CT_project/plc调度节点/dispatch/dispatch_command.cpp

#include "dispatch_command.h"
#include <google/protobuf/text_format.h>
#include "../tool/time_tool.h"
#include "dispatch_manager.h"

Dispatch_command::Dispatch_command()
{
	m_dispatch_command_status = E_DISPATCH_COMMAND_UNKNOW;
	m_unit = 0;
	m_device_floor = 0;
	m_dispatch_process_type = Common_data::DISPATCH_PROCESS_TYPE_UNKNOW;
	m_car_type = Common_data::Car_type::UNKNOW_CAR_TYPE;
}

Dispatch_command::~Dispatch_command()
{

}



//调度开始前, 向数据库发送请求的相关操作, 输入 穿梭机所在的楼层, 调度id 0~2, 空闲出口id, 如果不是0,就表示有空闲的出口
Error_manager Dispatch_command::dispatch_request_to_sql(int device_floor, int dispatch_id, int outlet_ready)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	Error_manager t_error;

	m_device_floor = device_floor;
	m_dispatch_id = dispatch_id;
	m_unit = dispatch_id+1;
	m_outlet_ready = outlet_ready;

	//获取调度指令, 与数据库同步 command_queue
	t_error = query_all_dispatch_command(0);
	if ( t_error != Error_code::SUCCESS )
	{
		return t_error;
	}

	//排序
	if ( outlet_ready == 0 )
	{
		//对调度指令进行排序, 选出最优解, 只比较存车
		t_error = sort_dispatch_command_for_park();
	}
	else
	{
		//对调度指令进行排序, 选出最优解, 比较存车和取车
		t_error = sort_dispatch_command_for_total();
	}

	if ( t_error != Error_code::SUCCESS )
	{
		m_dispatch_process_type = Common_data::DISPATCH_PROCESS_TYPE_UNKNOW;

		//没有找到合适的指令就返回NODATA, 然后设么也不做
		return t_error;
	}
	else
	{
		if ( m_dispatch_command_map[m_car_number_optimal].m_type == 1 )//存车
		{

			//注注注注注意了
			//存车自带感测信息,没有车位信息, 需要查询车位表,找到空车位,补全车位信息
			//取车自带车位信息,没有感测信息, 需要查询车辆表,补全车辆信息

			//查询空闲车位最优解,    存车指令 根据调度指令最优解 获取 空闲车位最优解
			t_error = query_dispatch_space_optimal();
			if ( t_error != Error_code::SUCCESS )
			{
				update_command_queue_for_statu(3);
				return t_error;
			}
			else
			{
				m_dispatch_process_type = Common_data::DISPATCH_PROCESS_STORE;

				m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_id(m_dispatch_space_info.m_id);
				m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_unit_id(m_dispatch_space_info.m_unit);
				m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_floor(m_dispatch_space_info.m_floor);
				m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_room_id(m_dispatch_space_info.m_subID);

				//更新 车位状态, 根据车位ID 写入车牌号即可
				t_error = update_parkspace_info_write_car_number();
				//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
				t_error = update_command_queue_for_statu(1);
				//制作存车表单
				t_error = create_park_table();
				//增加 记录表, 存车指令 完成后添加存车记录
				t_error =  insert_record_for_park_start();

				LOG(INFO) << " create_park_table 创建存车任务单 =  "<< m_park_table_msg.DebugString() << " --- " << this;
				return Error_code::SUCCESS;
			}
		}
		else if ( m_dispatch_command_map[m_car_number_optimal].m_type == 2 )//取车
		{
			//注注注注注意了
			//存车自带感测信息,没有车位信息, 需要查询车位表,找到空车位,补全车位信息
			//取车自带车位信息,没有感测信息, 需要查询车辆表,补全车辆信息

			//查询 取车的车辆感测信息    取车指令 根据key 查询感测信息
			t_error = query_dispatch_vehicle_for_primary_key();
			if ( t_error != Error_code::SUCCESS )
			{
				update_command_queue_for_statu(3);
				return t_error;
			}
			else
			{
				//补充出口id
				m_dispatch_command_map[m_car_number_optimal].m_export_id = outlet_ready;

				m_dispatch_process_type = Common_data::DISPATCH_PROCESS_PICKUP;

				m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg = m_dispatch_vehicle_info.m_actually_measure_info_msg;

				//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
				t_error = update_command_queue_for_statu(1);
				//制作取车表单
				t_error = create_pick_table(outlet_ready);
				//更新 记录表, 取车指令 完成后更新取车记录
				t_error =  updata_record_for_pick_start();

				LOG(INFO) << " create_pick_table 创建取车车任务单 =  "<< m_pick_table_msg.DebugString() << " --- " << this;
			}
		}
		else
		{
			return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
								 " fun error ");
		}
	}
	return Error_code::SUCCESS;
}

//调度完成后, 向数据库发送答复的相关操作
Error_manager Dispatch_command::dispatch_response_to_sql(Error_manager dispatch_result)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	Error_manager t_error;

	if ( dispatch_result == Error_code::SUCCESS )
	{
		//调度成功, 完善数据库
		if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_STORE )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_STORE 存车答复成功 =  "<< t_error << " --- " << this;

			//增加 车辆表, 存车指令 完成后添加车辆信息
			t_error = insert_vehicle_for_car_number_ex();
			//更新 指令队列, 根据车牌号 删除指令
			t_error = delete_command_queue_for_statu();
			//增加 记录表, 存车指令 完成后添加存车记录
			t_error =  updata_record_for_park_end();
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_PICKUP )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_PICKUP 取车答复成功 =  "<< t_error << " --- " << this;

