StoreProcessTask.cpp 19 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 "dispatch_communicator.h"
  7. #include "StoreProcessTask.h"
  8. #include "process_message.pb.h"
  9. #include "command_manager.h"
  10. #include "system_communicator.h"
  11. StoreProcessTask::StoreProcessTask(unsigned int terminor_id)
  12. :m_publish_statu_thread(nullptr)
  13. {
  14. m_command_id=-1;
  15. m_terminor_id=terminor_id;
  16. message::Base_info base_info;
  17. base_info.set_msg_type(message::eStoring_process_statu_msg);
  18. base_info.set_sender(message::eMain);
  19. base_info.set_receiver(message::eEmpty);
  20. m_storing_process_statu_msg.mutable_base_info()->CopyFrom(base_info);
  21. m_storing_process_statu_msg.set_terminal_id(terminor_id);
  22. reset_process_statu();
  23. }
  24. StoreProcessTask::~StoreProcessTask()
  25. {
  26. //退出线程
  27. m_publish_exit_condition.set_pass_ever(true);
  28. if(m_publish_statu_thread!= nullptr)
  29. {
  30. if(m_publish_statu_thread->joinable())
  31. {
  32. m_publish_statu_thread->join();
  33. }
  34. delete m_publish_statu_thread;
  35. m_publish_statu_thread=nullptr;
  36. }
  37. }
  38. Error_manager StoreProcessTask::init_task( unsigned int command_id,
  39. message::Locate_information locate_info,message::Car_info car_info)
  40. {
  41. m_command_id=command_id;
  42. m_car_info=car_info;
  43. m_locate_info=locate_info;
  44. ///创建状态发布线程
  45. if(m_publish_statu_thread== nullptr)
  46. {
  47. m_publish_exit_condition.reset(false, false, false);
  48. m_publish_statu_thread=new std::thread(publish_thread_func,this);
  49. }
  50. if(is_ready()) {
  51. reset_process_statu();
  52. return SUCCESS;
  53. }
  54. else
  55. {
  56. return Error_manager(ERROR,MINOR_ERROR,"终端未准备!!!");
  57. }
  58. }
  59. Error_manager StoreProcessTask::locate_step() {
  60. Error_manager code;
  61. //检查测量模块状态
  62. code=Locate_communicator::get_instance_pointer()->check_statu();
  63. if(code!=SUCCESS)
  64. return code;
  65. message::Measure_request_msg request;
  66. message::Base_info base_info;
  67. base_info.set_msg_type(message::eLocate_request_msg);
  68. base_info.set_sender(message::eMain);
  69. base_info.set_receiver(message::eMeasurer);
  70. base_info.set_timeout_ms(20000); //测量超时5s
  71. request.mutable_base_info()->CopyFrom(base_info);
  72. request.set_command_id(m_command_id);
  73. request.set_terminal_id(m_terminor_id);
  74. code=Locate_communicator::get_instance_pointer()->locate_request(request,m_measure_response_msg);
  75. if(code!=SUCCESS)
  76. return code;
  77. if(m_measure_response_msg.error_manager().error_code()==0) {
  78. return SUCCESS;
  79. }
  80. else
  81. return Error_manager(FAILED,MINOR_ERROR,m_measure_response_msg.error_manager().error_description().c_str());
  82. }
  83. /*
  84. * 调度
  85. */
  86. Error_manager StoreProcessTask::dispatch_step()
  87. {
  88. Error_manager code;
  89. /*
  90. * 判断调度所需的数据是否都正常
  91. */
  92. //1,测量信息是否存在
  93. if(m_measure_response_msg.has_base_info()== false
  94. ||m_measure_response_msg.has_locate_information()==false
  95. ||m_parcspace_alloc_response_msg.has_base_info()== false
  96. ||m_parcspace_alloc_response_msg.has_allocated_space_info()==false)
  97. {
  98. return Error_manager(ERROR,MAJOR_ERROR,"调度所需的前置数据(测量,车位)不存在");
  99. }
  100. //2,判断调度节点状态
  101. code=Dispatch_communicator::get_instance_pointer()->check_statu();
  102. if(code!=SUCCESS)
  103. return code;
  104. message::Dispatch_request_msg request;
  105. message::Base_info base_info;
