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

#include "store_terminal.h"
#include "Terminal_communication.h"

threadsafe_queue<message::Car_info>* store_command::p_command_queue=new threadsafe_queue<message::Car_info>;
store_command::store_command(message::Car_info msg)
{
    m_car_info=msg;
}
store_command::~store_command()
{
    m_exit_cond.set_pass_ever(true);

}



Error_manager store_command::storing(int terminal_id)
{
    message::Store_command_request_msg request;
    message::Base_info base_info;
    base_info.set_msg_type(message::eStore_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);

    message::Locate_information locate_info;
    locate_info.set_locate_x(0.9);
    locate_info.set_locate_y(2.25);
    locate_info.set_locate_angle(90.0);
    locate_info.set_locate_wheel_base(2.7);
    locate_info.set_locate_width(m_car_info.car_width());
    locate_info.set_locate_height(m_car_info.car_height());
    locate_info.set_locate_correct(true);
    request.mutable_locate_information()->CopyFrom(locate_info);

    request.set_terminal_id(terminal_id);
    //发送停车请求
    Error_manager code;
    message::Store_command_response_msg response;
    code=Terminal_communication::get_instance_pointer()->store_request(request,response);
    if(code!=SUCCESS)
    {
        LOG(WARNING)<<"  request_error: "<<code.to_string()<<std::endl;
        return ERROR;
    }
    if(response.code().error_code()!=0)
    {
        LOG(WARNING)<<" store request response code error: "<<response.code().error_description();
        return ERROR;
    }
    //等待停车完成

    bool last_signal=false;
    message::Storing_process_statu_msg last_msg;
    while(m_exit_cond.wait_for_millisecond(50)==false)
    {
        message::Storing_process_statu_msg msg;
        code = Terminal_communication::get_instance_pointer()->get_storing_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))
        {
            //停车完成
            p_command_queue->push(m_car_info);
            return SUCCESS;
        }

    }
    return FAILED;
}