CT_project/测量节点/system/system_executor.cpp

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

#include "system_executor.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;
	PathCreator pc;
	pc.Mkdir("./log/");
	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.mutable_id_struct()->set_terminal_id(t_ground_detect_request_msg.id_struct().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()) && t_ground_detect_request_msg.id_struct().has_terminal_id())
			{

				//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.id_struct().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 ");
	}
}
int System_executor::transMeasureStatus(const int &measure_status) {
    switch (measure_status) {
        case message::Ground_statu::Car_correct:
            return 0;
        case message::Ground_statu::Nothing:
            return 1;
        case message::Ground_statu::Noise:
            return 2;
        case message::Ground_statu::Car_border_reached:
            return 3;
        default:
            return 2;
    }
}

// 更新消息中关于定位结果与超界信息的内容
bool System_executor::update_measure_info(message::Ground_status_msg &msg, Common_data::Car_wheel_information &measure_info, int cloud_size)
{
	Error_manager t_error;
	//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(measure_info.car_center_x);
	t_locate_information.set_locate_y(measure_info.car_center_y);
	t_locate_information.set_locate_angle(measure_info.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(measure_info.car_wheel_base);
	t_locate_information.set_locate_wheel_width(measure_info.car_wheel_width);
	t_locate_information.set_locate_front_theta(measure_info.car_front_theta);
	t_locate_information.set_locate_correct(measure_info.correctness);
	t_locate_information.set_uniformed_car_x(measure_info.uniform_car_x);
	t_locate_information.set_uniformed_car_y(measure_info.uniform_car_y);
	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
	msg.set_border_status(measure_info.range_status);
	if (!measure_info.correctness)
	{
		if (cloud_size > 0)
			msg.set_ground_status(message::Ground_statu::Noise);
		else
			msg.set_ground_status(message::Ground_statu::Nothing);
	}
	else if (measure_info.range_status == int(Ground_region::Range_status::Range_correct))
	{
		msg.set_ground_status(message::Ground_statu::Car_correct);
	}
	else
	{
		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 (measure_info.range_status & Ground_region::Range_status::Range_front != 0)
		{
			t_error_str.append("前超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_back != 0)
		{
			t_error_str.append("后超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_left != 0)
		{
			t_error_str.append("左超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_right != 0)
		{
			t_error_str.append("右超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_bottom != 0)
		{
			t_error_str.append("底盘超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_top != 0)
		{
			t_error_str.append("顶超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_car_width != 0)
		{
			t_error_str.append("车宽超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_car_wheelbase != 0)
		{
			t_error_str.append("轴距超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_angle_anti_clock != 0)
		{
			t_error_str.append("车辆角度左超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_angle_clock != 0)
		{
			t_error_str.append("车辆角度右超界 ");
		}
		if (measure_info.range_status & Ground_region::Range_status::Range_steering_wheel_nozero != 0)
		{
			t_error_str.append("车辆前轮角超界 ");
		}

