puai_wj_2021/system/system_executor.cpp

//
// Created by huli on 2020/7/2.
//

#include "system_executor.h"
#include "../tool/common_data.h"
#include "../tool/measure_filter.h"
#include "../message/measure_message.pb.h"
#include "../system/system_communication.h"

#include "../wanji_lidar/wanji_manager.h"
#include "../velodyne_lidar/velodyne_manager.h"

// std::ofstream g_debug_file; // 用于测试滤波功能

System_executor::System_executor()
{

}

System_executor::~System_executor()
{
	system_executor_uninit();
}

//初始化
Error_manager System_executor::system_executor_init(int threads_size, int terminal_id)
{
	m_thread_pool.thread_pool_init(threads_size);
	m_system_executor_status = SYSTEM_EXECUTOR_READY;
	m_terminal_id = terminal_id;
	return Error_code::SUCCESS;
}

//反初始化
Error_manager System_executor::system_executor_uninit()
{
    // if(g_debug_file.is_open())
    //     g_debug_file.close();

	m_thread_pool.thread_pool_uninit();
	m_system_executor_status = SYSTEM_EXECUTOR_UNKNOW;
	return Error_code::SUCCESS;
}

//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_executor::check_msg(Communication_message* p_msg)
{
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}

	//检查消息类型
	switch ( p_msg->get_message_type() )
	{
		case Communication_message::Message_type::eGround_detect_request_msg:
		{
			//检查接受人
			if ( p_msg->get_receiver() == Communication_message::Communicator::eGround_measurer)
			{
				message::Ground_detect_request_msg t_ground_detect_request_msg;
				//针对消息类型, 对消息进行二次解析
				if (t_ground_detect_request_msg.ParseFromString(p_msg->get_message_buf()))
				{
					// //检查终端id
					// 普爱不检查终端id
					// 楚天检查终端id
					// if ( t_ground_detect_request_msg.terminal_id() == m_terminal_id )
					// {
						return Error_code::SUCCESS;
					// }
				}
			}
			break;
		}
		default :
			;
			break;
	}


	//无效的消息,
	return Error_manager(Error_code::INVALID_MESSAGE, Error_level::NEGLIGIBLE_ERROR,
						 " INVALID_MESSAGE error ");
}

//检查执行者的状态, 判断能否处理这条消息,
Error_manager System_executor::check_executer(Communication_message* p_msg)
{
	//huli DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD  记得删除
	return Error_code::SUCCESS;
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}

	Error_manager t_error;
	//通过 p_msg->get_message_type() 和 p_msg->get_receiver() 找到处理模块的实例对象, 查询执行人是否可以处理这条消息
	switch ( p_msg->get_message_type() )
	{
		case Communication_message::Message_type::eGround_detect_request_msg:
		{
			Error_manager t_executor_result = System_executor::get_instance_references().check_status();

			if (t_executor_result == SUCCESS)
			{
				return Error_code::SUCCESS;
			}
			else
			{
				//整合所有的错误码
				t_error.compare_and_cover_error(t_executor_result);
				if (t_error.get_error_level() == NEGLIGIBLE_ERROR)//一级故障,轻微故障,
				{
					LOG(INFO) << "executer_is_busy , ";
					//返回繁忙之后, 通信模块1秒后再次调用check
					return Error_code::COMMUNICATION_EXCUTER_IS_BUSY;
				}
				else//返回二级故障,可以封装一条答复信息, 返回错误码
				{
					message::Ground_detect_request_msg t_ground_detect_request_msg;
					//针对消息类型, 对消息进行二次解析
					if (t_ground_detect_request_msg.ParseFromString(p_msg->get_message_buf()))
					{
						//创建一条答复消息
						message::Ground_detect_response_msg t_ground_detect_response_msg;
						t_ground_detect_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eGround_detect_response_msg);
						t_ground_detect_response_msg.mutable_base_info()->set_timeout_ms(5000);
						t_ground_detect_response_msg.mutable_base_info()->set_sender(message::Communicator::eGround_measurer);
						t_ground_detect_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

