex(i).parkspace_status_target() == message::eParkspace_occupied )
  1539. {
  1540. LOG(INFO) << "方案B---------确认分配 " << "牌号:" << request.confirm_parkspace_info_ex(i).car_info().license() ;
  1541. Error_manager error=confirm_alloc_function(request.confirm_parkspace_info_ex(i),confirm_alloc_parkspace_info);
  1542. if ( error != SUCCESS )
  1543. {
  1544. t_error.set_error_code(error.get_error_code());
  1545. t_error.set_error_level((message::Error_level)error.get_error_level());
  1546. t_error.set_error_description(error.get_error_description());
  1547. }
  1548. else
  1549. {
  1550. response_msg.add_confirm_parkspace_info_ex()->CopyFrom(confirm_alloc_parkspace_info);
  1551. }
  1552. }
  1553. else if ( request.confirm_parkspace_info_ex(i).parkspace_status_target() == message::eParkspace_empty )
  1554. {
  1555. Error_manager error=release_parkspace_function(request.confirm_parkspace_info_ex(i),release_alloc_space_info,false);
  1556. }
  1557. }
  1558. }
  1559. }
  1560. response_msg.mutable_base_info()->CopyFrom(t_response_header);
  1561. response_msg.set_command_key(request.command_key());
  1562. response_msg.mutable_error_manager()->CopyFrom(t_error);
  1563. response_msg.set_car_type(request.car_type());
  1564. Communication_message response=Communication_message();
  1565. response.reset(t_response_header, response_msg.SerializeAsString());
  1566. Parkspace_communicator::get_instance_references().send_response(&response);
  1567. send_parkspace_data();
  1568. std::cout<<std::endl;
  1569. }
  1570. //查询车位线程函数
  1571. void Parkspace_manager::execute_for_search(message::Car_info car_info,std::string command_key)
  1572. {
  1573. LOG(INFO) << "查询车位 "<<"牌号:"<<car_info.license()<<" command_key="<<command_key;
  1574. //根据车辆凭证信息查询车辆位置
  1575. message::Parkspace_search_response_msg response_msg;
  1576. message::Base_info t_response_header;
  1577. message::Error_manager t_error;
  1578. t_response_header.set_msg_type(message::Message_type::eParkspace_search_response_msg);
  1579. t_response_header.set_timeout_ms(1000);
  1580. t_response_header.set_sender(message::Communicator::eParkspace);
  1581. t_response_header.set_receiver(message::Communicator::eMain);
  1582. //查询车辆位置
  1583. message::Parkspace_info parkspace_info;
  1584. Error_manager error=m_parkspace_operating_function.query_one_parkspace_with_license(car_info.license(),parkspace_info);
  1585. if ( error != SUCCESS )
  1586. {
  1587. t_error.set_error_code(error.get_error_code());
  1588. t_error.set_error_level((message::Error_level)error.get_error_level());
  1589. t_error.set_error_description(error.get_error_description());
  1590. LOG(ERROR) << "查询车位失败 "<<error.to_string();
  1591. }
  1592. else
  1593. {
  1594. t_error.set_error_code(SUCCESS);
  1595. t_error.set_error_level(message::Error_level::NORMAL);
  1596. LOG(INFO) << "车辆"<<parkspace_info.car_info().license()<<" 在"<<parkspace_info.parkingspace_index_id()<<"号车位上";
  1597. }
  1598. response_msg.mutable_base_info()->CopyFrom(t_response_header);
  1599. response_msg.set_command_key(command_key);
  1600. response_msg.mutable_error_manager()->CopyFrom(t_error);
  1601. response_msg.mutable_query_parkspace_info()->CopyFrom(parkspace_info);
  1602. Communication_message response=Communication_message();
  1603. response.reset(t_response_header, response_msg.SerializeAsString());
  1604. Parkspace_communicator::get_instance_references().send_response(&response);
  1605. std::cout<<std::endl;
  1606. }
  1607. //释放车位线程函数
  1608. void Parkspace_manager::execute_for_release(message::Parkspace_info space_info, std::string command_key)
  1609. {
  1610. LOG(INFO) << "释放车位 "<<"牌号:"<<space_info.car_info().license()<<" command_key="<<command_key;
  1611. //根据车位信息定位待释放车位位置,车辆凭证号用于校验
  1612. message::Parkspace_release_response_msg response_msg;
