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

#include <Parkspace_communicator.h>
#include <dispatch_message.pb.h>
#include "PickupProcessTask.h"
#include "process_message.pb.h"
#include "command_manager.h"

PickupProcessTask::PickupProcessTask(){}
PickupProcessTask::~PickupProcessTask(){}
Error_manager PickupProcessTask::init_task(unsigned int command_id, unsigned int terminor_id,message::Car_info car_info)
{
    m_command_id=command_id;
    m_terminor_id=terminor_id;
    m_car_info=car_info;
    return SUCCESS;
}

/*
 * 查询车位
 */
Error_manager PickupProcessTask::search_space()
{
    /*
     * 检验汽车信息是否正常
     */
    if(m_car_info.has_car_width()==false||m_car_info.has_car_height()== false
        ||m_car_info.has_license()==false)
    {
        return Error_manager(INVALID_MESSAGE,CRITICAL_ERROR,"查询车位请求汽车信息错误");
    }

    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_search_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);

    message::Parkspace_search_request_msg request;
    request.set_command_id(m_command_id);
    request.mutable_base_info()->CopyFrom(base_info);
    request.mutable_car_info()->CopyFrom(m_car_info);
    return Parkspace_communicator::get_instance_pointer()->search_request(request,m_parcspace_search_response_msg);
}
void PickupProcessTask::Main()
{
    Error_manager code;

    Command_manager::get_instance_pointer()->updata_pickup_entrance_statu(m_command_id,message::eWorking);
    //进入取车流程
    switch (0)
    {
        //第一步,执行取车动作
        case 0:
        {
            code=pickup_step();
            if(code!=SUCCESS)
            {
                LOG(ERROR)<<"取车调度失败,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
                            <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
                            <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
                            <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
                            <<", 车牌号:"<<m_car_info.license()
                            <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
                break;
            }
            LOG(WARNING)<<"取车调度成功,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
                        <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
                        <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
                        <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
                        <<", 车牌号:"<<m_car_info.license()
                        <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
        }
        //第二步,清除车位
        case 1:
        {
            code=release_space_step();
            if(code!=SUCCESS)
            {
                LOG(ERROR)<<"取车释放车位失败:"<<code.to_string();
                break;
            }
        }
        //第三步,等待车辆离开
        case 2:
        {
            code=wait_for_leave_step();
            if(code!=SUCCESS)
            {
                break;
            }
        }
    }
    Command_manager::get_instance_pointer()->updata_pickup_entrance_statu(m_terminor_id,message::eReady);
    ////资源回收

}

/*
 * 执行取车动作请求,并等待执行完成
 */
Error_manager PickupProcessTask::pickup_step()
{
    /*
  * 检查是否曾经分配过车位
  */
    if(m_parcspace_search_response_msg.has_car_position()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }

    message::Dispatch_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::eDispatch_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eDispatch);
    base_info.set_timeout_ms(1000*300); //测量超时300s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_parcspace_search_response_msg.car_position();
    request.set_dispatch_motion_direction(message::E_PICKUP_CAR);
    request.set_parkspace_id(space_info.parkspace_id());
    request.set_terminal_id(m_terminor_id);
    request.set_command_id(m_command_id);


    message::Dispatch_response_msg response;
    Error_manager code=Dispatch_communicator::get_instance_pointer()->dispatch_request(request,response);
    if(code!=SUCCESS)
        return code;

    if(response.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"取车流程调度反馈错误码");

}

/*
 * 等待车辆离开
 */
Error_manager PickupProcessTask::wait_for_leave_step()
{
    return SUCCESS;
}

/*
     * 清除车位表中对应的车位
     */
Error_manager PickupProcessTask::release_space_step()
{
    /*
   * 检查是否曾经分配过车位
   */
    if(m_parcspace_search_response_msg.has_car_position()==false)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }

    message::Parkspace_release_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::eParkspace_release_request_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eParkspace);
    base_info.set_timeout_ms(1000); //测量超时1s
    request.mutable_base_info()->CopyFrom(base_info);

    message::Parkspace_info space_info=m_parcspace_search_response_msg.car_position();
    request.mutable_release_space_info()->CopyFrom(space_info);

    request.set_command_id(m_command_id);


    message::Parkspace_release_response_msg release_response;
    Error_manager code=Parkspace_communicator::get_instance_pointer()->release_request(request,release_response);
    if(code!=SUCCESS)
        return code;

    if(release_response.error_manager().error_code()==0) {
        return SUCCESS;
    }
    else
        return Error_manager(FAILED,MINOR_ERROR,"取车流程parkspace release response error_code error");
}