						t_ground_detect_response_msg.set_command_key(t_ground_detect_request_msg.command_key());
						t_ground_detect_response_msg.set_terminal_id(t_ground_detect_request_msg.terminal_id());
						t_ground_detect_response_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
						t_ground_detect_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
						t_ground_detect_response_msg.mutable_error_manager()->set_error_description(t_error.get_error_description());

						std::string t_msg = t_ground_detect_response_msg.SerializeAsString();
						System_communication::get_instance_references().encapsulate_msg(t_msg);
						LOG(INFO) << " System_executor::check_executer executer status error "<< this;
						return t_error;
					}
					else
					{
						LOG(INFO) << " System_executor::check_executer second PARSE_ERROR "<< this;
						return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
											 " message::Measure_request_msg  ParseFromString error ");
					}
				}
			}
			break;
		}
		default :
			;
			break;
	}


	return t_error;
}


//处理消息的执行函数
Error_manager System_executor::execute_msg(Communication_message* p_msg)
{
	if ( p_msg == NULL )
	{
		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
							 "  POINTER IS NULL ");
	}

	// std::cout << " huli test ::333333333333333333333333333333:: " << " p_msg->get_message_type() = " << p_msg->get_message_type() << std::endl;
	switch ( p_msg->get_message_type() )
	{
		case Communication_message::eGround_detect_request_msg:
		{
			message::Ground_detect_request_msg t_ground_detect_request_msg;
			//针对消息类型, 对消息进行二次解析
			if (t_ground_detect_request_msg.ParseFromString(p_msg->get_message_buf()))
			{
				//往线程池添加执行任务, 之后会唤醒一个线程去执行他.
				m_thread_pool.enqueue(&System_executor::execute_for_measure, this,
									  t_ground_detect_request_msg.command_key(), t_ground_detect_request_msg.terminal_id(),
									  p_msg->get_receive_time());
			}
			else
			{
				return Error_manager(Error_code::SYSTEM_EXECUTOR_PARSE_ERROR, Error_level::MINOR_ERROR,
									 " message::Measure_request_msg  ParseFromString error ");
			}
			break;
		}
		default:
		{

		}
	}


	return Error_code::SUCCESS;
}

//检查状态
Error_manager System_executor::check_status()
{
	if ( m_system_executor_status == SYSTEM_EXECUTOR_READY )
	{
		if ( m_thread_pool.thread_is_full_load() == false )
		{
			return Error_code::SUCCESS;
		}
		else
		{
			return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_BUSY, Error_level::NEGLIGIBLE_ERROR,
								 " System_executor::check_status error ");
		}
	}
	else
	{
		return Error_manager(Error_code::SYSTEM_EXECUTOR_STATUS_ERROR, Error_level::MINOR_ERROR,
							 " System_executor::check_status error ");
	}
}

//定时发送状态信息
Error_manager System_executor::encapsulate_send_status()
{
	static int cloud_count=-1;
	cloud_count++;
    // if(!g_debug_file.is_open())
    // {
    //     g_debug_file.open("./filter_debug_result.txt", std::ios::app);
    // }

	Error_manager t_error;
	//创建一条状态消息
	message::Ground_status_msg t_ground_status_msg;
	t_ground_status_msg.mutable_base_info()->set_msg_type(message::Message_type::eGround_status_msg);
	t_ground_status_msg.mutable_base_info()->set_timeout_ms(5000);
	t_ground_status_msg.mutable_base_info()->set_sender(message::Communicator::eGround_measurer);
	t_ground_status_msg.mutable_base_info()->set_receiver(message::Communicator::eEmpty);

	t_ground_status_msg.set_terminal_id(m_terminal_id);

	// 创建各区域状态消息, 
	// 注意！！！目前公共消息名字依旧使用wj，不做修改
	// manager
	Velodyne_manager::Velodyne_manager_status t_velodyne_manager_status = Velodyne_manager::get_instance_references().get_status();
	t_ground_status_msg.set_wanji_manager_status((message::Wanji_manager_status)t_velodyne_manager_status);

