完成停车流程,包括回退,状态发送

main.cpp

@@ -25,7 +25,6 @@ GOOGLE_GLOG_DLL_DECL void shut_down_logging(const char* data, int size);
 void init_glog();
 Error_manager init_communicators();
 
-
 int main(int argc,char* argv[])
 {
     init_glog();
@@ -41,7 +40,6 @@ int main(int argc,char* argv[])
 	return 0;
 }
 
-
 Error_manager init_communicators()
 {
     setting::System_setting system_setting;

system/PickupProcessTask.cpp

@@ -170,10 +170,8 @@ void PickupProcessTask::Main()
         }
         if(m_step_statu==eComplete) {
             //至少发送一次流程完成状态
-            if(updata_step_statu_msg()==SUCCESS)
-            {
-                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
-            }
+            updata_step_statu_msg();
+            System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
             break;
         }
         if(m_step_statu==ePicking_step::eBackWait_step)
@@ -377,11 +375,8 @@ void PickupProcessTask::publish_step_status()
          */
         if(System_communicator::get_instance_pointer())
         {
-            if(updata_step_statu_msg()==SUCCESS)
-            {
-                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
-            }
-
+            updata_step_statu_msg();
+            System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
         }
 
     }
@@ -390,7 +385,7 @@ void PickupProcessTask::publish_step_status()
 /*
      * 根据当前流程状态,生成状态消息
      */
-Error_manager PickupProcessTask::updata_step_statu_msg()
+void PickupProcessTask::updata_step_statu_msg()
 {
     message::Search_space_step_statu            search_step_statu;
     message::Dispatch_pick_step_statu           dispatch_step_statu;
@@ -462,5 +457,4 @@ Error_manager PickupProcessTask::updata_step_statu_msg()
     m_process_msg.mutable_waitfor_leave_step()->CopyFrom(wait_step_statu);
     m_process_msg.mutable_release_space_step()->CopyFrom(release_step_statu);
 
-    return SUCCESS;
 }

system/PickupProcessTask.h

@@ -83,7 +83,7 @@ protected:
     /*
      * 根据当前流程状态,生成状态消息
      */
-    Error_manager updata_step_statu_msg();
+    void updata_step_statu_msg();
 
     void reset_recv_msg();
 

system/StoreProcessTask.cpp

@@ -123,7 +123,6 @@ Error_manager StoreProcessTask::back_locate_step()
      */
 Error_manager StoreProcessTask::compare_step()
 {
-
     return SUCCESS;
 }
 /*
@@ -131,6 +130,7 @@ Error_manager StoreProcessTask::compare_step()
  */
 Error_manager StoreProcessTask::back_compare_step()
 {
+
     return SUCCESS;
 }
 
@@ -202,8 +202,11 @@ Error_manager StoreProcessTask::alloc_space()
     /*
      * 检查是否有测量数据
      */
+    m_step_statu=eAlloc_step;
+    updata_step_statu_msg(message::eWorking);
     if(m_locate_info.has_locate_height()==false||m_locate_info.has_locate_width()==false)
     {
+        updata_step_statu_msg(message::eError);
         return Error_manager(FAILED,MINOR_ERROR,"停车请求缺少车辆高度和宽度信息");
     }
     /*
@@ -212,6 +215,7 @@ Error_manager StoreProcessTask::alloc_space()
     Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
     if(code!=SUCCESS)
     {
+        updata_step_statu_msg(message::eError);
         return code;
     }
 
@@ -233,6 +237,7 @@ Error_manager StoreProcessTask::alloc_space()
 
     if(code!=SUCCESS)
     {
+        updata_step_statu_msg(message::eError);
         return code;
     }
 
