command_manager.cpp 17 KB

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  1. //
  2. // Created by zx on 2020/7/14.
  3. //
  4. #include <sstream>
  5. #include <iomanip>
  6. #include <Parkspace_communicator.h>
  7. #include "command_manager.h"
  8. #include "StoreProcessTask.h"
  9. #include "PickupProcessTask.h"
  10. #include "system_communicator.h"
  11. Command_manager::Command_manager()
  12. :m_thread_queue_process(nullptr)
  13. ,m_system_paused(false)
  14. ,m_publish_statu_thread(nullptr)
  15. {
  16. }
  17. Command_manager::~Command_manager()
  18. {
  19. //等待线程池完成
  20. if(m_thread_queue_process!=nullptr) {
  21. m_thread_queue_process->WaitForFinish();
  22. m_thread_queue_process->Stop();
  23. }
  24. //退出发布线程
  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 Command_manager::init(setting::System_setting system_setting) {
  37. /*
  38. * 检查参数
  39. */
  40. if (system_setting.has_bind_ip() == false || system_setting.has_entrance_num() == false
  41. || system_setting.has_export_num() == false) {
  42. return Error_manager(ERROR, MAJOR_ERROR, "系统配置错误");
  43. }
  44. if (system_setting.entrance_num() < 0 || system_setting.export_num() < 0) {
  45. return Error_manager(ERROR, MAJOR_ERROR, "系统配置出入口数量错误");
  46. }
  47. //初始化出入口状态为 Enable
  48. m_input_entrance_statu.resize(system_setting.entrance_num());
  49. for(int i=0;i<system_setting.entrance_num();++i)
  50. m_input_entrance_statu[i]=Enable;
  51. m_output_entrance_statu.resize(system_setting.export_num());
  52. for(int i=0;i<system_setting.export_num();++i)
  53. m_output_entrance_statu[i]=Enable;
  54. //创建线程池
  55. if (m_thread_queue_process == nullptr) {
  56. m_thread_queue_process = tq::TQFactory::CreateDefaultQueue();
  57. m_thread_queue_process->Start(48);
  58. }
  59. /*
  60. * 此处添加等待各个通讯模块正常代码
  61. */
  62. std::chrono::system_clock::time_point t_start=std::chrono::system_clock::now();
  63. std::chrono::system_clock::time_point t_end=std::chrono::system_clock::now();
  64. Error_manager parkspace_code=ERROR;
  65. LOG(INFO)<<"初始化车位管理模块...";
  66. do
  67. {
  68. if (parkspace_code != SUCCESS) {
  69. parkspace_code = Parkspace_communicator::get_instance_pointer()->check_statu();
  70. LOG_IF(INFO, parkspace_code == SUCCESS) << "车位管理模块初始化完成!!!";
  71. }
  72. if(parkspace_code==SUCCESS)
  73. break;
  74. t_end=std::chrono::system_clock::now();
  75. usleep(1000*100);
  76. }while(t_end-t_start<std::chrono::seconds(300));
  77. LOG_IF(ERROR,parkspace_code!=SUCCESS)<<"车位管理节点连接超时";
  78. if(parkspace_code!=SUCCESS)
  79. {
  80. return Error_manager(ERROR,MAJOR_ERROR,"车位管理模块初始化超时");
  81. }
  82. //检查节点并创建停取车流程
  83. for(int i=0;i<system_setting.entrance_num();++i)
  84. {
  85. //
  86. // 检查入口 i 的各个节点状态
  87. //
  88. LOG(INFO)<<"初始化停车入口:"<<i<<" 测量及调度模块...";
  89. Error_manager locate_code=ERROR,dispatch_code=ERROR;
  90. do {
  91. if (locate_code != SUCCESS) {
  92. locate_code = Locate_communicator::get_instance_pointer()->check_statu(i);
  93. LOG_IF(INFO, locate_code == SUCCESS) << "停车入口:"<<i<<" 测量模块初始化完成!!!";
  94. }
  95. if (dispatch_code != SUCCESS) {
  96. dispatch_code = Dispatch_communicator::get_instance_pointer()->check_entrance_statu(i);
  97. LOG_IF(INFO, dispatch_code == SUCCESS) << "停车入口:"<<i<<" 调度模块初始化完成!!!";
  98. }
  99. t_end=std::chrono::system_clock::now();
  100. if (locate_code == SUCCESS && dispatch_code == SUCCESS)
  101. break;
  102. usleep(1000*100);
  103. }while(t_end-t_start<std::chrono::seconds(300));
  104. LOG_IF(ERROR,locate_code!=SUCCESS||dispatch_code!=SUCCESS)<<"停车口:"<<i<<" 测量/调度节点连接超时";
  105. if(locate_code!=SUCCESS||dispatch_code!=SUCCESS)
  106. {
  107. return Error_manager(ERROR,MAJOR_ERROR,"停车入口通讯节点初始化超时");
  108. }
  109. }
  110. for(int i=0;i<system_setting.export_num();++i)
  111. {
  112. LOG(INFO)<<"初始化取车出口:"<<i<<" 调度模块...";
  113. Error_manager dispatch_code=ERROR;
  114. do {
  115. if (dispatch_code != SUCCESS) {