		t_error.set_error_description(t_error_str);
	}

	msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
	msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
	msg.mutable_error_manager()->set_error_description(t_error.get_error_description());
	return true;
}
// 更新消息中关于定位结果与超界信息的内容
bool System_executor::update_terminal_measure_info(message::Ground_status_msg &msg, Common_data::Car_wheel_information &measure_info, int cloud_size)
{
    Error_manager t_error;
    //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(measure_info.car_center_x);
    t_locate_information.set_locate_y(measure_info.car_center_y);
    t_locate_information.set_locate_angle(measure_info.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(measure_info.car_wheel_base);
    t_locate_information.set_locate_wheel_width(measure_info.car_wheel_width);
    t_locate_information.set_locate_front_theta(measure_info.car_front_theta);
    t_locate_information.set_locate_correct(measure_info.correctness);
    t_locate_information.set_uniformed_car_x(measure_info.uniform_car_x);
    t_locate_information.set_uniformed_car_y(measure_info.uniform_car_y);
    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
    msg.set_border_status(measure_info.terminal_range_status);
    if (!measure_info.correctness)
    {
        if (cloud_size > 0)
            msg.set_ground_status(message::Ground_statu::Noise);
        else
            msg.set_ground_status(message::Ground_statu::Nothing);
    }
    else if (measure_info.terminal_range_status == int(Ground_region::Range_status::Range_correct))
    {
        msg.set_ground_status(message::Ground_statu::Car_correct);
    }
    else
    {
        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 (measure_info.terminal_range_status & Ground_region::Range_status::Range_front != 0)
        {
            t_error_str.append("前超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_back != 0)
        {
            t_error_str.append("后超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_left != 0)
        {
            t_error_str.append("左超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_right != 0)
        {
            t_error_str.append("右超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_bottom != 0)
        {
            t_error_str.append("底盘超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_top != 0)
        {
            t_error_str.append("顶超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_car_width != 0)
        {
            t_error_str.append("车宽超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_car_wheelbase != 0)
        {
            t_error_str.append("轴距超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_angle_anti_clock != 0)
        {
            t_error_str.append("车辆角度左超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_angle_clock != 0)
        {
            t_error_str.append("车辆角度右超界 ");
        }
        if (measure_info.terminal_range_status & Ground_region::Range_status::Range_steering_wheel_nozero != 0)
        {
            t_error_str.append("车辆前轮角超界 ");
        }

        t_error.set_error_description(t_error_str);
    }

    msg.mutable_error_manager()->set_error_code(t_error.get_error_code());
    msg.mutable_error_manager()->set_error_level((message::Error_level)t_error.get_error_level());
    msg.mutable_error_manager()->set_error_description(t_error.get_error_description());
    return true;
}

// ***************************** rabbitmq *********************************
Error_manager System_executor::encapsulate_send_mq_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);
	t_ground_status_msg.mutable_id_struct()->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
#if WJ_VELO == 1
	{
		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.mutable_id_struct()->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);
			// }

			update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());

			std::string t_msg = t_multi_status_msg.SerializeAsString();
			System_communication::get_instance_references().encapsulate_msg(t_msg);
			if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
				std::cout << t_multi_status_msg.DebugString() << std::endl
						  << std::endl;
		}
	}
#elif WJ_VELO == 0
	{
		// wj_support 20220718
		Wanji_manager::Wanji_manager_status t_wj_manager_status = Wanji_manager::get_instance_references().get_status();
		t_ground_status_msg.set_wanji_manager_status((message::Wanji_manager_status)t_wj_manager_status);

		// lidar
		std::map<int, Wanji_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
		std::map<int, Wanji_lidar_device::Wanji_lidar_device_status> t_wj_lidar_status_map;
		for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
		{
			t_wj_lidar_status_map.emplace(std::pair<int, Wanji_lidar_device::Wanji_lidar_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
		}

		// region
		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)
		{
			// 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.mutable_id_struct()->set_terminal_id(iter->second->get_terminal_id());
			t_multi_status_msg.set_region_worker_status((message::Region_worker_status)(iter->second->get_status()));
			wj::Region t_param = iter->second->get_param();
			for (size_t j = 0; j < t_param.lidar_exts_size(); j++)
			{
				std::map<int, Wanji_lidar_device::Wanji_lidar_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
				if (t_status_iter == t_wj_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);
			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);
			// }

			update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());

			std::string t_msg = t_multi_status_msg.SerializeAsString();
			System_communication::get_instance_references().encapsulate_msg(t_msg);
			if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
				LOG(INFO) << 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;
#else
{
	// mix vlp16 and wj716
	// 以多线雷达为主
	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);

	// vlp16 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()));
	}

	// wj lidar
#if LIDAR_TYPE == 1
	std::map<int, Wanji_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
	std::map<int, Wanji_lidar_device::Wanji_lidar_device_status> t_wj_lidar_status_map;
	for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
	{
		t_wj_lidar_status_map.emplace(std::pair<int, Wanji_lidar_device::Wanji_lidar_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
	}
#else
	std::map<int, Wanji_716N_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
	std::map<int, Wanji_716N_lidar_device::Wanji_716N_device_status> t_wj_lidar_status_map;
	for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
	{
		t_wj_lidar_status_map.emplace(std::pair<int, Wanji_716N_lidar_device::Wanji_716N_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
	}
#endif
	