@@ -243,12 +248,14 @@ Error_manager StoreProcessTask::alloc_space()
         {
             return Error_manager(ERROR,MINOR_ERROR,"分配车位反馈的车辆信息不匹配");
         }
+        updata_step_statu_msg(message::eComplete);
         //置步骤状态为测量状态.
         m_step_statu=eMeasure_step;
         return SUCCESS;
     }
     else
     {
+        updata_step_statu_msg(message::eError);
         return Error_manager(FAILED,MINOR_ERROR,"分配车位反馈结果错误");
     }
 }
@@ -359,6 +366,7 @@ void StoreProcessTask::Main()
      * 外部已经分配好车位,进入到此流程说明车位已经分配好, 存放在 m_parcspace_alloc_response_msg
      */
     Error_manager code;
+
     //开始执行停车指令
     while(m_cancel_condition.wait_for_millisecond(1)==false)
     {
@@ -366,68 +374,72 @@ void StoreProcessTask::Main()
         if (m_step_statu == eStoring_step::eMeasure_step)
         {
             //开始定位
+            updata_step_statu_msg(message::eWorking);
             code = locate_step();
             usleep(1000 * 1000 * (rand() % 5 + 1));
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
 
             LOG_IF(ERROR, code != SUCCESS) << "测量失败:" << code.get_error_description();
-            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackMeasure_step : eStoring_step::eCompare_step;
+            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackAlloc_step : eStoring_step::eCompare_step;
         }
         if(m_step_statu==eStoring_step::eCompare_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code=compare_step();
             usleep(500*1000);
-
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             LOG_IF(ERROR, code != SUCCESS) << "检验失败:" << code.get_error_description();
-            m_step_statu = (code != SUCCESS) ? eStoring_step::eBack_compare_step : eStoring_step::eDispatch_step;
+            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackMeasure_step : eStoring_step::eDispatch_step;
 
         }
         //第二步,调度
         if (m_step_statu == eStoring_step::eDispatch_step)
         {
             //开始调度
+            updata_step_statu_msg(message::eWorking);
             code = dispatch_step();
-            usleep(1000 * 1000 * (rand() % 13));
-
+            usleep(1000 * 1000 * (rand() % 5));
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             LOG_IF(ERROR, code != SUCCESS) << "调度失败:" << code.get_error_description();
-            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackDispatch_step : eStoring_step::eConfirm_step;
+            m_step_statu = (code != SUCCESS) ? eStoring_step::eBack_compare_step : eStoring_step::eConfirm_step;
         }
         //第三步,占据车位
         if (m_step_statu == eStoring_step::eConfirm_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code = confirm_space_step();
             usleep(1000 * 1000);
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             LOG_IF(ERROR, code != SUCCESS) << "终端号:" << m_terminor_id << "停车流程:" << code.get_error_description() <<
                                            " 车位id :"
                                            << m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()
                                            << ",车牌:" << m_car_info.license()<<code.to_string();
             //最后一步故障,提升故障等级,急停
-            if(code!=SUCCESS)
-            {
-                break;
-            }
-            else
-            {
-                m_step_statu=eStoring_step::eComplete;
-            }
+            m_step_statu = (code != SUCCESS) ? eStoring_step::eBackDispatch_step : eStoring_step::eComplete;
         }
         //第四步,完成,退出循环
         if (m_step_statu == eStoring_step::eComplete)
         {
             //流程结束前,保证至少发送一次流程完成状态
-            if(updata_step_statu_msg()==SUCCESS)
-            {
-                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
-            }
+            updata_step_statu_msg(message::eComplete);
             break;
         }
+
         //回退confirm  ------------------------------------华丽的分割线------------------------------------------
+
         if (m_step_statu == eStoring_step::eBackConfirm_step)
         {
+            updata_step_statu_msg(message::eWorking);
+            usleep(1000*1000);
+            updata_step_statu_msg(message::eComplete);
             m_step_statu=eStoring_step::eBackDispatch_step;
         }
         if(m_step_statu==eStoring_step::eBackDispatch_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code=back_dispatch_step();
+            usleep(1000*1000);
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             if(code!=SUCCESS)
             {
                 //提升错误等级为四级
@@ -437,11 +449,15 @@ void StoreProcessTask::Main()
             {
                 m_step_statu=eStoring_step::eBack_compare_step;
             }
+
         }
 