	// lidar
	std::map<int, Velodyne_lidar_device *> t_velodyne_lidar_device_map = Velodyne_manager::get_instance_references().get_velodyne_lidar_device_map();
	std::map<int, Velodyne_lidar_device::Velodyne_lidar_device_status> t_velodyne_lidar_status_map;
	for (auto iter = t_velodyne_lidar_device_map.begin(); iter != t_velodyne_lidar_device_map.end(); ++iter)
	{
		t_velodyne_lidar_status_map.emplace(std::pair<int, Velodyne_lidar_device::Velodyne_lidar_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
	}

	// region
	std::map<int, Ground_region *> t_ground_region_map = Velodyne_manager::get_instance_references().get_ground_region_map();
	int region_index = 0;
	for (auto iter = t_ground_region_map.begin(); iter != t_ground_region_map.end(); ++iter)
	{
		// 以t_ground_status_msg为模板创建各区域心跳消息
		message::Ground_status_msg t_multi_status_msg;
		t_multi_status_msg.CopyFrom(t_ground_status_msg);
        t_multi_status_msg.set_terminal_id(iter->second->get_terminal_id());
		t_multi_status_msg.set_region_worker_status((message::Region_worker_status)(iter->second->get_status()));
		velodyne::Region t_param = iter->second->get_param();
		for (size_t j = 0; j <t_param.lidar_exts_size(); j++)
		{
			std::map<int, Velodyne_lidar_device::Velodyne_lidar_device_status>::iterator t_status_iter = t_velodyne_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
			if(t_status_iter== t_velodyne_lidar_status_map.end())
			{
				LOG(WARNING) << "lidar status "<<t_param.lidar_exts(j).lidar_id()<<" cannot be found, param error";
			}else{
				t_multi_status_msg.add_wanji_lidar_device_status((message::Wanji_lidar_device_status)t_status_iter->second);
			}
		}
		//velodyne雷达的自动定位信息
		Common_data::Car_wheel_information	t_car_wheel_information;
		t_error = (*iter).second->get_last_wheel_information(&t_car_wheel_information, std::chrono::system_clock::now());

		// 获取区域点云填入信息
		pcl::PointCloud<pcl::PointXYZ>::Ptr t_region_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
		iter->second->get_region_cloud(t_region_cloud, Ground_region::Region_cloud_type::filtered);
		if(cloud_count == 5)
		{
			std::string t_filename = std::string("region_")+std::to_string(iter->first)+"_cloud.txt";
			save_cloud_txt(t_region_cloud, t_filename);
			LOG(INFO) << "region "<< iter->first <<" cloud has been saved in " + t_filename;
		}
		for (size_t j = 0; j < t_region_cloud->size(); j++)
		{
			message::Cloud_coordinate *tp_cloud = t_multi_status_msg.add_cloud();
			tp_cloud->set_x(t_region_cloud->points[j].x);
			tp_cloud->set_y(t_region_cloud->points[j].y);
			tp_cloud->set_z(t_region_cloud->points[j].z);
		}