  106. base_info.set_msg_type(message::eDispatch_request_msg);
  107. base_info.set_sender(message::eMain);
  108. base_info.set_receiver(message::eDispatch);
  109. base_info.set_timeout_ms(1000*15); //超时15s
  110. request.mutable_base_info()->CopyFrom(base_info);
  111. request.set_command_id(m_command_id);
  112. request.set_terminal_id(m_terminor_id);
  113. request.set_dispatch_motion_direction(message::E_STORE_CAR);
  114. request.set_parkspace_id(m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id());
  115. code=Dispatch_communicator::get_instance_pointer()->dispatch_request(request,m_dispatch_response_msg);
  116. if(code!=SUCCESS)
  117. return code;
  118. if(m_dispatch_response_msg.error_manager().error_code()==0) {
  119. return SUCCESS;
  120. }
  121. else
  122. return Error_manager(FAILED,MINOR_ERROR,"dispatch response error_code error");
  123. }
  124. /*
  125. * reset 进度信息
  126. */
  127. void StoreProcessTask::reset_process_statu()
  128. {
  129. message::Alloc_space_step_statu alloc_step;
  130. alloc_step.set_step_statu(message::eWaiting);
  131. message::Measure_step_statu measure_step;
  132. measure_step.set_step_statu(message::eWaiting);
  133. message::Dispatch_store_step_statu store_step;
  134. store_step.set_step_statu(message::eWaiting);
  135. message::Confirm_space_step_statu confirm_step;
  136. confirm_step.set_step_statu(message::eWaiting);
  137. message::Release_space_step_statu release_step;
  138. release_step.set_step_statu(message::eWaiting);
  139. m_storing_process_statu_msg.mutable_alloc_space_step()->CopyFrom(alloc_step);
  140. m_storing_process_statu_msg.mutable_measure_step()->CopyFrom(measure_step);
  141. m_storing_process_statu_msg.mutable_dispatch_step()->CopyFrom(store_step);
  142. m_storing_process_statu_msg.mutable_confirm_space_step()->CopyFrom(confirm_step);
  143. m_storing_process_statu_msg.mutable_failed_release_space_step()->CopyFrom(release_step);
  144. }
  145. /*
  146. * 检查当前任务是否处于空闲准备状态
  147. */
  148. bool StoreProcessTask::is_ready()
  149. {
  150. bool cond_alloc_space = m_storing_process_statu_msg.alloc_space_step().step_statu()==message::eWaiting
  151. ||m_storing_process_statu_msg.alloc_space_step().step_statu()==message::eComplete;
  152. bool cond_measure = m_storing_process_statu_msg.measure_step().step_statu()==message::eWaiting
  153. ||m_storing_process_statu_msg.measure_step().step_statu()==message::eComplete;
  154. bool cond_dispatch = m_storing_process_statu_msg.dispatch_step().step_statu()==message::eWaiting
  155. ||m_storing_process_statu_msg.dispatch_step().step_statu()==message::eComplete;
  156. bool cond_confirm_space = m_storing_process_statu_msg.confirm_space_step().step_statu()==message::eWaiting
  157. ||m_storing_process_statu_msg.confirm_space_step().step_statu()==message::eComplete;
  158. bool cond_release_space = m_storing_process_statu_msg.failed_release_space_step().step_statu()==message::eWaiting
  159. ||m_storing_process_statu_msg.failed_release_space_step().step_statu()==message::eComplete;
  160. return cond_alloc_space && cond_measure && cond_dispatch && cond_confirm_space && cond_release_space;
  161. }
  162. /*
  163. * 分配车位
  164. */
  165. Error_manager StoreProcessTask::alloc_space()
  166. {
  167. //更新车位分配步骤状态
  168. m_storing_process_statu_msg.mutable_alloc_space_step()->mutable_car_info()->CopyFrom(m_car_info);
  169. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eWorking);
  170. /*
  171. * 检查是否有测量数据
  172. */