         if(m_step_statu==eStoring_step::eBack_compare_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code=back_compare_step();
+            usleep(1000*1000);
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             if(code!=SUCCESS)
             {
                 //提升错误等级为四级
@@ -455,7 +471,10 @@ void StoreProcessTask::Main()
 
         if(m_step_statu==eStoring_step::eBackMeasure_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code=back_locate_step();
+            usleep(1000*1000);
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             if(code!=SUCCESS)
             {
                 //提升错误等级为四级
@@ -468,7 +487,10 @@ void StoreProcessTask::Main()
         }
         if(m_step_statu==eStoring_step::eBackAlloc_step)
         {
+            updata_step_statu_msg(message::eWorking);
             code=back_alloc_space_step();
+            usleep(1000*1000);
+            code!=SUCCESS?updata_step_statu_msg(message::eError):updata_step_statu_msg(message::eComplete);
             if(code!=SUCCESS)
             {
                 //提升错误等级为四级
@@ -477,9 +499,13 @@ void StoreProcessTask::Main()
             else
             {
                 m_step_statu=eStoring_step::eBackComplete;
-                break;
             }
         }
+        if(m_step_statu==eStoring_step::eBackComplete)
+        {
+            updata_step_statu_msg(message::eComplete);
+            break;
+        }
     }
 
     /*
@@ -494,14 +520,14 @@ void StoreProcessTask::Main()
     if(m_step_statu==eStoring_step::eBackComplete)
     {
         //异常结束
-        usleep(1000*10000);
+        usleep(1000*1000);
         LOG(ERROR)<<"异常停车,回退结束"<<"车牌号:"<<m_car_info.license()
             <<",xxxxxxxxxxxxxx  终端:"<<m_terminor_id<<"  xxxxxxxxxxxxxx";
     }
     if(m_step_statu==eStoring_step::eComplete)
     {
         //正常结束
-        usleep(1000*1000);
+        usleep(1000*500);
         LOG(INFO)<<"停车结束,"<<"车牌号:"<<m_car_info.license()
             <<",--------------  终端:"<<m_terminor_id<<"  --------------";
     }
@@ -527,10 +553,8 @@ void StoreProcessTask::publish_step_status()
          */
         if(System_communicator::get_instance_pointer())
         {
-            if(updata_step_statu_msg()==SUCCESS)
-            {
-                System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
-            }
+            std::lock_guard<std::mutex>         lock(m_process_msg_lock);
+            System_communicator::get_instance_pointer()->post_process_statu(m_process_msg);
         }
     }
 }
@@ -538,32 +562,22 @@ void StoreProcessTask::publish_step_status()
 /*
      * 根据当前流程状态,生成状态消息
      */
-Error_manager StoreProcessTask::updata_step_statu_msg()
+void StoreProcessTask::updata_step_statu_msg(message::Step_statu statu)
 {
+    std::lock_guard<std::mutex>         lock(m_process_msg_lock);
     switch (m_step_statu) {
         case eStoring_step::eAlloc_step: {
                 message::Alloc_space_step_statu alloc_step_statu;
-                alloc_step_statu.set_step_statu(message::eWorking);
+                alloc_step_statu.set_step_statu(statu);
                 m_process_msg.mutable_alloc_space_step()->CopyFrom(alloc_step_statu);
             break;
         }
         case eStoring_step::eMeasure_step: {
 