	

	// wj region
	std::map<int, Region_worker *> t_region_worker_map = Wanji_manager::get_instance_references().get_region_worker_map();

	// 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)
	{
		// 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.mutable_id_struct()->set_terminal_id(iter->second->get_terminal_id());
		t_multi_status_msg.set_region_worker_status((message::Region_worker_status)(iter->second->get_status()));
		// 查找多线区域内对应多线激光雷达
		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) << "vlp16 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 == 10)
		{
			std::string t_filename = std::string("vlp16_region_") + std::to_string(iter->first) + "_cloud.txt";
			save_cloud_txt(t_region_cloud, t_filename);
			LOG(INFO) << " vlp16 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);
		// }

		// 检查vlp16区域与wj区域对应关系，wj存在对应区域则填充设备状态，并融合测量结果
		auto t_wj_region_iter = t_region_worker_map.find(iter->first);
		if(t_wj_region_iter != t_region_worker_map.end())
		{
			wj::Region t_param = t_wj_region_iter->second->get_param();
			// 
			for (size_t j = 0; j < t_param.lidar_exts_size(); j++)
			{
#if LIDAR_TYPE == 1
	std::map<int, Wanji_lidar_device::Wanji_lidar_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
#else
	std::map<int, Wanji_716N_lidar_device::Wanji_716N_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
#endif
				if (t_status_iter == t_wj_lidar_status_map.end())
				{
					LOG(WARNING) << "wj 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);
				}
			}
			//wj雷达的自动定位信息
			Common_data::Car_wheel_information t_wj_car_wheel_information;
			t_error = t_wj_region_iter->second->get_last_wheel_information(&t_wj_car_wheel_information, std::chrono::system_clock::now());

			// 获取区域点云填入信息
			pcl::PointCloud<pcl::PointXYZ>::Ptr t_wj_region_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
			t_wj_region_iter->second->get_region_cloud(t_wj_region_cloud);
			if (cloud_count == 8)
			{
				std::string t_filename = std::string("wj_region_") + std::to_string(t_wj_region_iter->first) + "_cloud.txt";
				save_cloud_txt(t_wj_region_cloud, t_filename);
				LOG(INFO) << "wj region " << t_wj_region_iter->first << " cloud has been saved in " + t_filename;
			}
			// for (size_t j = 0; j < t_wj_region_cloud->size(); j++)
			// {
			// 	message::Cloud_coordinate *tp_cloud = t_multi_status_msg.add_cloud();
			// 	tp_cloud->set_x(t_wj_region_cloud->points[j].x);
			// 	tp_cloud->set_y(t_wj_region_cloud->points[j].y);
			// 	tp_cloud->set_z(t_wj_region_cloud->points[j].z);
			// }

			// LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<"\n"<<t_car_wheel_information.to_string()<<"\n"
			// 								<<t_wj_car_wheel_information.to_string()<<"\n"
			// 								<<t_car_wheel_information.range_status<<", "<<t_wj_car_wheel_information.range_status;
			// 融合测量结果，验证中心点差异x<0.03, y<0.06, 角度差异ang<0.6, 轴距差异wb<0.055
			double dx = t_car_wheel_information.car_center_x - t_wj_car_wheel_information.car_center_x;
			double dy = t_car_wheel_information.car_center_y - t_wj_car_wheel_information.car_center_y;
			double dang = t_car_wheel_information.car_angle - t_wj_car_wheel_information.car_angle;
			double dwb = t_car_wheel_information.car_wheel_base - t_wj_car_wheel_information.car_wheel_base;

			if(fabs(dx) < 0.03 && fabs(dy) < 0.06 && fabs(dang) < 0.6 && fabs(dwb) < 0.055)
			{
				t_car_wheel_information.car_wheel_base = t_car_wheel_information.car_wheel_base*0.3 + t_car_wheel_information.car_wheel_base*0.7;
			}else
			{
				LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<
					"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb << std::endl 
					<< t_car_wheel_information.to_string() << std::endl
					<< t_wj_car_wheel_information.to_string() << std::endl;
			}

