Terminal_process_CT/system/PickupProcessTask.cpp

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

#include <parkspace_excutor.h>
#include <dispatch_message.pb.h>
#include "PickupProcessTask.h"
#include "process_message.pb.h"
#include "command_manager.h"
#include "command_accepter.h"
#include "exception_solver.h"
#include "uniq_key.h"

PickupProcessTask::PickupProcessTask(unsigned int terminal_id,message::Car_info car_info)
       :Process_task(terminal_id,car_info)
{
    m_process_log.set_process_type(message::ePicking);
}
PickupProcessTask::~PickupProcessTask()
{
    //退出线程
    m_publish_exit_condition.set_pass_ever(true);
    if(m_publish_statu_thread!= nullptr)
    {
        if(m_publish_statu_thread->joinable())
        {
            m_publish_statu_thread->join();
        }
        delete m_publish_statu_thread;
        m_publish_statu_thread=nullptr;
    }
}
Error_manager PickupProcessTask::init_task(const ::google::protobuf::Message& parameter)
{
    /*char log[255]={0};
    sprintf(log,"来自终端 %d 的取车指令:\n %s",m_terminor_id,m_car_info.DebugString().c_str());
    ALOG(INFO)<<log;*/

    reset_msg();

    //设置状态消息,基本信息
    message::Base_info base_info;
    base_info.set_msg_type(message::ePicking_process_statu_msg);
    base_info.set_sender(message::eMain);
    base_info.set_receiver(message::eEmpty);
    m_process_msg.mutable_base_info()->CopyFrom(base_info);
    m_process_msg.set_terminal_id(m_terminor_id);
    m_process_msg.set_license(m_car_info.license());

    m_current_step_type=message::eSearch_step;

   return Process_task::init_task(parameter);

}

void PickupProcessTask::reset_msg()
{
    m_search_request_msg=message::Parkspace_search_request_msg();
    m_search_response_msg=message::Parkspace_search_response_msg();
    m_dispatch_request_msg=message::Dispatch_request_msg();
    m_dispatch_response_msg=message::Dispatch_response_msg();
    m_command_response_msg=message::Pickup_command_response_msg();
}

/*
 * 查询车位
 */
Error_manager PickupProcessTask::search_space_step()
{

    message::Base_info base_info_response;
    base_info_response.set_msg_type(message::ePickup_command_response_msg);
    base_info_response.set_sender(message::eMain);
    base_info_response.set_receiver(message::eTerminor);
    m_command_response_msg.mutable_base_info()->CopyFrom(base_info_response);
    m_command_response_msg.set_terminal_id(m_terminor_id);
    m_command_response_msg.set_license(m_car_info.license());

    if(Command_manager::get_instance_pointer()->is_paused()==true)
    {
        return Error_manager(PAUSE, MINOR_ERROR, "系统已急停");
    }

    message::Entrance_statu statu=Command_manager::get_instance_pointer()->export_statu(m_terminor_id);
    if(statu.has_paused()==false) {
        return Error_manager(ERROR, MINOR_ERROR, "出口已禁止使用 Disable");
    }
    if(statu.paused()==true)
    {
        return Error_manager(ERROR, MINOR_ERROR, "出口已禁止使用 Disable");
    }


    /*
     * 检验汽车信息是否正常
     */
    if(
            // 20210812 changed by yct, only check license, terminal cannot find width height at this stage
//            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,"查询车位请求信息错误");
    }

    /*
     * 检查车位管理模块是否正常
     */
    Error_manager code=Parkspace_excutor::get_instance_pointer()->check_statu();
    if(code!=SUCCESS)
    {
        return code;
    }

    message::Base_info base_info_request;
    base_info_request.set_msg_type(message::eParkspace_search_request_msg);
    base_info_request.set_sender(message::eMain);
    base_info_request.set_receiver(message::eParkspace);
    base_info_request.set_timeout_ms(2000);

    m_search_request_msg.mutable_base_info()->CopyFrom(base_info_request);
    m_search_request_msg.mutable_car_info()->CopyFrom(m_car_info);

    code = Parkspace_excutor::get_instance_pointer()->search_request(m_search_request_msg,
            m_search_response_msg,m_cancel_condition);