  1613. message::Base_info t_response_header;
  1614. t_response_header.set_msg_type(message::eParkspace_release_response_msg);
  1615. t_response_header.set_sender(message::eParkspace);
  1616. t_response_header.set_receiver(message::eMain);
  1617. t_response_header.set_timeout_ms(1000);
  1618. message::Error_manager t_error;
  1619. t_error.set_error_code(Error_code::SUCCESS);
  1620. t_error.set_error_level(message::Error_level::NORMAL);
  1621. message::Parkspace_info t_release_space;
  1622. Error_manager error=release_parkspace_function(space_info,t_release_space,true);
  1623. if ( error != SUCCESS )
  1624. {
  1625. t_error.set_error_code(error.get_error_code());
  1626. t_error.set_error_level((message::Error_level)error.get_error_level());
  1627. t_error.set_error_description(error.get_error_description());
  1628. }
  1629. response_msg.mutable_base_info()->CopyFrom(t_response_header);
  1630. response_msg.set_command_key(command_key);
  1631. response_msg.mutable_error_manager()->CopyFrom(t_error);
  1632. response_msg.mutable_release_parkspace_info()->CopyFrom(t_release_space);
  1633. Communication_message response=Communication_message();
  1634. response.reset(t_response_header, response_msg.SerializeAsString());
  1635. Parkspace_communicator::get_instance_references().send_response(&response);
  1636. send_parkspace_data();
  1637. std::cout<<std::endl;
  1638. }
  1639. //强制更新车位信息线程函数
  1640. void Parkspace_manager::execute_for_force_update(message::Parkspace_info space_info, std::string command_key)
  1641. {
  1642. LOG(INFO) << "手动 "<<"牌号:"<<space_info.car_info().license()<<" command_key="<<command_key;
  1643. //根据车位信息定位待释放车位位置,车辆凭证号用于校验
  1644. //!!!!!此处跳过外部处理与调用的过程,直接在内部调用,发送分配结果用于测试,目前一直发布第一个车位
  1645. message::Parkspace_force_update_response_msg response_msg;
  1646. message::Base_info t_response_header;
  1647. t_response_header.set_msg_type(message::eParkspace_force_update_response_msg);
  1648. t_response_header.set_sender(message::eParkspace);
  1649. t_response_header.set_receiver(message::eMain);
  1650. t_response_header.set_timeout_ms(1000);
  1651. message::Error_manager t_error;
  1652. message::Parkspace_info t_update_space;
  1653. Error_manager error;
  1654. // id 9999为特殊情况,复位所有车位状态
  1655. if (space_info.parkingspace_index_id() == 9999)
  1656. {
  1657. // 复位所有车位状态
  1658. error=m_parkspace_operating_function.clear_all_parkspace_info();
  1659. if( error != SUCCESS)
  1660. {
  1661. t_error.set_error_code(error.get_error_code());
  1662. t_error.set_error_level((message::Error_level) error.get_error_level());
  1663. LOG(INFO) << "手动更新所有车位失败 "<<error.to_string();
  1664. }
  1665. else
  1666. {
  1667. t_error.set_error_code(SUCCESS);
  1668. t_error.set_error_level(message::Error_level::NORMAL);
  1669. LOG(INFO) << "所有车位已手动更新 ";
  1670. }
  1671. }
  1672. else
  1673. {
  1674. //手动修改车位信息
  1675. error = m_parkspace_operating_function.update_parkspace_data(t_update_space);
  1676. if (error != SUCCESS)
  1677. {
  1678. t_error.set_error_code(error.get_error_code());
  1679. t_error.set_error_level((message::Error_level)error.get_error_level());
  1680. LOG(INFO) << "手动 数据库更新车位失败 "<<error.to_string();
  1681. }
  1682. else
  1683. {
  1684. t_error.set_error_code(SUCCESS);
  1685. t_error.set_error_level(message::Error_level::NORMAL);
  1686. LOG(INFO) << "第" << t_update_space.parkingspace_index_id() << "号位已手动更新";
  1687. }
  1688. }
  1689. response_msg.mutable_base_info()->CopyFrom(t_response_header);
  1690. response_msg.set_command_key(command_key);
  1691. response_msg.mutable_error_manager()->CopyFrom(t_error);
  1692. response_msg.mutable_manual_parkspace_info()->CopyFrom(t_update_space);
  1693. Communication_message response=Communication_message();