		}else{
			LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<"region mismatch, vlp16 "<<iter->first<<", wj doesn't have corresponding region id";
		}

        int rabbit_send_status_msg_id = t_multi_status_msg.id_struct().terminal_id();
        int rabbit_send_terminal_status_msg_id = t_multi_status_msg.id_struct().terminal_id() + 6;  // 6是因为目前楚天plc有六个队列

        message::Ground_status_msg t_multi_terminal_status_msg = t_multi_status_msg;
		update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());
        update_terminal_measure_info(t_multi_terminal_status_msg, t_car_wheel_information, t_region_cloud->size());

		if(t_multi_status_msg.id_struct().terminal_id() == 4 ||
			t_multi_status_msg.id_struct().terminal_id() == 0||
			t_multi_status_msg.id_struct().terminal_id() == 5||
			t_multi_status_msg.id_struct().terminal_id() == 1||
			t_multi_status_msg.id_struct().terminal_id() == 3||
			t_multi_status_msg.id_struct().terminal_id() == 2)
		{
			// plc测量结果转换
			measure_info t_multi_measure_info_msg;
			t_multi_measure_info_msg.set_cx(t_car_wheel_information.uniform_car_x);
			t_multi_measure_info_msg.set_cy(t_car_wheel_information.uniform_car_y);
			t_multi_measure_info_msg.set_theta(t_car_wheel_information.car_angle);
			t_multi_measure_info_msg.set_length(0.0f);
			t_multi_measure_info_msg.set_width(t_car_wheel_information.car_wheel_width);
			t_multi_measure_info_msg.set_height(0.0f);
			t_multi_measure_info_msg.set_wheelbase(t_car_wheel_information.car_wheel_base);
			t_multi_measure_info_msg.set_front_theta(t_car_wheel_information.car_front_theta);
			t_multi_measure_info_msg.set_border_statu(t_car_wheel_information.range_status);

            // 终端测量结果copy，只改变超界状态
            measure_info t_multi_terminal_measure_info_msg;
            t_multi_terminal_measure_info_msg = t_multi_measure_info_msg;
            t_multi_terminal_measure_info_msg.set_border_statu(t_car_wheel_information.terminal_range_status);

            // 变更超界状态，因为发出去的和旧的状态不太一样
            t_multi_measure_info_msg.set_ground_status(transMeasureStatus(t_multi_status_msg.ground_status()));
            t_multi_terminal_measure_info_msg.set_ground_status(transMeasureStatus(t_multi_terminal_status_msg.ground_status()));

            // 分别发送到两个队列
			System_communication_mq::get_instance_references().encapsulate_status_msg(t_multi_measure_info_msg.DebugString(), rabbit_send_status_msg_id);
            System_communication_mq::get_instance_references().encapsulate_status_msg(t_multi_terminal_measure_info_msg.DebugString(), rabbit_send_terminal_status_msg_id);
            // if (t_multi_status_msg.id_struct().terminal_id() == 1)
            // {
            //     LOG(WARNING) << "-------------------------------------------------------" <<std::endl;
            //     LOG(WARNING) << "t_msg = " << t_msg <<std::endl;
            //     LOG(WARNING) << "+++++++++++++++++++++++++++++++++++++++++++++++++++++++" <<std::endl;
            //     LOG(WARNING) << "t_multi_status_msg.ground_status() = " << t_ground_status <<std::endl;
            //     LOG(WARNING) << "t_multi_measure_info_msg.set_ground_status(0) = " << t_multi_measure_info_msg.ground_status() <<std::endl;
            // }
		}
		if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
		{
			// LOG(WARNING) << t_car_wheel_information.range_status<<std::endl;
			LOG(INFO) << t_multi_status_msg.DebugString() << std::endl
						<< std::endl;
		}
	}
}
#endif

