Locate_communicator.cpp 8.5 KB

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  1. //
  2. // Created by zx on 2020/6/18.
  3. //
  4. #include "Locate_communicator.h"
  5. Locate_communicator::Locate_communicator()
  6. {
  7. }
  8. Locate_communicator::~Locate_communicator()
  9. {
  10. }
  11. Error_manager Locate_communicator::encapsulate_msg(Communication_message* message)
  12. {
  13. Error_manager code;
  14. //记录请求
  15. switch (message->get_message_type())
  16. {
  17. case Communication_message::eLocate_request_msg:
  18. {
  19. message::Measure_request_msg request;
  20. request.ParseFromString(message->get_message_buf());
  21. m_response_table[request]=message::Measure_response_msg();
  22. //发送请求
  23. code= Communication_socket_base::encapsulate_msg(message);
  24. if(code!=SUCCESS)
  25. {
  26. m_response_table.erase(request);
  27. }
  28. break;
  29. }
  30. default:
  31. code= Error_manager(FAILED,CRITICAL_ERROR," measure发送任务类型不存在");
  32. break;
  33. }
  34. return code;
  35. }
  36. Error_manager Locate_communicator::locate_request(message::Measure_request_msg& request,message::Measure_response_msg& result)
  37. {
  38. /*
  39. * 检查request合法性,以及模块状态
  40. */
  41. if(request.base_info().sender()!=message::eMain||request.base_info().receiver()!=message::eMeasurer)
  42. return Error_manager(LOCATER_MSG_REQUEST_INVALID,MINOR_ERROR,"measure request invalid");
  43. if(m_response_table.find(request)==true)
  44. return Error_manager(LOCATER_MSG_REQUEST_REPEATED,MAJOR_ERROR," measure reques repeated");
  45. //设置超时,若没有设置,默认3000
  46. int timeout=request.base_info().has_timeout_ms()?request.base_info().timeout_ms():3000;
  47. //向测量节点发送测量请求,并记录请求
  48. Error_manager code;
  49. Communication_message message;
  50. message::Base_info base_msg;
  51. base_msg.set_msg_type(message::eLocate_request_msg);
  52. base_msg.set_sender(message::eMain);
  53. base_msg.set_receiver(message::eMeasurer);
  54. base_msg.set_timeout_ms(timeout);
  55. message.reset(base_msg,request.SerializeAsString());
  56. code=encapsulate_msg(&message);
  57. if(code!=SUCCESS)
  58. return code;
  59. //循环查询请求是否被处理
  60. auto start_time=std::chrono::system_clock::now();
  61. double time=0;
  62. do{
  63. //查询到记录
  64. message::Measure_response_msg response;
  65. ///查询是否存在,并且删除该记录,
  66. if(m_response_table.find(request,response))
  67. {
  68. //判断是否接收到回应,若回应信息被赋值则证明有回应
  69. if (response.has_base_info() && response.has_command_info())
  70. {
  71. message::Base_info response_base = response.base_info();
  72. //检查类型是否匹配
  73. if (response_base.msg_type() != message::eLocate_response_msg) {
  74. return Error_manager(LOCATER_MSG_RESPONSE_TYPE_ERROR, MAJOR_ERROR,
  75. "measure response msg type error");
  76. }
  77. //检查基本信息是否匹配
  78. if (response_base.sender() != message::eMeasurer ||
  79. response_base.receiver() != message::eMain ||
  80. !(response.command_info() == request.command_info())) {
  81. return Error_manager(LOCATER_MSG_RESPONSE_INFO_ERROR, MAJOR_ERROR,
  82. "measure response msg info error");
  83. }
  84. result = response;
  85. m_response_table.erase(request);
  86. return SUCCESS;
  87. }
  88. }
  89. else
  90. {
  91. //未查询到记录,任务已经被提前取消,记录被删除
  92. return Error_manager(LOCATER_MSG_REQUEST_CANCELED,MINOR_ERROR,"measure request canceled");
  93. }
  94. auto end_time=std::chrono::system_clock::now();
  95. auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time);
  96. time=1000.0*double(duration.count()) * std::chrono::microseconds::period::num / std::chrono::microseconds::period::den;
  97. std::this_thread::yield();
  98. usleep(1000);
  99. }while(time<double(timeout));
  100. m_response_table.erase(request);
  101. return Error_manager(RESPONSE_TIMEOUT,MINOR_ERROR,"measure request timeout");
  102. }
  103. //检查消息是否可以被解析, 需要子类重载
  104. Error_manager Locate_communicator::check_executer(Communication_message* p_msg)
  105. {
  106. return SUCCESS;
  107. }
  108. Error_manager Locate_communicator::check_statu(int terminal_id)
  109. {