  1694. response.reset(t_response_header, response_msg.SerializeAsString());
  1695. Parkspace_communicator::get_instance_references().send_response(&response);
  1696. send_parkspace_data();
  1697. }
  1698. //确认分配操作函数、
  1699. Error_manager Parkspace_manager::confirm_alloc_function(message::Parkspace_info space_info,message::Parkspace_info& t_confirm_space)
  1700. {
  1701. //根据车位信息定位待确认占用车位
  1702. Error_manager error;
  1703. //记录当前传入车辆的状态 为后续回退操作服务
  1704. message::Parkspace_status t_parkingspace_status=space_info.parkingspace_status();
  1705. if (!space_info.has_car_info())
  1706. {
  1707. LOG(WARNING) << "传入待确认车位无车辆信息";
  1708. return Error_manager(Error_code::PARAMETER_ERROR, Error_level::MINOR_ERROR,
  1709. " 确认分配车位传入参数无车辆信息! ");
  1710. }
  1711. t_confirm_space.CopyFrom(space_info);
  1712. if(!PLAN)
  1713. {
  1714. //方案一传入的车辆只有一个 状态为锁定 需要手动修改成占用后才能进行写入数据库
  1715. if (t_confirm_space.parkingspace_status() != message::Parkspace_status::eParkspace_locked)
  1716. {
  1717. LOG(ERROR) << "确认分配校验车位状态错误!" ;
  1718. return Error_manager(Error_code::PARAMETER_ERROR, Error_level::MINOR_ERROR,
  1719. " 确认分配校验车位状态错误! ");
  1720. }
  1721. else
  1722. {
  1723. t_confirm_space.set_parkingspace_status(message::eParkspace_occupied);
  1724. t_confirm_space.set_parkspace_status_target(message::eParkspace_occupied);
  1725. }
  1726. }
  1727. if(t_confirm_space.parkspace_status_target() == message::eParkspace_occupied && space_info.has_car_info())
  1728. {
  1729. //更新车位数据1
  1730. t_confirm_space.set_parkingspace_status(message::eParkspace_occupied);
  1731. error = m_parkspace_operating_function.update_parkspace_data(t_confirm_space);
  1732. if (error != SUCCESS)
  1733. {
  1734. LOG(INFO) << "确认分配 数据库更新车位数据失败 " << error.to_string();
  1735. return error;
  1736. }
  1737. else
  1738. {
  1739. //修改车辆状态为已入库
  1740. message::Vehicle_status t_vehicle_status = message::Vehicle_status::eVehicle_in_garage;
  1741. error = m_parkspace_operating_function.update_vehicle_with_parkspace(t_confirm_space, t_vehicle_status);
  1742. if (error != SUCCESS)
  1743. {
  1744. //此处操作不成功就需要回退 因为前一步骤更改了车位表信息导致二表不统一
  1745. LOG(ERROR) << "确认分配 更新数据库车辆数据失败 进行回退---" << error.to_string();
  1746. t_confirm_space.set_parkingspace_status(t_parkingspace_status);
  1747. t_confirm_space.set_parkspace_status_target(t_parkingspace_status);
  1748. for (int i = 1; i < 4; ++i)
  1749. {
  1750. Error_manager e = m_parkspace_operating_function.update_parkspace_data(t_confirm_space);
  1751. if (e != SUCCESS)
  1752. {
  1753. LOG(INFO) << "回退第"<<i<<"次 失败! " << e.to_string();
  1754. continue;
  1755. }
  1756. else
  1757. {
  1758. LOG(INFO) << " 回退成功! ";
  1759. return e;
  1760. }
  1761. }
  1762. //如果流程进行到这里说明回退三次都失败 需要报三级故障
  1763. return Error_manager(Error_code::DB_UPDATE_FAILED, Error_level::MAJOR_ERROR,
  1764. " update database error ");
  1765. }
  1766. error.set_error_code(SUCCESS);
  1767. error.set_error_level_location(Error_level::NEGLIGIBLE_ERROR);
  1768. LOG(INFO) << "第:" << t_confirm_space.parkingspace_index_id() << "号位 车辆: " << t_confirm_space.car_info().license()<< " 确认占用成功";
  1769. //插入停车记录
  1770. time_t tt = time(NULL);
  1771. tm *t = localtime(&tt);
  1772. char my_time_buf[255];
  1773. memset(my_time_buf, 0, 255);
  1774. sprintf(my_time_buf, "%d-%02d-%02d %02d:%02d:%02d",
  1775. t->tm_year + 1900,
  1776. t->tm_mon + 1,
  1777. t->tm_mday,
  1778. t->tm_hour,
  1779. t->tm_min,
  1780. t->tm_sec);
  1781. t_confirm_space.set_entry_time(my_time_buf);
  1782. error = m_parkspace_operating_function.insert_parking_record(t_confirm_space);
  1783. if ( error != SUCCESS )
  1784. {
  1785. LOG(ERROR) << "插入停车记录失败: " << error.to_string();
  1786. }
  1787. //查询停车记录的ID
  1788. int t_record_id;
  1789. error = m_parkspace_operating_function.query_parking_record(t_confirm_space,t_record_id);
