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::mp_locate_communicator=NULL;

Locate_communicator::Locate_communicator()
{

}
Locate_communicator::~Locate_communicator()
{

}
Error_manager Locate_communicator::locate_request(message::Locate_request_msg request,message::Locate_response_msg& result,unsigned int timeout)
{
    /*
     * 检查request合法性,以及模块状态
     */

    std::string response_string;
    Error_manager code=m_nnxx_client.request(request.SerializeAsString(),response_string,timeout);

    if(code==SUCCESS)
    {
        //解析返回数据
        message::Locate_response_msg response;

        if(false==response.ParseFromString(response_string))
        {
            //解析response数据错误,
//            return Error_manager(LOCATE_RESPONSE_PARSE_ERROR,MAJOR_ERROR,"response string parse failed");
        }
        else if(response.error_code()==SUCCESS)
        {
            result=response;
            return SUCCESS;
        }
        else
        {
            ///将response中的错误信息,转换成错误码,返回
            return Error_manager(Error_code(response.error_code()),MAJOR_ERROR,response.error_description().c_str());
        }
    }
    else if(code.get_error_level()==MINOR_ERROR)
    {
        //处理底层处理不了的错误
    }
    else if(code.get_error_level()==MAJOR_ERROR)
    {
        //本模块功能失败的错误,向上抛出
        return code;
    }
}

Error_manager Locate_communicator::create_locate_communicator(std::string str_ip,int port)
{
    Error_manager code=SUCCESS;
    if(mp_locate_communicator==NULL)
    {
        mp_locate_communicator=new Locate_communicator();
        char connect_str[255]={0};
        sprintf(connect_str,"tcp://%s:%d",str_ip.c_str(),port);
        code=mp_locate_communicator->m_nnxx_client.connect(connect_str);
        return code;
    } else
    {
        return code;
    }

}

Locate_communicator* Locate_communicator::get_instance()
{
    return mp_locate_communicator;
}