PickupProcessTask.cpp 14 KB

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  1. //
  2. // Created by zx on 2020/7/7.
  3. //
  4. #include <Parkspace_communicator.h>
  5. #include <dispatch_message.pb.h>
  6. #include "PickupProcessTask.h"
  7. #include "process_message.pb.h"
  8. #include "command_manager.h"
  9. #include "system_communicator.h"
  10. PickupProcessTask::PickupProcessTask(unsigned int terminal_id)
  11. :m_publish_statu_thread(nullptr)
  12. {
  13. m_terminor_id=terminal_id;
  14. message::Base_info base_info;
  15. base_info.set_msg_type(message::eStoring_process_statu_msg);
  16. base_info.set_sender(message::eMain);
  17. base_info.set_receiver(message::eEmpty);
  18. m_picking_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
  19. m_picking_process_statu_msg.set_terminal_id(terminal_id);
  20. reset_process_statu();
  21. }
  22. PickupProcessTask::~PickupProcessTask()
  23. {
  24. //退出线程
  25. m_publish_exit_condition.set_pass_ever(true);
  26. if(m_publish_statu_thread!= nullptr)
  27. {
  28. if(m_publish_statu_thread->joinable())
  29. {
  30. m_publish_statu_thread->join();
  31. }
  32. delete m_publish_statu_thread;
  33. m_publish_statu_thread=nullptr;
  34. }
  35. }
  36. Error_manager PickupProcessTask::init_task(message::Command_info command_info, message::Car_info car_info)
  37. {
  38. m_command_info=command_info;
  39. m_car_info=car_info;
  40. message::Base_info base_info;
  41. base_info.set_msg_type(message::ePicking_process_statu_msg);
  42. base_info.set_sender(message::eMain);
  43. base_info.set_receiver(message::eEmpty);
  44. m_picking_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
  45. reset_process_statu();
  46. ///创建状态发布线程
  47. if(m_publish_statu_thread== nullptr)
  48. {
  49. m_publish_exit_condition.reset(false, false, false);
  50. m_publish_statu_thread=new std::thread(publish_thread_func,this);
  51. }
  52. if(is_ready()) {
  53. reset_process_statu();
  54. return SUCCESS;
  55. }
  56. else
  57. {
  58. return Error_manager(ERROR,MINOR_ERROR,"终端未准备!!!");
  59. }
  60. }
  61. /*
  62. * reset 进度信息
  63. */
  64. void PickupProcessTask::reset_process_statu()
  65. {
  66. message::Check_space_step_statu check_step;
  67. check_step.set_step_statu(message::eWaiting);
  68. message::Dispatch_pick_step_statu pick_step;
  69. pick_step.set_step_statu(message::eWaiting);
  70. message::Release_space_step_statu release_step;
  71. release_step.set_step_statu(message::eWaiting);
  72. message::Waitfor_leave_step_statu waitfor_leave_step;
  73. waitfor_leave_step.set_step_statu(message::eWaiting);
  74. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  75. m_picking_process_statu_msg.mutable_check_space_step()->CopyFrom(check_step);
  76. m_picking_process_statu_msg.mutable_dispatch_step()->CopyFrom(pick_step);
  77. m_picking_process_statu_msg.mutable_release_space_step()->CopyFrom(release_step);
  78. m_picking_process_statu_msg.mutable_waitfor_leave()->CopyFrom(waitfor_leave_step);
  79. }
  80. /*
  81. * 检查当前任务是否处于空闲准备状态
  82. */
  83. bool PickupProcessTask::is_ready()
  84. {
  85. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  86. bool cond_check_space = m_picking_process_statu_msg.check_space_step().step_statu()==message::eWaiting
  87. ||m_picking_process_statu_msg.check_space_step().step_statu()==message::eComplete;
  88. bool cond_dispatch = m_picking_process_statu_msg.dispatch_step().step_statu()==message::eWaiting
  89. ||m_picking_process_statu_msg.dispatch_step().step_statu()==message::eComplete;
  90. bool cond_release_space = m_picking_process_statu_msg.release_space_step().step_statu()==message::eWaiting
  91. ||m_picking_process_statu_msg.release_space_step().step_statu()==message::eComplete;
  92. return cond_check_space && cond_dispatch && cond_release_space;
  93. }
  94. /*
  95. * 查询车位
  96. */
  97. Error_manager PickupProcessTask::search_space()
  98. {
  99. //更新状态
  100. {
  101. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  102. m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eWorking);
  103. }
  104. /*
  105. * 检验汽车信息是否正常
  106. */
  107. if(m_car_info.has_car_width()==false||m_car_info.has_car_height()== false
  108. ||m_car_info.has_license()==false)
  109. {
  110. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  111. m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
