parkspace_module/lidar_locate/Locate_communicator.cpp

//
// Created by zx on 2020/6/18.
//

#include "Locate_communicator.h"
//#include "locate_message.pb.h"


Locate_communicator::Locate_communicator()
{

}
Locate_communicator::~Locate_communicator()
{

}


Error_manager Locate_communicator::encapsulate_msg(Communication_message* message)
{

    //记录请求
    if(message->get_message_type()==Communication_message::eLocate_request_msg)
    {
        message::Measure_request_msg request;
        m_response_table[request.command_id()]=message::Measure_response_msg();
    }
    else
    {
        return Error_manager(LOCATER_MSG_TABLE_NOT_EXIST,NEGLIGIBLE_ERROR,"message table is not exist");
    }

    //发送请求
    return Communication_socket_base::encapsulate_msg(message);
}

Error_manager Locate_communicator::locate_request(message::Measure_request_msg& request,message::Measure_response_msg& result)
{
    /*
     * 检查request合法性,以及模块状态
     */
    if(request.base_info().sender()!=message::eMain||request.base_info().receiver()!=message::eMeasurer)
        return Error_manager(LOCATER_MSG_REQUEST_INVALID,MINOR_ERROR,"measure request invalid");

    //设置超时,若没有设置,默认3000
    int timeout=request.base_info().has_timeout_ms()?request.base_info().timeout_ms():3000;
    //向测量节点发送测量请求,并记录请求

    Error_manager code;
    Communication_message message;

    message::Base_info base_msg;
    base_msg.set_msg_type(message::eLocate_request_msg);
    base_msg.set_sender(message::eMain);
    base_msg.set_receiver(message::eMeasurer);
    base_msg.set_timeout_ms(timeout);
    message.reset(base_msg,request.SerializeAsString());

    code=encapsulate_msg(&message);
    if(code!=SUCCESS)
        return code;
    //循环查询请求是否被处理
    auto start_time=std::chrono::system_clock::now();
    double time=0;
    do{
        //在请求表中查询结果
        message::Measure_response_msg response=m_response_table[request.command_id()];
        //判断是否接收到回应,若回应信息被赋值则证明有回应
        if(response.has_base_info() && response.has_command_id())
        {
            message::Base_info response_base=response.base_info();
            //检查类型是否匹配
            if(response_base.msg_type() != message::eLocate_response_msg)
            {
                return Error_manager(LOCATER_MSG_RESPONSE_TYPE_ERROR,MAJOR_ERROR,"measure response msg type error");
            }
            //检查基本信息是否匹配
            if(response_base.sender()!=message::eMeasurer ||
                response_base.receiver()!=message::eMain||
                response.command_id()!=request.command_id())
            {
                return Error_manager(LOCATER_MSG_RESPONSE_INFO_ERROR,MAJOR_ERROR,"measure response msg info error");
            }
            result=response;
            return SUCCESS;

        }

        auto end_time=std::chrono::system_clock::now();
        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time);
        time=1000.0*double(duration.count()) * std::chrono::microseconds::period::num / std::chrono::microseconds::period::den;
        std::this_thread::yield();
    }while(time<double(timeout));

    return Error_manager(RESPONSE_TIMEOUT,MINOR_ERROR,"measure request timeout");
}


Error_manager Locate_communicator::execute_msg(Communication_message* p_msg)
{
    if(p_msg== nullptr)
        return Error_manager(POINTER_IS_NULL,CRITICAL_ERROR,"measure response msg pointer is null");


    //测量response消息
    if(p_msg->get_message_type()==Communication_message::eLocate_response_msg)
    {
        message::Measure_response_msg response;
        response.ParseFromString(p_msg->get_message_buf());
        ///查询请求表是否存在
        if(m_response_table.find(response.command_id())==m_response_table.end())
        {
            return Error_manager(LOCATER_MSG_RESPONSE_HAS_NO_REQUEST,NEGLIGIBLE_ERROR,"measure response without request");
        }
        ////更新表
        m_response_table[response.command_id()]=response;
    }
}