			//删除 车辆表, 取车指令 完成后删除车辆信息
			t_error = delete_vehicle_for_car_number();
			//更新 车位状态, 找到车牌号, 写NULL
			t_error = update_parkspace_info_clear_car_number();
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			t_error = update_command_queue_for_statu(2);
			//更新 记录表, 取车指令 完成后更新取车记录
			t_error =  updata_record_for_pick_end();
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_REALLOCATE )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_REALLOCATE 改道答复成功 =  "<< t_error << " --- " << this;
			//增加 车辆表, 存车指令 完成后添加车辆信息
			t_error = insert_vehicle_for_car_number_ex();
			//更新 指令队列, 根据车牌号 删除指令
			t_error = delete_command_queue_for_statu();
			//增加 记录表, 存车指令 完成后添加存车记录
			t_error =  updata_record_for_park_end();
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_REVOCATION )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_REVOCATION 撤销答复成功 =  "<< t_error << " --- " << this;

			//删除 车辆表, 取车指令 完成后删除车辆信息
			t_error = delete_vehicle_for_car_number();
			//更新 车位状态, 找到车牌号, 写NULL
			t_error = update_parkspace_info_clear_car_number();
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			t_error = update_command_queue_for_statu(2);
//			LOG(INFO) << "llllllllllllllllllllllllllllllllllllllllll respons =  "<< t_error << " --- " << this;
			//更新 记录表, 取车指令 完成后更新取车记录, 撤销指令, 没有取车时间差
			t_error =  updata_record_for_pick_end_ex();
		}
		else
		{
			return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
								 " fun error ");
		}

		return t_error;
	}
	else
	{
		//调度失败, 回退 数据库
		if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_STORE )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_STORE 存车答复失败 =  "<< t_error << " --- " << this;
			//更新 车位状态, 找到车牌号, 写NULL
			update_parkspace_info_clear_car_number();
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			update_command_queue_for_statu(3);
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_PICKUP )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_PICKUP 取车答复失败 =  "<< t_error << " --- " << this;
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			update_command_queue_for_statu(3);
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_REALLOCATE )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_STORE 改道答复失败 =  "<< t_error << " --- " << this;
			//更新 车位状态, 找到车牌号, 写NULL
			update_parkspace_info_clear_car_number();
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			update_command_queue_for_statu(3);
		}
		else if ( m_dispatch_process_type == Common_data::DISPATCH_PROCESS_REVOCATION )
		{
			LOG(INFO) << " dispatch_response_to_sql DISPATCH_PROCESS_PICKUP 撤销答复失败 =  "<< t_error << " --- " << this;
			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
			update_command_queue_for_statu(3);
		}
		else
		{
			return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
								 " fun error ");
		}
	}

	return Error_code::SUCCESS;
}

//调度 , 向数据库 重新分配车位,
Error_manager Dispatch_command::dispatch_reallocate_to_sql(Common_data::Car_type reallocate_car_type, int outlet_ready)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	Error_manager t_error;

	m_outlet_ready = outlet_ready;

	//把之前申请的车位清除  //更新 车位状态, 找到车牌号, 写NULL
	t_error = Dispatch_command::update_parkspace_info_clear_car_number();

	//重新申请车位
	//查询空闲车位最优解,    存车指令 根据调度指令最优解 获取 空闲车位最优解
	t_error = query_dispatch_space_optimal(reallocate_car_type);

	if ( t_error != Error_code::SUCCESS )
	{
		//没找到车位, 就把车放到出口
		if ( outlet_ready != 0 )
		{
			m_dispatch_process_type = Common_data::DISPATCH_PROCESS_REVOCATION;

			//补充出口id
			m_dispatch_command_map[m_car_number_optimal].m_export_id = outlet_ready;

			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_id(0);
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_unit_id(0);
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_floor(0);
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_room_id(0);

			//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
//			t_error = update_command_queue_for_statu(1);
			//制作取车表单
			t_error = create_pick_table(outlet_ready);
			LOG(INFO) << " create_pick_table 撤销存车, 取车到出口任务单 =  "<< m_pick_table_msg.DebugString() << " --- " << this;

			return t_error;
		}
		else
		{
			//无限等待, 等待出口空闲
			return Error_code::NODATA;
		}
	}
	else
	{
		m_dispatch_process_type = Common_data::DISPATCH_PROCESS_REALLOCATE;

		//找到新的车位, 重新执行任务
		m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_id(m_dispatch_space_info.m_id);
		m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_unit_id(m_dispatch_space_info.m_unit);
		m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_floor(m_dispatch_space_info.m_floor);
		m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.set_room_id(m_dispatch_space_info.m_subID);

		//更新 车位状态, 根据车位ID 写入车牌号即可
		t_error = update_parkspace_info_write_car_number();
		//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
//		t_error = update_command_queue_for_statu(1);
		//制作存车表单
		t_error = create_park_table();

		LOG(INFO) << " create_park_table 改道存车, 存车新车位任务单 =  "<< m_park_table_msg.DebugString() << " --- " << this;
	}

	return Error_code::SUCCESS;
}


//检查出口是否空闲, 检查指令队列的取车完成的出口id是否存在, 不存在就是空闲,返回成功
Error_manager Dispatch_command::check_export_id_is_ready(int export_id)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//检查指令队列, 查询指定单元的取车完成状态指令的 出口id是否存在
	char check_export_id_sql[1024];
	memset(check_export_id_sql, 0, 1024);
	sprintf(check_export_id_sql,"select * from command_queue where statu = 2 and type = 2 and export_id = %d",export_id);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager t_error = Database_controller::get_instance_pointer()->sql_query(check_export_id_sql, tp_result);

	if(t_error == Error_code::SUCCESS)
	{
		if (tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}