  116. dispatch_code = Dispatch_communicator::get_instance_pointer()->check_export_statu(i);
  117. LOG_IF(INFO, dispatch_code == SUCCESS) << "取车出口:" << i << " 调度模块初始化完成!!!";
  118. }
  119. t_end = std::chrono::system_clock::now();
  120. if (dispatch_code == SUCCESS)
  121. break;
  122. usleep(1000*100);
  123. }while(t_end-t_start<std::chrono::seconds(300));
  124. LOG_IF(ERROR,dispatch_code!=SUCCESS)<<"取车出口:"<<i<<" 调度节点连接超时";
  125. if(dispatch_code!=SUCCESS)
  126. {
  127. return Error_manager(ERROR,MAJOR_ERROR,"取车出口通讯节点初始化超时");
  128. }
  129. }
  130. m_system_setting=system_setting;
  131. /*
  132. * 创建发布线程
  133. */
  134. if(m_publish_statu_thread== nullptr)
  135. {
  136. m_publish_exit_condition.reset(false, false, false);
  137. m_publish_statu_thread=new std::thread(publish_statu_function,this);
  138. }
  139. return SUCCESS;
  140. }
  141. /*
  142. * 执行停车请求
  143. */
  144. Error_manager Command_manager::execute_store_command(message::Store_command_request_msg& request,message::Store_command_response_msg& response)
  145. {
  146. message::Base_info base_info;
  147. base_info.set_msg_type(message::eStore_command_response_msg);
  148. base_info.set_sender(message::eMain);
  149. base_info.set_receiver(message::eTerminor);
  150. response.mutable_base_info()->CopyFrom(base_info);
  151. response.set_terminal_id(request.terminal_id());
  152. message::Error_manager error_msg;
  153. error_msg.set_error_code(0);
  154. if (m_thread_queue_process == nullptr) {
  155. error_msg.set_error_code(ERROR);
  156. error_msg.set_error_description("bug,线程池未初始化");
  157. response.mutable_code()->CopyFrom(error_msg);
  158. return Error_manager(ERROR, CRITICAL_ERROR, "线程池未初始化,bug");
  159. }
  160. if(m_system_paused==true)
  161. {
  162. error_msg.set_error_code(PAUSE);
  163. error_msg.set_error_description("急停");
  164. response.mutable_code()->CopyFrom(error_msg);
  165. return Error_manager(PAUSE, CRITICAL_ERROR, "系统已急停");
  166. }
  167. //判断入口是否开放
  168. if(request.terminal_id()<0 || request.terminal_id()>=m_system_setting.entrance_num())
  169. {
  170. error_msg.set_error_code(ERROR);
  171. error_msg.set_error_description("terminal_id 参数设置错误");
  172. response.mutable_code()->CopyFrom(error_msg);
  173. return Error_manager(ERROR, CRITICAL_ERROR, "terminal id 设置错误");
  174. }
  175. if(m_input_entrance_statu[request.terminal_id()]!=Enable) {
  176. error_msg.set_error_code(ERROR);
  177. error_msg.set_error_description("入口已关闭 Disable");
  178. response.mutable_code()->CopyFrom(error_msg);
  179. return Error_manager(ERROR, CRITICAL_ERROR, "入口已禁止使用 Disable");
  180. }
  181. if (request.base_info().msg_type() == message::eStore_command_request_msg
  182. && request.base_info().receiver() == message::eMain
  183. && request.base_info().sender() == message::eTerminor)
  184. {
  185. if (request.has_locate_information() && request.has_base_info())
  186. {
  187. message::Locate_information locate_info = request.locate_information();
  188. if (locate_info.has_locate_correct())
  189. {
  190. if (locate_info.locate_correct() == true)
  191. {
  192. if (locate_info.has_locate_width() && locate_info.has_locate_height()
  193. && locate_info.has_locate_x() && locate_info.has_locate_y()
  194. && locate_info.has_locate_angle() && locate_info.has_locate_wheel_base())
  195. {
  196. /*
  197. * 检查消息完毕,开始处理
  198. */
  199. response.set_terminal_id(request.terminal_id());
  200. /*
  201. * 检查各个节点是否正常
  202. */
  203. Error_manager parkspace_code= Parkspace_communicator::get_instance_pointer()->check_statu();
  204. if(parkspace_code!=SUCCESS)
  205. {
  206. error_msg.set_error_code(parkspace_code.get_error_code());
  207. error_msg.set_error_description(parkspace_code.get_error_description());
  208. response.mutable_code()->CopyFrom(error_msg);
  209. return parkspace_code;
  210. }