		//无论定位结果如何, 都要填充数据, 即使全部写0, 必须保证通信格式正确.
		message::Locate_information t_locate_information;
		//= t_multi_status_msg.add_locate_information_realtime();
		t_locate_information.set_locate_x(t_car_wheel_information.car_center_x);
		t_locate_information.set_locate_y(t_car_wheel_information.car_center_y);
		t_locate_information.set_locate_angle(t_car_wheel_information.car_angle);
		t_locate_information.set_locate_length(0);
		t_locate_information.set_locate_width(0);
		t_locate_information.set_locate_height(0);
		t_locate_information.set_locate_wheel_base(t_car_wheel_information.car_wheel_base);
		t_locate_information.set_locate_wheel_width(t_car_wheel_information.car_wheel_width);
		t_locate_information.set_locate_front_theta(t_car_wheel_information.car_front_theta);
		t_locate_information.set_locate_correct(t_car_wheel_information.correctness);
		t_locate_information.set_uniformed_car_x(t_car_wheel_information.uniform_car_x);
		t_locate_information.set_uniformed_car_y(t_car_wheel_information.uniform_car_y);
		t_multi_status_msg.mutable_locate_information_realtime()->CopyFrom(t_locate_information);
		// 当前超界提示仅保留一项
		// 20211026已修改，分离为电子围栏状态与超界状态，只有测量正确时超界状态才有意义
		t_multi_status_msg.set_border_status(t_car_wheel_information.range_status);
		if(!t_car_wheel_information.correctness)
		{
			if(t_region_cloud->size() > 0)
				t_multi_status_msg.set_ground_status(message::Ground_statu::Noise);
			else
				t_multi_status_msg.set_ground_status(message::Ground_statu::Nothing);
		}else if(t_car_wheel_information.range_status == int(Ground_region::Range_status::Range_correct))
		{
			t_multi_status_msg.set_ground_status(message::Ground_statu::Car_correct);
		}else {
			t_multi_status_msg.set_ground_status(message::Ground_statu::Car_border_reached);
			// 更新待提示错误信息
			std::string t_error_str;
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_front != 0)
			{
				t_error_str.append("前超界 ");
			}
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_back != 0)
			{
				t_error_str.append("后超界 ");
			}
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_left != 0)
			{
				t_error_str.append("左超界 ");
			}
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_right != 0)
			{
				t_error_str.append("右超界 ");
			}
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_bottom != 0)
			{
				t_error_str.append("底盘超界 ");
			}
			if (t_car_wheel_information.range_status & Ground_region::Range_status::Range_top != 0)
			{
				t_error_str.append("顶超界 ");
			}
			t_error.set_error_description(t_error_str);
		}

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

		std::string t_msg = t_multi_status_msg.SerializeAsString();
		System_communication::get_instance_references().encapsulate_msg(t_msg);
        // std::cout<<t_multi_status_msg.DebugString()<<std::endl<<std::endl;
	}

	// 普爱统一一个万集节点, 各终端消息分别发送
	// 此处将t_ground_status_msg当做模板创建各区域的心跳消息. 
	//万集716
/*Wanji_manager::Wanji_manager_status t_wanji_manager_status = Wanji_manager::get_instance_references().get_status();
	t_ground_status_msg.set_wanji_manager_status((message::Wanji_manager_status)t_wanji_manager_status);

	std::map<int, Wanji_lidar_device*> & t_wanji_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
	for (auto iter = t_wanji_lidar_device_map.begin(); iter != t_wanji_lidar_device_map.end(); ++iter)
	{
		Wanji_lidar_device::Wanji_lidar_device_status t_wanji_lidar_device_status = (*iter).second->get_status();
		t_ground_status_msg.add_wanji_lidar_device_status((message::Wanji_lidar_device_status)t_wanji_lidar_device_status);
	}

	std::map<int, Region_worker*> & t_region_worker_map = Wanji_manager::get_instance_references().get_region_worker_map();
	int region_index = 0;
	for (auto iter = t_region_worker_map.begin(); iter != t_region_worker_map.end(); ++iter)
	{
        message::Ground_status_msg t_multi_status_msg;
        t_multi_status_msg.CopyFrom(t_ground_status_msg);
        t_multi_status_msg.set_terminal_id(region_index++);
		Region_worker::Region_worker_status t_region_worker_status = (*iter).second->get_status();
        // t_multi_status_msg.add_region_worker_status((message::Region_worker_status)t_region_worker_status);
		t_multi_status_msg.set_region_worker_status((message::Region_worker_status)t_region_worker_status);

		//万集雷达的自动定位信息
		Common_data::Car_wheel_information	t_car_wheel_information;
		t_error = (*iter).second->get_last_wheel_information(&t_car_wheel_information, std::chrono::system_clock::now());

