// // Created by zx on 2020/7/14. // #include #include #include #include "command_manager.h" #include "StoreProcessTask.h" #include "PickupProcessTask.h" #include "system_communicator.h" Command_manager::Command_manager() :m_thread_queue_process(nullptr) ,m_system_paused(false) { } Command_manager::~Command_manager() { //等待线程池完成 if(m_thread_queue_process!=nullptr) { m_thread_queue_process->WaitForFinish(); m_thread_queue_process->Stop(); } } Error_manager Command_manager::init(setting::System_setting system_setting) { /* * 检查参数 */ if (system_setting.has_bind_ip() == false || system_setting.has_entrance_num() == false || system_setting.has_export_num() == false) { return Error_manager(ERROR, MAJOR_ERROR, "系统配置错误"); } if (system_setting.entrance_num() < 0 || system_setting.export_num() < 0) { return Error_manager(ERROR, MAJOR_ERROR, "系统配置出入口数量错误"); } //初始化出入口状态为 Enable m_input_entrance_statu.resize(system_setting.entrance_num()); for(int i=0;iStart(48); } /* * 此处添加等待各个通讯模块正常代码 */ std::chrono::system_clock::time_point t_start=std::chrono::system_clock::now(); std::chrono::system_clock::time_point t_end=std::chrono::system_clock::now(); Error_manager parkspace_code=ERROR; LOG(INFO)<<"初始化车位管理模块..."; do { if (parkspace_code != SUCCESS) { parkspace_code = Parkspace_communicator::get_instance_pointer()->check_statu(); LOG_IF(INFO, parkspace_code == SUCCESS) << "车位管理模块初始化完成!!!"; } if(parkspace_code==SUCCESS) break; t_end=std::chrono::system_clock::now(); usleep(1000*100); }while(t_end-t_startcheck_statu(i); LOG_IF(INFO, locate_code == SUCCESS) << "停车入口:"<check_entrance_statu(i); LOG_IF(INFO, dispatch_code == SUCCESS) << "停车入口:"<check_export_statu(i); LOG_IF(INFO, dispatch_code == SUCCESS) << "取车出口:" << i << " 调度模块初始化完成!!!"; } t_end = std::chrono::system_clock::now(); if (dispatch_code == SUCCESS) break; usleep(1000*100); }while(t_end-t_startCopyFrom(base_info); message::Error_manager error_msg; error_msg.set_error_code(0); if (m_thread_queue_process == nullptr) { error_msg.set_error_code(ERROR); error_msg.set_error_description("bug,线程池未初始化"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "线程池未初始化,bug"); } if(m_system_paused==true) { error_msg.set_error_code(PAUSE); error_msg.set_error_description("急停"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(PAUSE, CRITICAL_ERROR, "急停"); } //判断入口是否开放 if(request.terminal_id()<0 || request.terminal_id()>=m_system_setting.entrance_num()) { error_msg.set_error_code(ERROR); error_msg.set_error_description("terminal_id 参数设置错误"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "terminal id 设置错误"); } if(m_input_entrance_statu[request.terminal_id()]!=Enable) { error_msg.set_error_code(ERROR); error_msg.set_error_description("入口已关闭 Disable"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "中控入口已停止使用"); } if (request.base_info().msg_type() == message::eStore_command_request_msg && request.base_info().receiver() == message::eMain && request.base_info().sender() == message::eTerminor) { if (request.has_locate_information() && request.has_base_info()) { message::Locate_information locate_info = request.locate_information(); if (locate_info.has_locate_correct()) { if (locate_info.locate_correct() == true) { if (locate_info.has_locate_width() && locate_info.has_locate_height() && locate_info.has_locate_x() && locate_info.has_locate_y() && locate_info.has_locate_angle() && locate_info.has_locate_wheel_base()) { /* * 检查消息完毕,开始处理 */ response.set_terminal_id(request.terminal_id()); /* * 检查各个节点是否正常 */ Error_manager parkspace_code= Parkspace_communicator::get_instance_pointer()->check_statu(); if(parkspace_code!=SUCCESS) { error_msg.set_error_code(parkspace_code.get_error_code()); error_msg.set_error_description(parkspace_code.get_error_description()); response.mutable_code()->CopyFrom(error_msg); return parkspace_code; } Error_manager locate_code= Locate_communicator::get_instance_pointer()->check_statu(request.terminal_id()); if(locate_code!=SUCCESS) { error_msg.set_error_code(locate_code.get_error_code()); error_msg.set_error_description(locate_code.get_error_description()); response.mutable_code()->CopyFrom(error_msg); return locate_code; } Error_manager dispatch_code= Dispatch_communicator::get_instance_pointer()->check_entrance_statu(request.terminal_id()); if(dispatch_code!