//
// Created by zx on 2020/7/7.
//

#ifndef NNXX_TESTS_STOREPROCESS_H
#define NNXX_TESTS_STOREPROCESS_H

#include <parkspace_allocation_message.pb.h>
#include "dispatch_communicator.h"
#include "TaskQueue/BaseTask.h"
#include "Locate_communicator.h"
#include "process_message.pb.h"

class StoreProcessTask :public tq::BaseTask{
public:
    StoreProcessTask(unsigned int command_id);
    virtual  ~StoreProcessTask();
    Error_manager init_task(message::Command_info command_info,
            message::Locate_information locate_info,message::Car_info car_info);

    /*
     * 分配车位
     */
    Error_manager alloc_space();

protected:
    virtual void Main();

    /*
     * 定位
     */
    Error_manager locate_step();

    /*
     * 调度
     */
    Error_manager dispatch_step();

    /*
     * 车位占用确认
     */
    Error_manager confirm_space_step();

   /*
    * 车位解锁,当停车失败时需要车位解锁
    */
    Error_manager release_space_step();

    /*
     * reset 进度信息
     */
    void reset_process_statu();

    /*
     * 初始化 接收到的消息
     */
    void reset_recv_msg();


    /*
     * 发布进度
     */
    static void publish_thread_func(StoreProcessTask* p_commander);
    void publish_step_status();

protected:
    message::Command_info       m_command_info;
    unsigned int                m_terminor_id;
    message::Car_info           m_car_info;          //当前流程的车辆标识(车牌号)


    //停车请求发送过来的测量数据,终端位置的测量数据
    message::Locate_information                     m_locate_info;
    //以下的流程中产生的数据
    message::Measure_response_msg                   m_measure_response_msg;         //测量模块的测量数据
    message::Parkspace_allocation_response_msg      m_parcspace_alloc_response_msg; //分配的车位数据

    message::Dispatch_response_msg                  m_dispatch_response_msg;        //调度模块的反馈数据

    std::mutex                                      m_storing_statu_lock;
    message::Storing_process_statu_msg              m_storing_process_statu_msg;    //停车流程进度信息

private:
    std::thread*                    m_publish_statu_thread;             //广播状态线程
    Thread_condition				m_publish_exit_condition;			//发送的条件变量

};


#endif //NNXX_TESTS_STOREPROCESS_H