		//如果存在, 就报错,   不存在就是空闲,返回成功
		if ( tp_result->next() )
		{
			return Error_manager(Error_code::DB_QUERY_OUTLET_OCCUPY, Error_level::MINOR_ERROR,
								 " check_export_id_is_ready fun error, 数据库 查询出口被占用 ");
		}
		else
		{
			return Error_code::SUCCESS;
		}
	}
	else
	{
		return t_error;
	}
	return Error_code::SUCCESS;
}

//检查出口取车是否完成, 指定的出口有取车完成指令就返回成功, 否则报错.
Error_manager Dispatch_command::check_pickup_is_finish(int export_id)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//检查指令队列, 查询指定单元的取车完成状态指令的 出口id是否存在
	char check_export_id_sql[1024];
	memset(check_export_id_sql, 0, 1024);
	sprintf(check_export_id_sql,"select * from command_queue where statu = 2 and type = 2 and export_id = %d",export_id);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager t_error = Database_controller::get_instance_pointer()->sql_query(check_export_id_sql, tp_result);

	if(t_error == Error_code::SUCCESS)
	{
		if (tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}

		//如果存在, 就报错,   不存在就是空闲,返回成功
		if ( tp_result->next() )
		{
			return Error_code::SUCCESS;
		}
		else
		{
			return Error_manager(Error_code::DB_QUERY_OUTLET_OCCUPY, Error_level::MINOR_ERROR,
								 " check_export_id_is_ready fun error, 数据库 查询出口被占用 ");
		}
	}
	else
	{
		return t_error;
	}
	return Error_code::SUCCESS;
}

//检查入口存车是否开始, 指定的入口有存车开始指令就返回成功, 否则报错.
Error_manager Dispatch_command::check_park_is_start(int import_id)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//检查指令队列, 查询指定单元的取车完成状态指令的 出口id是否存在
	char check_export_id_sql[1024];
	memset(check_export_id_sql, 0, 1024);
	sprintf(check_export_id_sql,"select * from command_queue where type = 1 and import_id = %d and (statu=0 or statu =1)",import_id);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager t_error = Database_controller::get_instance_pointer()->sql_query(check_export_id_sql, tp_result);

	if(t_error == Error_code::SUCCESS)
	{
		if (tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}

		//如果存在, 就报错,   不存在就是空闲,返回成功
		if ( tp_result->next() )
		{
			return Error_code::SUCCESS;
		}
		else
		{
			return Error_manager(Error_code::DB_QUERY_OUTLET_OCCUPY, Error_level::MINOR_ERROR,
								 " check_export_id_is_ready fun error, 数据库 查询出口被占用 ");
		}
	}
	else
	{
		return t_error;
	}
	return Error_code::SUCCESS;
}

//获取指定入口的 存车流程的 唯一码,
Error_manager Dispatch_command::get_primary_key_for_store(int import_id, std::string & primary_key )
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	//检查指令队列, 查询指定单元的取车完成状态指令的 出口id是否存在
	char check_export_id_sql[1024];
	memset(check_export_id_sql, 0, 1024);
	sprintf(check_export_id_sql,"select * from command_queue where type = 1 and import_id = %d and (statu=0 or statu =1)",import_id);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager t_error = Database_controller::get_instance_pointer()->sql_query(check_export_id_sql, tp_result);

	if(t_error == Error_code::SUCCESS)
	{
		if (tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}

		//如果存在, 就报错,   不存在就是空闲,返回成功
		if ( tp_result->next() )
		{
			char buf[1024];
			memset(buf, 0, 1024);
			try
			{
				//解析数据
				primary_key = tp_result->getString("primary_key");
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(), e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			return Error_code::SUCCESS;
		}
		else
		{
			return Error_manager(Error_code::DB_QUERY_OUTLET_OCCUPY, Error_level::MINOR_ERROR,
								 " check_export_id_is_ready fun error, 数据库 查询出口被占用 ");
		}
	}
	else
	{
		return t_error;
	}
	return Error_code::SUCCESS;
}

//删除 指令队列, 根据出口编号
Error_manager Dispatch_command::delete_command_queue_for_export_id(int export_id)
{
	std::unique_lock<std::mutex> t_lock(m_lock);

	char delete_command_sql[1024];
	memset(delete_command_sql, 0, 1024);
	sprintf(delete_command_sql, "delete from command_queue where statu = 2 and type = 2 and export_id = %d ",
			export_id );
	Error_manager ec = Database_controller::get_instance_pointer()->sql_delete(delete_command_sql);
	return ec;
}

//添加plc数据储存
Error_manager Dispatch_command::insert_plc_data(std::string plc_data, float hearbeat)
{
	std::unique_lock<std::mutex> t_lock(m_lock);
	char insert_vehicle_sql[4096];
	memset(insert_vehicle_sql, 0, 4096);
	sprintf(insert_vehicle_sql, "INSERT INTO plc_data (data, hearbeat) values ('%s',%f)",
			plc_data.c_str(), hearbeat  );
	Error_manager ec = Database_controller::get_instance_pointer()->sql_insert(insert_vehicle_sql);
	std::cout << " huli test :::: " << " ec = " << ec << std::endl;
	return ec;
}

//获取调度指令, 与数据库同步 command_queue, statu指令状态, 0:排队等待, 1正在运行, 2:已经完成
Error_manager Dispatch_command::query_all_dispatch_command(int statu)
{
	//从command_queue获取所有排队的指令,
	char query_all_dispatch_command_sql[1024];
	memset(query_all_dispatch_command_sql, 0, 1024);
	sprintf(query_all_dispatch_command_sql,"select * from command_queue where statu = %d and unit = %d",statu, m_unit);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager t_error = Database_controller::get_instance_pointer()->sql_query(query_all_dispatch_command_sql, tp_result);

	m_dispatch_command_map.clear();
	if(t_error == Error_code::SUCCESS)
	{
		if (tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}