  112. m_picking_process_statu_msg.mutable_check_space_step()->set_description("查询车位请求汽车信息错误");
  113. return Error_manager(INVALID_MESSAGE,CRITICAL_ERROR,"查询车位请求汽车信息错误");
  114. }
  115. /*
  116. * 检查车位管理模块是否正常
  117. */
  118. Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
  119. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  120. if(code!=SUCCESS)
  121. {
  122. m_picking_process_statu_msg.mutable_check_space_step()->set_description(code.get_error_description());
  123. m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
  124. return code;
  125. }
  126. message::Base_info base_info;
  127. base_info.set_msg_type(message::eParkspace_search_request_msg);
  128. base_info.set_sender(message::eMain);
  129. base_info.set_receiver(message::eParkspace);
  130. base_info.set_timeout_ms(1000);
  131. message::Parkspace_search_request_msg request;
  132. request.mutable_command_info()->CopyFrom(m_command_info);
  133. request.mutable_base_info()->CopyFrom(base_info);
  134. request.mutable_car_info()->CopyFrom(m_car_info);
  135. code = Parkspace_communicator::get_instance_pointer()->search_request(request,m_parcspace_search_response_msg);
  136. if(code==SUCCESS)
  137. {
  138. m_picking_process_statu_msg.mutable_check_space_step()->mutable_space_info()->CopyFrom(m_parcspace_search_response_msg.car_position());
  139. m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eComplete);
  140. }
  141. else {
  142. m_picking_process_statu_msg.mutable_check_space_step()->set_step_statu(message::eError);
  143. m_picking_process_statu_msg.mutable_check_space_step()->set_description(code.get_error_description());
  144. }
  145. return code;
  146. }
  147. void PickupProcessTask::Main()
  148. {
  149. Error_manager code;
  150. //进入取车流程
  151. switch (0)
  152. {
  153. //第一步,执行取车动作
  154. case 0:
  155. {
  156. //更新状态
  157. {
  158. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  159. m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eWorking);
  160. m_picking_process_statu_msg.mutable_dispatch_step()->mutable_space_info()->CopyFrom(
  161. m_parcspace_search_response_msg.car_position());
  162. }
  163. //开始工作
  164. code=pickup_step();
  165. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  166. if(code!=SUCCESS)
  167. {
  168. LOG(ERROR)<<"取车调度失败,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_info.place()
  169. <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
  170. <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
  171. <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
  172. <<", 车牌号:"<<m_car_info.license()
  173. <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
  174. m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eError);
  175. m_picking_process_statu_msg.mutable_dispatch_step()->set_description(code.get_error_description());
  176. break;
  177. }
  178. m_picking_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
  179. LOG(WARNING)<<"取车调度成功,取车终端:"<<m_terminor_id<<"指令id:"<<m_command_info.place()
  180. <<", 车位id:"<<m_parcspace_search_response_msg.car_position().parkspace_id()
  181. <<", 车位楼层:"<<m_parcspace_search_response_msg.car_position().floor()
  182. <<", 车位序号:"<<m_parcspace_search_response_msg.car_position().index()
  183. <<", 车牌号:"<<m_car_info.license()
  184. <<", 库内车牌号:"<<m_parcspace_search_response_msg.car_position().car_info().license();
  185. }
  186. //第二步,清除车位
  187. case 1:
  188. {
  189. //更新状态
  190. {
  191. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  192. m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eWorking);
  193. m_picking_process_statu_msg.mutable_release_space_step()->mutable_space_info()->CopyFrom(
  194. m_parcspace_search_response_msg.car_position());
  195. }
  196. code=release_space_step();
  197. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  198. if(code!=SUCCESS)
  199. {
  200. m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eError);
  201. m_picking_process_statu_msg.mutable_release_space_step()->set_description(code.get_error_description());
  202. LOG(ERROR)<<"取车释放车位失败:"<<code.get_error_description();
  203. break;
  204. }
  205. m_picking_process_statu_msg.mutable_release_space_step()->set_step_statu(message::eComplete);
  206. }
  207. //第三步,等待车辆离开
  208. case 2:
  209. {
  210. //更新状态
  211. {
  212. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  213. m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eWorking);