  1790. if ( error != SUCCESS )
  1791. {
  1792. LOG(ERROR) << "查询停车记录ID失败: " << error.to_string();
  1793. }
  1794. //更新停车记录ID
  1795. error = m_parkspace_operating_function.update_record_id(t_confirm_space.car_info().license(),t_record_id);
  1796. if ( error != SUCCESS )
  1797. {
  1798. LOG(ERROR) << "更新停车记录ID失败: " << error.to_string();
  1799. }
  1800. }
  1801. }
  1802. return error;
  1803. }
  1804. //释放车位操作函数
  1805. Error_manager Parkspace_manager::release_parkspace_function(message::Parkspace_info target_space_info,message::Parkspace_info& release_parkspace_info,bool flag)
  1806. {
  1807. Error_manager error;if(!target_space_info.has_car_info())
  1808. {
  1809. LOG(WARNING) << "传入待释放车位无车辆信息";
  1810. return error;
  1811. }
  1812. release_parkspace_info.CopyFrom(target_space_info);
  1813. if ( !PLAN )
  1814. {
  1815. if ( release_parkspace_info.parkingspace_status() == message::eParkspace_occupied ||
  1816. release_parkspace_info.parkingspace_status() == message::eParkspace_locked )
  1817. {
  1818. release_parkspace_info.set_parkingspace_status(message::eParkspace_empty);
  1819. release_parkspace_info.set_parkspace_status_target(message::eParkspace_empty);
  1820. }
  1821. else
  1822. {
  1823. LOG(ERROR) << "释放车位校验状态失败!" ;
  1824. return Error_manager(Error_code::PARAMETER_ERROR, Error_level::MINOR_ERROR,
  1825. " 释放车位校验状态失败! ");
  1826. }
  1827. }
  1828. if(release_parkspace_info.parkspace_status_target() == message::eParkspace_empty && release_parkspace_info.has_car_info())
  1829. {
  1830. release_parkspace_info.set_parkingspace_status(message::eParkspace_empty);
  1831. error = m_parkspace_operating_function.update_parkspace_data(release_parkspace_info);
  1832. if (error != SUCCESS)
  1833. {
  1834. LOG(ERROR) << "释放车位 更新数据库车位数据失败 " << error.to_string();
  1835. return error;
  1836. }
  1837. else
  1838. {
  1839. if ( flag == false )
  1840. {
  1841. error.set_error_code(SUCCESS);
  1842. error.set_error_level_location(Error_level::NORMAL);
  1843. LOG(INFO) << "不更新车辆表释放 --- 第:" << release_parkspace_info.parkingspace_index_id() << "号位 车辆: " << release_parkspace_info.car_info().license()
  1844. << " 释放成功";
  1845. }
  1846. else
  1847. {
  1848. message::Vehicle_status t_vehicle_status;
  1849. //获取预约ID
  1850. int t_park_record_id;
  1851. error = m_parkspace_operating_function.query_vehicle(release_parkspace_info.car_info().license(),
  1852. t_vehicle_status, t_park_record_id);
  1853. if (error != SUCCESS)
  1854. {
  1855. LOG(ERROR) << "释放车位 数据库查询车辆信息失败 " << error.to_string();
  1856. }
  1857. t_vehicle_status=message::eVehicle_idle;
  1858. error = m_parkspace_operating_function.update_vehicle_with_parkspace(release_parkspace_info, t_vehicle_status);
  1859. if (error != SUCCESS)
  1860. {
  1861. LOG(ERROR) << "释放车位 更新数据库车辆数据失败 " << error.to_string();
  1862. return error;
  1863. }
  1864. error.set_error_code(SUCCESS);
  1865. error.set_error_level_location(Error_level::NORMAL);
  1866. LOG(INFO) << "更新车辆表--- 第:" << release_parkspace_info.parkingspace_index_id() << "号位 车辆: " << release_parkspace_info.car_info().license()
  1867. << " 释放成功";
  1868. time_t tt = time(NULL);
  1869. tm *t = localtime(&tt);
  1870. char my_time_buf[255];
  1871. memset(my_time_buf, 0, 255);
  1872. sprintf(my_time_buf, "%d-%02d-%02d %02d:%02d:%02d",
  1873. t->tm_year + 1900,
  1874. t->tm_mon + 1,
  1875. t->tm_mday,
  1876. t->tm_hour,
  1877. t->tm_min,
  1878. t->tm_sec);
  1879. release_parkspace_info.set_leave_time(my_time_buf);
  1880. error = m_parkspace_operating_function.update_parking_record(release_parkspace_info, t_park_record_id);
  1881. if (error != SUCCESS)
  1882. {
  1883. LOG(ERROR) << "更新停车记录失败: " << error.to_string();
  1884. }
  1885. }
  1886. }
  1887. }
  1888. return error;
  1889. }