    /*message::Node_log node_log;
    node_log.mutable_search_request()->CopyFrom(m_search_request_msg);
    node_log.mutable_search_response()->CopyFrom(m_search_response_msg);
    ALOG(INFO)<<node_log;*/

    return code;
}

/*
 * 回退查询车位
 */
Error_manager PickupProcessTask::back_search_space_step()
{
    //ALOG(INFO)<<"回退查询车位";
    return SUCCESS;
}

/*
     * 控制流程到下一步
     */
Error_manager PickupProcessTask::next_step()
{
    if(m_current_step_statu==message::eWaiting || m_current_step_statu== message::eWorking)
        return Error_manager(ERROR,MINOR_ERROR,"当前状态禁止改变步骤类型");
    switch (m_current_step_type)
    {
        case message::eSearch_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eDispatch_step:message::eBackComplete;
            break;
        case message::eDispatch_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eWait_step:message::eBackSearch_step;
            break;
        case message::eWait_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eRelease_step:message::eBackDispatch_step;
            break;
        case message::eRelease_step:
            m_current_step_type=(m_current_step_statu==message::eFinished)?message::eComplete:message::eBackWait_step;
            break;
        case message::eComplete:
            break;
        case message::eBackWait_step:
            m_current_step_type=message::eBackDispatch_step;
            break;
        case message::eBackDispatch_step:
            m_current_step_type=message::eBackSearch_step;
            break;
        case message::eBackSearch_step:
            m_current_step_type=message::eBackComplete;
            break;
        case message::eBackComplete:
            break;
        default:
            LOG(ERROR)<<"-------  取  ------- 下一步失败,当前步骤未知: "<<message::Step_type_Name(m_current_step_type);
            break;
    }
    //ALOG(INFO)<<"进入下一步:"<<message::Step_type_Name(m_current_step_type);
    return SUCCESS;
}

void PickupProcessTask::Main()
{
    Error_manager code;
    //进入取车流程
    while(is_canceled()==false)
    {
        //第一步查询
        if(m_current_step_type==message::eSearch_step)
        {
            updata_step_statu(message::eWorking);
            code=search_space_step();
            message::Error_manager error_msg;
            error_msg.set_error_code(code.get_error_code());
            error_msg.set_error_description(code.get_error_description());
            m_command_response_msg.mutable_code()->CopyFrom(error_msg);
            Communication_message msg;
            msg.reset(m_command_response_msg.base_info(),m_command_response_msg.SerializeAsString());
            Message_communicator::get_instance_pointer()->send_msg(&msg);
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);

            LOG_IF(ERROR, code != SUCCESS) << "-------  取  -------查询失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license()<<code.get_error_description();
            /*ALOG_IF(ERROR, code != SUCCESS) << "-------  取  -------查询失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license()<<code.get_error_description();*/
        }

        if(m_current_step_type== message::eDispatch_step)
        {
            updata_step_statu(message::eWorking);
            code=dispatch_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);
            LOG_IF(ERROR, code != SUCCESS) << "-------  取  -------取车调度失败,取车终端:"<<m_terminor_id
                                           <<", 车位id:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_room_id()
                                           <<", 车位楼层:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_floor_id()
                                           <<", 车位序号:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_index_id()
                                           <<", 车牌号:"<<m_car_info.license()
                                           <<", 库内车牌号:"<<m_search_response_msg.query_parkspace_info_ex(0).car_info().license()
                                           <<code.get_error_description();
            /*ALOG_IF(ERROR, code != SUCCESS) << "-------  取  -------取车调度失败,取车终端:"<<m_terminor_id
                    <<", 车位id:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_room_id()
                    <<", 车位楼层:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_floor_id()
                    <<", 车位序号:"<<m_search_response_msg.query_parkspace_info_ex(0).parkingspace_index_id()
                    <<", 车牌号:"<<m_car_info.license()
                    <<", 库内车牌号:"<<m_search_response_msg.query_parkspace_info_ex(0).car_info().license()
                    <<code.get_error_description();*/
        }
        if(m_current_step_type== message::eWait_step)
        {
            updata_step_statu(message::eWorking);
            code=wait_for_leave_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);
            LOG_IF(ERROR, code != SUCCESS) << "-------  取  -------等待车辆离开失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license();
            /*ALOG_IF(ERROR, code != SUCCESS) << "-------  取  -------等待车辆离开失败,取车终端:"<<m_terminor_id
                                           <<", 车牌号:"<<m_car_info.license();*/
        }
        if(m_current_step_type== message::eRelease_step)
        {
            updata_step_statu(message::eWorking);
            code=release_space_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);