		//循环检查所有行
		while (tp_result->next())
		{
			Dispatch_command_info t_dispatch_command_info;
			char t_error_buf[1024];
			memset(t_error_buf, 0, 1024);
			try
			{
				//解析数据
				t_dispatch_command_info.m_car_number = tp_result->getString("car_number");
				t_dispatch_command_info.m_primary_key = tp_result->getString("primary_key");
				t_dispatch_command_info.m_unit = tp_result->getInt("unit");
				t_dispatch_command_info.m_queue_id = tp_result->getInt("queue_id");
				t_dispatch_command_info.m_type = tp_result->getInt("type");
				t_dispatch_command_info.m_statu = tp_result->getInt("statu");
				t_dispatch_command_info.m_space_info = tp_result->getString("space_info");
				t_dispatch_command_info.m_measure_info = tp_result->getString("measure_info");
//				t_dispatch_command_info.m_export_id = tp_result->getInt("export_id");
				t_dispatch_command_info.m_export_id = 0;

				//m_type指令类型, 0无效, 1存车, 2取车,
				if ( t_dispatch_command_info.m_type == 1)
				{
					//存车, 数据库特有 雷达信息,  没有车位信息, 需要根据车高,再去车位表申请车位
					if(! google::protobuf::TextFormat::ParseFromString(t_dispatch_command_info.m_measure_info, &t_dispatch_command_info.m_measure_info_msg))
					{
						return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
											 "ParseFromString fun error, m_measure_info ");
					}
					t_dispatch_command_info.m_useless_distance = m_device_floor-1;
				}
				else if ( t_dispatch_command_info.m_type == 2 )
				{
					//取车, 数据库特有车位信息
					if(! google::protobuf::TextFormat::ParseFromString(t_dispatch_command_info.m_space_info, &t_dispatch_command_info.m_parkspace_info_msg))
					{
						return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
											 "ParseFromString fun error, m_space_info ");
					}
					t_dispatch_command_info.m_useless_distance = t_dispatch_command_info.m_parkspace_info_msg.floor()-m_device_floor;
				}
				else
				{
					return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
										 "command_queue m_type error ");
				}

				if ( t_dispatch_command_info.m_useless_distance <0 )
				{
					t_dispatch_command_info.m_useless_distance = 0-t_dispatch_command_info.m_useless_distance;
				}
				m_dispatch_command_map[t_dispatch_command_info.m_car_number] = t_dispatch_command_info;
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(t_error_buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(),
						e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, t_error_buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(t_error_buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, t_error_buf);
			}
		}
		return SUCCESS;
	}
	else
	{
		return t_error;
	}
	return Error_code::SUCCESS;
}

//对调度指令进行排序, 选出最优解, 比较存车和取车
Error_manager Dispatch_command::sort_dispatch_command_for_total()
{
	int t_optimal_loss=0x7fffffff;		//最优loss值
	m_car_number_optimal.clear();
	for (auto iter = m_dispatch_command_map.begin(); iter != m_dispatch_command_map.end(); ++iter)
	{
		//loss = 空跑路程 + 排队编号, 求最小值
		int t_current_loss = iter->second.m_useless_distance + iter->second.m_queue_id;
		if ( t_optimal_loss > t_current_loss )
		{
			t_optimal_loss = t_current_loss;
			m_car_number_optimal = iter->first;
		}
	}
	if ( m_car_number_optimal.empty() )
	{
		return Error_code::NODATA;
	}
	return Error_code::SUCCESS;
}


//对调度指令进行排序, 选出最优解, 只比较存车
Error_manager Dispatch_command::sort_dispatch_command_for_park()
{
	int t_optimal_loss=0x7fffffff;		//最优loss值
	m_car_number_optimal.clear();
	for (auto iter = m_dispatch_command_map.begin(); iter != m_dispatch_command_map.end(); ++iter)
	{
		//loss = 空跑路程 + 排队编号, 求最小值
		int t_current_loss = iter->second.m_useless_distance + iter->second.m_queue_id;
		if ( t_optimal_loss > t_current_loss && iter->second.m_type == 1)
		{
			t_optimal_loss = t_current_loss;
			m_car_number_optimal = iter->first;
		}
	}
	if ( m_car_number_optimal.empty() )
	{
		return Error_code::NODATA;
	}
	return Error_code::SUCCESS;
}

//存车指令 获取 指定车高 指定单元 的车位信息，用于车位分配
Error_manager Dispatch_command::query_specify_height_unit_parkspace_info(int unit, float height, Dispatch_space_info & dispatch_space_info)
{
	//查询车位表
	char query_parkspace_sql[1024];
	memset(query_parkspace_sql, 0, 1024);
	int t_statu = 0; //车位状态, 0可用, 1故障
	sprintf(query_parkspace_sql,"select * from space where car_number is NULL and ABS(height- %f) < 1e-5 and statu = %d and unit = %d",height,t_statu,unit);
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_query(query_parkspace_sql, tp_result);
	if(ec == SUCCESS)
	{
		if(tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}
		//只取第一条结果, 默认是id最小的,
		if (tp_result->next())
		{
			char buf[1024];
			memset(buf, 0, 1024);
			try
			{
				//解析数据
				dispatch_space_info.m_id = tp_result->getInt("id");
				dispatch_space_info.m_floor = tp_result->getInt("floor");
				dispatch_space_info.m_subID = tp_result->getInt("subID");
				dispatch_space_info.m_height = tp_result->getDouble("height");
				dispatch_space_info.m_car_number = tp_result->getString("car_number");
				dispatch_space_info.m_unit = tp_result->getInt("unit");
				dispatch_space_info.m_statu = tp_result->getInt("statu");
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(), e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
		}
		else
		{
			return Error_manager(Error_code::DB_NOT_QUERY_EMPTY_PARKSPACE, Error_level::MINOR_ERROR,
								 "数据库未查询到空车位 Parkspace_operating_function::query_one_empty_parkspace error ");
		}
		return SUCCESS;
	}
	else
	{
		return ec;
	}
	return SUCCESS;
}