  211. Error_manager locate_code= Locate_communicator::get_instance_pointer()->check_statu(request.terminal_id());
  212. if(locate_code!=SUCCESS)
  213. {
  214. error_msg.set_error_code(locate_code.get_error_code());
  215. error_msg.set_error_description(locate_code.get_error_description());
  216. response.mutable_code()->CopyFrom(error_msg);
  217. return locate_code;
  218. }
  219. Error_manager dispatch_code= Dispatch_communicator::get_instance_pointer()->check_entrance_statu(request.terminal_id());
  220. if(dispatch_code!=SUCCESS)
  221. {
  222. error_msg.set_error_code(dispatch_code.get_error_code());
  223. error_msg.set_error_description(dispatch_code.get_error_description());
  224. response.mutable_code()->CopyFrom(error_msg);
  225. return dispatch_code;
  226. }
  227. LOG(INFO) << "收到停车,车牌:"<< request.car_info().license() <<
  228. ",终端:" << request.terminal_id()<<"............................";
  229. tq::BaseTask *ptask = new StoreProcessTask(request.terminal_id(),request.car_info());
  230. StoreProcessTask *pStore_task = (StoreProcessTask *) ptask;
  231. //初始化流程
  232. pStore_task->init_task(locate_info);
  233. //获取车位
  234. Error_manager code = pStore_task->alloc_space();
  235. if (code == SUCCESS) {
  236. m_thread_queue_process->AddTask(pStore_task);
  237. response.mutable_code()->CopyFrom(error_msg);
  238. return SUCCESS;
  239. }
  240. usleep(1000 * 1000);
  241. delete pStore_task;
  242. error_msg.set_error_code(code.get_error_code());
  243. error_msg.set_error_description(code.to_string());
  244. response.mutable_code()->CopyFrom(error_msg);
  245. LOG(ERROR) << "创建停车流程失败(车位分配失败),终端:" << request.terminal_id() <<
  246. "车牌:" << request.car_info().license() << " " << code.to_string();
  247. return code;
  248. }
  249. }
  250. }
  251. }
  252. return Error_manager(FAILED, MINOR_ERROR, "创建停车流程失败...指令缺少必要信息...");
  253. } else {
  254. return Error_manager(INVALID_MESSAGE, MAJOR_ERROR, "停车请求基本信息错误");
  255. }
  256. }
  257. /*
  258. * 执行取车请求
  259. */
  260. Error_manager Command_manager::execute_pickup_command(message::Pickup_command_request_msg& request,message::Pickup_command_response_msg& response)
  261. {
  262. message::Base_info base_info;
  263. base_info.set_msg_type(message::ePickup_command_response_msg);
  264. base_info.set_sender(message::eMain);
  265. base_info.set_receiver(message::eTerminor);
  266. response.mutable_base_info()->CopyFrom(base_info);
  267. response.set_terminal_id(request.terminal_id());
  268. message::Error_manager error_msg;
  269. error_msg.set_error_code(0);
  270. if (m_thread_queue_process == nullptr) {
  271. error_msg.set_error_code(ERROR);
  272. error_msg.set_error_description("bug,线程池未初始化");
  273. response.mutable_code()->CopyFrom(error_msg);
  274. return Error_manager(ERROR, CRITICAL_ERROR, "线程池未初始化,bug");
  275. }
  276. if(m_system_paused==true)
  277. {
  278. error_msg.set_error_code(PAUSE);
  279. error_msg.set_error_description("急停");
  280. response.mutable_code()->CopyFrom(error_msg);
  281. return Error_manager(PAUSE, CRITICAL_ERROR, "急停");
  282. }
  283. //判断出口是否开放
  284. if(request.terminal_id()<0 || request.terminal_id()>=m_system_setting.export_num())
  285. {
  286. error_msg.set_error_code(ERROR);
  287. error_msg.set_error_description("出口 id 设置错误");
  288. response.mutable_code()->CopyFrom(error_msg);
  289. return Error_manager(ERROR, CRITICAL_ERROR, "出口 id 设置错误");
  290. }
  291. if(m_output_entrance_statu[request.terminal_id()]!=Enable)
  292. {
  293. error_msg.set_error_code(ERROR);
  294. error_msg.set_error_description("中控出口已停止使用");
  295. response.mutable_code()->CopyFrom(error_msg);
  296. return Error_manager(ERROR, CRITICAL_ERROR, "中控出口已停止使用");
  297. }
  298. if(request.base_info().msg_type()==message::ePickup_command_request_msg
  299. &&request.base_info().receiver()==message::eMain
  300. &&request.base_info().sender()==message::eTerminor
  301. &&request.has_car_info()) {
