CT_project/测量节点/system/system_communication mq.cpp

/*
 * @Author: yct 18202736439@163.com
 * @Date: 2022-09-30 18:11:59
 * @LastEditors: yct 18202736439@163.com
 * @LastEditTime: 2023-01-17 15:41:04
 * @FilePath: /puai_wj_2021/system/system_communication mq.cpp
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
//
// Created by huli on 2020/6/28.
//

#include "system_communication_mq.h"
#include "../system/system_executor.h"

System_communication_mq::System_communication_mq()
{
    //1~6
    for (int j = 1; j < 7; ++j)
    {
        dispatch_region_info t_dispatch_region_info;
        t_dispatch_region_info.set_terminal_id(j);
        t_dispatch_region_info.set_turnplate_angle_min(0);
        t_dispatch_region_info.set_turnplate_angle_max(0);
        dispatch_region_info_map[j] = t_dispatch_region_info;
    }
}

System_communication_mq::~System_communication_mq()
{

}


//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_mq::check_msg(Rabbitmq_message*  p_msg)
{
	return SUCCESS;
}

//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_mq::check_executer(Rabbitmq_message*  p_msg)
{
	return SUCCESS;
}

//处理消息, 需要子类重载
Error_manager System_communication_mq::execute_msg(Rabbitmq_message* p_msg)
{
//    return SUCCESS;
    return execute_dispatch_status_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_mq::auto_encapsulate_status()
{
//    return SUCCESS;
	return System_executor::get_instance_references().encapsulate_send_mq_status();
}

Error_manager System_communication_mq::execute_dispatch_status_msg(Rabbitmq_message* p_msg)
{
    std::unique_lock<std::mutex> t_lock(m_lock);

    if ( p_msg->m_routing_key == "dispatch_1_statu_port" ||
         p_msg->m_routing_key == "dispatch_2_statu_port" ||
         p_msg->m_routing_key == "dispatch_3_statu_port" )
    {
        dispatch_node_statu t_dispatch_node_statu;
        if(google::protobuf::TextFormat::ParseFromString(p_msg->m_message_buf, &t_dispatch_node_statu))
        {
//            std::cout<< "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" << t_dispatch_node_statu.DebugString() << std::endl;
//            LOG(INFO) << "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" << t_dispatch_node_statu.DebugString() << this;

            for (int j = 0; j < t_dispatch_node_statu.dispatch_region_info_vector_size() ; ++j)
            {
                int t_terminal = t_dispatch_node_statu.dispatch_region_info_vector(j).terminal_id();
                dispatch_region_info_map[t_terminal] = t_dispatch_node_statu.dispatch_region_info_vector(j);

//                LOG(INFO) << "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx t_terminal = " << t_terminal << "  ";
//                LOG(INFO) << "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx " << dispatch_region_info_map[t_terminal].terminal_id() << "  ";
//                LOG(INFO) << "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx " << dispatch_region_info_map[t_terminal].turnplate_angle_min()<< "  ";
//                LOG(INFO) << "hulixxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx " << dispatch_region_info_map[t_terminal].turnplate_angle_max()<< "  ";

            }
        }
    }




	//终端点击存车时, 发送存车表单给检查节点, 这里顺便发送给感测节点.
	if( p_msg->m_routing_key == "user_command_port" )
	{
		park_table t_park_table_msg; //存车表单
		LOG(INFO) << " huli test::t_string p_msg->m_message_buf =  "<< p_msg->m_message_buf << " --- " << this;
		if(google::protobuf::TextFormat::ParseFromString(p_msg->m_message_buf, &t_park_table_msg))
		{
			std::string t_string = t_park_table_msg.DebugString();
			LOG(INFO) << " huli test::t_string = t_park_table_msg "<< t_string << " --- " ;
            // 给唐有成, 这里面有terminal_id(范围1-6), 可以触发感测节点保存事件.

            //  added by yct for region cloud saving function
            //  vlp16 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)
            {
                // get clouds from corresponding region
                if(t_park_table_msg.terminal_id()-1 == iter->second->get_terminal_id())
                {
                    pcl::PointCloud<pcl::PointXYZ>::Ptr t_total_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
                    pcl::PointCloud<pcl::PointXYZ>::Ptr t_filtered_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
                    iter->second->get_region_cloud(t_total_cloud, Ground_region::Region_cloud_type::total);
                    iter->second->get_region_cloud(t_filtered_cloud, Ground_region::Region_cloud_type::filtered);
                    PathCreator pc;
                    pc.Mkdir("./data/");
                    if(pc.CreateDatePath(pc.GetCurPath()+"/"+std::to_string(t_park_table_msg.terminal_id())+"/", true))
                    {
                        save_cloud_txt(t_total_cloud, pc.GetCurPath()+"total.txt");
                        save_cloud_txt(t_filtered_cloud, pc.GetCurPath()+"filtered.txt");
                        LOG(INFO) <<"total and filtered cloud in region "<<t_park_table_msg.terminal_id()<<"(1-6) has been saved in "<<pc.GetCurPath();
                    }
                }
            }
        }
        //指令信息必须手动ack, 这样才能清除服务器的指令,
		//(状态消息临时队列接受后自动清除, 指令消息永久队列接收后手动清除)
		ack_msg(p_msg);
	}




	return SUCCESS;
}