//查询空闲车位最优解,    存车指令 根据调度指令最优解 获取 空闲车位最优解
Error_manager Dispatch_command::query_dispatch_space_optimal()
{
	Error_manager t_error;

	int t_unit = m_dispatch_command_map[m_car_number_optimal].m_unit;
	float t_height = m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.height();

	//小车对应小车位  中车对应中车位 大车对应大车位
	if ( 0 < t_height && t_height <= CAR_HEIGHT_LIMIT_SMALL )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_SMALL, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::MIN_CAR;
			return t_error;
		}
	}
	if (  t_height <= CAR_HEIGHT_LIMIT_MIDDLE )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_MIDDLE, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::MID_CAR;
			return t_error;
		}
	}
	if ( t_height <= CAR_HEIGHT_LIMIT_BIG )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_BIG, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::BIG_CAR;
			return t_error;
		}
	}
	return Error_manager(Error_code::DB_NOT_QUERY_EMPTY_PARKSPACE, Error_level::MINOR_ERROR,
						 " query_dispatch_space_optimal error ");
}

//查询空闲车位最优解,    存车指令 根据调度指令最优解 获取 空闲车位最优解
Error_manager Dispatch_command::query_dispatch_space_optimal(Common_data::Car_type reallocate_car_type)
{
	Error_manager t_error;

	int t_unit = m_dispatch_command_map[m_car_number_optimal].m_unit;
//	float t_height = m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.height();

	//小车对应小车位  中车对应中车位 大车对应大车位
	if ( reallocate_car_type == Common_data::Car_type::MIN_CAR )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_SMALL, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::MIN_CAR;
			return t_error;
		}
	}
	if ( reallocate_car_type == Common_data::Car_type::MIN_CAR ||
		 reallocate_car_type == Common_data::Car_type::MID_CAR )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_MIDDLE, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::MID_CAR;
			return t_error;
		}
	}
	if ( reallocate_car_type == Common_data::Car_type::MIN_CAR ||
		 reallocate_car_type == Common_data::Car_type::MID_CAR ||
		 reallocate_car_type == Common_data::Car_type::BIG_CAR )
	{
		t_error = query_specify_height_unit_parkspace_info(t_unit, CAR_HEIGHT_LIMIT_BIG, m_dispatch_space_info);
		if ( t_error == Error_code::SUCCESS )
		{
			m_car_type = Common_data::Car_type::BIG_CAR;
			return t_error;
		}
	}
	return Error_manager(Error_code::DB_NOT_QUERY_EMPTY_PARKSPACE, Error_level::MINOR_ERROR,
						 " query_dispatch_space_optimal error ");
}

//查询 取车的车位    取车指令 根据车牌号 查询对应的车位
Error_manager Dispatch_command::query_dispatch_space_for_car_number()
{
//查询车位表
	char query_parkspace_sql[1024];
	memset(query_parkspace_sql, 0, 1024);
	int t_statu = 0; //车位状态, 0可用, 1故障
	sprintf(query_parkspace_sql,"select * from space where car_number = '%s' ",m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str());
//	std::cout<<"query_parkspace_sql = "<<query_parkspace_sql<<std::endl;
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_query(query_parkspace_sql, tp_result);
	if(ec == SUCCESS)
	{
		if(tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}
		//只取第一条结果, 默认是id最小的,
		if (tp_result->next())
		{
			char buf[1024];
			memset(buf, 0, 1024);
			try
			{
				//解析数据
				m_dispatch_space_info.m_id = tp_result->getInt("id");
				m_dispatch_space_info.m_floor = tp_result->getInt("floor");
				m_dispatch_space_info.m_subID = tp_result->getInt("subID");
				m_dispatch_space_info.m_height = tp_result->getDouble("height");
				m_dispatch_space_info.m_car_number = tp_result->getString("car_number");
				m_dispatch_space_info.m_unit = tp_result->getInt("unit");
				m_dispatch_space_info.m_statu = tp_result->getInt("statu");
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(), e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
		}
		else
		{
			return Error_manager(Error_code::DB_QUERY_NOT_DATA, Error_level::MINOR_ERROR,
								 "数据库未查询到数据 Parkspace_operating_function::query_one_parkspace_with_license error ");

		}
		return SUCCESS;
	}
	else
	{
		return ec;
	}
	return SUCCESS;
}

//查询 取车的车辆感测信息    取车指令 根据key 查询感测信息
Error_manager Dispatch_command::query_dispatch_vehicle_for_primary_key()
{
	//查询 车辆表
	char query_parkspace_sql[1024];
	memset(query_parkspace_sql, 0, 1024);
	int t_statu = 0; //车位状态, 0可用, 1故障
	sprintf(query_parkspace_sql,"select * from vehicle where primary_key = '%s' ",m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str());
//	std::cout<<"query_parkspace_sql = "<<query_parkspace_sql<<std::endl;
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_query(query_parkspace_sql, tp_result);
	if(ec == SUCCESS)
	{
		if(tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}
		//只取第一条结果, 默认是id最小的,
		if (tp_result->next())
		{
			char buf[1024];
			memset(buf, 0, 1024);
			try
			{
				//解析数据
				m_dispatch_vehicle_info.m_car_number = tp_result->getString("car_number");
				m_dispatch_vehicle_info.m_primary_key = tp_result->getString("primary_key");
				m_dispatch_vehicle_info.m_actually_measure_info = tp_result->getString("actually_measure_info");