  214. m_picking_process_statu_msg.mutable_waitfor_leave()->mutable_car_info()->CopyFrom(m_car_info);
  215. }
  216. //等待离开
  217. code=wait_for_leave_step();
  218. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  219. if(code!=SUCCESS)
  220. {
  221. m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eError);
  222. m_picking_process_statu_msg.mutable_waitfor_leave()->set_description(code.get_error_description());
  223. break;
  224. }
  225. m_picking_process_statu_msg.mutable_waitfor_leave()->set_step_statu(message::eComplete);
  226. }
  227. }
  228. }
  229. /*
  230. * 执行取车动作请求,并等待执行完成
  231. */
  232. Error_manager PickupProcessTask::pickup_step()
  233. {
  234. /*
  235. * 检查是否曾经分配过车位
  236. */
  237. if(m_parcspace_search_response_msg.has_car_position()==false)
  238. {
  239. return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
  240. }
  241. //2,判断调度节点状态
  242. Error_manager code=Dispatch_communicator::get_instance_pointer()->check_statu(m_terminor_id);
  243. if(code!=SUCCESS)
  244. return code;
  245. message::Dispatch_request_msg request;
  246. message::Base_info base_info;
  247. base_info.set_msg_type(message::eDispatch_request_msg);
  248. base_info.set_sender(message::eMain);
  249. base_info.set_receiver(message::eDispatch);
  250. base_info.set_timeout_ms(1000*300); //测量超时300s
  251. request.mutable_base_info()->CopyFrom(base_info);
  252. message::Parkspace_info space_info=m_parcspace_search_response_msg.car_position();
  253. request.set_dispatch_motion_direction(message::E_PICKUP_CAR);
  254. request.set_parkspace_id(space_info.parkspace_id());
  255. request.set_terminal_id(m_terminor_id);
  256. request.mutable_command_info()->CopyFrom(m_command_info);
  257. message::Dispatch_response_msg response;
  258. code=Dispatch_communicator::get_instance_pointer()->dispatch_request(request,response);
  259. if(code!=SUCCESS)
  260. return code;
  261. if(response.error_manager().error_code()==0) {
  262. return SUCCESS;
  263. }
  264. else
  265. return Error_manager(FAILED,MINOR_ERROR,"取车流程调度反馈错误码");
  266. }
  267. /*
  268. * 等待车辆离开
  269. */
  270. Error_manager PickupProcessTask::wait_for_leave_step()
  271. {
  272. return SUCCESS;
  273. }
  274. /*
  275. * 清除车位表中对应的车位
  276. */
  277. Error_manager PickupProcessTask::release_space_step()
  278. {
  279. /*
  280. * 检查是否曾经分配过车位
  281. */
  282. if(m_parcspace_search_response_msg.has_car_position()==false)
  283. {
  284. return Error_manager(FAILED,MINOR_ERROR," 取车流程释放车位请求缺少车位信息");
  285. }
  286. /*
  287. * 检查车位管理模块是否正常
  288. */
  289. Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
  290. if(code!=SUCCESS)
  291. return code;
  292. message::Parkspace_release_request_msg request;
  293. message::Base_info base_info;
  294. base_info.set_msg_type(message::eParkspace_release_request_msg);
  295. base_info.set_sender(message::eMain);
  296. base_info.set_receiver(message::eParkspace);
  297. base_info.set_timeout_ms(1000); //测量超时1s
  298. request.mutable_base_info()->CopyFrom(base_info);
  299. message::Parkspace_info space_info=m_parcspace_search_response_msg.car_position();
  300. request.mutable_release_space_info()->CopyFrom(space_info);
  301. request.mutable_command_info()->CopyFrom(m_command_info);
  302. message::Parkspace_release_response_msg release_response;
  303. code=Parkspace_communicator::get_instance_pointer()->release_request(request,release_response);
  304. if(code!=SUCCESS)
  305. return code;
  306. if(release_response.error_manager().error_code()==0) {
  307. return SUCCESS;
  308. }
  309. else
  310. return Error_manager(FAILED,MINOR_ERROR,"取车流程parkspace release response error_code error");
  311. }
  312. /*
  313. * 发布状态线程
  314. */
  315. void PickupProcessTask::publish_thread_func(PickupProcessTask* ptask)
  316. {
  317. if(ptask)
  318. {
  319. ptask->publish_step_status();
  320. }
  321. }
  322. void PickupProcessTask::publish_step_status()
  323. {
  324. //未收到退出信号
  325. while(false==m_publish_exit_condition.wait_for_ex(std::chrono::milliseconds(50)))
  326. {
  327. /*
  328. * 通过communicator 发布状态
  329. */
  330. if(System_communicator::get_instance_pointer())
  331. {
  332. if(m_picking_process_statu_msg.has_base_info()==true)
  333. {
  334. std::lock_guard<std::mutex> lock(m_picking_statu_lock);
  335. System_communicator::get_instance_pointer()->post_entrance_statu(m_picking_process_statu_msg);
  336. }
  337. }
  338. }
  339. }