Terminal_process_CT/lidar_locate/Locate_communicator.cpp

//
// Created by zx on 2020/6/18.
//

#include "Locate_communicator.h"
//#include "locate_message.pb.h"

namespace message {
    bool operator<(const message::Measure_request_msg msg1, const message::Measure_request_msg msg2) {
        return (msg1.command_id() < msg2.command_id());
    }

    bool operator==(const message::Measure_request_msg msg1, const message::Measure_request_msg msg2) {
        if (msg1.base_info().msg_type() == msg2.base_info().msg_type()
            && msg1.base_info().sender() == msg2.base_info().sender()
            && msg1.base_info().receiver() == msg2.base_info().receiver()
            && msg1.command_id() == msg2.command_id()
            && msg1.terminal_id() == msg2.terminal_id()) {
            return true;
        }
        return false;
    }
}

Locate_communicator::Locate_communicator()
{

}
Locate_communicator::~Locate_communicator()
{

}


Error_manager Locate_communicator::encapsulate_msg(Communication_message* message)
{

    //记录请求
    if(message->get_message_type()==Communication_message::eLocate_request_msg)
    {
        message::Measure_request_msg request;
        request.ParseFromString(message->get_message_buf());
        m_response_table[request]=message::Measure_response_msg();
        //发送请求
        return Communication_socket_base::encapsulate_msg(message);
    }
    else
    {
        return Error_manager(LOCATER_MSG_TABLE_NOT_EXIST,NEGLIGIBLE_ERROR,"message table is not exist");
    }


}

Error_manager Locate_communicator::locate_request(message::Measure_request_msg& request,message::Measure_response_msg& result)
{
    /*
     * 检查request合法性,以及模块状态
     */

    if(request.base_info().sender()!=message::eMain||request.base_info().receiver()!=message::eMeasurer)
        return Error_manager(LOCATER_MSG_REQUEST_INVALID,MINOR_ERROR,"measure request invalid");

    if(m_response_table.find(request)!=m_response_table.end())
        return Error_manager(LOCATER_MSG_REQUEST_REPEATED,MAJOR_ERROR," measure reques repeated");
    //设置超时,若没有设置,默认3000
    int timeout=request.base_info().has_timeout_ms()?request.base_info().timeout_ms():3000;
    //向测量节点发送测量请求,并记录请求

    Error_manager code;
    Communication_message message;

    message::Base_info base_msg;
    base_msg.set_msg_type(message::eLocate_request_msg);
    base_msg.set_sender(message::eMain);
    base_msg.set_receiver(message::eMeasurer);
    base_msg.set_timeout_ms(timeout);
    message.reset(base_msg,request.SerializeAsString());

    code=encapsulate_msg(&message);
    if(code!=SUCCESS)
        return code;
    //循环查询请求是否被处理
    auto start_time=std::chrono::system_clock::now();
    double time=0;
    do{
        //在请求表中查询结果
        std::map<message::Measure_request_msg,message::Measure_response_msg>::iterator it=m_response_table.find(request);
        //查询到记录
        if(it!=m_response_table.end())
        {
            message::Measure_response_msg response=it->second;
            //判断是否接收到回应,若回应信息被赋值则证明有回应
            if (response.has_base_info() && response.has_command_id())
            {
                message::Base_info response_base = response.base_info();
                //检查类型是否匹配
                if (response_base.msg_type() != message::eLocate_response_msg) {
                    return Error_manager(LOCATER_MSG_RESPONSE_TYPE_ERROR, MAJOR_ERROR,
                                         "measure response msg type error");
                }
                //检查基本信息是否匹配
                if (response_base.sender() != message::eMeasurer ||
                    response_base.receiver() != message::eMain ||
                    response.command_id() != request.command_id()) {
                    return Error_manager(LOCATER_MSG_RESPONSE_INFO_ERROR, MAJOR_ERROR,
                                         "measure response msg info error");
                }
                result = response;
                m_response_table.erase(request);

                return SUCCESS;

            }
        }
        else
        {
             //未查询到记录,任务已经被提前取消,记录被删除
             return Error_manager(LOCATER_MSG_REQUEST_CANCELED,MINOR_ERROR,"measure request canceled");
        }

        auto end_time=std::chrono::system_clock::now();
        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time);
        time=1000.0*double(duration.count()) * std::chrono::microseconds::period::num / std::chrono::microseconds::period::den;
        std::this_thread::yield();
        usleep(1000);
    }while(time<double(timeout));
    return Error_manager(RESPONSE_TIMEOUT,MINOR_ERROR,"measure request timeout");
}

//检查消息是否可以被解析, 需要子类重载
Error_manager Locate_communicator::check_executer(Communication_message* p_msg)
{
    return SUCCESS;
}

Error_manager Locate_communicator::check_statu()
{
    return SUCCESS;
}

//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.
Error_manager Locate_communicator::check_msg(Communication_message*  p_msg)
{
    //通过 p_msg->get_message_type() 和 p_msg->get_receiver() 判断这条消息是不是给我的.
    //子类重载时, 增加自己模块的判断逻辑, 以后再写.
    if ( p_msg->get_message_type() == Communication_message::Message_type::eLocate_response_msg
         && p_msg->get_receiver() == Communication_message::Communicator::eMain )
    {
        return Error_code::SUCCESS;
    }
    else
    {
        //认为接受人
        return Error_code::INVALID_MESSAGE;
    }
}

Error_manager Locate_communicator::encapsulate_send_data(){
    return SUCCESS;
}

Error_manager Locate_communicator::execute_msg(Communication_message* p_msg)
{
    if(p_msg== nullptr)
        return Error_manager(POINTER_IS_NULL,CRITICAL_ERROR,"measure response msg pointer is null");


    //测量response消息
    switch (p_msg->get_message_type())
    {
        ///测量结果反馈消息
        case Communication_message::eLocate_response_msg:
        {
            message::Measure_response_msg response;
            response.ParseFromString(p_msg->get_message_buf());
            message::Measure_request_msg request=create_request_by_response(response);
            ///查询请求表是否存在
            if(m_response_table.find(request)==m_response_table.end())
            {
                return Error_manager(LOCATER_MSG_RESPONSE_HAS_NO_REQUEST,NEGLIGIBLE_ERROR,"measure response without request");
            }
            ////更新表

            m_response_table[request]=response;
            break;
        }
        ///测量系统状态
        case Communication_message::eLocate_status_msg:
        {
            m_measure_statu_msg=*p_msg;
            break;
        }
    }
    return SUCCESS;

}

Error_manager Locate_communicator::cancel_request(message::Measure_request_msg& request)
{
    if(m_response_table.find(request)!=m_response_table.end())
        m_response_table.erase(request);
    return SUCCESS;
}

message::Measure_request_msg Locate_communicator::create_request_by_response(message::Measure_response_msg& response)
{
    message::Measure_request_msg request;
    message::Base_info baseInfo;
    baseInfo.set_msg_type(message::eLocate_request_msg);
    baseInfo.set_sender(response.base_info().sender());
    baseInfo.set_receiver(response.base_info().receiver());
    request.mutable_base_info()->CopyFrom(baseInfo);
    request.set_command_id(response.command_id());
    request.set_terminal_id(response.command_id());
    return request;
}