				//取车, 数据库特有车位信息
				if(! google::protobuf::TextFormat::ParseFromString(m_dispatch_vehicle_info.m_actually_measure_info, &m_dispatch_vehicle_info.m_actually_measure_info_msg))
				{
					return Error_manager(Error_code::ERROR, Error_level::MINOR_ERROR,
										 "ParseFromString fun error, m_space_info ");
				}
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(), e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
		}
		else
		{
			return Error_manager(Error_code::DB_QUERY_NOT_DATA, Error_level::MINOR_ERROR,
								 "数据库未查询到数据 Parkspace_operating_function::query_one_parkspace_with_license error ");

		}
		return SUCCESS;
	}
	else
	{
		return ec;
	}
	return SUCCESS;
}


//更新 车位状态, 根据车位ID 写入车牌号即可
Error_manager Dispatch_command::update_parkspace_info_write_car_number()
{
	//执行sql操作
	char update_space_sql[1024];
	memset(update_space_sql, 0, 1024);
	sprintf(update_space_sql, "update space set car_number = '%s' where id = %d",
			m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.id() );
//			m_dispatch_space_info.m_id);
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_space_sql);
	return ec;
}

//更新 车位状态, 找到车牌号, 写NULL
Error_manager Dispatch_command::update_parkspace_info_clear_car_number()
{
	//执行sql操作
	char update_space_sql[1024];
	memset(update_space_sql, 0, 1024);
	sprintf(update_space_sql, "update space set car_number = null where car_number = '%s' ",
			m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str());
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_space_sql);
	return ec;
}

//更新 指令队列, 根据车牌号 修改状态即可,  //指令状态, 0排队中, 1正在工作, 2已完成, 3故障异常
Error_manager Dispatch_command::update_command_queue_for_statu(int statu)
{
	char update_command_sql[1024];
	memset(update_command_sql, 0, 1024);
	sprintf(update_command_sql, "update command_queue set statu = %d, export_id = %d where car_number = '%s'",
			statu, m_dispatch_command_map[m_car_number_optimal].m_export_id,
			m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str());
//	LOG(INFO) << "jjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjj update_command_sql =  "<< update_command_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_command_sql);
	return ec;
}

//删除 指令队列, 根据车牌号 删除指令
Error_manager Dispatch_command::delete_command_queue_for_statu()
{
	char delete_command_sql[1024];
	memset(delete_command_sql, 0, 1024);
	sprintf(delete_command_sql, "delete from command_queue where car_number = '%s'",
			m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str());
	Error_manager ec = Database_controller::get_instance_pointer()->sql_delete(delete_command_sql);
	return ec;
}

//制作存车表单
Error_manager Dispatch_command::create_park_table()
{
	park_table t_park_table;
	t_park_table.mutable_statu()->set_execute_statu(eNormal);
	t_park_table.set_queue_id(m_dispatch_command_map[m_car_number_optimal].m_queue_id);
	t_park_table.set_car_number(m_dispatch_command_map[m_car_number_optimal].m_car_number);
	t_park_table.set_unit_id(m_dispatch_command_map[m_car_number_optimal].m_unit);
	t_park_table.set_primary_key(m_dispatch_command_map[m_car_number_optimal].m_primary_key);
	t_park_table.mutable_entrance_measure_info()->CopyFrom(m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg);
	t_park_table.mutable_allocated_space_info()->CopyFrom(m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg);

	//根据雷达x坐标, 计算入口id
	int t_terminal = 0;
	if (m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cx()<0)
	{
		t_terminal = m_dispatch_id*2+1;
	}
	else if(m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cx()>0)
	{
		t_terminal = m_dispatch_id*2+2;
	}
	t_park_table.set_terminal_id(t_terminal);
//	std::cout << " huli test :::: " << " iiiiiiiiiiiiiiiiiiiiiiiiiiiiiiii m_park_table_msg.entrance_measure_info().cx() = " << m_park_table_msg.entrance_measure_info().cx() << std::endl;
//	std::cout << " huli test :::: " << " iiiiiiiiiiiiiiiiiiiiiiiiiiiiii t_terminal = " << t_terminal << std::endl;
//	LOG(INFO) << " m_park_table_msg.entrance_measure_info().cx() =  "<< m_park_table_msg.entrance_measure_info().cx() << " --- " << this;
//	LOG(INFO) << " t_terminal =  "<< t_terminal << " --- " << this;
//	LOG(INFO) << " m_device_floor =  "<< m_device_floor << " --- " << this;
//	LOG(INFO) << " m_dispatch_id =  "<< m_dispatch_id << " --- " << this;
//	LOG(INFO) << " m_unit =  "<< m_unit << " --- " << this;
//	LOG(INFO) << " m_outlet_ready =  "<< m_outlet_ready << " --- " << this;

	m_park_table_msg = t_park_table;
	return Error_code::SUCCESS;
}

//制作取车表单
Error_manager Dispatch_command::create_pick_table(int outlet_ready)
{
	pick_table t_pick_table;
	t_pick_table.mutable_statu()->set_execute_statu(eNormal);
	t_pick_table.set_queue_id(m_dispatch_command_map[m_car_number_optimal].m_queue_id);
	t_pick_table.set_car_number(m_dispatch_command_map[m_car_number_optimal].m_car_number);
	t_pick_table.set_unit_id(m_dispatch_command_map[m_car_number_optimal].m_unit);
	t_pick_table.set_primary_key(m_dispatch_command_map[m_car_number_optimal].m_primary_key);
	t_pick_table.mutable_actually_measure_info()->CopyFrom(m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg);
	t_pick_table.mutable_actually_space_info()->CopyFrom(m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg);

	t_pick_table.set_terminal_id(outlet_ready);