		//无论定位结果如何, 都要填充数据, 即使全部写0, 必须保证通信格式正确.
		message::Locate_information t_locate_information;
		//= t_multi_status_msg.add_locate_information_realtime();
		t_locate_information.set_locate_x(t_car_wheel_information.center_x);
		t_locate_information.set_locate_y(t_car_wheel_information.center_y);
		t_locate_information.set_locate_angle(t_car_wheel_information.car_angle);
		t_locate_information.set_locate_length(0);
		t_locate_information.set_locate_width(0);
		t_locate_information.set_locate_height(0);
		t_locate_information.set_locate_wheel_base(t_car_wheel_information.wheel_base);
		t_locate_information.set_locate_wheel_width(t_car_wheel_information.wheel_width);
		t_locate_information.set_locate_front_theta(t_car_wheel_information.front_theta);
		t_locate_information.set_locate_correct(t_car_wheel_information.correctness);
		t_multi_status_msg.mutable_locate_information_realtime()->CopyFrom(t_locate_information);
		t_multi_status_msg.set_ground_status(t_car_wheel_information.correctness?message::Ground_statu::Car_correct:message::Ground_statu::Noise);

		t_multi_status_msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
        t_multi_status_msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
        t_multi_status_msg.mutable_error_manager()->set_error_description(t_error.get_error_description(), t_error.get_description_length());
        std::string t_msg = t_multi_status_msg.SerializeAsString();
        System_communication::get_instance_references().encapsulate_msg(t_msg);

//        // 记录滤波前后测量数据，用于判断测量精度变化
//        static int t_line_count = 0;
//        if(region_index == 6 && ++t_line_count < 120) {
//            if (g_debug_file.is_open() && t_car_wheel_information.correctness) {
//                g_debug_file << "basic:"<<t_line_count<<"\n" <<std::setprecision(6)<<std::setiosflags(std::ios::fixed)
//                             << t_car_wheel_information.center_x << ", "
//                             << t_car_wheel_information.center_y << ", "
//                             << t_car_wheel_information.car_angle << ", "
//                             << t_car_wheel_information.wheel_base << ", "
//                             << t_car_wheel_information.wheel_width << ", "
//                             << t_car_wheel_information.front_theta << std::endl;
//            }
//            Common_data::Car_wheel_information t_filtered_result;
//            Error_manager ec = Measure_filter::get_instance_references().get_filtered_wheel_information(region_index - 1, t_filtered_result);
//            if(ec==SUCCESS){
//                if (g_debug_file.is_open()) {
//                    g_debug_file << "filtered:"<<t_line_count<<"\n" <<std::setprecision(6)<<std::setiosflags(std::ios::fixed)
//                                 << t_filtered_result.center_x << ", "
//                                 << t_filtered_result.center_y << ", "
//                                 << t_filtered_result.car_angle << ", "
//                                 << t_filtered_result.wheel_base << ", "
//                                 << t_filtered_result.wheel_width << ", "
//                                 << t_filtered_result.front_theta << std::endl;
//                }
//            }else{
//                LOG(WARNING)<<ec.to_string();
//            }
////            LOG(WARNING) << t_multi_status_msg.DebugString();
//        }
}*/




//	std::cout << " huli test :::: " << " t_ground_status_msg.DebugString() = "  << std::endl;
//	std::cout << t_ground_status_msg.DebugString() << std::endl;

//	std::cout << " huli test :::: " << " t_ground_status_msg.DebugString() = " << t_ground_status_msg.DebugString() << std::endl;

	return Error_code::SUCCESS;
}

//判断是否为待机，如果已经准备好，则可以执行任务。
bool System_executor::is_ready()
{
	if ( m_system_executor_status == SYSTEM_EXECUTOR_READY && m_thread_pool.thread_is_full_load() == false )
	{
		return true;
	}
	else
	{
		return false;
	}
}