	return Error_code::SUCCESS;
}

// ***************************** nanomsg *********************************
//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);
	t_ground_status_msg.mutable_id_struct()->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
#if WJ_VELO == 1
	{
		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.mutable_id_struct()->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);
			// }

			update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());

			std::string t_msg = t_multi_status_msg.SerializeAsString();
			System_communication::get_instance_references().encapsulate_msg(t_msg);
			if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
				std::cout << t_multi_status_msg.DebugString() << std::endl
						  << std::endl;
		}
	}
#elif WJ_VELO == 0
	{
		// wj_support 20220718
		Wanji_manager::Wanji_manager_status t_wj_manager_status = Wanji_manager::get_instance_references().get_status();
		t_ground_status_msg.set_wanji_manager_status((message::Wanji_manager_status)t_wj_manager_status);

		// lidar
		std::map<int, Wanji_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
		std::map<int, Wanji_lidar_device::Wanji_lidar_device_status> t_wj_lidar_status_map;
		for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
		{
			t_wj_lidar_status_map.emplace(std::pair<int, Wanji_lidar_device::Wanji_lidar_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
		}

		// region
		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)
		{
			// 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.mutable_id_struct()->set_terminal_id(iter->second->get_terminal_id());
			t_multi_status_msg.set_region_worker_status((message::Region_worker_status)(iter->second->get_status()));
			wj::Region t_param = iter->second->get_param();
			for (size_t j = 0; j < t_param.lidar_exts_size(); j++)
			{
				std::map<int, Wanji_lidar_device::Wanji_lidar_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
				if (t_status_iter == t_wj_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);
			// 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);
			// }

			update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());

			std::string t_msg = t_multi_status_msg.SerializeAsString();
			System_communication::get_instance_references().encapsulate_msg(t_msg);
			if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
				LOG(INFO) << 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;
#else
{
	// mix vlp16 and wj716
	// 以多线雷达为主
	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);

	// vlp16 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()));
	}

	// wj lidar
#if LIDAR_TYPE == 1
	std::map<int, Wanji_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
	std::map<int, Wanji_lidar_device::Wanji_lidar_device_status> t_wj_lidar_status_map;
	for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
	{
		t_wj_lidar_status_map.emplace(std::pair<int, Wanji_lidar_device::Wanji_lidar_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
	}
#else
	std::map<int, Wanji_716N_lidar_device *> t_wj_lidar_device_map = Wanji_manager::get_instance_references().get_wanji_lidar_device_map();
	std::map<int, Wanji_716N_lidar_device::Wanji_716N_device_status> t_wj_lidar_status_map;
	for (auto iter = t_wj_lidar_device_map.begin(); iter != t_wj_lidar_device_map.end(); ++iter)
	{
		t_wj_lidar_status_map.emplace(std::pair<int, Wanji_716N_lidar_device::Wanji_716N_device_status>(iter->second->get_lidar_id(), iter->second->get_status()));
	}
#endif
	
	

	// wj region
	std::map<int, Region_worker *> t_region_worker_map = Wanji_manager::get_instance_references().get_region_worker_map();

	// 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)
	{
		// 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.mutable_id_struct()->set_terminal_id(iter->second->get_terminal_id());
		t_multi_status_msg.set_region_worker_status((message::Region_worker_status)(iter->second->get_status()));
		// 查找多线区域内对应多线激光雷达
		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) << "vlp16 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
		// 20221211 changed by yct, nanomsg dont save cloud
		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("vlp16_region_") + std::to_string(iter->first) + "_cloud.txt";
		// 	save_cloud_txt(t_region_cloud, t_filename);
		// 	LOG(INFO) << "vlp16 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);
		// }