            if(code!=SUCCESS)
            {
                //提升错误等级为三级
                LOG(ERROR)<<"-------  取  -------  释放车位失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                //ALOG(ERROR)<<"-------  取  -------  释放车位失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                code.set_error_level_location(MAJOR_ERROR);
                Exception_solver::get_instance_pointer()->solve_exception(code, this);
                continue;
            }
        }
        if(m_current_step_type==message::eComplete) {
            //流程结束前,保证至少发送一次流程完成状态
            updata_step_statu(message::eFinished);
            break;
        }

        // ----------------------------------------华丽的分割线 ----------------------------------------

        if(m_current_step_type== message::eBackWait_step)
        {
            updata_step_statu(message::eWorking);
            code=back_wait_for_leave_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);

            if(code.get_error_level()>=MAJOR_ERROR)
            {
                //提升错误等级为四级
                LOG(ERROR)<<"-------  取  -------  回退等待失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                //ALOG(ERROR)<<"-------  取  -------  回退等待失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                Exception_solver::get_instance_pointer()->solve_exception(code,this);
                continue;
            }
        }
        if(m_current_step_type== message::eBackDispatch_step)
        {
            updata_step_statu(message::eWorking);
            code=back_dispatch_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);
            if(code.get_error_level()>=MAJOR_ERROR)
            {
                //提升错误等级为四级
                LOG(ERROR)<<"-------  取  -------  回退调度失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                //ALOG(ERROR)<<"-------  取  -------  回退调度失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                Exception_solver::get_instance_pointer()->solve_exception(code,this);
                continue;
            }
        }
        if(m_current_step_type== message::eBackSearch_step)
        {
            updata_step_statu(message::eWorking);
            code=back_search_space_step();
            code!=SUCCESS?updata_step_statu(message::eError):updata_step_statu(message::eFinished);
            if(code.get_error_level()>=MAJOR_ERROR)
            {
                //提升错误等级为四级
                LOG(ERROR)<<"-------  取  -------  回退调度失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                //ALOG(ERROR)<<"-------  取  -------  回退调度失败 ------进入异常处理,  车牌号:"<<m_car_info.license();
                Exception_solver::get_instance_pointer()->solve_exception(code,this);
                continue;
            }
        }
        if(m_current_step_type== message::eBackComplete)
            break;
        next_step();

    }

    /*
     * 跳出循环后,判断状态,是否正常结束, 循环跳出状态只有可能是 eBackComplete(异常结束),eComplete(正常结束),任务取消状态
     */
    updata_step_statu(message::eFinished);
    publish_step_status();

    if(m_cancel_condition.wait_for_millisecond(1)==true) {
        LOG(ERROR) << "-------  取  -------取车任务被强制取消,车牌号:" << m_car_info.license()
                   << ",  终端号:" << m_terminor_id;
        /*ALOG(ERROR) << "-------  取  -------取车任务被强制取消,车牌号:" << m_car_info.license()
                   << ",  终端号:" << m_terminor_id;*/
        usleep(1000*500);
        return ;
    }

