//
// 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{
    enum eStoring_step
    {
        eAlloc_step=0,
        eMeasure_step,
        eCompare_step,
        eDispatch_step,
        eConfirm_step,
        eComplete,

        eBackConfirm_step,
        eBackDispatch_step,
        eBack_compare_step,
        eBackMeasure_step,
        eBackAlloc_step,
        eBackComplete
    };
public:
    StoreProcessTask(unsigned int command_id);
    virtual  ~StoreProcessTask();
    unsigned int terminal_id(){return m_terminor_id;}
    Error_manager init_task(message::Locate_information locate_info,message::Car_info car_info);

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

    /*
     * 回退分配车位
     */
    Error_manager back_alloc_space_step();

    /*
     * 取消任务
     */
    virtual void Cancel();
    /*
     * 获取任务类型
     */
    virtual tq::TaskCategory GetCategory() const{ return message::eStoring;}

protected:
    virtual void Main();

    /*
     * 定位
     */
    Error_manager locate_step();

    /*
     * 回退定位
     */
    Error_manager back_locate_step();

    /*
     * 调度
     */
    Error_manager dispatch_step();
    /*
     * 回退调度
     */
    Error_manager back_dispatch_step();

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

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

    /*
     * 发布进度
     */
    static void publish_thread_func(StoreProcessTask* p_commander);
    void publish_step_status();
    /*
     * 根据当前流程状态,生成状态消息
     */
    Error_manager updata_step_statu_msg();

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

    //保存请求
    message::Parkspace_allocation_request_msg       m_alloc_request_msg;
    message::Measure_request_msg                    m_measure_request_msg;
    message::Locate_information                     m_compare_location_data;
    message::Dispatch_request_msg                   m_dispatch_request_msg;
    message::Parkspace_confirm_alloc_request_msg    m_confirm_request_msg;

    //停车请求发送过来的测量数据,终端位置的测量数据
    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


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

    eStoring_step                            m_step_statu;
    message::Storing_process_statu_msg      m_process_msg;

    Thread_condition                m_cancel_condition;                 //取消任务标志位

};


#endif //NNXX_TESTS_STOREPROCESS_H