System_executor::System_executor_status System_executor::get_system_executor_status()
{
	return m_system_executor_status;
}

int System_executor::get_terminal_id()
{
	return m_terminal_id;
}

//雷达感测定位 的处理函数
//input::command_id, 消息指令id, 由主控制系统生成的唯一码
//input::command_id, 终端id, 对应具体的某个车位
//return::void, 没有返回, 执行结果直接生成一条答复消息, 然后通过通信返回
void System_executor::execute_for_measure(std::string command_info, int terminal_id,std::chrono::system_clock::time_point receive_time)
{
	Error_manager t_error;
	Error_manager t_result;
	LOG(INFO) << " System_executor::execute_for_measure run "<< this;

	//第1步, 按照时间生成中间文件的保存路径
	time_t nowTime;
	nowTime = time(NULL);
	struct tm* sysTime = localtime(&nowTime);
	char t_save_path[256] = { 0 };
	sprintf(t_save_path, "../data/%04d%02d%02d_%02d%02d%02d",
			sysTime->tm_year + 1900, sysTime->tm_mon + 1, sysTime->tm_mday, sysTime->tm_hour, sysTime->tm_min, sysTime->tm_sec);


	//第2步, 创建万集管理模块的任务单, 并发送到 wanji_manager
	// Wanji_manager_task  t_wanji_manager_task ;
	// Common_data::Car_wheel_information	t_car_information_by_wanji;
	// t_wanji_manager_task.task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(3000),
	// 							   terminal_id, receive_time);
	// t_error = Task_command_manager::get_instance_references().execute_task(&t_wanji_manager_task);
	// 或者创建velodyne管理模块任务单，并发送到velodyne_manager
	Velodyne_manager_task t_velodyne_manager_task;
	Common_data::Car_wheel_information	t_car_information_by_velodyne;
	t_velodyne_manager_task.task_init(TASK_CREATED,"",NULL,std::chrono::milliseconds(3000),
								   terminal_id, receive_time);
	t_error = Task_command_manager::get_instance_references().execute_task(&t_velodyne_manager_task);							   

	//第3步, 等待任务单完成
	if ( t_error != Error_code::SUCCESS )
	{
		LOG(INFO) << " Velodyne_manager/Velodyne_manager  execute_task   error "<< this;
	}
	else
	{
		// //判断任务是否结束, 阻塞 等待, 直到任务完成或者超时
		// while ( t_wanji_manager_task.is_task_end() == false)
		// {
		// 	if ( t_wanji_manager_task.is_over_time() )
		// 	{
		// 		//超时处理。取消任务。
		// 		Wanji_manager::get_instance_pointer()->cancel_task(&t_wanji_manager_task);
		// 		t_error.error_manager_reset(Error_code::WJ_MANAGER_TASK_OVER_TIME, Error_level::MINOR_ERROR,
		// 									" t_wanjestaui_manager_task is_over_time ");
		// 		t_wanji_manager_task.set_task_error_manager(t_error);
		// 	}
		// 	else
		// 	{
		// 		//继续等待
		// 		std::this_thread::sleep_for(std::chrono::microseconds(1));
		// 		std::this_thread::yield();
		// 	}
		// }

		// //提取任务单 的错误码
		// t_error = t_wanji_manager_task.get_task_error_manager();
		// if ( t_error == Error_code::SUCCESS )
		// {
		// 	t_car_information_by_wanji = t_wanji_manager_task.get_car_wheel_information();
		// }
		// else
		// {
		//     LOG(INFO) << " wanji_manager_task error :::::::"  << t_wanji_manager_task.get_task_error_manager().to_string() << this;
		// }
		// ------------------- 切换为velodyne ------------------
		//判断任务是否结束, 阻塞 等待, 直到任务完成或者超时
		while ( t_velodyne_manager_task.is_task_end() == false)
		{
			if ( t_velodyne_manager_task.is_over_time() )
			{
				//超时处理。取消任务。
				Velodyne_manager::get_instance_pointer()->cancel_task(&t_velodyne_manager_task);
				t_error.error_manager_reset(Error_code::VELODYNE_MANAGER_TASK_OVER_TIME, Error_level::MINOR_ERROR,
											" t_velodyne_manager_task is_over_time ");
				t_velodyne_manager_task.set_task_error_manager(t_error);
			}
			else
			{
				//继续等待
				std::this_thread::sleep_for(std::chrono::microseconds(1));
				std::this_thread::yield();
			}
		}