  302. response.set_terminal_id(request.terminal_id());
  303. /*
  304. * 检查各个节点是否正常
  305. */
  306. Error_manager parkspace_code= Parkspace_communicator::get_instance_pointer()->check_statu();
  307. if(parkspace_code!=SUCCESS)
  308. {
  309. error_msg.set_error_code(parkspace_code.get_error_code());
  310. error_msg.set_error_description(parkspace_code.get_error_description());
  311. response.mutable_code()->CopyFrom(error_msg);
  312. return parkspace_code;
  313. }
  314. Error_manager dispatch_code= Dispatch_communicator::get_instance_pointer()->check_export_statu(request.terminal_id());
  315. if(dispatch_code!=SUCCESS)
  316. {
  317. error_msg.set_error_code(dispatch_code.get_error_code());
  318. error_msg.set_error_description(dispatch_code.get_error_description());
  319. response.mutable_code()->CopyFrom(error_msg);
  320. return dispatch_code;
  321. }
  322. //一切正常,接受指令
  323. Error_manager code;
  324. LOG(WARNING)<<"收到取车-----------------------------"<<request.car_info().license();
  325. tq::BaseTask* ptask=new PickupProcessTask(request.terminal_id(),request.car_info());
  326. PickupProcessTask* pPick_task=(PickupProcessTask*)ptask;
  327. //初始化流程
  328. code=pPick_task->init_task();
  329. /////查询车位
  330. code=pPick_task->search_space();
  331. if(code==SUCCESS)
  332. {
  333. m_thread_queue_process->AddTask(pPick_task);
  334. response.mutable_code()->CopyFrom(error_msg);
  335. return SUCCESS;
  336. }
  337. usleep(1000*1000);
  338. error_msg.set_error_code(code.get_error_code());
  339. error_msg.set_error_description(code.to_string());
  340. response.mutable_code()->CopyFrom(error_msg);
  341. LOG(ERROR)<<"创建取车流程失败(车位查询失败),终端:"<<request.terminal_id()<<
  342. "车牌:"<<request.car_info().license()<<" "<<code.to_string();
  343. delete pPick_task;
  344. return code;
  345. }
  346. else
  347. {
  348. return Error_manager(INVALID_MESSAGE,MAJOR_ERROR,"停车请求信息错误");
  349. }
  350. }
  351. /*
  352. * 控制入口 开放或者关闭
  353. */
  354. Error_manager Command_manager::enable_entrance(int terminal_id,Entrance_statu statu)
  355. {
  356. if(terminal_id<0 || terminal_id>m_system_setting.entrance_num())
  357. return Error_manager(ERROR,MINOR_ERROR,"xxxx");
  358. m_input_entrance_statu[terminal_id]=statu;
  359. return SUCCESS;
  360. }
  361. /*
  362. * 控制出口 开放或者关闭
  363. */
  364. Error_manager Command_manager::enable_export(int terminal_id,Entrance_statu statu)
  365. {
  366. if(terminal_id<0 || terminal_id>m_system_setting.export_num())
  367. return Error_manager(ERROR,MINOR_ERROR,"xxxx");
  368. m_output_entrance_statu[terminal_id]=statu;
  369. }
  370. /*
  371. * pause,系统急停
  372. */
  373. void Command_manager::pause_system()
  374. {
  375. m_system_paused=true;
  376. }
  377. void Command_manager::publish_statu_function(Command_manager* commander)
  378. {
  379. if(commander== nullptr)
  380. return ;
  381. commander->publish_statu();
  382. }
  383. void Command_manager::publish_statu()
  384. {
  385. while(m_publish_exit_condition.wait_for_millisecond(50)==false)
  386. {
  387. message::Central_controller_statu_msg msg;
  388. message::Base_info baseInfo;
  389. baseInfo.set_msg_type(message::eCentral_controller_statu_msg);
  390. baseInfo.set_sender(message::eMain);
  391. baseInfo.set_receiver(message::eEmpty);
  392. msg.mutable_base_info()->CopyFrom(baseInfo);
  393. for(int i=0;i<m_system_setting.entrance_num();++i)
  394. {
  395. message::Entrance_statu entrance_statu;
  396. entrance_statu=message::Entrance_statu (m_input_entrance_statu[i]);
  397. msg.add_entrance_statu_vector(entrance_statu);
  398. }
  399. for(int i=0;i<m_system_setting.export_num();++i)
  400. {
  401. message::Entrance_statu entrance_statu;
  402. entrance_statu=message::Entrance_statu (m_input_entrance_statu[i]);
  403. msg.add_export_statu_vector(entrance_statu);
  404. }
  405. System_communicator::get_instance_pointer()->post_central_statu(msg);
  406. }
  407. }