  173. if(m_locate_info.has_locate_height()==false||m_locate_info.has_locate_width()==false)
  174. {
  175. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
  176. m_storing_process_statu_msg.mutable_alloc_space_step()->set_description("停车请求缺少车辆高度和宽度信息");
  177. return Error_manager(FAILED,MINOR_ERROR,"停车请求缺少车辆高度和宽度信息");
  178. }
  179. /*
  180. * 检查车位管理模块是否正常
  181. */
  182. Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
  183. if(code!=SUCCESS)
  184. {
  185. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
  186. m_storing_process_statu_msg.mutable_alloc_space_step()->set_description(code.get_error_description());
  187. return code;
  188. }
  189. //发送分配请求
  190. message::Parkspace_allocation_request_msg request;
  191. message::Base_info base_info;
  192. base_info.set_msg_type(message::eParkspace_allocation_request_msg);
  193. base_info.set_sender(message::eMain);
  194. base_info.set_receiver(message::eParkspace);
  195. base_info.set_timeout_ms(1000); //测量超时1s
  196. request.mutable_base_info()->CopyFrom(base_info);
  197. request.mutable_car_info()->CopyFrom(m_car_info);
  198. request.set_command_id(m_command_id);
  199. request.set_terminal_id(m_terminor_id);
  200. code=Parkspace_communicator::get_instance_pointer()->alloc_request(request,m_parcspace_alloc_response_msg);
  201. if(code!=SUCCESS)
  202. {
  203. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
  204. m_storing_process_statu_msg.mutable_alloc_space_step()->set_description(code.get_error_description());
  205. return code;
  206. }
  207. if(m_parcspace_alloc_response_msg.error_manager().error_code()==0)
  208. {
  209. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eComplete);
  210. return SUCCESS;
  211. }
  212. else
  213. {
  214. m_storing_process_statu_msg.mutable_alloc_space_step()->set_step_statu(message::eError);
  215. m_storing_process_statu_msg.mutable_alloc_space_step()->set_description("分配车位反馈结果错误");
  216. return Error_manager(FAILED,MINOR_ERROR,"分配车位反馈结果错误");
  217. }
  218. }
  219. /*
  220. * 车位占用确认
  221. */
  222. Error_manager StoreProcessTask::confirm_space_step()
  223. {
  224. /*
  225. * 检查是否曾经分配过车位
  226. */
  227. if(m_parcspace_alloc_response_msg.has_allocated_space_info()==false)
  228. {
  229. return Error_manager(FAILED,MINOR_ERROR," parkspace confirm request without space info");
  230. }
  231. /*
  232. * 检查车位管理模块是否正常
  233. */
  234. Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
  235. if(code!=SUCCESS)
  236. return code;
  237. message::Parkspace_confirm_alloc_request_msg request;
  238. message::Base_info base_info;
  239. base_info.set_msg_type(message::eParkspace_confirm_alloc_request_msg);
  240. base_info.set_sender(message::eMain);
  241. base_info.set_receiver(message::eParkspace);
  242. base_info.set_timeout_ms(1000); //测量超时1s
  243. request.mutable_base_info()->CopyFrom(base_info);
  244. message::Parkspace_info space_info=m_parcspace_alloc_response_msg.allocated_space_info();
  245. request.mutable_confirm_space_info()->CopyFrom(space_info);
  246. request.set_command_id(m_command_id);
  247. message::Parkspace_confirm_alloc_response_msg confirm_response;
  248. code=Parkspace_communicator::get_instance_pointer()->confirm_request(request,confirm_response);
  249. if(code!=SUCCESS)
  250. return code;
  251. if(m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()!=
  252. confirm_response.confirm_alloc_space_info().parkspace_id())
  253. {
  254. return Error_manager(ERROR,MINOR_ERROR,"占用车位与分配车位不一致");
  255. }