		//提取任务单 的错误码
		t_error = t_velodyne_manager_task.get_task_error_manager();
		if ( t_error == Error_code::SUCCESS )
		{
			t_car_information_by_velodyne = t_velodyne_manager_task.get_car_wheel_information();
		}
		else
		{
		    LOG(INFO) << " velodyne_manager_task error :::::::"  << t_velodyne_manager_task.get_task_error_manager().to_string() << this;
		}
	}
	t_result.compare_and_cover_error(t_error);

	//measure 测量模块的最终结果
	Common_data::Car_measure_information	t_car_information_result;

	//第4步, 生成反馈消息
	// if(t_car_information_by_wanji.correctness == true )
	// {
	// 	t_car_information_result.center_x = t_car_information_by_wanji.center_x;
	// 	t_car_information_result.center_y = t_car_information_by_wanji.center_y;

	// 	t_car_information_result.car_angle = t_car_information_by_wanji.car_angle;
	// 	t_car_information_result.wheel_base = t_car_information_by_wanji.wheel_base;

	// 	t_car_information_result.wheel_width = t_car_information_by_wanji.wheel_width;
	// 	t_car_information_result.correctness = true;
	// }else{
	// 	t_result.set_error_level_down(NEGLIGIBLE_ERROR);
	// }
	// ------------------- 切换为velodyne ------------------
	if(t_car_information_by_velodyne.correctness == true )
	{
		t_car_information_result.car_center_x = t_car_information_by_velodyne.car_center_x;
		t_car_information_result.car_center_y = t_car_information_by_velodyne.car_center_y;

		t_car_information_result.car_angle = t_car_information_by_velodyne.car_angle;
		t_car_information_result.car_wheel_base = t_car_information_by_velodyne.car_wheel_base;

		t_car_information_result.car_wheel_width = t_car_information_by_velodyne.car_wheel_width;
		t_car_information_result.correctness = true;
	}else{
		t_result.set_error_level_down(NEGLIGIBLE_ERROR);
	}


	//第七步, 创建一条答复消息
	message::Ground_detect_response_msg t_ground_detect_response_msg;
	t_ground_detect_response_msg.mutable_base_info()->set_msg_type(message::Message_type::eGround_detect_response_msg);
	t_ground_detect_response_msg.mutable_base_info()->set_timeout_ms(5000);
	t_ground_detect_response_msg.mutable_base_info()->set_sender(message::Communicator::eGround_measurer);
	t_ground_detect_response_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

	t_ground_detect_response_msg.set_command_key(command_info);
	t_ground_detect_response_msg.set_terminal_id(terminal_id);
	t_ground_detect_response_msg.mutable_error_manager()->set_error_code(t_result.get_error_code());
	t_ground_detect_response_msg.mutable_error_manager()->set_error_level((message::Error_level)t_result.get_error_level());
	t_ground_detect_response_msg.mutable_error_manager()->set_error_description(t_result.get_error_description(), t_result.get_description_length());

	t_ground_detect_response_msg.mutable_locate_information()->set_locate_x(t_car_information_result.car_center_x);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_y(t_car_information_result.car_center_y);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_angle(t_car_information_result.car_angle);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_length(t_car_information_result.car_length);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_width(t_car_information_result.car_width);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_height(t_car_information_result.car_height);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_wheel_base(t_car_information_result.car_wheel_base);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_wheel_width(t_car_information_result.car_wheel_width);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_front_theta(t_car_information_result.car_front_theta);
	t_ground_detect_response_msg.mutable_locate_information()->set_locate_correct(t_car_information_result.correctness);


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

	std::cout << "huli t_measure_response_msg = " << t_ground_detect_response_msg.DebugString() << std::endl;


	return ;
}