    if(m_current_step_type== message::eBackComplete)
    {
        //异常结束
        usleep(1000*500);
        LOG(ERROR)<<"-------  取  -------异常取车,回退结束"<<"车牌号:"<<m_car_info.license()
                  <<",xxxxxxxxxxxxxx  终端:"<<m_terminor_id<<"  xxxxxxxxxxxxxx";
        /*ALOG(ERROR)<<"-------  取  -------异常取车,回退结束"<<"车牌号:"<<m_car_info.license()
                  <<",xxxxxxxxxxxxxx  终端:"<<m_terminor_id<<"  xxxxxxxxxxxxxx";*/
    }
    if(m_current_step_type== message::eComplete)
    {
        //正常结束
        usleep(1000*500);
        LOG(INFO)<<"-------  取  -------取车结束,"<<"车牌号:"<<m_car_info.license()
                 <<",--------------  终端:"<<m_terminor_id<<"  --------------";
        /*ALOG(INFO)<<"-------  取  -------取车结束,"<<"车牌号:"<<m_car_info.license()
                 <<",--------------  终端:"<<m_terminor_id<<"  --------------";*/
    }
    //return Process_task::Main();
}

/*
 * 执行取车动作请求,并等待执行完成
 */
Error_manager PickupProcessTask::dispatch_step()
{
    /*
  * 检查是否曾经分配过车位
  */
    if(m_search_response_msg.query_parkspace_info_ex_size()==0)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }

    //2,判断调度节点状态
    Error_manager code=Dispatch_excutor::get_instance_pointer()->check_export_statu(m_terminor_id);
    if(code!=SUCCESS)
        return code;

    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_manager);
    base_info.set_timeout_ms(1000*300); //测量超时300s
    m_dispatch_request_msg.mutable_base_info()->CopyFrom(base_info);


    m_dispatch_request_msg.set_dispatch_motion_direction(message::E_PICKUP_CAR);
    m_dispatch_request_msg.mutable_parkspace_info_ex()->CopyFrom(m_search_response_msg.query_parkspace_info_ex());
    m_dispatch_request_msg.set_terminal_id(m_terminor_id);

    code=Dispatch_excutor::get_instance_pointer()->dispatch_request(m_dispatch_request_msg,m_dispatch_response_msg,m_cancel_condition);

    /*message::Node_log dispatch_log;
    dispatch_log.mutable_dispatch_request()->CopyFrom(m_dispatch_request_msg);
    dispatch_log.mutable_dispatch_response()->CopyFrom(m_dispatch_response_msg);
    ALOG(INFO)<<dispatch_log;*/

    if(code!=SUCCESS)
        return code;

    if(m_dispatch_response_msg.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");

}
/*
 * 回退取车调度
 */
Error_manager PickupProcessTask::back_dispatch_step()
{
    /*
     * 关门,搬运将车从出口抓回去
     */
    /*usleep(1000*1000);
    int k=rand()%10;
    if(k==0)
        return Error_manager(ERROR,MINOR_ERROR,"手动制造错误");*/
    //ALOG(INFO)<<"回退调度";
    return SUCCESS;
}

/*
 * 等待车辆离开
 */
Error_manager PickupProcessTask::wait_for_leave_step()
{
    usleep(1000*100);
    /*int k=rand()%10;
    if(k==0)
        return Error_manager(ERROR,MINOR_ERROR,"手动制造错误");*/
    //ALOG(INFO)<<"等待离开";
    return SUCCESS;
}

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

/*
     * 清除车位表中对应的车位
     */
Error_manager PickupProcessTask::release_space_step()
{
    /*int k=rand()%10;
    if(k==0)
        return Error_manager(ERROR,MINOR_ERROR,"手动制造错误");*/
    /*
   * 检查是否曾经分配过车位
   */
    if(m_search_response_msg.query_parkspace_info_ex_size()==0)
    {
        return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
    }
    /*
     * 检查车位管理模块是否正常
     */
    Error_manager code=Parkspace_excutor::get_instance_pointer()->check_statu();
    if(code!=SUCCESS)
        return code;