  256. if(confirm_response.error_manager().error_code()==0) {
  257. LOG(INFO)<<"停车流程正常,确认占用车位成功,停车终端:"<<m_terminor_id
  258. <<", 指令id:"<<m_command_id
  259. <<", 车位楼层:"<<confirm_response.confirm_alloc_space_info().floor()
  260. <<", 车位序号:"<<confirm_response.confirm_alloc_space_info().index()
  261. <<", 车牌号:"<<confirm_response.confirm_alloc_space_info().car_info().license();
  262. return SUCCESS;
  263. }
  264. else
  265. return Error_manager(FAILED,MINOR_ERROR,"parkspace confirm response error_code error");
  266. }
  267. /*
  268. * 车位解锁,当停车失败时需要车位解锁
  269. */
  270. Error_manager StoreProcessTask::release_space_step()
  271. {
  272. /*
  273. * 检查是否曾经分配过车位
  274. */
  275. if(m_parcspace_alloc_response_msg.has_allocated_space_info()==false)
  276. {
  277. return Error_manager(FAILED,MINOR_ERROR," parkspace release request without space info");
  278. }
  279. /*
  280. * 检查车位管理模块是否正常
  281. */
  282. Error_manager code=Parkspace_communicator::get_instance_pointer()->check_statu();
  283. if(code!=SUCCESS)
  284. return code;
  285. message::Parkspace_release_request_msg request;
  286. message::Base_info base_info;
  287. base_info.set_msg_type(message::eParkspace_release_request_msg);
  288. base_info.set_sender(message::eMain);
  289. base_info.set_receiver(message::eParkspace);
  290. base_info.set_timeout_ms(1000); //测量超时1s
  291. request.mutable_base_info()->CopyFrom(base_info);
  292. message::Parkspace_info space_info=m_parcspace_alloc_response_msg.allocated_space_info();
  293. request.mutable_release_space_info()->CopyFrom(space_info);
  294. request.set_command_id(m_command_id);
  295. message::Parkspace_release_response_msg release_response;
  296. code=Parkspace_communicator::get_instance_pointer()->release_request(request,release_response);
  297. if(code!=SUCCESS)
  298. return code;
  299. if(release_response.error_manager().error_code()==0) {
  300. LOG(WARNING)<<"停车流程异常,释放车位成功,停车终端:"<<m_terminor_id
  301. <<", 指令id:"<<m_command_id
  302. <<", 车位楼层:"<<m_parcspace_alloc_response_msg.allocated_space_info().floor()
  303. <<", 车位序号:"<<m_parcspace_alloc_response_msg.allocated_space_info().index()
  304. <<", 车牌号:"<<m_parcspace_alloc_response_msg.allocated_space_info().car_info().license();
  305. return SUCCESS;
  306. }
  307. else
  308. return Error_manager(FAILED,MINOR_ERROR,"parkspace release response error_code error");
  309. }
  310. void StoreProcessTask::Main()
  311. {
  312. /*
  313. * 外部已经分配好车位,进入到此流程说明车位已经分配好, 存放在 m_parcspace_alloc_response_msg
  314. */
  315. Error_manager code;
  316. //开始执行停车指令
  317. //第一步测量
  318. switch (0)
  319. {
  320. //第一步,测量
  321. case 0:
  322. {
  323. //更新状态信息
  324. m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eWorking);
  325. //开始定位
  326. code=locate_step();
  327. usleep(1000*1000);
  328. if(code!=SUCCESS)
  329. {
  330. m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eError);
  331. m_storing_process_statu_msg.mutable_measure_step()->set_description(code.get_error_description());
  332. LOG(ERROR)<<"测量失败:"<<code.get_error_description();
  333. break;
  334. }
  335. //更新状态信息
  336. m_storing_process_statu_msg.mutable_measure_step()->mutable_locate_info()->CopyFrom(m_measure_response_msg.locate_information());
  337. m_storing_process_statu_msg.mutable_measure_step()->set_step_statu(message::eComplete);
  338. }
  339. //第二步,调度
  340. case 1:
  341. {
  342. //更新状态信息
  343. m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eWorking);
