measure_module/system/system_communication.cpp

//
// Created by huli on 2020/6/28.
//

#include "system_communication.h"
#include "../laser/laser_manager.h"
#include "../locate/locate_manager.h"
#include "../system/system_executor.h"

System_communication::System_communication()
{

}

System_communication::~System_communication()
{

}


//检查消息是否有效, 主要检查消息类型和接受者, 判断这条消息是不是给我的.
Error_manager System_communication::check_msg(Communication_message*  p_msg)
{
	//通过 p_msg->get_message_type() 和 p_msg->get_receiver() 判断这条消息是不是给我的.
	if ( p_msg->get_message_type() == Communication_message::Message_type::eLocate_request_msg
		 && p_msg->get_receiver() == Communication_message::Communicator::eMeasurer )
	{
		return Error_code::SUCCESS;
	}
	else
	{
		//无效的消息,
		return Error_code::INVALID_MESSAGE;
	}
}

//检查执行者的状态, 判断能否处理这条消息, 需要子类重载
Error_manager System_communication::check_executer(Communication_message*  p_msg)
{
	//检查对应模块的状态, 判断是否可以处理这条消息
	//同时也要判断是否超时, 超时返回 COMMUNICATION_ANALYSIS_TIME_OUT
	//如果处理器正在忙别的, 那么返回 COMMUNICATION_EXCUTER_IS_BUSY
	std::cout << "Communication_socket_base::check_msg  p_buf =  " << p_msg->get_message_buf() << std::endl;
	std::cout << "Communication_socket_base::check_msg   size =  " << p_msg->get_message_buf().size() << std::endl;

	Error_manager t_error;
	if ( p_msg->is_over_time() )
	{
		std::cout << "COMMUNICATION_ANALYSIS_TIME_OUT , " << std::endl;
		//超时:接收方不做处理,发送方会进行超时处理
		return Error_code::COMMUNICATION_ANALYSIS_TIME_OUT;
	}
	else
	{
		return System_executor::get_instance_references().check_executer(p_msg);
	}
	return Error_code::SUCCESS;
}

//处理消息, 需要子类重载
Error_manager System_communication::execute_msg(Communication_message* p_msg)
{
	return System_executor::get_instance_references().execute_msg(p_msg);
}

//定时封装发送消息, 一般为心跳和状态信息, 需要子类重载
Error_manager System_communication::encapsulate_send_data()
{
	Error_manager t_error;

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

	Laser_manager::Laser_manager_status t_laser_manager_status = Laser_manager::get_instance_references().get_laser_manager_status();
	t_measure_status_msg.set_laser_manager_status((message::Laser_manager_status)t_laser_manager_status);

	std::vector<Laser_base*> & t_laser_vector = Laser_manager::get_instance_references().get_laser_vector();
	for (auto iter = t_laser_vector.begin(); iter != t_laser_vector.end(); ++iter)
	{
		Laser_statu t_laser_statu = (*iter)->get_laser_statu();
		t_measure_status_msg.add_laser_statu_vector((message::Laser_statu)t_laser_statu);
	}

	Locate_manager::Locate_manager_status t_locate_manager_status = Locate_manager::get_instance_references().get_locate_manager_status();
	t_measure_status_msg.set_locate_manager_status((message::Locate_manager_status)t_locate_manager_status);

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

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

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

	return Error_code::SUCCESS;
}