//	LOG(INFO) << " outlet_ready =  "<< outlet_ready << " --- " << this;
//
//	LOG(INFO) << " m_device_floor =  "<< m_device_floor << " --- " << this;
//	LOG(INFO) << " m_dispatch_id =  "<< m_dispatch_id << " --- " << this;
//	LOG(INFO) << " m_unit =  "<< m_unit << " --- " << this;
//	LOG(INFO) << " m_outlet_ready =  "<< m_outlet_ready << " --- " << this;


	m_pick_table_msg = t_pick_table;
	return Error_code::SUCCESS;
}

//增加 车辆表, 存车指令 完成后添加车辆信息
Error_manager Dispatch_command::insert_vehicle_for_car_number()
{
	char insert_vehicle_sql[1024];
	memset(insert_vehicle_sql, 0, 1024);
	sprintf(insert_vehicle_sql, "INSERT INTO vehicle (car_number,primary_key,actually_measure_info) values ('%s','%s','%s')",
			m_car_number_optimal.c_str(), m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info.c_str()   );
	Error_manager ec = Database_controller::get_instance_pointer()->sql_insert(insert_vehicle_sql);
	return ec;
}
//20230213 huli  add plc car_wheel_base
Error_manager Dispatch_command::insert_vehicle_for_car_number_ex()
{
	//20230213 huli  add plc car_wheel_base
	measure_info t_plc_measure_info_msg = m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg;
	t_plc_measure_info_msg.set_wheelbase( Dispatch_manager::get_instance_references().m_dispatch_plc.m_plc_car_wheel_base);

	char insert_vehicle_sql[1024];
	memset(insert_vehicle_sql, 0, 1024);
	sprintf(insert_vehicle_sql, "INSERT INTO vehicle (car_number,primary_key,actually_measure_info, plc_measure_info, plc_clamp_lidar_deviation_1, plc_clamp_lidar_deviation_2, plc_clamp_lidar_deviation_3, plc_clamp_lidar_deviation_4) values ('%s','%s','%s', '%s', %f, %f, %f, %f)",
			m_car_number_optimal.c_str(), m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info.c_str() ,
			t_plc_measure_info_msg.DebugString().c_str(),
			Dispatch_manager::get_instance_references().m_dispatch_plc.m_plc_clamp_lidar_deviation_1,
			Dispatch_manager::get_instance_references().m_dispatch_plc.m_plc_clamp_lidar_deviation_2,
			Dispatch_manager::get_instance_references().m_dispatch_plc.m_plc_clamp_lidar_deviation_3,
			Dispatch_manager::get_instance_references().m_dispatch_plc.m_plc_clamp_lidar_deviation_4
			);
	Error_manager ec = Database_controller::get_instance_pointer()->sql_insert(insert_vehicle_sql);
	return ec;
}
//删除 车辆表, 取车指令 完成后删除车辆信息
Error_manager Dispatch_command::delete_vehicle_for_car_number()
{
	char delete_vehicle_sql[1024];
	memset(delete_vehicle_sql, 0, 1024);
	sprintf(delete_vehicle_sql, "delete from vehicle where car_number = '%s'",
			m_dispatch_command_map[m_car_number_optimal].m_car_number.c_str());
	Error_manager ec = Database_controller::get_instance_pointer()->sql_delete(delete_vehicle_sql);
	return ec;
}

//增加 记录表, 存车指令 完成后添加存车记录
Error_manager Dispatch_command::insert_record_for_park_start()
{
	Time_tool::get_instance_references().time_start(PARK_TIME_FLAG);

	int t_terminal = 0;
	if (m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cx()<0)
	{
		t_terminal = m_dispatch_id*2+1;
	}
	else if(m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cx()>0)
	{
		t_terminal = m_dispatch_id*2+2;
	}

	char insert_record_sql[1024];
	memset(insert_record_sql, 0, 1024);
//	sprintf(insert_record_sql, "INSERT INTO record (primary_key,car_number,in_time_start,measure_info,import_id) values ('%s','%s','%s','%s',%d)",
	sprintf(insert_record_sql, "INSERT INTO record (primary_key,car_number,in_time_start,center_x,center_y,theta,width,height,wheelbase,front_theta,import_id) values ('%s','%s','%s',%f,%f,%f,%f,%f,%f,%f,%d)",
			m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str(),
			m_car_number_optimal.c_str(),
			Time_tool::get_instance_references().get_current_time_seconds().c_str(),
//			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.id(),
//			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.DebugString().c_str(),
//			m_dispatch_command_map[m_car_number_optimal].m_measure_info.c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cx(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.cy(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.theta(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.width(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.height(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.wheelbase(),
			m_dispatch_command_map[m_car_number_optimal].m_measure_info_msg.front_theta(),
			t_terminal	);
	LOG(INFO) << " insert_record_sql =  "<< insert_record_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_insert(insert_record_sql);
	return ec;
}

//增加 记录表, 存车指令 完成后添加存车记录
Error_manager Dispatch_command::updata_record_for_park_end()
{
	Time_tool::get_instance_references().time_end(PARK_TIME_FLAG);
	int in_time_difference = Time_tool::get_instance_references().get_time_seconds(PARK_TIME_FLAG);

	//t_index_id是指定单元的车位id, 1~78
	int t_table_id = (m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.id() - 1 ) % 78;
	t_table_id = t_table_id + 1;
	//执行sql操作
	char update_record_sql[1024];
	memset(update_record_sql, 0, 1024);
//	sprintf(update_record_sql, "update record set in_time_end = '%s', in_time_difference = %d, space_id = %d, space_info = '%s' where primary_key = '%s' ",
	sprintf(update_record_sql, "update record set in_time_end = '%s', in_time_difference = %d, space_id = %d, table_id = %d, unit_id = %d, floor_id = %d, room_id = %d  where primary_key = '%s' ",
			Time_tool::get_instance_references().get_current_time_seconds().c_str(),
			in_time_difference,
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.id(),
			t_table_id,
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.unit_id(),
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.floor(),
			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.room_id(),
//			m_dispatch_command_map[m_car_number_optimal].m_parkspace_info_msg.DebugString().c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str()	);
	LOG(INFO) << " update_record_sql =  "<< update_record_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_record_sql);
	return ec;
}

