//
// Created by zx on 2020/7/16.
//

#include "pickup_terminal.h"

#include "Terminal_communication.h"
pickup_terminal::pickup_terminal(message::Car_info car_info)
{
  m_car_info=car_info;

}


pickup_terminal::~pickup_terminal()
{
    m_exit_cond.set_pass_ever(true);

}


Error_manager pickup_terminal::pickup(int terminal_id)
{
    message::Pickup_command_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::ePickup_command_request_msg);
    base_info.set_sender(message::eTerminor);
    base_info.set_receiver(message::eMain);
    request.mutable_base_info()->CopyFrom(base_info);
    request.mutable_car_info()->CopyFrom(m_car_info);
    request.mutable_id_struct()->set_terminal_id(terminal_id);
    //发送停车请求
    Error_manager code;
    message::Pickup_command_response_msg response;
    code=Terminal_communication::get_instance_pointer()->pickup_request(request,response);
    if(code!=SUCCESS)
    {
        std::cout<<"取车请求失败:"<<code.to_string()<<std::endl;
        return ERROR;
    }
    //等待停车完成

    bool last_signal=false;
    message::Picking_process_statu_msg last_msg;
    while(m_exit_cond.wait_for_millisecond(200)==false)
    {
        message::Picking_process_statu_msg msg;
        code = Terminal_communication::get_instance_pointer()->get_picking_statu(m_car_info.license(), msg);
        if (code == SUCCESS)
        {
            last_signal=true;
            last_msg=msg;
        }
        if(last_signal==true&&(last_msg.completed()==true||last_msg.back_completed()==true))
        {
            //取车完成
            return SUCCESS;
        }

    }
    return FAILED;
}