    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(5000); //测量超时1s
    m_release_request_msg.mutable_base_info()->CopyFrom(base_info);

    m_release_request_msg.mutable_release_parkspace_info_ex()->CopyFrom(m_search_response_msg.query_parkspace_info_ex());

    code=Parkspace_excutor::get_instance_pointer()->release_request(m_release_request_msg,m_release_response_msg,m_cancel_condition);
    /*message::Node_log node_log;
    node_log.mutable_release_request()->CopyFrom(m_release_request_msg);
    node_log.mutable_release_response()->CopyFrom(m_release_response_msg);
    ALOG(INFO)<<node_log;*/

    if(code!=SUCCESS)
        return code;

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


void PickupProcessTask::publish_step_status() {
    /*
     * 通过communicator 发布状态
     */
    if (Command_accepter::get_instance_pointer()) {
        std::lock_guard<std::mutex>         lock(m_process_msg_lock);
        Command_accepter::get_instance_pointer()->post_process_statu(m_process_msg);
    }
}

/*
     * 根据当前流程状态,生成状态消息
     */
void PickupProcessTask::updata_step_statu(message::Step_statu statu)
{
    m_current_step_statu=statu;
    std::lock_guard<std::mutex>         lock(m_process_msg_lock);
    switch (m_current_step_type) {
        case message::eSearch_step: {
            message::Search_space_step_statu search_step_statu;
            search_step_statu.set_step_statu(statu);
            m_process_msg.mutable_search_space_step()->CopyFrom(search_step_statu);
            break;
        }
        case message::eDispatch_step: {
            message::Dispatch_pick_step_statu dispatch_step_statu;
            dispatch_step_statu.set_step_statu(statu);
            dispatch_step_statu.mutable_search_parkspace_info_ex()->CopyFrom(m_search_response_msg.query_parkspace_info_ex());
            m_process_msg.mutable_dispatch_step()->CopyFrom(dispatch_step_statu);
            break;
        }
        case message::eWait_step:
        {
            message::Waitfor_leave_step_statu waitfor_leave_step;
            waitfor_leave_step.set_step_statu(statu);
            waitfor_leave_step.mutable_car_info()->CopyFrom(m_car_info);
            m_process_msg.mutable_waitfor_leave_step()->CopyFrom(waitfor_leave_step);
            break;
        }
        case  message::eRelease_step: {
            message::Release_space_step_statu           release_step_statu;
            release_step_statu.set_step_statu(statu);
            release_step_statu.mutable_release_parkspace_info_ex()->CopyFrom(m_search_response_msg.query_parkspace_info_ex());
            m_process_msg.mutable_release_space_step()->CopyFrom(release_step_statu);
            break;
        }
        case  message::eComplete: {
            m_process_msg.set_completed(true);
            break;
        }
        case  message::eBackWait_step: {
            message::Back_waitfor_leave_step_statu back_waitfor_step_statu;
            back_waitfor_step_statu.set_step_statu(statu);
            back_waitfor_step_statu.mutable_car_info()->CopyFrom(m_car_info);
            m_process_msg.mutable_back_waitfor_leave_step()->CopyFrom(back_waitfor_step_statu);
            break;
        }
        case  message::eBackDispatch_step: {
            message::Back_dispatch_pick_step_statu   back_dispatch_step_statu;
            back_dispatch_step_statu.set_step_statu(statu);
            back_dispatch_step_statu.mutable_search_parkspace_info_ex()->CopyFrom(m_search_response_msg.query_parkspace_info_ex());
            m_process_msg.mutable_back_dispatch_step()->CopyFrom(back_dispatch_step_statu);
            break;
        }
        case  message::eBackSearch_step: {
            message::Back_search_space_step_statu    back_search_step_statu;
            back_search_step_statu.set_step_statu(statu);
            back_search_step_statu.mutable_car_info()->CopyFrom(m_car_info);
            m_process_msg.mutable_back_search_space_step_statu()->CopyFrom(back_search_step_statu);
            break;
        }
        case  message::eBackComplete: {
            m_process_msg.set_back_completed(true);
            break;
        }
        default:
            break;
    }
}