                 message::Measure_step_statu measure_step_statu;
-                measure_step_statu.set_step_statu(message::eWorking);
+                measure_step_statu.set_step_statu(statu);
                 measure_step_statu.mutable_locate_info()->CopyFrom(m_locate_info);
                 m_process_msg.mutable_measure_step()->CopyFrom(measure_step_statu);
-            if(m_process_msg.has_alloc_space_step())
-            {
-                m_process_msg.mutable_alloc_space_step()->set_step_statu(message::eComplete);
-            }
-            else
-            {
-                message::Alloc_space_step_statu alloc_step_statu;
-                alloc_step_statu.set_step_statu(message::eComplete);
-                alloc_step_statu.mutable_car_info()->CopyFrom(m_car_info);
-                m_process_msg.mutable_alloc_space_step()->CopyFrom(alloc_step_statu);
-            }
            break;
         }
         case eStoring_step::eCompare_step:{
@@ -571,89 +585,63 @@ Error_manager StoreProcessTask::updata_step_statu_msg()
             compare_step.mutable_locate_info_wj()->CopyFrom(m_locate_info);
             compare_step.mutable_locate_info_dj()->CopyFrom(m_measure_response_msg.locate_information());
             compare_step.mutable_locate_info_result()->CopyFrom(m_compare_location_data);
-            compare_step.set_step_statu(message::eWorking);
+            compare_step.set_step_statu(statu);
             m_process_msg.mutable_compare_step()->CopyFrom(compare_step);
-            if(m_process_msg.has_measure_step())
-                m_process_msg.mutable_measure_step()->set_step_statu(message::eComplete);
             break;
         }
         case eStoring_step::eDispatch_step: {
             message::Dispatch_store_step_statu          dispatch_step_statu;
-            dispatch_step_statu.set_step_statu(message::eWorking);
+            dispatch_step_statu.set_step_statu(statu);
             dispatch_step_statu.mutable_locate_info()->CopyFrom(m_locate_info);
             dispatch_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
             m_process_msg.mutable_dispatch_step()->CopyFrom(dispatch_step_statu);
-            if(m_process_msg.has_compare_step())
-                m_process_msg.mutable_compare_step()->set_step_statu(message::eComplete);
             break;
         }
         case eStoring_step::eConfirm_step: {
             message::Confirm_space_step_statu           confirm_step_statu;
-            confirm_step_statu.set_step_statu(message::eWorking);
+            confirm_step_statu.set_step_statu(statu);
             confirm_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
             m_process_msg.mutable_confirm_space_step()->CopyFrom(confirm_step_statu);
-            if(m_process_msg.has_dispatch_step())
-                m_process_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
             break;
         }
         case eStoring_step::eComplete: {
-            if(m_process_msg.has_confirm_space_step())
-                m_process_msg.mutable_confirm_space_step()->set_step_statu(message::eComplete);
             m_process_msg.set_completed(true);
             break;
         }
         case eStoring_step::eBackConfirm_step: {
                 message::Back_confirm_space_step_statu back_confirm_step_statu;
-                back_confirm_step_statu.set_step_statu(message::eWaiting);
-                if (m_process_msg.has_confirm_space_step())
-                    m_process_msg.mutable_confirm_space_step()->set_step_statu(message::eError);
-
+                back_confirm_step_statu.set_step_statu(statu);
+                m_process_msg.mutable_back_confirm_step()->CopyFrom(back_confirm_step_statu);
             break;
         }
         case eStoring_step::eBackDispatch_step: {
             message::Back_dispatch_store_step_statu   back_dispatch_step_statu;
-            back_dispatch_step_statu.set_step_statu(message::eWorking);
+            back_dispatch_step_statu.set_step_statu(statu);
             back_dispatch_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
             back_dispatch_step_statu.mutable_locate_info()->CopyFrom(m_compare_location_data);
             m_process_msg.mutable_back_dispatch_step()->CopyFrom(back_dispatch_step_statu);
-            if(m_process_msg.has_back_confirm_step())
-                m_process_msg.mutable_back_confirm_step()->set_step_statu(message::eComplete);
-            else
-                m_process_msg.mutable_dispatch_step()->set_step_statu(message::eError);
             break;
         }
         case eStoring_step::eBack_compare_step:{
             message::Back_compare_step_statu    back_compare_step_statu;
-            back_compare_step_statu.set_step_statu(message::eWorking);
+            back_compare_step_statu.set_step_statu(statu);
             back_compare_step_statu.mutable_locate_info_wj()->CopyFrom(m_locate_info);
             back_compare_step_statu.mutable_locate_info_dj()->CopyFrom(m_measure_response_msg.locate_information());
             back_compare_step_statu.mutable_locate_info_result()->CopyFrom(m_compare_location_data);
-            m_process_msg.mutable_compare_step()->CopyFrom(back_compare_step_statu);
-            if(m_process_msg.has_back_dispatch_step())
-                m_process_msg.mutable_back_dispatch_step()->set_step_statu(message::eComplete);
-            else
-                m_process_msg.mutable_compare_step()->set_step_statu(message::eError);
+            m_process_msg.mutable_back_compare_step()->CopyFrom(back_compare_step_statu);
             break;
         }
         case eStoring_step::eBackMeasure_step: {
             message::Back_measure_step_statu        back_measure_step_statu;
-            back_measure_step_statu.set_step_statu(message::eWorking);
+            back_measure_step_statu.set_step_statu(statu);
             m_process_msg.mutable_back_measure_step()->CopyFrom(back_measure_step_statu);
-            if(m_process_msg.has_back_compare_step())
-                m_process_msg.mutable_back_compare_step()->set_step_statu(message::eComplete);
-            else
-                m_process_msg.mutable_measure_step()->set_step_statu(message::eError);
             break;
         }
         case eStoring_step::eBackAlloc_step: {
             message::Back_alloc_space_step_statu    back_alloc_step_statu;
-            back_alloc_step_statu.set_step_statu(message::eWorking);
+            back_alloc_step_statu.set_step_statu(statu);
             back_alloc_step_statu.mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
             m_process_msg.mutable_back_alloc_space_step()->CopyFrom(back_alloc_step_statu);
-            if(m_process_msg.has_back_measure_step())
-                m_process_msg.mutable_back_measure_step()->set_step_statu(message::eComplete);
-            else
-                m_process_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
             break;
         }
         case eStoring_step::eBackComplete: {
@@ -663,8 +651,6 @@ Error_manager StoreProcessTask::updata_step_statu_msg()
         default:
             break;
     }
-
-    return SUCCESS;
 }
 