		// 检查vlp16区域与wj区域对应关系，wj存在对应区域则填充设备状态，并融合测量结果
		auto t_wj_region_iter = t_region_worker_map.find(iter->first);
		if(t_wj_region_iter != t_region_worker_map.end())
		{
			wj::Region t_param = t_wj_region_iter->second->get_param();
			// 
			for (size_t j = 0; j < t_param.lidar_exts_size(); j++)
			{
#if LIDAR_TYPE == 1
	std::map<int, Wanji_lidar_device::Wanji_lidar_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
#else
	std::map<int, Wanji_716N_lidar_device::Wanji_716N_device_status>::iterator t_status_iter = t_wj_lidar_status_map.find(t_param.lidar_exts(j).lidar_id());
#endif
				if (t_status_iter == t_wj_lidar_status_map.end())
				{
					LOG(WARNING) << "wj 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);
				}
			}
			//wj雷达的自动定位信息
			Common_data::Car_wheel_information t_wj_car_wheel_information;
			t_error = t_wj_region_iter->second->get_last_wheel_information(&t_wj_car_wheel_information, std::chrono::system_clock::now());

			// 获取区域点云填入信息
			pcl::PointCloud<pcl::PointXYZ>::Ptr t_wj_region_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
			t_wj_region_iter->second->get_region_cloud(t_wj_region_cloud);

			// if (cloud_count == 8)
			// {
			// 	std::string t_filename = std::string("wj_region_") + std::to_string(t_wj_region_iter->first) + "_cloud.txt";
			// 	save_cloud_txt(t_wj_region_cloud, t_filename);
			// 	LOG(INFO) << "wj region " << t_wj_region_iter->first << " cloud has been saved in " + t_filename;
			// }

			// for (size_t j = 0; j < t_wj_region_cloud->size(); j++)
			// {
			// 	message::Cloud_coordinate *tp_cloud = t_multi_status_msg.add_cloud();
			// 	tp_cloud->set_x(t_wj_region_cloud->points[j].x);
			// 	tp_cloud->set_y(t_wj_region_cloud->points[j].y);
			// 	tp_cloud->set_z(t_wj_region_cloud->points[j].z);
			// }

			// LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<"\n"<<t_car_wheel_information.to_string()<<"\n"
			// 								<<t_wj_car_wheel_information.to_string()<<"\n"
			// 								<<t_car_wheel_information.range_status<<", "<<t_wj_car_wheel_information.range_status;
			// 融合测量结果，验证中心点差异x<0.03, y<0.06, 角度差异ang<0.6, 轴距差异wb<0.055
			double dx = t_car_wheel_information.car_center_x - t_wj_car_wheel_information.car_center_x;
			double dy = t_car_wheel_information.car_center_y - t_wj_car_wheel_information.car_center_y;
			double dang = t_car_wheel_information.car_angle - t_wj_car_wheel_information.car_angle;
			double dwb = t_car_wheel_information.car_wheel_base - t_wj_car_wheel_information.car_wheel_base;

			// 使用rabbit mq 中函数计算偏差与提示，此处不处理!!
			if(fabs(dx) < 0.03 && fabs(dy) < 0.06 && fabs(dang) < 0.6 && fabs(dwb) < 0.055)
			{
				// t_car_wheel_information.car_wheel_base = t_car_wheel_information.car_wheel_base*0.3 + t_car_wheel_information.car_wheel_base*0.7;
			}else
			{
				// LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<
				// 	"detect mismatch, region "<<iter->first<<", dx dy dang dwb: "<<dx<<", "<<dy<<", "<<dang<<", "<< dwb << std::endl 
				// 	<< t_car_wheel_information.to_string() << std::endl
				// 	<< t_wj_car_wheel_information.to_string() << std::endl;
			}

		}else{
			LOG_IF(WARNING, iter->second->get_terminal_id() == DISP_TERM_ID)<<"region mismatch, vlp16 "<<iter->first<<", wj doesn't have corresponding region id";
		}

		update_measure_info(t_multi_status_msg, t_car_wheel_information, t_region_cloud->size());

		std::string t_msg = t_multi_status_msg.SerializeAsString();
		System_communication::get_instance_references().encapsulate_msg(t_msg);
		// if (t_multi_status_msg.id_struct().terminal_id() == DISP_TERM_ID)
		// 	std::cout << t_multi_status_msg.DebugString() << std::endl
		// 				<< std::endl;
	}
}
#endif

	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.mutable_id_struct()->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_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;
	}