=SUCCESS) { error_msg.set_error_code(dispatch_code.get_error_code()); error_msg.set_error_description(dispatch_code.get_error_description()); response.mutable_code()->CopyFrom(error_msg); return dispatch_code; } LOG(INFO) << "收到停车,车牌:"<< request.car_info().license() << ",终端:" << request.terminal_id()<<"............................"; tq::BaseTask *ptask = new StoreProcessTask(request.terminal_id()); StoreProcessTask *pStore_task = (StoreProcessTask *) ptask; //初始化流程 pStore_task->init_task(locate_info, request.car_info()); //获取车位 Error_manager code = pStore_task->alloc_space(); if (code == SUCCESS) { m_thread_queue_process->AddTask(pStore_task); response.mutable_code()->CopyFrom(error_msg); return SUCCESS; } usleep(1000 * 1000); delete pStore_task; error_msg.set_error_code(code.get_error_code()); error_msg.set_error_description(code.to_string()); response.mutable_code()->CopyFrom(error_msg); LOG(ERROR) << "创建停车流程失败(车位分配失败),终端:" << request.terminal_id() << "车牌:" << request.car_info().license() << " " << code.to_string(); return code; } } } } return Error_manager(FAILED, MINOR_ERROR, "创建停车流程失败...指令缺少必要信息..."); } else { return Error_manager(INVALID_MESSAGE, MAJOR_ERROR, "停车请求基本信息错误"); } } /* * 执行取车请求 */ Error_manager Command_manager::execute_pickup_command(message::Pickup_command_request_msg& request,message::Pickup_command_response_msg& response) { message::Base_info base_info; base_info.set_msg_type(message::ePickup_command_response_msg); base_info.set_sender(message::eMain); base_info.set_receiver(message::eTerminor); response.mutable_base_info()->CopyFrom(base_info); message::Error_manager error_msg; error_msg.set_error_code(0); if (m_thread_queue_process == nullptr) { error_msg.set_error_code(ERROR); error_msg.set_error_description("bug,线程池未初始化"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "线程池未初始化,bug"); } if(m_system_paused==true) { error_msg.set_error_code(PAUSE); error_msg.set_error_description("急停"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(PAUSE, CRITICAL_ERROR, "急停"); } //判断出口是否开放 if(request.terminal_id()<0 || request.terminal_id()>=m_system_setting.export_num()) { error_msg.set_error_code(ERROR); error_msg.set_error_description("出口 id 设置错误"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "出口 id 设置错误"); } if(m_output_entrance_statu[request.terminal_id()]!=Enable) { error_msg.set_error_code(ERROR); error_msg.set_error_description("中控出口已停止使用"); response.mutable_code()->CopyFrom(error_msg); return Error_manager(ERROR, CRITICAL_ERROR, "中控出口已停止使用"); } if(request.base_info().msg_type()==message::ePickup_command_request_msg &&request.base_info().receiver()==message::eMain &&request.base_info().sender()==message::eTerminor &&request.has_car_info()) { response.set_terminal_id(request.terminal_id()); /* * 检查各个节点是否正常 */ Error_manager parkspace_code= Parkspace_communicator::get_instance_pointer()->check_statu(); if(parkspace_code!=SUCCESS) { error_msg.set_error_code(parkspace_code.get_error_code()); error_msg.set_error_description(parkspace_code.get_error_description()); response.mutable_code()->CopyFrom(error_msg); return parkspace_code; } Error_manager dispatch_code= Dispatch_communicator::get_instance_pointer()->check_export_statu(request.terminal_id()); if(dispatch_code!=SUCCESS) { error_msg.set_error_code(dispatch_code.get_error_code()); error_msg.set_error_description(dispatch_code.get_error_description()); response.mutable_code()->CopyFrom(error_msg); return dispatch_code; } //一切正常,接受指令 Error_manager code; LOG(WARNING)<<"收到取车-----------------------------"<init_task(request.car_info()); /////查询车位 code=pPick_task->search_space(); if(code==SUCCESS) { m_thread_queue_process->AddTask(pPick_task); response.mutable_code()->CopyFrom(error_msg); return SUCCESS; } usleep(1000*1000); error_msg.set_error_code(code.get_error_code()); error_msg.set_error_description(code.to_string()); response.mutable_code()->CopyFrom(error_msg); LOG(ERROR)<<"创建取车流程失败(车位查询失败),终端:"<m_system_setting.entrance_num()) return Error_manager(ERROR,MINOR_ERROR,"xxxx"); m_input_entrance_statu[terminal_id]=(enable?Enable:Disable); return SUCCESS; } /* * 控制出口 开放或者关闭 */ Error_manager Command_manager::enable_export(int terminal_id,bool enable) { if(terminal_id<0 || terminal_id>m_system_setting.export_num()) return Error_manager(ERROR,MINOR_ERROR,"xxxx"); m_output_entrance_statu[terminal_id]=(enable?Enable:Disable); } /* * pause,系统急停 */ void Command_manager::pause_system() { m_system_paused=true; } void Command_manager::publish_statu_function(Command_manager* commander) { if(commander== nullptr) return ; commander->publish_statu(); } void Command_manager::publish_statu() { while(m_publish_exit_condition.wait_for_millisecond(50)==false) { message::Central_controller_statu_msg msg; message::Base_info baseInfo; baseInfo.set_msg_type(message::eCentral_controller_statu_msg); baseInfo.set_sender(message::eMain); baseInfo.set_receiver(message::eEmpty); msg.mutable_base_info()->CopyFrom(baseInfo); msg.set_paused(m_system_paused); for(int i=0;ipost_central_statu(msg); } }