  344. m_storing_process_statu_msg.mutable_dispatch_step()->mutable_locate_info()->CopyFrom(m_measure_response_msg.locate_information());
  345. m_storing_process_statu_msg.mutable_dispatch_step()->mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
  346. //开始调度
  347. code=dispatch_step();
  348. usleep(1000*1000);
  349. if(code!=SUCCESS)
  350. {
  351. m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eError);
  352. m_storing_process_statu_msg.mutable_dispatch_step()->set_description(code.get_error_description());
  353. LOG(ERROR)<<"调度失败:"<<code.get_error_description();
  354. break;
  355. }
  356. //更新状态信息
  357. m_storing_process_statu_msg.mutable_dispatch_step()->set_step_statu(message::eComplete);
  358. }
  359. //第三步,占据车位
  360. case 2:
  361. {
  362. //更新状态信息
  363. m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eWorking);
  364. m_storing_process_statu_msg.mutable_confirm_space_step()->mutable_space_info()->CopyFrom(m_parcspace_alloc_response_msg.allocated_space_info());
  365. //开始工作
  366. code=confirm_space_step();
  367. if(code!=SUCCESS)
  368. {
  369. m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eError);
  370. m_storing_process_statu_msg.mutable_confirm_space_step()->set_description(code.get_error_description());
  371. LOG(ERROR)<<"指令:"<<m_command_id<<",终端号:"<<m_terminor_id<<"停车流程:"<<code.get_error_description()<<
  372. " 车位id :"<<m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()
  373. <<",车牌:"<<m_car_info.license();
  374. break;
  375. }
  376. //更新状态信息
  377. m_storing_process_statu_msg.mutable_confirm_space_step()->set_step_statu(message::eComplete);
  378. }
  379. //第四步,打印... 日志 .... 记录.....
  380. case 3:
  381. {
  382. LOG(INFO)<<"停车成功,停车终端:"<<m_terminor_id<<"指令id:"<<m_command_id
  383. <<", 车位id:"<<m_parcspace_alloc_response_msg.allocated_space_info().parkspace_id()
  384. <<", 车位楼层:"<<m_parcspace_alloc_response_msg.allocated_space_info().floor()
  385. <<", 车位序号:"<<m_parcspace_alloc_response_msg.allocated_space_info().index()
  386. <<", 车牌号:"<<m_car_info.license()
  387. <<", 库内车牌号:"<<m_parcspace_alloc_response_msg.allocated_space_info().car_info().license();
  388. return ;
  389. }
  390. }
  391. /*
  392. * switch 语句break,说明停车故障,需清除车位
  393. */
  394. //失败,清理车位
  395. m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eWorking);
  396. code=release_space_step();
  397. if(code!=SUCCESS)
  398. {
  399. m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eError);
  400. m_storing_process_statu_msg.mutable_failed_release_space_step()->set_description(code.get_error_description());
  401. LOG(ERROR)<<"致命故障,停车失败,清理车位故障:"<<code.get_error_description();
  402. }
  403. else
  404. {
  405. m_storing_process_statu_msg.mutable_failed_release_space_step()->set_step_statu(message::eComplete);
  406. }
  407. /*
  408. * 流程异常,此处应暂停系统,待管理员介入
  409. */
  410. }
  411. /*
  412. * 发布状态线程
  413. */
  414. void StoreProcessTask::publish_thread_func(StoreProcessTask* ptask)
  415. {
  416. if(ptask)
  417. {
  418. ptask->publish_step_status();
  419. }
  420. }
  421. void StoreProcessTask::publish_step_status()
  422. {
  423. //未收到退出信号
  424. while(false==m_publish_exit_condition.wait_for_ex(std::chrono::milliseconds(50)))
  425. {
  426. /*
  427. * 通过communicator 发布状态
  428. */
  429. if(System_communicator::get_instance_pointer())
  430. {
  431. if(m_storing_process_statu_msg.has_base_info()==true)
  432. {
  433. System_communicator::get_instance_pointer()->post_entrance_statu(m_storing_process_statu_msg);
  434. }
  435. }
  436. }
  437. }