//更新 记录表, 取车指令 完成后更新取车记录
Error_manager Dispatch_command::updata_record_for_pick_start()
{
	Time_tool::get_instance_references().time_start(PICK_TIME_FLAG);

	//执行sql操作
	char update_record_sql[1024];
	memset(update_record_sql, 0, 1024);
	sprintf(update_record_sql, "update record set out_time_start = '%s', export_id = %d where primary_key = '%s' ",
			Time_tool::get_instance_references().get_current_time_seconds().c_str(),
			m_dispatch_command_map[m_car_number_optimal].m_export_id,
			m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str()	);
	LOG(INFO) << " update_record_sql =  "<< update_record_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_record_sql);
	return ec;
}

//更新 记录表, 取车指令 完成后更新取车记录
Error_manager Dispatch_command::updata_record_for_pick_end()
{
	Time_tool::get_instance_references().time_end(PICK_TIME_FLAG);
	int out_time_difference = Time_tool::get_instance_references().get_time_seconds(PICK_TIME_FLAG);

	int parking_time;
	get_parking_time(m_dispatch_command_map[m_car_number_optimal].m_primary_key, parking_time);
	char parking_time_string[256] = "";
	int hour = parking_time / 3600;
	int min = (parking_time / 60)%60;
	int sec = parking_time % 60;
	sprintf(parking_time_string, " %d:%02d:%02d", hour, min, sec);

	//执行sql操作
	char update_record_sql[1024];
	memset(update_record_sql, 0, 1024);
	sprintf(update_record_sql, "update record set out_time_end = '%s', out_time_difference = %d, parking_time = '%s' where primary_key = '%s' ",
			Time_tool::get_instance_references().get_current_time_seconds().c_str(),
			out_time_difference,
			parking_time_string,
			m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str()	);
	LOG(INFO) << " update_record_sql =  "<< update_record_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_record_sql);
	return ec;
}

//更新 记录表, 取车指令 完成后更新取车记录, 撤销指令, 没有取车时间差
Error_manager Dispatch_command::updata_record_for_pick_end_ex()
{
	int parking_time;
	get_parking_time(m_dispatch_command_map[m_car_number_optimal].m_primary_key, parking_time);
	char parking_time_string[256] = "";
	int hour = parking_time / 3600;
	int min = parking_time / 60;
	int sec = parking_time % 60;
	sprintf(parking_time_string, " %d:%02d:%02d", hour, min, sec);

	//执行sql操作
	char update_record_sql[1024];
	memset(update_record_sql, 0, 1024);
	sprintf(update_record_sql, "update record set out_time_end = '%s', parking_time = '%s' where primary_key = '%s' ",
			Time_tool::get_instance_references().get_current_time_seconds().c_str(),
			parking_time_string,
			m_dispatch_command_map[m_car_number_optimal].m_primary_key.c_str()	);
	LOG(INFO) << " update_record_sql =  "<< update_record_sql << " --- " << this;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_update(update_record_sql);
	return ec;
}

//计算汽车在车库的存车时间, 从存车开始到取车结束, 返回 parking_time, 单位秒.
Error_manager Dispatch_command::get_parking_time(std::string primary_key, int & parking_time )
{
	//查询存车时间 in_time_start
	char query_record_sql[1024];
	memset(query_record_sql, 0, 1024);
	sprintf(query_record_sql,"select * from record where primary_key = '%s' ", primary_key.c_str() );
	boost::shared_ptr<sql::ResultSet>  tp_result = nullptr;
	Error_manager ec = Database_controller::get_instance_pointer()->sql_query(query_record_sql, tp_result);
	if(ec == SUCCESS)
	{
		if(tp_result == nullptr)
		{
			return DB_RESULT_SET_EMPTY;
		}
		//只取第一条结果, 默认是id最小的,
		if (tp_result->next())
		{
			char buf[1024];
			memset(buf, 0, 1024);
			try
			{
				//解析数据
				std::string in_time_start_string = tp_result->getString("in_time_start");
				std::chrono::system_clock::time_point in_time_start = Time_tool::get_instance_references().transform_time_string_seconds(in_time_start_string);
				std::chrono::system_clock::time_point out_time_end = std::chrono::system_clock::now();
				double t_parking_time = (out_time_end - in_time_start).count() / 1000000000;
				parking_time = t_parking_time;
				return Error_code::SUCCESS;
			}
			catch (sql::SQLException &e)
			{
				/* Use what() (derived from std::runtime_error) to fetch the error message */
				sprintf(buf, "# ERR: %s\n (MySQL error code: %d, SQLState: %s", e.what(), e.getErrorCode(), e.getSQLState().c_str());
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
			catch (std::runtime_error &e)
			{
				sprintf(buf, "# ERR: %s\n ERR: runtime_error in  %s ", e.what(), __FILE__);
				return Error_manager(DB_RESULT_SET_PARSE_ERROR, NEGLIGIBLE_ERROR, buf);
			}
		}
		else
		{
			return Error_manager(Error_code::DB_NOT_QUERY_EMPTY_PARKSPACE, Error_level::MINOR_ERROR,
								 "数据库未查询到空车位 Parkspace_operating_function::query_one_empty_parkspace error ");
		}
		return SUCCESS;
	}
	else
	{
		return ec;
	}

	return Error_code::SUCCESS;
}