 

system/StoreProcessTask.h

@@ -102,7 +102,7 @@ protected:
     /*
      * 根据当前流程状态,生成状态消息
      */
-    Error_manager updata_step_statu_msg();
+    void updata_step_statu_msg(message::Step_statu statu);
 
 protected:
     unsigned int                m_terminor_id;
@@ -127,6 +127,7 @@ private:
     Thread_condition				m_publish_exit_condition;			//发送的条件变量
 
     eStoring_step                            m_step_statu;
+    std::mutex                              m_process_msg_lock;
     message::Storing_process_statu_msg      m_process_msg;
 
     Thread_condition                m_cancel_condition;                 //取消任务标志位

test/store_terminal.cpp

@@ -65,20 +65,25 @@ Error_manager store_terminal::storing(message::Car_info& car_info)
     //等待停车完成
 
     bool last_signal=false;
+    message::Storing_process_statu_msg last_msg;
     while(m_exit_cond.wait_for_millisecond(50)==false)
     {
         message::Storing_process_statu_msg msg;
         code = Terminal_communication::get_instance_pointer()->get_storing_statu(car_info.license(), msg);
+        //未找到
         if (code != SUCCESS) {
-            if(last_signal==true)
+            if(last_signal==true )
             {
-                if (m_thread_safe_output_queue)
-                    m_thread_safe_output_queue->push(car_info);
+                if(last_msg.completed()==true) {
+                    if (m_thread_safe_output_queue)
+                        m_thread_safe_output_queue->push(car_info);
+                }
                 return SUCCESS;
             }
         }
         else
         {
+            last_msg=msg;
             last_signal=true;
         }