  110. if(m_measure_statu_msg_map.find(terminal_id)==false || m_statu_recv_time_map.find(terminal_id)==false)
  111. return Error_manager(FAILED,MINOR_ERROR,"测量节点状态不存在");
  112. std::chrono::system_clock::time_point time_now=std::chrono::system_clock::now();
  113. auto durantion=time_now-m_statu_recv_time_map[terminal_id];
  114. if(m_measure_statu_msg_map[terminal_id].has_base_info()== false
  115. || durantion>std::chrono::seconds(5))
  116. {
  117. return Error_manager(ERROR,MINOR_ERROR,"测量节点通讯断开");
  118. }
  119. if(m_measure_statu_msg_map[terminal_id].laser_manager_status()==message::LASER_MANAGER_FAULT)
  120. {
  121. return Error_manager(ERROR,MINOR_ERROR,"测量模块扫描控制故障");
  122. }
  123. for(int i=0;i<m_measure_statu_msg_map[terminal_id].laser_statu_vector_size();++i)
  124. {
  125. message::Laser_statu laser_statu=m_measure_statu_msg_map[terminal_id].laser_statu_vector(i);
  126. if(laser_statu==message::LASER_FAULT || laser_statu==message::LASER_DISCONNECT)
  127. {
  128. return Error_manager(ERROR,MINOR_ERROR,"测量模块雷达故障或者断线");
  129. }
  130. }
  131. return SUCCESS;
  132. }
  133. //检查消息是否有效, 主要检查消息类型和接受者, 判断这条消息是不是给我的.
  134. Error_manager Locate_communicator::check_msg(Communication_message* p_msg)
  135. {
  136. //通过 p_msg->get_message_type() 和 p_msg->get_receiver() 判断这条消息是不是给我的.
  137. //子类重载时, 增加自己模块的判断逻辑, 以后再写.
  138. if ( (p_msg->get_message_type() == Communication_message::Message_type::eLocate_response_msg
  139. ||p_msg->get_message_type() == Communication_message::Message_type::eLocate_status_msg)
  140. && p_msg->get_receiver() == Communication_message::Communicator::eMain )
  141. {
  142. return Error_code::SUCCESS;
  143. }
  144. else
  145. {
  146. //认为接受人
  147. return Error_code::INVALID_MESSAGE;
  148. }
  149. }
  150. Error_manager Locate_communicator::encapsulate_send_data(){
  151. return SUCCESS;
  152. }
  153. Error_manager Locate_communicator::execute_msg(Communication_message* p_msg)
  154. {
  155. if(p_msg== nullptr)
  156. return Error_manager(POINTER_IS_NULL,CRITICAL_ERROR,"measure response msg pointer is null");
  157. //测量response消息
  158. switch (p_msg->get_message_type())
  159. {
  160. ///测量结果反馈消息
  161. case Communication_message::eLocate_response_msg:
  162. {
  163. message::Measure_response_msg response;
  164. response.ParseFromString(p_msg->get_message_buf());
  165. message::Measure_request_msg request=create_request_by_response(response);
  166. ///查询请求表是否存在,并且更新
  167. if(m_response_table.find_update(request,response)==false)
  168. {
  169. return Error_manager(LOCATER_MSG_RESPONSE_HAS_NO_REQUEST,NEGLIGIBLE_ERROR,"measure response without request");
  170. }
  171. break;
  172. }
  173. ///测量系统状态
  174. case Communication_message::eLocate_status_msg:
  175. {
  176. message::Measure_status_msg statu_msg;
  177. if(statu_msg.ParseFromString(p_msg->get_message_buf())==false)
  178. return Error_manager(ERROR,CRITICAL_ERROR,"measure statu msg parse failed, CRITICAL_ERROR");
  179. m_measure_statu_msg_map[statu_msg.terminal_id()]=statu_msg;
  180. m_statu_recv_time_map[statu_msg.terminal_id()]=std::chrono::system_clock::now();
  181. break;
  182. }
  183. }
  184. return SUCCESS;
  185. }
  186. Error_manager Locate_communicator::cancel_request(message::Measure_request_msg& request)
  187. {
  188. if(m_response_table.find(request)==true)
  189. m_response_table.erase(request);
  190. return SUCCESS;
  191. }
  192. message::Measure_request_msg Locate_communicator::create_request_by_response(message::Measure_response_msg& response)
  193. {
  194. message::Measure_request_msg request;
  195. message::Base_info baseInfo;
  196. baseInfo.set_msg_type(message::eLocate_request_msg);
  197. baseInfo.set_sender(response.base_info().receiver());
  198. baseInfo.set_receiver(response.base_info().sender());
  199. request.mutable_base_info()->CopyFrom(baseInfo);
  200. request.mutable_command_info()->CopyFrom(response.command_info());
  201. request.set_terminal_id(response.terminal_id());
  202. return request;
  203. }